CN113625615A - Unmanned tractor and harvester cooperative operation system and control method - Google Patents
Unmanned tractor and harvester cooperative operation system and control method Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
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- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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- G—PHYSICS
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Abstract
The cooperative operation system comprises an unmanned harvester system and an unmanned tractor system, wherein a harvester ad hoc network device is connected with a tractor ad hoc network device through a wireless communication module, so that the unmanned harvester system and the unmanned tractor system realize data and control instruction communication, information interaction is carried out, corresponding processing is carried out through respective complete machine control modules, and cooperative operation is completed. The harvesting-grain transporting cooperative operation technology meets the requirements of single-side or multi-side grain unloading and grain transporting through the planning of cooperative paths and cooperative modes, realizes the uninterrupted harvesting operation during the grain unloading and grain transporting, and greatly improves the harvesting operation efficiency.
Description
Technical Field
The invention relates to the technical field of harvesting operation robot control, in particular to a collaborative operation system and a control method for an unmanned tractor and a harvester.
Background
At present, agricultural labor resources are in short supply, the proportion of old-age labor is over 60 percent, non-farming loss is accelerated, the problems of unmanned planting and unmanned harvesting are increasingly highlighted, and the demand of unmanned on the sale market of harvesters including paddy field and dry farmland areas, especially large farms, is stronger in future. In order to improve the agricultural production efficiency and reduce the agricultural labor intensity, the intellectualization of the agricultural machinery is rapidly developed. The development progress of the domestic unmanned harvester and the collaborative operation system mainly comprises the following steps: the parameters of key parts of the harvester are monitored, displayed and alarmed, such as a fan, a threshing cylinder, a re-threshing device, a chopper, an engine and the like, and a basic monitoring system is constructed. Fault self-diagnosis, operation condition monitoring, operation quality tracking and monitoring and the like in the working process are all in laboratory stages. Automatic driving systems are added in part of models, and unmanned driving is achieved preliminarily.
Most of the foreign advanced combine harvesters realize on-line detection of harvested crop information and part operation conditions, can adjust working parameters thereof, and largely apply advanced control systems to realize automatic and unmanned driving, constant-speed control of threshing cylinders, automatic control of operation speed, on-line monitoring of crop moisture content and yield and the like. The intelligent management and automatic adjustment of various working information in the harvesting process are realized by widely adopting a data acquisition technology and an intelligent control technology, the intellectualization and informatization of the combine harvester are continuously improved, and the development trend of the future is to continuously improve the remote fault diagnosis capability.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a collaborative operation system and a control method for an unmanned tractor and a harvester. The operation condition of the harvester is judged through the unmanned harvester vehicle controller in the harvest-grain transportation cooperative operation, relevant fault information and working state information are sent to the tractor self-organized network equipment through the harvester self-organized network equipment, and then the information is sent to the unmanned tractor vehicle controller through the tractor self-organized network equipment for corresponding processing, so that the harvester and the tractor can be timely and reliably coordinated under the fault state or the abnormal working state, and the harvest-grain transportation cooperative operation is safe and reliable.
The technical scheme adopted by the invention is as follows: an unmanned tractor and harvester cooperative operation system comprises an unmanned harvester system and an unmanned tractor system;
the unmanned tractor system comprises a tractor whole machine control module, a tractor navigation control module, a tractor remote control module, a tractor safety control module and tractor self-organizing network equipment; the tractor navigation control module is connected with the tractor whole machine control module and the tractor self-organizing network equipment, and the tractor whole machine control module is connected with the tractor remote control module and the tractor safety control module;
the unmanned harvester system comprises a whole harvester control module, a harvester navigation control module, a harvester remote control module, a harvester safety control module and self-organized network equipment of the harvester; the harvester navigation control module is connected with the whole harvester control module and the self-organizing network equipment of the harvester, and the whole harvester control module is connected with the harvester remote control module and the harvester safety control module;
the unmanned harvester system and the unmanned tractor system realize data and control instruction communication through the wireless communication module, perform information interaction, perform corresponding processing through respective complete machine control modules, and complete cooperative operation.
As a preferred scheme, information received by the tractor ad hoc network device from the harvester ad hoc network device is sent to a tractor whole machine control module through a bus, the tractor whole machine control module mainly comprises a vehicle speed signal, a whole vehicle braking signal and a starting signal according to the information sent by the ad hoc network and related information of cooperative work sent by other controllers, the vehicle speed signal, the whole vehicle braking signal and the starting signal are sent to the tractor whole machine control module through a tractor unmanned bus, and the tractor whole machine control module executes requested vehicle speed, braking and starting functions.
As a preferred scheme, the tractor navigation control module or the harvester navigation controller performs path planning, plans path information of another vehicle according to cooperative vehicle information and longitudinal distance and transverse distance requirements during cooperation, and sends related path information to the cooperative vehicle through ad hoc network radio equipment to perform cooperative operation. In the cooperation process, the whole harvester control module and the whole tractor control module can correspondingly adjust the whole vehicle control parameters through the information of self-networking interaction, including position information and speed information.
As a preferred scheme, the whole harvester control module judges that the harvester is in an unmanned state according to signal input, and the navigation controller sends the position information of the harvester through a CAN bus to judge whether the vehicle enters an operation area;
if the vehicle enters the ground, starting a harvesting operation state, and simultaneously carrying out coordinated instruction scheduling between the harvester and the tractor through the self-organized network equipment of the harvester and the self-organized network equipment of the tractor to enable the two to reach a coordinated state, after the longitudinal distance and the transverse distance between the two vehicles are met, sending a grain unloading request by a complete machine control module of the harvester, sending a state of a grain unloading cylinder by a controller of the harvester after the grain unloading cylinder extends out, activating a grain unloading command in a grain unloading coordinated stable state after a navigation control module of the harvester receives the state information of the grain unloading cylinder, sending a grain unloading clutch request by the complete machine control module of the harvester, combining grain unloading clutches and starting coordinated grain unloading, and sending that the vehicle is unloading grains by the self-organized network equipment of the harvester;
if the cooperative grain unloading state is unstable and exceeds a certain time t1 during the cooperative grain unloading period, the whole harvester controller requests to immediately close the grain unloading clutch, and after the grain unloading clutch is closed, the whole harvester controller allows the grain unloading clutch to be recombined to unload grains until the grain unloading cooperative state is stable and is kept for t2 time;
if the grain is being unloaded, the vehicle sent by the harvester navigation control module is received to be in a non-operation area or a ground outlet point, and the whole harvester controller closes the grain unloading clutch and withdraws the grain unloading cylinder.
As a preferred scheme, the navigation control module of the harvester comprises a navigation controller, an electric steering wheel, a steering sensor, a differential reference station, a vehicle-mounted display, a satellite positioning antenna and a radio station antenna; the vehicle-mounted display acquires a differential reference station signal, carries out path planning and recording, and the navigation controller acquires the current position information of the harvester through the steering sensor, carries out feedback control according to the planned path, ensures real-time path tracking and realizes automatic navigation of the harvester; and simultaneously, sending position information and speed information related to the cooperative work to the ad hoc network for information interaction.
As a preferred scheme, the harvester safety control module receives a remote controller request signal and a vehicle control unit signal request through a CAN bus, and performs corresponding early warning and safety processing, mainly including whistling, braking and emergency stop; meanwhile, the harvester safety control module identifies the number, distance and speed of dynamic obstacles on the left side, the right side and the front side of the harvester through signals transmitted by the collected millimeter wave radar, determines the safety measure level of the whole harvester, and performs mode processing such as whistling, braking, sudden stop and the like; after the processing mode is sent to a whole vehicle bus through a CAN bus, a whole vehicle control module processes the current vehicle condition, and a tractor serving as a grain transporting vehicle adjusts the operation path and the vehicle speed according to the harvester through self-organized network equipment.
A control method of a collaborative operation system of an unmanned tractor and a harvester comprises the following steps:
s1, an operator powers on the harvester and the tractor, turns on a display terminal of the navigation controller, clicks a screen button at the upper right corner of the main interface, enters a satellite state interface, checks whether the differential base station signal is normal, and if the differential base station signal is normal, carries out the next step of work;
s2, powering on the self-organizing network equipment installed on the harvester and the tractor by an operator, waiting after the power-on, and carrying out the next step after confirming that the communication of the self-organizing network equipment is successful;
s3, one complete machine carries out path planning, a cooperative operation path of the harvester and the tractor is generated after the path planning, the vehicle transmits the generated cooperative operation path to the other vehicle through the self-organized network equipment, and the vehicle carries out automatic navigation according to the path;
s4, after an operator starts an engine through a remote controller, determining the height of the header according to information such as the maturity, the consistency and the dryness and humidity of wheat, adjusting the height of the header through the remote controller, and memorizing; then switching the working mode to the unmanned state for operation by closing the remote controller; then the tractor enters an unmanned driving state according to the same mode and follows the harvester to walk according to a path planned in advance;
s5, in the walking process, the whole-vehicle controller of the harvester can adjust the harvester in real time according to the working condition of the working device, the speed information can be continuously sent to the tractor through the self-organizing network device, and the tractor navigation controller and the whole-vehicle controller of the tractor can adjust the following speed according to the information so as to ensure the stability of the cooperative operation and the safe distance in the following period;
s6, the tractor is used as a grain transporting vehicle, if the grain transporting vehicle is full, another grain transporting vehicle is called to continuously carry out harvesting-grain transporting cooperative operation according to the same cooperative mode, and efficient, safe and continuous operation process is guaranteed.
The invention has the beneficial effects that:
the scheme is characterized in that the system is optimized, the self-organized network equipment of the harvester and the self-organized network equipment of the tractor are in wireless connection, so that the unmanned harvester system and the unmanned tractor system realize real-time data and control instruction communication, information interaction is carried out, corresponding processing is carried out through respective complete machine control modules, and cooperative operation is completed. The operation condition of the harvester is judged through the unmanned harvester vehicle controller in the harvest-grain transportation cooperative operation, relevant fault information and working state information are sent to the tractor self-organized network equipment through the harvester self-organized network equipment, and then the information is sent to the unmanned tractor vehicle controller through the tractor self-organized network equipment for corresponding processing, so that the harvester and the tractor can be timely and reliably coordinated under the fault state or the abnormal working state, and the harvest-grain transportation cooperative operation is safe and reliable.
The scheme also has the following technical effects:
firstly, in the cooperative operation system and the control method of the unmanned tractor and the harvester, different system operation modes and corresponding cooperative path planning can be selected according to different operation areas, and the adaptability is high.
Secondly, the safety controller of the unmanned harvester can judge dynamic barrier information, timely perform safety processing, and simultaneously send the information to the self-organized network equipment through the unmanned bus, so that the unmanned harvester and the tractor can timely communicate and exchange information, and the unmanned harvester and the tractor respectively perform corresponding processing through respective vehicle controllers: whistling, emergency braking, and obstacle detouring. The safety and the high efficiency of the cooperative operation are ensured.
In the unmanned tractor and the cooperative operation system of the harvester and the control method thereof, the harvest-grain transportation cooperative operation covers the whole processes of harvest, grain unloading and grain transportation operation, and the unmanned harvester and the unmanned tractor cooperatively operate, so that the problems of influence on a manipulator caused by severe harvest operation environment, short operation period and hand shortage are well solved.
The harvesting-grain transporting cooperative operation technology meets the requirements of single-side or double-side grain unloading and grain transporting through planning the cooperative path and the cooperative mode, realizes uninterrupted harvesting operation during the grain unloading and grain transporting period, and greatly improves the harvesting operation efficiency.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic diagram of the overall architecture of the cooperative operation system of the unmanned tractor and the harvester according to the present invention;
FIG. 2 is a flow chart of cooperative operation control of the control module of the whole unmanned tractor;
FIG. 3 is a flow chart of the collaborative path planning for the unmanned tractor and the harvester of the present invention;
FIG. 4 is a flow chart of unmanned operation control of the whole control module of the unmanned harvester of the present invention;
FIG. 5 is a flow chart of cooperative operation control of the whole control module of the unmanned harvester of the present invention;
FIG. 6 is a flow chart of the safety control module control of the unmanned harvester of the present invention.
Detailed Description
The invention is described in detail below by way of exemplary embodiments. It should be understood, however, that elements, structures and features of one embodiment may be beneficially incorporated in other embodiments without further recitation.
It should be noted that: unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of the terms "a" and "an" or "the" and similar referents in the description and claims of the present invention are not to be construed as limiting in number, but rather as indicating the presence of at least one. The word "comprise" or "comprises", and the like, indicates that the element or item listed before "comprises" or "comprising" covers the element or item listed after "comprising" or "comprises" and its equivalents, but does not exclude other elements or items having the same function.
The following describes the composition and operation of the systems in this embodiment in detail with reference to fig. 1 to 6:
fig. 1 is a schematic diagram of the overall architecture of the cooperative operation system of the unmanned tractor and the harvester according to the present invention. The unmanned tractor system comprises a tractor whole machine control module, a tractor navigation control module, a tractor remote control module, a tractor safety control module and tractor self-organizing network equipment; the tractor navigation control module is connected with the tractor whole machine control module and the tractor self-organizing network equipment, and the tractor whole machine control module is connected with the tractor remote control module and the tractor safety control module; the unmanned harvester system comprises a whole harvester control module, a harvester navigation control module, a harvester remote control module, a harvester safety control module and self-organized network equipment of the harvester; the harvester navigation control module is connected with the whole harvester control module and the self-organizing network equipment of the harvester, and the whole harvester control module is connected with the harvester remote control module and the harvester safety control module; the unmanned harvester system and the unmanned tractor system realize data and control instruction communication through the wireless communication module, perform information interaction, perform corresponding processing through respective complete machine control modules, and complete cooperative operation.
Fig. 2 shows a flow chart of cooperative work control of the whole unmanned tractor control module. The tractor self-organized network equipment receives information from the harvester self-organized network equipment and sends the information to the tractor whole machine control module through a bus, the whole machine control module mainly comprises a vehicle speed signal, a whole vehicle brake signal and a starting signal according to the information sent by the self-organized network and the related information of cooperative work sent by other controllers, and after the working state of the whole machine control module is judged, the functions of vehicle speed control, whistle and brake are executed, so that the safety and reliability of the cooperative work between the harvester and the tractor are ensured.
Fig. 3 shows a flow chart of the collaborative path planning of the unmanned tractor and the harvester according to the present invention. And the tractor navigation control module or the harvester navigation control module selects one of the tractor navigation control module and the harvester navigation control module to plan a path, after the navigation controller responsible for planning the path plans the path, the path information of the other vehicle is planned according to the cooperative vehicle information and the requirements of longitudinal distance and transverse distance in the cooperative period, and then the self-networking equipment sends the related path information to the cooperative vehicle to carry out cooperative operation. In the cooperative process, the whole harvester control module and the whole tractor control module can correspondingly adjust the whole vehicle control parameters through the information of self-networking interaction, including position information and speed information, so that the reliability and the safety of cooperative operation are ensured.
Fig. 4 is a flow chart of the unmanned operation control of the whole control module of the unmanned harvester according to the present invention. The whole machine control module of the harvester is in a unmanned operation control flow, which driving mode the harvester is in is judged according to signal input, if the operating mode =0, the driving mode is the manned driving mode, the whole vehicle controller controls various working devices according to the input of signals of a multifunctional handrail, a whole vehicle instrument, a sensor and the like, and the working devices comprise automatic adjustment of the rotating speed of a reel, adjustment of the rotating speed of a header, adjustment of the height of the header, control of screwing out and retracting of a grain unloading cylinder, control of a grain unloading clutch, adjustment of the angle of a grass guide plate and adjustment of a gravure gap; if the operating mode =1, the vehicle is in an unmanned driving mode, the vehicle control unit executes vehicle speed control, emergency brake control, header lifting control, grain unloading clutch and grain unloading cylinder expansion control requested by a CAN network of the navigation controller, and the vehicle control unit automatically stops after all operations are finished according to a planned path and hands on the vehicle. If the operating mode =2, the vehicle is in a remote control driving mode, and the vehicle control unit executes related actions according to signals transmitted by the transmitter of the remote controller, wherein the related actions mainly comprise remote starting, braking, scram, main clutch control, header clutch control, forward and backward control, steering control, grain unloading cylinder and grain unloading clutch control, vehicle speed lifting control and accelerator acceleration and deceleration control.
Fig. 5 is a flow chart of cooperative operation control of the whole control module of the unmanned harvester according to the present invention. The whole harvester control module judges that the harvester is in an unmanned state according to signal input, and the navigation controller sends the position information of the harvester through the CAN bus to judge whether the vehicle enters an operation area. If the vehicle enters the ground, the harvesting operation state is started, meanwhile, coordinated instruction scheduling between the harvester and the tractor is carried out through the self-organized network equipment of the harvester and the self-organized network equipment of the tractor, the two devices reach a coordinated state, after the longitudinal distance and the transverse distance between the two vehicles are met, the harvester control module sends a grain unloading request, the harvester controller sends a grain unloading cylinder state after the grain unloading cylinder extends out, the harvester navigation control module activates a grain unloading command under a grain unloading coordinated stable state after receiving the grain unloading cylinder state information, the harvester control module sends a grain unloading clutch request, grain unloading clutch is combined and starts to be coordinated with grain unloading, and the self-organized network equipment of the harvester sends that the vehicle is unloading grain. And during the cooperative grain unloading period, if the cooperative grain unloading state is unstable and exceeds a certain time t1, the whole harvester control module requests to immediately close the grain unloading clutch, and after the grain unloading clutch is closed, the whole harvester control module allows the grain unloading clutch to be recombined to unload the grain until the grain unloading cooperative state is stable and remains for t2 time. If the grain is being unloaded, the vehicle sent by the harvester navigation control module is received to be in a non-operation area or a head point, and the whole harvester control module closes the grain unloading clutch and withdraws the grain unloading cylinder.
Fig. 6 is a control flow chart of the safety control module of the unmanned harvester according to the invention. The safety control module of the harvester receives a remote controller request signal and a complete machine control module signal request through the CAN bus, and performs corresponding early warning and safety processing, mainly comprising remote starting, whistling, braking, emergency stopping and flameout. Meanwhile, the safety controller identifies the number, distance and speed of dynamic obstacles on the left side, the right side and the front side of the harvester through signals transmitted by the collected millimeter wave radar, determines the safety measure level of the whole harvester, and performs mode processing such as whistling, braking, sudden stop and the like. After the processing mode is sent to the whole vehicle bus through the CAN bus, the whole vehicle control module processes the current vehicle condition, and the tractor serving as the grain transporting vehicle adjusts the operation path and the vehicle speed according to the harvester through the self-organized network equipment, so that the safe and reliable operation of the collaborative operation process is ensured.
Based on the control system, the invention provides a control method of a collaborative operation system of an unmanned tractor and a harvester, which comprises the following steps:
step one, an operator powers on the harvester and the tractor. Opening a display terminal of a navigation controller, clicking a screen button at the upper right corner of a main interface, entering a satellite state interface, checking whether a differential base station signal is normal or not, and if so, carrying out the next step of work;
step two, an operator powers on the self-networking radio station arranged on the harvester and the tractor, waits after the power is on, and can confirm that the communication of the self-networking equipment is successful after a signal lamp is turned from evergreen to twinkling and then turns to evergreen;
step three, one complete machine carries out path planning according to a 4-point (A-B-C-D) method, generates a collaborative operation path of the harvester and the tractor after planning, and transmits the path to another vehicle through the self-organized network equipment, and the vehicle walks according to the path;
after an operator starts an engine through a remote controller, determining the height of the header according to information such as the maturity, the consistency, the dryness and the humidity of wheat, adjusting the height of the header through the remote controller, and memorizing; then switching the working mode to the unmanned state for operation by closing the remote controller; then the tractor enters an unmanned driving state according to the same mode and follows the harvester to walk according to a path planned in advance;
step five, in the walking process, the whole harvester control module can adjust the harvester in real time according to the working condition of the working device, the speed information can be continuously sent to the tractor through the self-organizing network equipment, and the tractor navigation controller and the whole tractor control module can adjust the following speed according to the information so as to ensure the stability of the cooperative operation and the safe distance in the following period;
and step six, the tractor serves as a grain transporting vehicle, and after the grain transporting vehicle is full, another grain transporting vehicle is called to continuously perform harvesting-grain transporting cooperative operation according to the same cooperative mode, so that the efficient, safe and continuous operation process is guaranteed.
It should be noted that while the invention has been described in terms of the above-mentioned embodiments, other embodiments are also possible. It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention, and it is intended that all such changes and modifications be covered by the appended claims and their equivalents.
Claims (8)
1. The utility model provides an unmanned tractor and harvester collaborative work system, includes unmanned harvester system and unmanned tractor system, its characterized in that:
the unmanned tractor system comprises a tractor whole machine control module, a tractor navigation control module, a tractor remote control module, a tractor safety control module and tractor self-organizing network equipment; the tractor navigation control module is connected with the tractor whole machine control module and the tractor self-organizing network equipment, and the tractor whole machine control module is connected with the tractor remote control module and the tractor safety control module;
the unmanned harvester system comprises a whole harvester control module, a harvester navigation control module, a harvester remote control module, a harvester safety control module and self-organized network equipment of the harvester; the harvester navigation control module is connected with the whole harvester control module and the self-organizing network equipment of the harvester, and the whole harvester control module is connected with the harvester remote control module and the harvester safety control module;
the unmanned harvester system and the unmanned tractor system realize data and control instruction communication through the wireless communication module, perform information interaction, perform corresponding processing through respective complete machine control modules, and complete cooperative operation.
2. The unmanned tractor and harvester cooperative work system of claim 1, wherein: the tractor self-organized network equipment sends information received from the harvester self-organized network equipment to a tractor whole machine control module through a bus, the tractor whole machine control module mainly comprises a vehicle speed signal, a whole vehicle braking signal and a starting signal according to the information sent by the self-organized network and related information of cooperative operation sent by other controllers, the vehicle speed signal, the whole vehicle braking signal and the starting signal are sent to the tractor whole machine control module through a tractor unmanned bus, and the tractor whole machine control module executes requested vehicle speed, braking and starting functions.
3. The unmanned tractor and harvester cooperative work system of claim 1, wherein: and the tractor navigation control module or the harvester navigation controller plans a path, plans the path information of another vehicle according to the cooperative vehicle information and the longitudinal distance and transverse distance requirements during the cooperation, and sends related path information to the cooperative vehicle for cooperative operation through the ad hoc network radio station equipment.
4. In the cooperation process, the whole harvester control module and the whole tractor control module can correspondingly adjust the whole vehicle control parameters through the information of self-networking interaction, including position information and speed information.
5. The unmanned tractor and harvester cooperative work system of claim 1, wherein: the whole harvester control module judges that the harvester is in an unmanned state according to signal input, and the navigation controller sends position information of the harvester through a CAN bus to judge whether a vehicle enters an operation area;
if the vehicle enters the ground, starting a harvesting operation state, and simultaneously carrying out coordinated instruction scheduling between the harvester and the tractor through the self-organized network equipment of the harvester and the self-organized network equipment of the tractor to enable the two to reach a coordinated state, after the longitudinal distance and the transverse distance between the two vehicles are met, sending a grain unloading request by a complete machine control module of the harvester, sending a state of a grain unloading cylinder by a controller of the harvester after the grain unloading cylinder extends out, activating a grain unloading command in a grain unloading coordinated stable state after a navigation control module of the harvester receives the state information of the grain unloading cylinder, sending a grain unloading clutch request by the complete machine control module of the harvester, combining grain unloading clutches and starting coordinated grain unloading, and sending that the vehicle is unloading grains by the self-organized network equipment of the harvester;
if the cooperative grain unloading state is unstable and exceeds a certain time t1 during the cooperative grain unloading period, the whole harvester controller requests to immediately close the grain unloading clutch, and after the grain unloading clutch is closed, the whole harvester controller allows the grain unloading clutch to be recombined to unload grains until the grain unloading cooperative state is stable and is kept for t2 time;
if the grain is being unloaded, the vehicle sent by the harvester navigation control module is received to be in a non-operation area or a ground outlet point, and the whole harvester controller closes the grain unloading clutch and withdraws the grain unloading cylinder.
6. The unmanned tractor and harvester cooperative work system of claim 1, wherein: the harvester navigation control module comprises a navigation controller, an electric steering wheel, a steering sensor, a differential reference station, a vehicle-mounted display, a satellite positioning antenna and a radio station antenna; the vehicle-mounted display acquires a differential reference station signal, carries out path planning and recording, and the navigation controller acquires the current position information of the harvester through the steering sensor, carries out feedback control according to the planned path, ensures real-time path tracking and realizes automatic navigation of the harvester; and simultaneously, sending position information and speed information related to the cooperative work to the ad hoc network for information interaction.
7. The unmanned tractor and harvester cooperative work system of claim 1, wherein: the harvester safety control module receives a remote controller request signal and a vehicle controller signal request through a CAN bus, and performs corresponding early warning and safety processing, mainly comprising whistling, braking and sudden stop; meanwhile, the harvester safety control module identifies the number, distance and speed of dynamic obstacles on the left side, the right side and the front side of the harvester through signals transmitted by the collected millimeter wave radar, determines the safety measure level of the whole harvester, and performs mode processing such as whistling, braking, sudden stop and the like; after the processing mode is sent to a whole vehicle bus through a CAN bus, a whole vehicle control module processes the current vehicle condition, and a tractor serving as a grain transporting vehicle is adjusted according to the operation path and the vehicle speed of the harvester through self-organizing network equipment.
8. The control method of the cooperative work system of the unmanned tractor and the harvester according to any one of claims 1 to 6, wherein: the method comprises the following steps:
s1, an operator powers on the harvester and the tractor, turns on a display terminal of the navigation controller, clicks a screen button at the upper right corner of the main interface, enters a satellite state interface, checks whether the differential base station signal is normal, and if the differential base station signal is normal, carries out the next step of work;
s2, powering on the self-organizing network equipment installed on the harvester and the tractor by an operator, waiting after the power-on, and carrying out the next step after confirming that the communication of the self-organizing network equipment is successful;
s3, one complete machine carries out path planning, a cooperative operation path of the harvester and the tractor is generated after the path planning, the vehicle transmits the generated cooperative operation path to the other vehicle through the self-organized network equipment, and the vehicle carries out automatic navigation according to the path;
s4, after an operator starts an engine through a remote controller, determining the height of the header according to information such as the maturity, the consistency and the dryness and humidity of wheat, adjusting the height of the header through the remote controller, and memorizing; then switching the working mode to the unmanned state for operation by closing the remote controller; then the tractor enters an unmanned driving state according to the same mode and follows the harvester to walk according to a path planned in advance;
s5, in the walking process, the whole-vehicle controller of the harvester can adjust the harvester in real time according to the working condition of the working device, the speed information can be continuously sent to the tractor through the self-organizing network device, and the tractor navigation controller and the whole-vehicle controller of the tractor can adjust the following speed according to the information so as to ensure the stability of the cooperative operation and the safe distance in the following period;
s6, the tractor is used as a grain transporting vehicle, if the grain transporting vehicle is full, another grain transporting vehicle is called to continuously carry out harvesting-grain transporting cooperative operation according to the same cooperative mode, and efficient, safe and continuous operation process is guaranteed.
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