CN112101705A - Fault processing method and device for agricultural machine cluster, cloud control equipment and agricultural machine system - Google Patents

Fault processing method and device for agricultural machine cluster, cloud control equipment and agricultural machine system Download PDF

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CN112101705A
CN112101705A CN202010748426.0A CN202010748426A CN112101705A CN 112101705 A CN112101705 A CN 112101705A CN 202010748426 A CN202010748426 A CN 202010748426A CN 112101705 A CN112101705 A CN 112101705A
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agricultural machine
fault
farm
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machine
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曹显利
韩慧仙
曹国廷
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Yiwu Shenyan Intelligent Technology Co ltd
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Abstract

The invention provides a method and a device for processing faults of an agricultural machine group, cloud control equipment and an agricultural machine system, which relate to the technical field of agricultural machinery and comprise the following steps: detecting whether each agricultural machine in the farm machine group has a fault or not when the farm machine group works cooperatively; when detecting that an agricultural machine in the agricultural machine cluster has a fault, suspending the operation of the agricultural machine cluster and judging whether the running direction of the faulty agricultural machine is controllable; when the running direction of the fault agricultural machine is controllable, controlling the fault agricultural machine to move to a position outside the operation area of the agricultural machine cluster; and removing the failed farm machines in the farm machine cluster to form a new farm machine cluster, and performing operation planning on the new farm machine cluster again. In the application, when agricultural machinery faults are detected, corresponding processing is carried out on the agricultural machinery with the faults, operation planning is carried out again, and influences caused by the agricultural machinery faults are reduced.

Description

Fault processing method and device for agricultural machine cluster, cloud control equipment and agricultural machine system
Technical Field
The application relates to the technical field of agricultural machinery, in particular to a method and a device for processing faults of an agricultural machinery group, cloud control equipment and an agricultural machinery system.
Background
The agricultural machine mainly comprises a tractor, a harvester, a tillage planter, a low-speed truck and the like, and is mainly used for outdoor operation. The working environment of the agricultural machinery is characterized in that: the shape of the land parcel is a regular or irregular geometric figure; the field may have fluctuating slowly-varying terrains such as ascending and descending slopes, and also may have abrupt terrains such as small ditches, small ridges and stones; there may be non-crashable, inaccessible objects within or at the edges of the field, such as boundary walls, trees, buildings, etc.; other agricultural machines may be in operation or multiple agricultural machines may be in cooperation. The working process of different types of agricultural machines can be divided into two parts: running and operation, wherein the running refers to the movement of the agricultural machinery in the field according to the requirements; the operation means that the agricultural machine interacts with farmlands, crops and other agricultural machines.
In some cases, multiple agricultural machines can form an agricultural machine cluster to perform cooperative operation. For example, three harvesters form a cluster to perform cooperative work, and are connected and communicated through a network to cooperatively work in a working area. When the farm machine cluster works cooperatively, if one farm machine in the farm machine cluster fails, the work of the whole farm machine cluster can be seriously influenced. Therefore, when the farm machinery group works cooperatively, if any farm machinery fails, the failed farm machinery needs to be processed so as to continue working.
Disclosure of Invention
The technical problem to be solved by the application is how to process a failed agricultural machine and continue cooperative work if the agricultural machine fails when the agricultural machine cluster is cooperatively operated.
The fault processing method of the agricultural machinery cluster comprises the following steps:
detecting whether each agricultural machine in the farm machine group has a fault or not when the farm machine group works cooperatively;
when detecting that an agricultural machine in the agricultural machine cluster has a fault, suspending the operation of the agricultural machine cluster and judging whether the running direction of the faulty agricultural machine is controllable;
when the running direction of the fault agricultural machine is controllable, controlling the fault agricultural machine to move to a position outside the operation area of the agricultural machine cluster;
and removing the failed farm machines in the farm machine cluster to form a new farm machine cluster, and performing operation planning on the new farm machine cluster again.
Further, the method for processing the fault of the farm machinery cluster further comprises the following steps:
when the running direction of the fault agricultural machine is not controllable, setting the area where the fault agricultural machine is located as a fault area;
removing the fault area from the original operation area to generate a new operation area;
the new operation planning for the new farm machinery group comprises the following steps: and according to the new operation area, performing operation planning again on the new farm machinery group.
Further, the judging whether the driving direction of the failed agricultural machine is controllable comprises:
sending a test instruction for running in a preset direction and at a preset speed to the failed agricultural machine;
judging whether the faulty agricultural machine moves towards a preset direction or not; if the fault agricultural machine moves towards the preset direction, the running direction of the fault agricultural machine is judged to be controllable; if not, the driving direction of the fault agricultural machine is determined to be uncontrollable.
Further, the detecting whether each farm machine in the farm machine cluster has a fault when the farm machine cluster is cooperatively operated includes:
acquiring running state parameters of each agricultural machine in an agricultural machine cluster;
judging whether the running state parameters of the agricultural machine reach the set target value or not; when the running state parameters of the agricultural machine are different from the set target values, the agricultural machine has a fault.
On the other hand, the present application further provides a fault handling device for an agricultural machinery group, which includes:
the detection module is used for detecting whether each agricultural machine in the agricultural machine cluster has a fault or not when the agricultural machine cluster cooperatively works;
the judging module is used for suspending the operation of the farm machine cluster when detecting that the farm machine in the farm machine cluster has a fault, and judging whether the running direction of the fault farm machine is controllable;
the agricultural machine moving module is used for controlling the fault agricultural machine to move to a position outside the operation area of the agricultural machine cluster when the running direction of the fault agricultural machine is controllable;
and the planning module is used for removing the failed agricultural machine in the agricultural machine cluster to form a new agricultural machine cluster and carrying out operation planning on the new agricultural machine cluster again.
Further, still include:
the setting module is used for setting the area where the fault agricultural machine is located as a fault area when the running direction of the fault agricultural machine is not controllable;
the generating module is used for removing the fault area from the original operation area to generate a new operation area;
the planning module is specifically configured to: and according to the new operation area, performing operation planning again on the new farm machinery group.
Further, the judging module comprises:
the test instruction sending submodule is used for sending a test instruction for driving in a preset direction and at a preset speed to the failed agricultural machine;
the judging submodule is used for judging whether the fault agricultural machine moves towards the preset direction or not; if the fault agricultural machine moves towards the preset direction, the running direction of the fault agricultural machine is judged to be controllable; if not, the driving direction of the fault agricultural machine is determined to be uncontrollable.
Further, the detection module includes:
the acquisition submodule is used for acquiring the running state parameters of each agricultural machine in the agricultural machine cluster;
the detection submodule is used for judging whether the driving state parameters of the agricultural machine reach the set target value or not; when the running state parameters of the agricultural machine are different from the set target values, the agricultural machine has a fault.
On the other hand, the application also provides a cloud control device which is provided with a processor; the processor is used for running a program, and the program executes the fault processing method of any one of the farm machinery clusters during running.
On the other hand, this application has still proposed an agricultural machinery system, and this agricultural machinery system includes: the cloud control equipment and the farm machinery group proposed in the above parts; the farm machine group comprises a plurality of farm machines capable of working cooperatively.
In this application, high in the clouds controlgear constantly detects each agricultural machinery in the agricultural machinery crowd and whether has the trouble, consequently can in time discover the trouble agricultural machinery that exists in the agricultural machinery crowd, avoids bringing serious loss because of the agricultural machinery trouble. When the agricultural machinery fault is detected, corresponding processing is carried out on the agricultural machinery with the fault, operation planning is carried out again, and the influence caused by the agricultural machinery fault is reduced.
Further, in some schemes, when a fault occurs in the farm machine cluster, different fault conditions are respectively processed. And when the running direction of the fault agricultural machine is controllable, the fault agricultural machine is moved out of the original operation area. And when the driving direction of the fault agricultural machine is not controllable, removing the area where the fault agricultural machine is located from the original operation area. Therefore, the influence on the original cluster operation planning can be reduced to the greatest extent.
Drawings
Fig. 1 is a flowchart of a method for processing a fault of an agricultural machinery farm in an embodiment of the present application.
Fig. 2 is a second flowchart of a method for handling a fault of an agricultural machinery farm in an embodiment of the present application.
Fig. 3 is a third flowchart of a method for handling a fault of an agricultural machinery farm in an embodiment of the present application.
Fig. 4 is a fourth flowchart of a method for handling a fault of an agricultural machinery farm in an embodiment of the present application.
Fig. 5 is a schematic block diagram of a fault handling device of an agricultural machinery farm in an embodiment of the present application.
FIG. 6 is a schematic block diagram of an agricultural machine system in an embodiment of the present application.
FIG. 7 is a schematic block diagram of an agricultural machine in an embodiment of the present application.
Detailed Description
The following are specific embodiments of the present application and are further described with reference to the drawings, but the present application is not limited to these embodiments. In the following description, specific details such as specific configurations and components are provided only to help the embodiments of the present application be fully understood. Accordingly, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
In addition, the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
Example one
Referring to fig. 1, the present embodiment provides a method for handling a fault of an agricultural machinery farm. The method for processing the fault of the farm machinery cluster comprises the steps S101 to S104. The following describes the method for handling the faults of the farm machinery group in detail with reference to the accompanying drawings.
Step S101, detecting whether each farm machine in the farm machine cluster has a fault when the farm machine cluster works cooperatively.
In the embodiment of the application, the agricultural machine can be: a tractor, a harvester and a tillage planter. The working process of different types of agricultural machines can be divided into two parts: running and operation, wherein the running refers to the movement of the agricultural machinery in the field according to the requirements; the operation means that the agricultural machine interacts with farmlands, crops and other agricultural machines.
Referring to fig. 6, the agricultural machine system in the present embodiment includes: the system comprises cloud control equipment and an agricultural machinery cluster; the farm machine cluster consists of a plurality of farm machines and is used for cooperative operation. The cloud control equipment can be communicated with the farm machine cluster to coordinate and control each farm machine in the farm machine cluster, and the cooperative work of the farm machine cluster is realized.
Referring to fig. 7, the agricultural machine has the following constituent parts: the device comprises a controller, a running system, a vehicle state acquisition device, a driving parameter acquisition device, a positioning device and a communication module.
The controller is used for controlling the whole vehicle, is an information center of an agricultural machinery system, and can be operated with a control program.
And the running system is used for driving the vehicle to run in the field and the environment, transmitting and converting the power of the prime mover and driving the running mechanism of the agricultural machine to run. The running system comprises a driving system, a braking system, a steering system and the like, and is controlled and adjusted by the controller.
And the vehicle state acquisition device is used for acquiring state parameters of the agricultural machinery and inputting the state parameters into the controller. Further, the vehicle state acquisition device can be used for the operating speed of agricultural machinery. Further, in some embodiments, the vehicle condition acquisition device may also be used to acquire acceleration of the agricultural machine.
And the driving parameter acquisition device is used for acquiring the driving information of the driver. Further, the driving information of the driver is input into the controller through the driving parameter acquisition device.
And the positioning device is used for acquiring the current geographical position information of the agricultural machine and inputting the information into the controller.
And the communication module is used for communication between the controller and the cloud control equipment. The communication module can be used for uploading local measurement information to the cloud control device and receiving a control instruction issued by the cloud control device.
Cloud end controlgear, cloud end controlgear can carry out data interchange through the controller of communication module with the agricultural machinery to carry out state monitoring, remote driving, remote operation to the agricultural machinery through the controller. The cloud control device can access the cloud database to obtain data services such as query, search, inference and fusion of data such as maps, videos and sounds.
It should be understood that the above component configurations of agricultural machines are only exemplary, and there are differences in component configurations and divisions of functional devices for different types of agricultural machines.
The local driver drives the agricultural machinery through a driving device, and the driving device comprises an accelerator pedal, a brake pedal, a steering wheel, a handle, a button and other control switches. The driving parameter acquisition device can acquire the operation information generated by the driving devices and input the operation information into the controller so as to control the agricultural machinery according to the driving intention of the driver. It should be noted that, in a normal situation, the farm machinery group in this embodiment performs coordination operation under the control of the cloud control device, and a local driver is not necessarily required to be set.
And the cloud driver controls the farm machinery group through the cloud control equipment.
It should be understood that the above is only an exemplary explanation and illustration of the farm machinery group, farm machinery, and farm machinery system for the present embodiment, and the actual situation can be adjusted accordingly.
The farm machinery group works cooperatively under the control of the cloud control equipment. When the farm machinery in the farm machinery cluster is in failure, the operation of the whole farm machinery cluster can be influenced. Therefore, when a certain farm machine in the farm machine cluster is in fault, corresponding processing is needed so as to reduce the influence on the whole farm machine cluster and enable the remaining farm machines to form a new farm machine cluster to continue operation. When the farm machine cluster works, the cloud control equipment continuously carries out fault detection on each farm machine, so that the fault farm machines in the farm machine cluster can be found in time, and the adverse effect caused by the fault is reduced. In addition, the fault detection means of the agricultural machine can be in various forms, for example, related sensors are arranged at key positions for monitoring.
With further reference to fig. 4, in step S101, the detecting whether each farm machine in the farm machine group has a fault when the farm machine group is working cooperatively includes:
step S401, obtaining the driving state parameters of each agricultural machine in the agricultural machine cluster.
Step S402, judging whether the running state parameters of the agricultural machinery reach the set target values or not; when the running state parameters of the agricultural machine are different from the set target values, the agricultural machine has a fault.
Under normal conditions, the cloud control device sends a control instruction to the controller of the agricultural machinery to control the operation of the agricultural machinery, and the agricultural machinery can reach a preset operation state according to the control instruction. When the agricultural machine can not reach the set running state within the set time, the agricultural machine can be judged to have a fault.
The driving state parameters in step S401 and step S402 may be: the driving speed of the agricultural machine, the position information of the agricultural machine, the steering angle of the agricultural machine and other parameters. Further, the driving state parameter herein may include various parameters. Further, when the cloud control device controls and sets the multiple running state parameters of the agricultural machine, whether the agricultural machine has a fault or not can be determined according to the multiple running state parameters, and the agricultural machine can be considered to be in a normal state only when the multiple running state parameters reach the set target values within the set time.
In some embodiments, the running state parameter in step S401 and step S402 is a running speed. Specifically, when the cloud control device sends a control command to the agricultural machinery controller, the control command enables the agricultural machinery to run at a set speed, for example, 3 km/h; the cloud control device continuously detects the running speed of the agricultural machine, and after the set time, if the motion control device detects that the actual running speed of the agricultural machine does not reach the set speed, the agricultural machine is judged to be a fault agricultural machine.
And S102, when detecting that the farm machine in the farm machine cluster has a fault, suspending the operation of the farm machine cluster and judging whether the running direction of the fault farm machine is controllable.
When the agricultural machine has a fault, the cloud control equipment firstly stops the operation process of the whole agricultural machine cluster, so that the occurrence of an accident situation is prevented. Then, whether the traveling direction of the malfunctioning agricultural machine can be controlled is detected.
With further reference to fig. 3, in step S102, the determining whether the driving direction of the failed agricultural machine is controllable includes:
step S301, sending a test instruction of running in a preset direction and at a preset speed to a failed agricultural machine;
step S302, judging whether the fault agricultural machine moves towards a preset direction; if the fault agricultural machine moves towards the preset direction, the running direction of the fault agricultural machine is judged to be controllable; if not, the driving direction of the fault agricultural machine is determined to be uncontrollable.
Specifically, the cloud control device sends a test instruction to the agricultural machinery, and the test instruction is used for controlling the agricultural machinery to run in a preset direction and at a preset speed. The preset speed is lower than the running speed in normal work and is a smaller speed value.
Further, if the fault agricultural machine can move in the direction indicated by the test instruction, the fault agricultural machine is considered to still have the direction control capability; if the fault agricultural machine does not move in the direction indicated by the test instruction, the fault agricultural machine is considered to lose the direction control capability.
And step S103, when the running direction of the fault agricultural machine is controllable, controlling the fault agricultural machine to move to a position outside the working area of the agricultural machine cluster.
The agricultural machine cluster carries out operation in the operation area, and when the direction of the agricultural machine with the fault is controllable, the cloud control device controls the agricultural machine to move to a position outside the operation area. Specifically, the farm machinery group is composed of a plurality of harvesters and is used for harvesting grain crops in a fixed area. When one of the harvesters is in fault and the fault harvester can move according to the direction of the control instruction, the fault harvester can be controlled to move out of the working area.
And step S104, removing the failed agricultural machine in the agricultural machine cluster to form a new agricultural machine cluster, and performing operation planning on the new agricultural machine cluster again.
And moving the failed agricultural machine to a position outside the operation area of the agricultural machine cluster, so that the number of the agricultural machines is changed. Therefore, the remaining agricultural machines constitute a new farm machine group and undertake the original operation tasks. The operation plan is an operation plan of each agricultural machine in the agricultural machine cluster, namely a task borne by each agricultural machine in the agricultural machine cluster. For example, an agricultural machine farm is a plurality of harvesters, and the work plan is the harvesting line of each harvester in the farm.
Referring to fig. 2, in some embodiments, the method for handling the fault of the farm machinery group further includes:
step S201, when the driving direction of a fault agricultural machine is not controllable, setting an area where the fault agricultural machine is located as a fault area;
step S202, removing the fault area from the original operation area to generate a new operation area;
step S203, the new farm machinery group operation planning includes: and according to the new operation area, performing operation planning again on the new farm machinery group.
In steps S201 to S203, when the cloud control device cannot control the movement direction of the faulty agricultural machine, the faulty area is removed from the original area to generate a new working area. At this time, the number of agricultural machines is reduced, and the working area is changed accordingly. And the cloud control equipment performs operation planning on the new farm machine group according to the new operation area.
It should be noted that, when the farm machinery group works cooperatively, if some farm machinery therein fails, the operation of the whole farm machinery group will be seriously affected. Therefore, when the farm machinery group works cooperatively, if any farm machinery fails, the failed farm machinery needs to be processed so as to continue working.
In this embodiment, the cloud control device continuously detects whether each farm machine in the farm machine cluster has a fault, so that the faulty farm machine in the farm machine cluster can be found in time, and serious loss caused by the fault of the farm machine is avoided. When the agricultural machinery fault is detected, corresponding processing is carried out on the agricultural machinery with the fault, operation planning is carried out again, and the influence caused by the agricultural machinery fault is reduced.
In addition, in the embodiment, when a fault agricultural machine occurs in the farm machine cluster, different fault conditions are respectively processed. And when the running direction of the fault agricultural machine is controllable, the fault agricultural machine is moved out of the original operation area. And when the driving direction of the fault agricultural machine is not controllable, removing the area where the fault agricultural machine is located from the original operation area. Therefore, the influence on the original cluster operation planning can be reduced to the greatest extent.
The following describes a method for handling a fault of the farm machinery farm by using a specific example.
The three harvesters form a cluster to carry out cooperative operation, and are connected and communicated through a network to jointly carry out cooperative operation in an operation area. The planning scheme is as follows: the left and right spacing of three agricultural machines is 0.1 meter, the front and back spacing is 15 meters, the running speed is 5Km/h, and the one-time harvesting width is 3 multiplied by 4 which is 12 meters.
When the farm machinery cluster works in a cooperative mode, the cloud driver outputs a driving instruction, and the driving instruction is sent to each harvester controller in the farm machinery cluster through the cloud control equipment to control the three harvesters to work in a cooperative mode. Meanwhile, the cloud control equipment collects the running state parameters and the geographic position information of each harvester and is used for state monitoring and control.
In the cooperative operation process of the farm machinery group, one harvester in the farm machinery group breaks down: the actual speed does not reach the target travel speed. At this time, the cloud control equipment performs the following processing on the harvester group:
and (4) suspending the operation of the harvester group, including all the cooperating harvesters in the farm machine group.
Testing the operability of the fault harvester: sending a smaller target speed of 1Km/h to the fault harvester, monitoring the actual speed of the fault harvester to be 0.3Km/h, and responding in the expected speed direction, which indicates that the fault harvester is limited and controllable;
moving the malfunctioning harvester to a safe location: through testing, the fault harvester is limited and controllable, the position of the fault harvester is controlled, and the harvester is moved to a safe place outside a working area;
and (3) replanning the cluster operation process: after the harvesters in the farm machinery cluster are in failure, the number of the harvesters in the cluster is changed from three to two. After the number of the harvesters is changed, the operation process of the machine group needs to be re-planned to obtain a new planning scheme: the left and right spacing of the two agricultural machines is 0.1 meter, the front and back spacing is 15 meters, the running speed is 5Km/h, and the one-time harvesting width is 2 multiplied by 4 to 8 meters;
restarting the cluster operation process: the cloud control equipment controls the two agricultural machines to form a new machine group, and the operation is restarted according to a new planning scheme.
Example two
In this embodiment, a fault handling device for an agricultural machinery farm is provided, and referring to fig. 5, the fault handling device for the agricultural machinery farm includes: the system comprises a detection module 501, a judgment module 502, an agricultural machinery moving module 503 and a planning module 504. The following describes the fault handling device of the farm machinery group in detail with reference to the accompanying drawings.
The detecting module 501 is configured to detect whether each farm machine in the farm machine cluster has a fault when the farm machine cluster cooperatively works.
In the detection module 501, when the farm machine cluster operates, the cloud control device continuously performs fault detection on each farm machine, so that a faulty farm machine in the farm machine cluster can be found in time, and further, adverse effects caused by faults are reduced. In addition, the fault detection means of the agricultural machine can be in various forms, for example, related sensors are arranged at key positions for monitoring.
Further, the detection module 501 includes:
the acquisition submodule is used for acquiring the running state parameters of each agricultural machine in the agricultural machine cluster;
the detection submodule is used for judging whether the driving state parameters of the agricultural machine reach the set target value or not; when the running state parameters of the agricultural machine are different from the set target values, the agricultural machine has a fault.
Under normal conditions, the cloud control device sends a control instruction to the controller of the agricultural machinery to control the operation of the agricultural machinery, and the agricultural machinery can reach a preset operation state according to the control instruction. When the agricultural machine can not reach the set running state within the set time, the agricultural machine can be judged to have a fault.
The driving state parameters in the acquisition submodule and the detection submodule can be: the driving speed of the agricultural machine, the position information of the agricultural machine, the steering angle of the agricultural machine and other parameters. Further, the driving state parameter herein may include various parameters. Further, when the cloud control device controls and sets the multiple running state parameters of the agricultural machine, whether the agricultural machine has a fault or not can be determined according to the multiple running state parameters, and the agricultural machine can be considered to be in a normal state only when the multiple running state parameters reach the set target values within the set time.
In some embodiments, the driving state parameter in the acquisition submodule and the detection submodule is a driving speed. Specifically, when the cloud control device sends a control command to the agricultural machinery controller, the control command enables the agricultural machinery to run at a set speed, for example, 3 km/h; the cloud control device continuously detects the running speed of the agricultural machine, and after the set time, if the motion control device detects that the actual running speed of the agricultural machine does not reach the set speed, the agricultural machine is judged to be a fault agricultural machine.
The judging module 502 is configured to suspend operation of the farm machine cluster when it is detected that an agricultural machine in the farm machine cluster has a fault, and judge whether a driving direction of the faulty agricultural machine is controllable.
In the determining module 502, when the farm machine has a fault, the cloud control device first stops the operation process of the whole farm machine cluster, so as to prevent an accident. Then, whether the traveling direction of the malfunctioning agricultural machine can be controlled is detected.
Further, the determining module 502 includes:
the test instruction sending submodule is used for sending a test instruction for driving in a preset direction and at a preset speed to the failed agricultural machine;
the judging submodule is used for judging whether the fault agricultural machine moves towards the preset direction or not; if the fault agricultural machine moves towards the preset direction, the running direction of the fault agricultural machine is judged to be controllable; if not, the driving direction of the fault agricultural machine is determined to be uncontrollable.
Specifically, the cloud control device sends a test instruction to the agricultural machinery, and the test instruction is used for controlling the agricultural machinery to run in a preset direction and at a preset speed. The preset speed is lower than the running speed in normal work and is a smaller speed value.
Further, if the fault agricultural machine can move in the direction indicated by the test instruction, the fault agricultural machine is considered to still have the direction control capability; if the fault agricultural machine does not move in the direction indicated by the test instruction, the fault agricultural machine is considered to lose the direction control capability.
And the agricultural machine moving module 503 is used for controlling the fault agricultural machine to move to a position outside the working area of the agricultural machine cluster when the driving direction of the fault agricultural machine is controllable.
The agricultural machine cluster carries out operation in the operation area, and when the direction of the agricultural machine with the fault is controllable, the cloud control device controls the agricultural machine to move to a position outside the operation area. Specifically, the farm machinery group is composed of a plurality of harvesters and is used for harvesting grain crops in a fixed area. When one of the harvesters is in fault and the fault harvester can move according to the direction of the control instruction, the fault harvester can be controlled to move out of the working area.
And the planning module 504 is configured to remove a faulty farm machine in the farm machine cluster to form a new farm machine cluster, and perform operation planning again on the new farm machine cluster.
And moving the failed agricultural machine to a position outside the operation area of the agricultural machine cluster, so that the number of the agricultural machines is changed. Therefore, the remaining agricultural machines constitute a new farm machine group and undertake the original operation tasks. The operation plan is an operation plan of each agricultural machine in the agricultural machine cluster, namely a task borne by each agricultural machine in the agricultural machine cluster. For example, an agricultural machine farm is a plurality of harvesters, and the work plan is the harvesting line of each harvester in the farm.
Further, the fault handling device of the farm machinery group further comprises:
the setting module is used for setting the area where the fault agricultural machine is located as a fault area when the running direction of the fault agricultural machine is not controllable;
the generating module is used for removing the fault area from the original operation area to generate a new operation area;
the planning module is specifically configured to: and according to the new operation area, performing operation planning again on the new farm machinery group.
And when the cloud control equipment cannot control the movement direction of the faulty agricultural machine, removing the faulty area from the original area to generate a new operation area. At this time, the number of agricultural machines is reduced, and the working area is changed accordingly. And the cloud control equipment performs operation planning on the new farm machine group according to the new operation area.
It should be noted that, when the farm machinery group works cooperatively, if some farm machinery therein fails, the operation of the whole farm machinery group will be seriously affected. Therefore, when the farm machinery group works cooperatively, if any farm machinery fails, the failed farm machinery needs to be processed so as to continue working.
In this application, high in the clouds controlgear constantly detects each agricultural machinery in the agricultural machinery crowd and whether has the trouble, consequently can in time discover the trouble agricultural machinery that exists in the agricultural machinery crowd, avoids bringing serious loss because of the agricultural machinery trouble. When the agricultural machinery fault is detected, corresponding processing is carried out on the agricultural machinery with the fault, operation planning is carried out again, and the influence caused by the agricultural machinery fault is reduced.
In addition, in the embodiment, when a fault agricultural machine occurs in the farm machine cluster, different fault conditions are respectively processed. And when the running direction of the fault agricultural machine is controllable, the fault agricultural machine is moved out of the original operation area. And when the driving direction of the fault agricultural machine is not controllable, removing the area where the fault agricultural machine is located from the original operation area. Therefore, the influence on the original cluster operation planning can be reduced to the greatest extent.
EXAMPLE III
The embodiment provides a cloud control device, and the agricultural machine is provided with a processor; the processor is used for running a program, and the program executes the fault handling method of the farm machinery group provided in the first embodiment during running. For avoiding repetition, the related contents can be referred to the description of the previous part, and are not described herein again.
Example four
This embodiment has proposed an agricultural machinery system, and this agricultural machinery system includes: the cloud control device and the farm machinery group provided in the third embodiment; the farm machine group comprises a plurality of farm machines capable of working cooperatively. For avoiding repetition, the related contents can be referred to the description of the previous part, and are not described herein again.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It should be understood that the steps described above are not in the exact order of execution and that all changes that can be envisioned and do not affect the implementation of the functions are intended to be within the scope of the invention.
Are understood to indicate or imply relative importance or implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the embodiments provided in the present invention, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The specific embodiments described herein are merely illustrative of the spirit of the application. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the present application as defined by the appended claims.

Claims (10)

1. A fault processing method for an agricultural machinery group is characterized by comprising the following steps:
detecting whether each agricultural machine in the farm machine group has a fault or not when the farm machine group works cooperatively;
when detecting that an agricultural machine in the agricultural machine cluster has a fault, suspending the operation of the agricultural machine cluster and judging whether the running direction of the faulty agricultural machine is controllable;
when the running direction of the fault agricultural machine is controllable, controlling the fault agricultural machine to move to a position outside the operation area of the agricultural machine cluster;
and removing the failed farm machines in the farm machine cluster to form a new farm machine cluster, and performing operation planning on the new farm machine cluster again.
2. The method for handling the faults of the farm machinery group according to claim 1, further comprising:
when the running direction of the fault agricultural machine is not controllable, setting the area where the fault agricultural machine is located as a fault area;
removing the fault area from the original operation area to generate a new operation area;
the new operation planning for the new farm machinery group comprises the following steps: and according to the new operation area, performing operation planning again on the new farm machinery group.
3. The method for processing the fault of the farm machinery cluster according to claim 1, wherein the step of judging whether the driving direction of the faulty farm machinery is controllable comprises the steps of:
sending a test instruction for running in a preset direction and at a preset speed to the failed agricultural machine;
judging whether the faulty agricultural machine moves towards a preset direction or not; if the fault agricultural machine moves towards the preset direction, the running direction of the fault agricultural machine is judged to be controllable; if not, the driving direction of the fault agricultural machine is determined to be uncontrollable.
4. The method for processing the fault of the farm machine cluster according to claim 1, wherein the detecting whether the fault exists in each farm machine in the farm machine cluster when the farm machine cluster is working cooperatively comprises:
acquiring running state parameters of each agricultural machine in an agricultural machine cluster;
judging whether the running state parameters of the agricultural machine reach the set target value or not; when the running state parameters of the agricultural machine are different from the set target values, the agricultural machine has a fault.
5. A fault handling device for an agricultural machinery farm, comprising:
the detection module is used for detecting whether each agricultural machine in the agricultural machine cluster has a fault or not when the agricultural machine cluster cooperatively works;
the judging module is used for suspending the operation of the farm machine cluster when detecting that the farm machine in the farm machine cluster has a fault, and judging whether the running direction of the fault farm machine is controllable;
the agricultural machine moving module is used for controlling the fault agricultural machine to move to a position outside the operation area of the agricultural machine cluster when the running direction of the fault agricultural machine is controllable;
and the planning module is used for removing the failed agricultural machine in the agricultural machine cluster to form a new agricultural machine cluster and carrying out operation planning on the new agricultural machine cluster again.
6. The apparatus for handling the failure of the farm machinery farm according to claim 5, further comprising:
the setting module is used for setting the area where the fault agricultural machine is located as a fault area when the running direction of the fault agricultural machine is not controllable;
the generating module is used for removing the fault area from the original operation area to generate a new operation area;
the planning module is specifically configured to: and according to the new operation area, performing operation planning again on the new farm machinery group.
7. The device for processing the fault of the farm machinery group according to claim 5, wherein the judging module comprises:
the test instruction sending submodule is used for sending a test instruction for driving in a preset direction and at a preset speed to the failed agricultural machine;
the judging submodule is used for judging whether the fault agricultural machine moves towards the preset direction or not; if the fault agricultural machine moves towards the preset direction, the running direction of the fault agricultural machine is judged to be controllable; if not, the driving direction of the fault agricultural machine is determined to be uncontrollable.
8. The device for handling the faults of the farm machinery group according to claim 5, wherein the detection module comprises:
the acquisition submodule is used for acquiring the running state parameters of each agricultural machine in the agricultural machine cluster;
the detection submodule is used for judging whether the driving state parameters of the agricultural machine reach the set target value or not; when the running state parameters of the agricultural machine are different from the set target values, the agricultural machine has a fault.
9. The cloud control device is characterized by comprising a processor; wherein the processor is configured to run a program, the program being configured to perform the method for handling a fault in an agricultural farm machinery deck according to any one of claims 1 to 4.
10. An agricultural machine system, comprising: the cloud control device of claim 9, and an agricultural machine farm; the farm machine group comprises a plurality of farm machines capable of working cooperatively.
CN202010748426.0A 2020-07-30 2020-07-30 Fault processing method and device for agricultural machine cluster, cloud control equipment and agricultural machine system Withdrawn CN112101705A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116300659A (en) * 2023-05-17 2023-06-23 北京博创联动科技有限公司 Cooperative control method and control system for agricultural machinery group
CN116339289A (en) * 2023-05-19 2023-06-27 济南大学 Unmanned harvester group vehicle-mounted fault diagnosis system and method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116300659A (en) * 2023-05-17 2023-06-23 北京博创联动科技有限公司 Cooperative control method and control system for agricultural machinery group
CN116300659B (en) * 2023-05-17 2023-07-25 北京博创联动科技有限公司 Cooperative control method and control system for agricultural machinery group
CN116339289A (en) * 2023-05-19 2023-06-27 济南大学 Unmanned harvester group vehicle-mounted fault diagnosis system and method

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