CN113625615B - Unmanned tractor and harvester collaborative operation system and control method - Google Patents
Unmanned tractor and harvester collaborative operation system and control method Download PDFInfo
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- CN113625615B CN113625615B CN202110791308.2A CN202110791308A CN113625615B CN 113625615 B CN113625615 B CN 113625615B CN 202110791308 A CN202110791308 A CN 202110791308A CN 113625615 B CN113625615 B CN 113625615B
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- 235000013339 cereals Nutrition 0.000 claims description 89
- 230000008569 process Effects 0.000 claims description 15
- 238000003306 harvesting Methods 0.000 claims description 14
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- 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
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- 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
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
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- G05B2219/23051—Remote control, enter program remote, detachable programmer
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Abstract
The unmanned tractor and the harvester collaborative operation system and the control method thereof, wherein the collaborative operation system comprises an unmanned harvester system and an unmanned tractor system, harvester self-organizing network equipment and tractor self-organizing network equipment are connected 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 collaborative operation is completed. According to the harvest-grain transportation cooperative operation technology, through planning of a cooperative path and a cooperative mode, unilateral or multilateral grain unloading and grain transportation are achieved, harvest operation is uninterrupted during grain unloading and grain transportation, and harvest operation efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of control of harvesting robots, in particular to a cooperative operation system and a control method of an unmanned tractor and a harvester.
Background
At present, the agricultural labor resource is short, the proportion of the aged labor is more than 60%, the non-agrochemistry loss is accelerated, the problems of unmanned seed fields and unmanned harvesting are increasingly highlighted, and the market of future harvester sales, including paddy fields and dry fields, especially the demand of large farms for unmanned operation is stronger. In order to improve the agricultural production efficiency and reduce the agricultural labor intensity, the intelligent agricultural machinery is rapidly developed. Development and development progress of the domestic unmanned harvester and the collaborative operation system mainly comprise: the parameters of the key parts of the harvester realize monitoring, displaying and alarming, such as the parts of a fan, a threshing cylinder, a rethreshing device, a chopper, an engine and the like, and a basic monitoring system is constructed, but the parameter monitoring of a working device is relatively independent, the working parts are not in control association, and the automatic regulation and control of the harvesting process are difficult to realize. The fault self-diagnosis, the operation condition monitoring, the operation quality tracking monitoring and the like in the working process are all in the laboratory stage. And an automatic driving system is additionally arranged on part of the models, so that unmanned driving is preliminarily realized.
Most of foreign advanced combine harvesters realize on-line detection of information of harvested crops and operation conditions of parts, can adjust working parameters of the combine harvesters, apply advanced control systems in a large number, and realize automatic and unmanned control of a threshing cylinder at a constant speed, automatic control of operation speed, on-line monitoring of crop water content and yield and the like. The intelligent control technology is widely adopted, the intellectualization and informatization of the combine harvester are continuously improved, the intelligent management and automatic adjustment of various working information in the harvesting process are realized, and the remote fault diagnosis capability is continuously improved, so that the development trend in the future is realized.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a cooperative operation system and a control method of an unmanned tractor and a harvester, and the cooperative operation technology of harvesting and transporting grain satisfies unilateral or multilateral grain unloading and transporting grain by planning a cooperative path and a cooperative mode, realizes uninterrupted harvesting operation during grain unloading and transporting, and greatly improves harvesting operation efficiency. The harvester-grain transportation cooperative operation judges the operation condition of the harvester through the whole unmanned harvester controller, related fault information and working state information are sent to the tractor self-organizing network equipment through the harvester self-organizing network equipment, and then the information is sent to the whole unmanned tractor controller through the tractor self-organizing network equipment to be correspondingly processed, so that the coordination processing between the harvester and the tractor can be timely and reliably performed under the fault state or abnormal working state, and the safety and reliability of the harvester-grain transportation cooperative operation are ensured.
The technical scheme adopted by the invention is as follows: an unmanned tractor and harvester collaborative operation system comprises an unmanned harvester system and an unmanned tractor system;
the unmanned tractor system comprises a tractor complete 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 complete machine control module and the tractor self-organizing network equipment, and the tractor complete machine control module is connected with the tractor remote control module and the tractor safety control module;
the unmanned harvester system comprises a harvester complete machine control module, a harvester navigation control module, a harvester remote control module, a harvester safety control module and harvester self-organizing network equipment; the harvester navigation control module is connected with the harvester complete machine control module and the harvester self-organizing network equipment, and the harvester complete machine control module is connected with the harvester remote control module and the harvester safety control module;
the harvester self-organizing network equipment and the tractor self-organizing network equipment are connected 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 collaborative operation is completed.
As a preferred scheme, the information received by the tractor self-organizing network equipment from the harvester self-organizing network equipment is sent to the tractor complete machine control module through a bus, the tractor complete machine control module mainly comprises a vehicle speed signal, a complete vehicle braking and starting signal according to the information sent by the self-organizing network and the collaborative operation related information sent by other controllers, the tractor self-organizing network equipment is sent to the tractor complete machine control module through a tractor unmanned bus, and the tractor complete machine control module executes the requested vehicle speed, braking and starting functions.
Preferably, 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 in a cooperative period, and sends relevant path information to the cooperative vehicle through the ad hoc network radio station equipment to perform cooperative operation. In the cooperative process, the harvester complete machine control module and the tractor complete machine control module correspondingly adjust the whole vehicle control parameters through the information interacted by the ad hoc network, including the position information and the speed information.
As a preferable scheme, the whole harvester control module judges that the harvester is in an unmanned state according to signal input, and meanwhile, the navigation controller sends harvester position information through the CAN bus to judge whether the vehicle enters an operation area;
if the harvester enters the ground, starting a harvesting operation state, and simultaneously carrying out cooperative instruction scheduling between the harvester and the tractor through harvester self-organizing network equipment and tractor self-organizing network equipment to enable the harvester self-organizing network equipment and the tractor self-organizing network equipment to reach a cooperative state, after the longitudinal distance and the transverse distance between two vehicles are met, a harvester whole control module sends a grain unloading request, a harvester controller sends a grain unloading cylinder state after a grain unloading cylinder stretches out, a harvester navigation control module activates a grain unloading command under a grain unloading cooperative stable state after receiving grain unloading cylinder state information, the harvester whole control module sends a grain unloading clutch request, grain unloading clutch is combined and begins to cooperate with grain unloading, and the harvester self-organizing network equipment sends that the vehicles are unloading grains;
if the cooperative grain unloading state is unstable for a certain time t1 during the cooperative grain unloading period, the whole harvester controller requests to immediately close the grain unloading clutch, and after closing the grain unloading clutch, the whole harvester controller allows the grain unloading clutch to be combined with the grain unloading again until the cooperative grain unloading state is stable and kept for a time t 2;
if the vehicle sent by the navigation control module of the harvester is in a non-operation area or a land outlet point when the grain is unloaded, the whole harvester controller closes the grain unloading clutch and withdraws the grain unloading cylinder.
As a preferable scheme, 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 antenna; the vehicle-mounted display acquires a differential reference station signal, performs path planning and recording, and the navigation controller acquires current position information of the harvester through the steering sensor, performs feedback control according to the planned path, ensures real-time tracking of the path and realizes automatic navigation of the harvester; and simultaneously, transmitting the position information and the speed information related to the collaborative operation 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 controller signal request through a CAN bus, and performs corresponding early warning and safety treatment, mainly comprising whistling, braking and scram; meanwhile, the safety control module of the harvester recognizes 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 acquired millimeter wave radar, determines the safety measure level of the whole harvester, and performs mode processing such as whistling, braking, scram 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 carrier adjusts the operation path and the vehicle speed of the harvester through the self-organizing network equipment.
A control method of a cooperative operation system of an unmanned tractor and a harvester comprises the following steps:
s1, an operator powers on a harvester and a tractor, opens a display terminal of a navigation controller, clicks a screen button at the right upper corner of a main interface, enters a satellite state interface, checks whether a differential base station signal is normal, and if so, performs the next work;
s2, an operator powers on the self-organizing network equipment arranged on the harvester and the tractor, waits after powering on, and performs the next work after confirming that the self-organizing network equipment is successful in communication;
s3, planning a path of one whole machine, generating a cooperative operation path of the harvester and the tractor after planning, and transmitting the generated cooperative operation path to another vehicle by the vehicle through the self-organizing network equipment, wherein the vehicle automatically navigates according to the path;
s4, after an operator starts the engine through the remote controller, determining the height of the cutting table according to the information such as the maturity, the thickness, the dryness and the humidity of wheat, and adjusting the height of the cutting table through the remote controller and memorizing the height; then switching the working mode to an unmanned state for operation by closing the remote controller; then the tractor enters an unmanned state in the same way and walks along the harvester according to a path planned in advance;
s5, in the walking process, the whole harvester controller 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 controller can adjust the following speed according to the information so as to ensure the stability of cooperative operation and the safety distance during the following period;
s6, when the tractor is used as the grain transporting vehicle, if the grain transporting vehicle is full, another grain transporting vehicle is called to continuously carry out harvest-grain transporting cooperative operation in the same cooperative mode, so that the efficient, safe and continuous operation process is ensured.
The beneficial effects of the invention are as follows:
according to the scheme, the harvester self-organizing network equipment and the tractor self-organizing network equipment are connected in a wireless mode through the optimizing system, 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, collaborative operation is completed, the harvesting-grain-transporting collaborative operation technology meets the requirement of unilateral or multilateral grain unloading and transporting through planning of a collaborative path and a collaborative mode, harvesting operation is uninterrupted during grain unloading and transporting, and harvesting operation efficiency is greatly improved. The harvester-grain transportation cooperative operation judges the operation condition of the harvester through the whole unmanned harvester controller, related fault information and working state information are sent to the tractor self-organizing network equipment through the harvester self-organizing network equipment, and then the information is sent to the whole unmanned tractor controller through the tractor self-organizing network equipment to be correspondingly processed, so that the coordination processing between the harvester and the tractor can be timely and reliably performed under the fault state or abnormal working state, and the safety and reliability of the harvester-grain transportation cooperative operation are ensured.
The scheme also has the following technical effects:
in the unmanned tractor and harvester collaborative operation system and control method provided by the invention, firstly, different system operation modes and corresponding collaborative path planning can be selected according to different operation areas, so that the adaptability is high.
Secondly, the safety controller of the unmanned harvester can judge dynamic obstacle information and timely make safety treatment, and meanwhile, the information is sent to the self-organizing network equipment through the unmanned bus, so that the unmanned harvester and the tractor can communicate timely, information is interacted, and corresponding treatment is respectively made through respective whole vehicle controllers: whistling, emergency braking, and obstacle detouring. Ensuring the safety and high efficiency of cooperative operation.
Thirdly, in the unmanned tractor, the harvester cooperative operation system and the control method, the whole process of harvesting, grain unloading and grain conveying operation is covered by the harvesting-grain conveying cooperative operation, and the unmanned harvester and the unmanned tractor cooperate to well solve the problems of influence of severe harvesting operation environment on a manipulator, short operation period and tension of the manipulator.
Fourthly, the harvest-grain transportation cooperative operation technology meets the requirement of single-side or double-side grain unloading and grain transportation through planning a cooperative path and a cooperative mode, realizes uninterrupted harvest operation during grain unloading and grain transportation, and greatly improves the harvest operation efficiency.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained from these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall architecture of the unmanned tractor and harvester collaborative operation system of the present invention;
FIG. 2 is a flow chart of the cooperative work control of the whole control module of the unmanned tractor of the invention;
FIG. 3 is a flow chart of the unmanned tractor and harvester collaborative path planning of the present invention;
FIG. 4 is a flowchart of unmanned harvester complete machine control module unmanned operation control according to the invention;
FIG. 5 is a flow chart of the cooperative work control of the whole machine control module of the unmanned harvester;
FIG. 6 is a control flow diagram of the unmanned harvester safety control module of the present invention.
Detailed Description
The present invention will be specifically described below by way of exemplary embodiments. It is to be understood 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 should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used in the specification and claims of this application, the terms "a," "an," and "the" and similar referents are not to be construed to limit the scope of at least one. The word "comprising" or "comprises", and the like, indicates that elements or items listed thereafter or equivalents thereof may be substituted for elements or items thereof in addition to those listed thereafter or equivalents thereof without departing from the scope of the word "comprising" or "comprising".
The following describes the composition and operation of the system in this embodiment with reference to fig. 1 to 6:
fig. 1 is a schematic diagram of the overall architecture of the unmanned tractor and harvester collaborative operation system according to the present invention. The unmanned tractor system comprises a tractor complete 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 complete machine control module and the tractor self-organizing network equipment, and the tractor complete machine control module is connected with the tractor remote control module and the tractor safety control module; the unmanned harvester system comprises a harvester complete machine control module, a harvester navigation control module, a harvester remote control module, a harvester safety control module and harvester self-organizing network equipment; the harvester navigation control module is connected with the harvester complete machine control module and the harvester self-organizing network equipment, and the harvester complete machine control module is connected with the harvester remote control module and the harvester safety control module; the harvester self-organizing network equipment and the tractor self-organizing network equipment are connected 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 collaborative operation is completed.
The complete machine control module of the unmanned tractor of the invention cooperates with a control flow chart as shown in figure 2. The tractor self-organizing network equipment receives information from the harvester self-organizing network equipment, sends the information to the tractor whole machine control module through a bus, and the whole machine control module mainly comprises a vehicle speed signal, a whole vehicle braking and starting signal according to the information sent by the self-organizing network and the collaborative operation related information sent by other controllers, and after the whole machine control module judges the working state, the whole machine control module executes the functions of vehicle speed control, whistling and braking, so that the collaborative operation between the harvester and the tractor is ensured to be safe and reliable.
Fig. 3 shows a flow chart of the unmanned tractor and the harvester collaborative path planning according to the invention. And after the navigation controller responsible for planning the path plans the path, planning the path information of another vehicle according to the cooperative vehicle information and the longitudinal distance and transverse distance requirements in the cooperative period, and then sending the related path information to the cooperative vehicle through the self-networking equipment to carry out cooperative operation. In the cooperative process, the harvester complete machine control module and the tractor complete machine control module can correspondingly adjust the whole vehicle control parameters through the information interacted by the ad hoc network, including the position information and the speed information, so that the reliability and the safety of cooperative operation are ensured.
Fig. 4 is a flowchart of unmanned harvester complete machine control module unmanned operation control according to the invention. The harvester complete machine control module has no operation control flow, judges which driving mode the harvester is in according to signal input, if the operation mode=0, the harvester is in a manned driving mode, and 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, including automatic adjustment of reel rotation speed, adjustment of header height, retraction control of a grain discharging cylinder, control of a grain discharging clutch, adjustment of a grass guide plate angle and adjustment of a gravure gap; if the operatingmode=1, the vehicle controller is in an unmanned mode, and the vehicle controller executes vehicle speed control, emergency brake control, header lifting control, grain discharging clutch and grain discharging cylinder expansion control requested by the CAN network of the navigation controller, automatically stops after all operations according to a planned path are completed, and hands the vehicle to drive. If operatingmode=2, the vehicle controller is in a remote control driving mode, and executes related actions according to signals transmitted by a remote controller transmitter, 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 addition and subtraction control.
Fig. 5 is a flow chart of the cooperative operation control of the whole machine control module of the unmanned harvester. The whole harvester control module judges that the harvester is in an unmanned state according to signal input, and meanwhile, the navigation controller sends position information of the harvester through the CAN bus to judge whether the vehicle enters an operation area or not. If the harvester enters the ground, a harvesting operation state is started, meanwhile, cooperative instruction scheduling between the harvester and the tractor is carried out through harvester self-organizing network equipment and tractor self-organizing network equipment, so that the harvester self-organizing network equipment and the tractor self-organizing network equipment reach a cooperative state, after the longitudinal distance and the transverse distance between two vehicles are met, a harvester control module sends a grain unloading request, a harvester controller sends a grain unloading cylinder state after a grain unloading cylinder stretches out, a harvester navigation control module activates a grain unloading command under a grain unloading cooperative stable state after receiving grain unloading cylinder state information, the harvester control module sends a grain unloading clutch request, grain unloading clutch is combined and begins to cooperate with grain unloading, and the harvester self-organizing network equipment sends that the vehicles are unloading grains. If the cooperative grain unloading state is unstable for a certain time t1 during the cooperative grain unloading period, the whole harvester control module requests to immediately close the grain unloading clutch, and after closing the grain unloading clutch, the whole harvester control module allows the grain unloading clutch to be combined with the grain unloading again until the cooperative grain unloading state is stable and kept for the time t 2. If the vehicle sent by the navigation control module of the harvester is in a non-operation area or a land outlet point when the grain is unloaded, the whole control module of the harvester 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 harvester safety control module 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 treatment, and mainly comprises remote starting, whistling, braking, scram and flameout. Meanwhile, the safety controller identifies the number, distance and speed of dynamic barriers at the left side, the right side and the front side of the harvester through signals transmitted by the acquired millimeter wave radar, determines the safety measure grade of the whole harvester, and performs mode processing such as whistling, braking, scram 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 of the harvester through the self-organizing network equipment, so that safe and reliable operation in the cooperative operation process is ensured.
Based on the control system, the invention provides a control method of a cooperative operation system of an unmanned tractor and a harvester, which comprises the following steps:
step one, the operator powers on the harvester and the tractor. Opening a display terminal of the navigation controller, clicking a screen button at the right upper corner of the main interface, entering a satellite state interface, checking whether the differential base station signal is normal, and if so, performing the next work;
step two, an operator powers on the ad hoc network radio stations arranged on the harvester and the tractor, waits after powering on, and can confirm that the ad hoc network equipment is successfully communicated after a signal lamp turns from evergreen to flashing and then turns into evergreen;
step three, one whole machine performs path planning according to a 4-point (A-B-C-D) method, a cooperative operation path of the harvester and the tractor is generated after planning, the vehicle transmits the path to another vehicle through self-organizing network equipment, and the vehicle walks according to the path;
step four, after an operator starts the engine through the remote controller, determining the height of the cutting table according to the information such as the maturity, the thickness, the dryness and the humidity of wheat, and adjusting the height of the cutting table through the remote controller and memorizing the height; then switching the working mode to an unmanned state for operation by closing the remote controller; then the tractor enters an unmanned state in the same way and walks along the harvester according to a path planned in advance;
step five, in the running process, the whole machine control module 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 equipment, and the tractor navigation controller and the whole machine control module of the tractor can adjust the following speed according to the information so as to ensure the stability of cooperative operation and the safety distance in the following period;
step six, the tractor is used as a grain transporting vehicle, and if the grain transporting vehicle is full, another grain transporting vehicle is summoned to continuously carry out harvest-grain transporting cooperative operation in the same cooperative mode, so that the efficient, safe and continuous operation process is ensured.
It should be noted that while the above describes the invention in terms of embodiments, many other embodiments of the invention are possible. Various modifications and variations of this invention may be apparent to those skilled in the art without departing from the spirit and scope of this invention, and it is intended to cover in the appended claims all such modifications and variations as fall within the true scope of this invention.
Claims (7)
1. The utility model provides an unmanned tractor and harvester collaborative operation system, includes unmanned harvester system and unmanned tractor system, its characterized in that:
the unmanned tractor system comprises a tractor complete 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 complete machine control module and the tractor self-organizing network equipment, and the tractor complete machine control module is connected with the tractor remote control module and the tractor safety control module;
the unmanned harvester system comprises a harvester complete machine control module, a harvester navigation control module, a harvester remote control module, a harvester safety control module and harvester self-organizing network equipment; the harvester navigation control module is connected with the harvester complete machine control module and the harvester self-organizing network equipment, and the harvester complete machine control module is connected with the harvester remote control module and the harvester safety control module;
the harvester self-organizing network equipment and the tractor self-organizing network equipment are connected 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 collaborative operation is completed;
the harvester complete machine control module judges that the harvester is in an unmanned state according to signal input, and meanwhile, the harvester navigation control module sends harvester position information through a CAN bus to judge whether a vehicle enters an operation area or not;
if the harvester enters the ground, starting a harvesting operation state, and simultaneously carrying out cooperative instruction scheduling between the harvester and the tractor through harvester self-organizing network equipment and tractor self-organizing network equipment to enable the harvester self-organizing network equipment and the tractor self-organizing network equipment to reach a cooperative state, after the longitudinal distance and the transverse distance between two vehicles are met, a harvester whole control module sends a grain unloading request, a grain unloading cylinder is sent by the harvester whole control module after the grain unloading cylinder stretches out, a grain unloading command is activated under the grain unloading cooperative stable state after the grain unloading cylinder state information is received by the harvester navigation control module, the grain unloading clutch is combined and the cooperative grain unloading is started, and the harvester self-organizing network equipment sends the grains which are being unloaded;
if the cooperative grain unloading state is unstable for a certain time t1 during the cooperative grain unloading period, the whole harvester control module requests to immediately close the grain unloading clutch, and after closing the grain unloading clutch, the whole harvester control module allows the grain unloading clutch to be combined with the grain unloading again until the cooperative grain unloading state is stable and kept for a time t 2;
if the vehicle sent by the navigation control module of the harvester is in a non-operation area or a land outlet point when the grain is unloaded, the whole control module of the harvester closes the grain unloading clutch and withdraws the grain unloading cylinder.
2. The unmanned tractor and harvester collaborative work system according to claim 1, wherein: the information received by the tractor self-organizing network equipment from the harvester self-organizing network equipment is sent to the tractor complete machine control module through a bus, the tractor complete machine control module mainly comprises a vehicle speed signal, a complete vehicle braking and starting signal according to the information sent by the self-organizing network and the collaborative operation related information sent by other controllers, the tractor self-organizing network equipment is sent to the tractor complete machine control module through a tractor unmanned bus, and the tractor complete machine control module executes the requested vehicle speed, braking and starting functions.
3. The unmanned tractor and harvester collaborative work system according to claim 1, wherein: the tractor navigation control module or the harvester navigation control module performs path planning, plans the path information of another vehicle according to the cooperative vehicle information and the longitudinal distance and the transverse distance requirements in the cooperative period, and sends related path information to the cooperative vehicle for cooperative operation through the ad hoc network radio station equipment.
4. The unmanned tractor and harvester collaborative work system according to claim 1, wherein: in the cooperative process, the harvester complete machine control module and the tractor complete machine control module correspondingly adjust the whole vehicle control parameters through the information interacted by the ad hoc network, including the position information and the speed information.
5. The unmanned tractor and harvester collaborative work system according to 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, performs path planning and recording, and the navigation controller acquires current position information of the harvester through the steering sensor, performs feedback control according to the planned path, ensures real-time tracking of the path and realizes automatic navigation of the harvester; and simultaneously, transmitting the position information and the speed information related to the collaborative operation to the ad hoc network for information interaction.
6. The unmanned tractor and harvester collaborative work system according to claim 5, wherein: the harvester safety control module receives a remote controller request signal and a whole vehicle controller signal request through a CAN bus and performs corresponding early warning and safety treatment, and mainly comprises whistling, braking and scram; meanwhile, the safety control module of the harvester recognizes 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 whistling, braking and scram mode processing; after the mode processing is sent to the whole vehicle bus through the CAN bus, the whole harvester control module processes the current vehicle condition, and the tractor serving as the grain transporting vehicle is adjusted according to the operation path and the vehicle speed of the harvester through the self-organizing network equipment.
7. The control method of the unmanned tractor and harvester collaborative operation system according to claim 6, characterized in that: the method comprises the following steps:
s1, powering up a harvester and a tractor by an operator, opening a vehicle-mounted display, clicking a screen button at the right upper corner of a main interface, entering a satellite state interface, checking whether a differential reference station signal is normal, and if so, performing the next work;
s2, an operator powers on the self-organizing network equipment arranged on the harvester and the tractor, waits after powering on, and performs the next work after confirming that the communication of the self-organizing network equipment is successful;
s3, planning a path of one whole machine, generating a cooperative operation path of the harvester and the tractor after planning, and transmitting the generated cooperative operation path to another vehicle by the vehicle through the self-organizing network equipment, wherein the vehicle automatically navigates according to the path;
s4, after an operator starts the engine through the remote controller, determining the height of the cutting table according to the maturity, the thickness and the dryness and humidity information of the wheat, and adjusting the height of the cutting table through the remote controller and memorizing the height; then switching the working mode to an unmanned state for operation by closing the remote controller; then the tractor enters an unmanned state in the same way and walks along the harvester according to a path planned in advance;
s5, in the walking process, the whole machine control module 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 equipment, and the tractor navigation control module and the whole machine control module of the tractor can adjust the following speed according to the information so as to ensure the stability of cooperative operation and the safety distance in the following period;
s6, when the tractor is used as the grain transporting vehicle, if the grain transporting vehicle is full, another grain transporting vehicle is called to continuously carry out harvest-grain transporting cooperative operation in the same cooperative mode, so that the efficient, safe and continuous operation process is ensured.
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| CN114611911B (en) * | 2022-03-02 | 2024-07-12 | 博雷顿科技股份公司 | Unmanned collaborative operation design method and system for multi-purpose vehicle and vehicle |
| CN114723267A (en) * | 2022-03-31 | 2022-07-08 | 广东皓行科技有限公司 | Collaborative scheduling method and system for unmanned harvesting vehicle and grain transporting vehicle |
| CN116339289A (en) * | 2023-05-19 | 2023-06-27 | 济南大学 | Unmanned harvester group vehicle-mounted fault diagnosis system and method |
| CN118466491A (en) * | 2024-04-30 | 2024-08-09 | 盐城工业职业技术学院 | Agricultural harvesting system and method based on automatic chassis following control of agricultural machine |
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