CN115067061A - Grain box grain unloading return position monitoring system and method and harvester - Google Patents
Grain box grain unloading return position monitoring system and method and harvester Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000003306 harvesting Methods 0.000 claims abstract description 78
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- 238000004891 communication Methods 0.000 claims abstract description 23
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- 238000013340 harvest operation Methods 0.000 claims description 9
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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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- 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
- A01D41/1208—Tanks for grain or chaff
- A01D41/1217—Unloading mechanisms
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
- G08B21/24—Reminder alarms, e.g. anti-loss alarms
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The invention provides a grain unloading return position monitoring system and method for a grain tank and a harvester, wherein the grain unloading return position monitoring system comprises a monitoring device, a display device, a computing device, a positioning device and a communication device; the monitoring device is used for monitoring the grain weight of the grain tank, and the display device is used for inputting and displaying information; the positioning device is used for acquiring position information of four vertexes of a rectangular operation field and position P (X, Y) information of the real-time sensing harvester; the communication device is used for transmitting grain unloading time and position information between the harvester and the grain unloading vehicle; the calculating device is used for calculating the reasonable grain unloading return position of the harvester, the time from the harvester to the grain unloading area and the position information, sending a grain unloading instruction to the grain transporting vehicle to reach the specified grain unloading point, waiting for grain unloading and improving the working efficiency of harvesting operation.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a grain unloading return position monitoring system and method for a grain tank and a harvester.
Background
In recent years, with the popularization of grain combine harvesters in China, the efficiency of grain harvesting operation is greatly improved. Wherein, because the farmland area of China has the characteristics of subarea and block division and small planting scale, the small and medium-sized combine harvester is widely applied. The middle and small-sized combine harvester can temporarily store the harvested grain seeds in the grain tank of the machine body in the operation process, and after the grain tank is full, the combine harvester stops harvesting operation and runs to the area at the head of a ridge to unload the grain at a fixed point.
The prior small and medium-sized combine harvester faces the following problems in the harvesting operation process:
the grain tank of the small and medium-sized combine harvester is not large in size, the grain tank alarm can be carried out when the loading capacity of the grain tank of the harvester reaches a certain degree, and an operator is required to open the combine harvester to the field side in time to unload grains, so that the waste of grains is avoided. However, when the grain is unloaded, due to insufficient manual experience or the fact that the alarm place of the grain tank is too far away from the grain unloading area, the grain unloading transfer path is longer, the non-harvesting grain unloading time is increased, and the working efficiency is reduced to a great extent; and if the rated load capacity of the grain tank cannot be reasonably and fully utilized, the grain is frequently unloaded when the load capacity of the grain tank is insufficient, the total grain unloading times of the harvester can be increased, the non-harvesting operation time is also increased, and the working efficiency is reduced.
Disclosure of Invention
In view of the above technical problems, one of the objects of an embodiment of the present invention is to provide a grain unloading return position monitoring system for grain tanks, which can improve the working efficiency of harvesting operation; one of the purposes of one mode of the invention is to provide a control method of a grain tank grain unloading return position monitoring system, which is used for calculating and obtaining a reasonable grain unloading return position of a harvester, time and position information from the harvester to a grain unloading area, sending a grain unloading instruction to a grain transporting vehicle to reach a specified grain unloading point, waiting for grain unloading and improving the working efficiency of harvesting operation; one of the purposes of one mode of the invention is to provide a harvester comprising the grain unloading return position monitoring system for the grain tank, and one of the purposes of one mode of the invention is to provide a harvester comprising the grain unloading return position monitoring system for the grain tank, wherein the harvester is controlled according to a control method of the grain unloading return position monitoring system for the grain tank.
Note that the description of these objects does not preclude the existence of other objects. It is not necessary for one embodiment of the invention to achieve all of the above objectives. Objects other than the above-described objects can be extracted from the descriptions of the specification, the drawings, and the claims.
The technical scheme of the invention is as follows:
a grain unloading return position monitoring system for a grain tank comprises a monitoring device, a display device, a calculating device, a positioning device and a communication device;
the monitoring device is used for monitoring the weight of grains in the grain tank and transmitting the weight to the calculating device;
the display device is used for at least inputting the rated load of the grain tank, the cutting width of the harvester, the grain yield per square meter and the position information of four vertexes of the operation field and transmitting the position information to the computing device, and the display device is also used for at least displaying the operation path of the harvester, the early warning grain unloading interval, the pre-estimated grain unloading point, the grain unloading return point and the grain tank loading capacity;
the positioning device is used for acquiring position information of four vertexes of a rectangular operation field and position P (X, Y) information of the real-time perception harvester and transmitting the position information to the computing device;
the communication device is used for transmitting grain unloading time and position information between the harvester and the grain unloading vehicle;
the calculating device is respectively connected with the monitoring device, the display unit, the positioning device and the communication device, and calculates the grain tank loading capacity, the residual loading capacity and the grain unloading return position according to the information of the monitoring device, the display device and the positioning device; the communication device is used for receiving the time and the position information of the harvester to the grain unloading area estimated by the calculating device and sending a grain unloading instruction to the grain transporting vehicle to reach the specified grain unloading point within the specified time.
In the scheme, the calculating device receives the rated loading capacity M of the grain tank, the operation cutting width D of the harvester, the grain yield q per square meter, the position information of four vertexes of an operation field block, the position P (X, Y) information of the harvester, which is acquired by the positioning device, sensed in real time, and the pressure P of grains at the bottom of the grain tank, which is monitored by the monitoring device, which are input by the display device;
the calculation device establishes an environment model of a rectangular farmland with the length of A and the width of B according to the position information of four vertexes of the operation field, plans a traversal operation path of the harvester by adopting an internal spiral traversal planning method, and calculates the path of each circle of operation path;
the calculation device calculates the weight M of grains in the grain tank through the pressure p of the grains at the bottom of the grain tank monitored by the monitoring device, and subtracts the weight M of the grains in the harvested grain tank from the rated loading capacity M of the grain tank to obtain the residual maximum loading capacity M h ；
The computing means passes through the swath D, the yield per square meter q and the remaining maximum load m h Calculating the remaining maximum harvest distance as L h Calculating the remaining maximum harvest distance L h Position section P of h Obtaining an early warning grain unloading interval;
the computing means computes the current position point P of the harvester 0 Harvesting and driving to the full loading point P of the grain tank i Time T used for treatment hi Calculating the current position point P of the harvester 0 Harvesting and moving to unloading return point P j Total time T used hj Calculating the return point P from grain j Total time T required for driving to grain unloading area Uj Establishing a target constraint function model F (j) influencing the unloading return point by adopting a weighting coefficient method:
F(j)＝K h *f(T hi -T hj )+K u *f(T Uj )，0≤K h 、K u ≤1
wherein K is h 、K u Are respectively (T) hi -T hj ) And T Uj The point P is obtained by solving the j value corresponding to the minimum value of the single objective function F (j) j The calculated grain unloading return position is obtained;
the calculating device calculates the waiting time T required by the current distance from the harvester to the completion of the harvest and the arrival of the grain unloading area wj : calculate to obtain a point P j Then, the current driving point P of the harvester is calculated j Required time T hj From point P j The time required for driving to the grain unloading area is T Uj Waiting time T required by the current distance from the harvesting machine to finish harvesting and reach the grain unloading area wj ＝T hj +T Uj ；
The computing device will obtain T through the communication device wj And P j Sending the data to a grain transporting vehicle, wherein the grain transporting vehicle waits for time T wj Parking the vehicle to a distance point P j The nearest position.
In the above scheme, the monitoring device is a pressure sensor; the pressure sensor is arranged at the bottom of the grain tank and used for monitoring the pressure p of grains at the bottom of the grain tank.
In the above scheme, the computing device is an industrial personal computer.
A method for monitoring a system according to a grain unloading return position of a grain tank comprises the following steps:
obtaining position information: the positioning device collects position information of four vertexes of the field of the operation field and transmits the position information to the display device, and collects position P (X, Y) information of the real-time perception harvester and transmits the position P (X, Y) information to the computing device;
inputting display information: the display device inputs the rated loading capacity M of the grain tank, the operation cutting width D of the harvester, the grain yield q per square meter and the position information of four vertexes of the operation field block and transmits the position information to the calculation device;
calculating the path of each circle of operation path: the calculation device establishes an environment model of a rectangular farmland with the length of A and the width of B through position information of four vertexes of the field of the operation field, plans a traversal operation path of the harvester by adopting an internal spiral traversal planning method, and calculates the path of each circle of the operation path;
calculating the remaining maximum load: the calculating device calculates the weight M of grains in the grain tank through the pressure p of the grains at the bottom of the grain tank monitored by the monitoring device, and subtracts the weight M of the grains in the harvested grain tank from the rated load M of the grain tank to obtain the residual maximum load M h ；
Calculating an early warning grain unloading interval: by swathing D, yield per square meter q and remaining maximum load m h Calculating the corresponding maximum remaining harvest distance as L h At a binding siteCalculating the remaining maximum harvest distance L by the information h Position section P of h Obtaining an early warning grain unloading interval;
calculating the grain unloading return position: calculating the current position point P of the harvester 0 Harvesting and driving to the full loading point P of the grain tank i Time T used for treatment hi Calculating the current position point P of the harvester 0 Harvesting and moving to unloading return point P j Time T used for treatment hj Calculating the return point P from grain j Time T required for driving to grain unloading area Uj Establishing a target constraint function model F (j) influencing a grain unloading return point by adopting a weighting coefficient method:
F(j)＝K h *f(T hi -T hj )+K u *f(T Uj )，0≤K h 、K u ≤1
wherein, K h 、K u Are respectively (T) hi -T hj ) And T Uj The corresponding value of j at the minimum value of the single objective function F (j) is solved, and the corresponding point P is obtained j The position is the calculated grain unloading return position;
calculating the waiting time T required by the current distance between the harvester and the grain unloading area when the harvesting is finished wj : calculate to obtain a point P j Thereafter, the current receiver travel to point P is calculated j Required time T hj From point P j The time required for driving to the grain unloading area is T Uj Waiting time T required by the current distance from the harvesting machine to finish harvesting and reach the grain unloading area wj ＝T hj +T Uj ；
Calculating T obtained by the calculating device through the communication device wj And P j Sending the data to a grain transporting vehicle, wherein the grain transporting vehicle waits for time T wj Parking the vehicle to a distance point P j The closest position.
In the above scheme, the calculating the path of each circle of operation path specifically includes: the vehicle performs automatic harvesting work along the work path with swath D, the total number of turns harvested by the harvester is N:
n-rounding up [ Min (A, B)/2D ]
Corresponding operation path of the Kth circleThe length and width of the diameter are respectively A K And B K ：
A K ＝(A-2*(k-1)*D)、B K ＝(B-2*(k-1)*D)，K＜＝N
Wherein the path of the K-th harvest operation path is L K ：
L K ＝2*(A K +B K )-4D。
Further, the step of calculating the early warning grain unloading interval specifically comprises the following steps: by swathing D, yield per square meter q and remaining maximum load m h Calculating the remaining maximum harvest distance as L h ：
Combined with length A of the path of the Kth circle K And width B K And the position P (X, Y) of the harvester, calculating the remaining maximum harvesting distance L h Position section P of h At a separation distance d, discretizing L h Position section P of h To obtain a point set P hd ，
Wherein, P 0 ＝P(X，Y)
P hd Representing the set of all possible harvester stop grain discharge sites within the remaining maximum harvesting distance interval, where point P i At the position where the harvester reaches the rated maximum load, P 0 Is the current position of the harvester.
Further, the step of calculating the grain unloading return position specifically comprises:
the automatic driving process of the harvester comprises two parts of straight running and turning, and the running speed of the harvester during harvesting on a straight path is v h The advancing speed during grain unloading is v u The time length of each turn in harvesting movement is T h The time length of each turn is T when the grain is unloaded and transferred u The harvester is driven from the current position to the full grain tank, i.e. from point P 0 Move to point P i The time taken is T hi The linear path length of travel is L hi ：
L hi ＝L h
Combining the number of turns K of the harvester and judging P 0 The side is a long side A K Or short side B K Calculating the number of turns in the corresponding harvesting operation as Z hi ：
＝，
Or
n-rounding up { L ═ hi /(A K +B K )}
Calculated T hi ：
The grain unloading return point is P j When j is more than or equal to 1 and less than or equal to i, according to P j The positions of four sides of the rectangle are different, starting with the side parallel to the grain unloading area, and establishing an area I, an area II, an area III and an area IV in the counterclockwise direction;
setting the slave point P of the harvester 0 Is in harvest operation and moves to point P j The total time used is T hj ，
Calculating the linear distance L of the required walking hj ：
Combining the number of turns K of the harvester and judging P j The side is the long side A K Or short side B K Calculating the number of turns in the corresponding harvesting operation as Z hj ：
＝，
Or
n is rounding up { L hj /(A K +B K )}
So the corresponding slave point P 0 To the point P of harvest operation j Total time taken for treatment is T hj ：
From point P of the harvester j The length of the path to the grain unloading area is L uj When point P is j When located in different areas, the straight paths respectively have a length of L u(1～4) And the number of turns is Z u(1～4) The corresponding total time of moving on the grain unloading path is T Uj ：
By the grain box loading capacity m of the harvester and the distance L from the harvester to the grain unloading area u For constraint, the corresponding value of the movement time of the early warning grain unloading interval is as follows: t is hi -T hj ；
Adopting a weighting coefficient method to establish a target constraint function model F (j) influencing the unloading return point:
F(j)＝K h *f(T hi -T hj )+K u *f(T Uj )，0≤K h 、K u ≤1
wherein K h 、K u Are respectively (T) hi- T hj ) And T Uj The weighting coefficient of (a) is determined,
that is, the point P is obtained by solving the value of j corresponding to the minimum value of the single objective function F (j) j The position is the required unloading return position.
A harvester comprises the grain tank grain unloading return position monitoring system.
The harvester comprises the grain tank grain unloading return position monitoring system, and the grain tank grain unloading return position monitoring system is controlled according to the grain tank grain unloading return position monitoring system.
Compared with the prior art, the invention has the beneficial effects that: according to one mode of the invention, the grain tank unloading return position monitoring system can realize real-time monitoring of the loading capacity in the grain tank by measuring the pressure of the grains at the bottom of the grain tank of the harvester through the monitoring device, overcomes the defect that the traditional grain tank loading capacity alarm system cannot monitor the grain tank in real time, can display the loading capacity in real time through the display device, and avoids the burden of manually detecting the grain tank.
According to one mode of the invention, the position information of the harvester can be acquired in real time according to the positioning device assembled on the harvester, the grain unloading early warning interval and the reasonable grain unloading return point of the harvester are acquired through calculation, the display device displays the grain unloading early warning interval and the reasonable grain unloading return point, the staff is reminded, the method has strong intuition, the harvester stops harvesting at the reasonable grain unloading return point and transfers the grain unloading point to the grain unloading point for grain unloading, the loading capacity of a grain tank is effectively utilized, the transfer time in the grain unloading process is reduced, and the working efficiency of the harvesting operation can be improved;
according to one mode of the invention, the reasonable grain unloading return position of the harvester, the time from the harvester to the grain unloading area and the position information are obtained through calculation, the information is sent to the grain transporting vehicle in time, and the grain transporting vehicle can reach the appointed point in the grain unloading area within the appointed time according to the received information, so that the activity and the flexibility of the grain unloading vehicle are increased, the utilization rate of the grain unloading vehicle in the traditional grain unloading mode is improved, the traditional situation that one harvester is provided with one grain transporting vehicle is broken through, the utilization rate of the grain transporting vehicle is also improved, and the work efficiency of grain unloading operation is improved.
Note that the description of these effects does not hinder the existence of other effects. One embodiment of the present invention does not necessarily have all the effects described above. Effects other than the above can be clearly seen and extracted from the descriptions of the specification, the drawings, the claims, and the like.
Drawings
FIG. 1 is a schematic diagram of the connections of a system according to an embodiment of the present invention;
FIG. 2 is a schematic view of the operation path and grain discharge information of a harvester according to one embodiment of the present invention;
fig. 3 is a schematic diagram of field area division according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on those illustrated in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1 shows a preferred embodiment of the grain unloading return position monitoring system for the grain tank, which comprises a monitoring device, a display device, a computing device, a positioning device and a communication device;
the monitoring device is used for monitoring the weight of grains in the grain tank and transmitting the weight to the calculating device;
the display device is used for at least inputting the rated load of the grain tank, the cutting width of the harvester, the grain yield per square meter and the position information of four vertexes of the operation field and transmitting the position information to the computing device, and the display device is also used for at least displaying the operation path of the harvester, the early warning grain unloading interval, the pre-estimated grain unloading point, the grain unloading return point and the grain tank loading capacity;
the positioning device is used for acquiring position information of four vertexes of a rectangular operation field and position P (X, Y) information of the real-time perception harvester and transmitting the position information to the computing device;
the communication device is used for transmitting grain unloading time and position information between the harvester and the grain unloading vehicle and sending grain unloading instructions to the grain transporting vehicle to prepare grain unloading.
The calculating device is respectively connected with the monitoring device, the display unit, the positioning device and the communication device, and calculates the loading capacity, the residual loading capacity and the unloading return position of the grain tank according to the information of the monitoring device, the display device and the positioning device; the communication device is used for receiving the time and the position information of the harvester to the grain unloading area estimated by the calculation device and sending a grain unloading instruction to the grain transporting vehicle to reach the specified grain unloading point.
Preferably, the calculating device is respectively connected with the monitoring device, the display unit, the positioning device and the communication device, calculates the grain tank loading capacity according to the information of the detection device and the control panel, and calculates the residual loading capacity and the grain unloading return position of the combine harvester by combining the information of the positioning device.
According to the embodiment, the operation field is rectangular, the grain unloading area is a field head road area of the operation field, the grain unloading area only exists in a field head where one side of the rectangular operation field is located and is parallel to the corresponding side, and any point in the area can be used as a grain unloading point.
Preferably, according to the present embodiment, the monitoring device is a pressure sensor; the pressure sensor is arranged at the bottom of the grain tank and used for monitoring the pressure p of grains at the bottom of the grain tank. Preferably, the monitoring device comprises three groups of six pressure sensors which are uniformly distributed at the bottom of the grain tank.
Preferably, according to the embodiment, the computing device is an industrial personal computer.
Preferably, according to the embodiment, the positioning device is an RTK-GNSS global positioning navigator and is connected to the computing device.
Preferably, according to this embodiment, the display device is a touch-sensitive display.
The computing device comprises a computing device and a communication unit;
the calculating device receives the rated loading capacity M of the grain tank, the operation cutting width D of the harvester, the grain yield q per square meter and the position information of four vertexes of the operation field which are input by the display device, the position P (X, Y) information of the harvester is sensed in real time by the positioning device, and the pressure P of grains at the bottom of the grain tank is monitored by the monitoring device,
the calculation device establishes an environment model of a rectangular farmland with the length of A and the width of B according to the position information of four vertexes of the operation field, plans a traversal operation path of the harvester by adopting an internal spiral traversal planning method, and calculates the path of each circle of operation path;
the calculation device calculates the weight M of grains in the grain tank through the pressure p of the grains at the bottom of the grain tank monitored by the monitoring device, and subtracts the weight M of the grains in the harvested grain tank from the rated loading capacity M of the grain tank to obtain the residual maximum loadingCapacity m h ；
The computing means passes through the swath D, the yield per square meter q and the remaining maximum load m h Calculating the corresponding maximum remaining harvest distance as L h Calculating the remaining maximum harvest distance L h Position section P of h Obtaining an early warning grain unloading interval;
the computing means computes the current position point P of the harvester 0 Harvesting and driving to the full loading point P of the grain tank i Time T used for treatment hi Calculating the current position point P of the harvester 0 Harvesting and moving to unloading return point P j Total time T used hj Calculating the return point P from grain j Total time T required for driving to grain unloading area Uj Establishing a target constraint function model F (j) influencing a grain unloading return point by adopting a weighting coefficient method:
F(j)＝K h *f(T hi -T hj )+K u *f(T Uj )，0≤K h 、K u ≤1
wherein K h 、K u Are respectively (T) hi -T hj ) And T Uj The corresponding value of j at the minimum value of the single objective function F (j) is solved, and the corresponding point P is obtained j The position is the calculated grain unloading return position;
the calculating device calculates the waiting time T required by the current distance from the harvester to the completion of the harvest and the arrival of the grain unloading area wj : calculate to obtain a point P j Thereafter, the current receiver travel to point P is calculated j Required time T hj From point P j The time required for driving to the grain unloading area is T Uj Waiting time T required by the current distance from the harvesting machine to finish harvesting and reach the grain unloading area wj ＝T hj +T Uj ；
The communication unit will acquire T through the communication device wj And P j Sending the data to a grain transporting vehicle, wherein the grain transporting vehicle waits for time T wj Parking the vehicle to a distance point P j And the nearest position waits for grain unloading.
Referring to fig. 1, 2 and 3, a control method of the grain bin unloading return position monitoring system comprises the following steps:
obtaining position information: the positioning device collects position information of four vertexes of the field land and transmits the position information to the display device, and collects position P (X, Y) information of the real-time perception harvester and transmits the position P (X, Y) information to the computing device.
Inputting display information: the display device inputs the rated loading capacity M of the grain tank, the operation cutting width D of the harvester, the grain yield q per square meter and the position information of four vertexes of the operation field and transmits the position information to the computing device.
Calculating the path of each circle of operation path: the calculation device establishes an environment model of a rectangular farmland with the length of A and the width of B through the position information of four vertexes of the field block, plans a traversing operation path of the harvester by adopting an internal spiral traversing planning method, calculates the path of each circle of the operation path,
the method specifically comprises the following steps: the harvester performs automatic harvesting operation along the operation path with a swath D, and the total number of turns harvested by the harvester is N:
n-rounding up [ Min (A, B)/2D ]
The length and width of the corresponding operation path of the Kth circle are respectively A K And B K ：
A K ＝(A-2*(k-1)*D)、B K ＝(B-2*(k-1)*D)，K＜＝N
Wherein the path of the K-th harvest operation path is L K ：
L K ＝2*(A K +B K )-4D。
Calculating the remaining maximum load: calibrating pressure values detected by the pressure sensors under different grain loading quantities to obtain the pressure p of grains at the bottom of the grain box, which is monitored by the pressure sensors; the calculation device calculates the weight M of the grains in the grain tank through the pressure p of the grains at the bottom of the grain tank monitored by the monitoring device and a pre-calibrated value, and subtracts the weight M of the grains in the harvested grain tank from the rated loading capacity M of the grain tank to obtain the residual maximum loading capacity M h Remaining maximum load: m is h ＝M-m。
Calculating an early warning grain unloading interval: by swathing D, yield per square meter q and remaining maximum load m h Calculating the remaining maximum harvest distance as L h ，
The length of the turning path does not participate in the calculation; calculating the remaining maximum harvest distance L h Position section P of h Obtaining an early warning grain unloading interval, which specifically comprises the following steps:
combined with length A of the K-th turn path K And width B K And the position P (X, Y) of the harvester, calculating the remaining maximum harvesting distance L h Position section P of h At a separation distance d, discretizing L h Position section P of h To obtain a point set P hd ，
Wherein, P 0 ＝P(X，Y)
P hd Representing the set of all possible harvester stop grain discharge sites within the remaining maximum harvesting distance interval, where point P i At the position where the harvester reaches the rated maximum load, P 0 Is the current position of the harvester.
Calculating the grain unloading return position: calculating the current position point P of the harvester 0 Harvesting and driving to the full loading point P of the grain tank i Time T used for treatment hi Calculating the current position point P of the harvester 0 Harvesting and moving to unloading return point P j Time T used for treatment hj Calculating the return point P from grain j Time T required for driving to grain unloading area Uj Establishing a target constraint function model F (j) influencing a grain unloading return point by adopting a weighting coefficient method, which specifically comprises the following steps:
simplifying the motion path of the harvester, wherein the automatic driving process of the harvester comprises two parts of straight running and turning, and the traveling speed of the harvester during harvesting on the straight path is assumed to be v h Assuming that the traveling speed during grain unloading is v u Assuming that the turning modes during harvesting movement are the same, the time length for turning each time is T h Suppose thatThe time length of each turn is T when the grain is unloaded and the grain is moved u The harvester is driven from the current position to the full grain tank, i.e. from point P 0 Move to point P i The time taken is T hi The linear path length of travel is L hi ：
L hi ＝L h
Combining the number of turns K of the harvester and judging P 0 The side is a long side A K Or short side B K Calculating the number of turns in the corresponding harvesting operation as Z hi ：
Calculated T hi ：
The grain unloading return point is P j When j is more than or equal to 1 and less than or equal to i, according to P j The positions of four sides of the rectangle are different, starting with the side parallel to the grain unloading area, and establishing an area I, an area II, an area III and an area IV in the counterclockwise direction;
setting the slave point P of the harvester 0 Is in harvest operation and moves to point P j The total time used is T hj ，
Calculating the linear distance L of the required walking hj ：
Combining the number of turns K of the harvester and judging P j The side is a long side A K Or short side B K Calculating the number of turns in the corresponding harvesting operationNumber Z hj ：
So the corresponding slave point P 0 To the point P of harvest operation j Total time taken for treatment is T hj ：
From point P of the harvester j The length of the path to the grain unloading area is L uj When point P is j When located in different areas, the straight paths respectively have a length of L u(1～4) And the number of turns is Z u(1～4) The corresponding total time of moving on the grain unloading path is T Uj ：
By the grain box loading capacity m of the harvester and the distance L from the harvester to the grain unloading area u For constraint, the loading rate of the grain tank is required to be as close to 100 percent as possible, namely the value of m is as large as possible, and L u As short as possible, where the value of m is as large as possible, can be converted into P j The point is as close to P as possible i Corresponding to being in P h The length of the residual unharvested interval is as short as possible, namely the corresponding movement time in the area is as small as possible, and the corresponding value of the movement time of the early warning grain unloading interval is as follows: t is hi- T hj ；
The method comprises the following steps of (1) aiming at reducing non-harvesting operation time, converting a multi-objective problem into a single-objective problem, and establishing a target constraint function model F (j) influencing a unloading return point by adopting a weighting coefficient method and taking the size of a function value as constraint:
F(j)＝K h *f(T hi -T hj )+K u *f(T Uj )，0≤K h ≤1、0≤K u ≤11
wherein K h 、K u Are respectively (T) hi -T hj ) And T Uj The weighting coefficient of (b) is preset, and the problem is converted into the minimum value problem of the solving function, i.e. the point P is obtained by solving the value of j corresponding to the minimum value of the single objective function F (j) j The position is the required unloading return position.
Calculating the waiting time T required by the current distance between the harvester and the grain unloading area when the harvesting is finished wj : calculate to obtain a point P j Thereafter, the current receiver travel to point P is calculated j Required time T hj From point P j The time required for driving to the grain unloading area is T Uj The waiting time required by the current distance from the harvest completion of the harvester to the grain unloading area is T w ：T wj ＝T hj +T Uj ；
Calculating T obtained by the calculating device through the communication device wj And P j Sending the data to a grain transporting vehicle, wherein the grain transporting vehicle waits for time T wj Parking the vehicle to a distance point P j And the nearest position waits for grain unloading.
A harvester comprises the grain tank grain unloading return position monitoring system.
The harvester comprises the grain tank grain unloading return position monitoring system, and the grain tank grain unloading return position monitoring system is controlled according to the grain tank grain unloading return position monitoring system.
According to the method, the weight of the harvested grain in the grain tank is detected through the monitoring device, the residual loading capacity is calculated, the residual harvesting travel distance in the harvesting operation of the harvester is calculated, the residual harvesting position interval is estimated by combining the current position information of the harvester, finally, a constraint function model influencing the grain unloading position of the harvester is constructed by taking the large loading capacity of the grain tank and the short path from the harvester to the grain unloading area as optimization targets, and the reasonable grain unloading return position of the harvester is obtained through calculation.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. A grain box unloading return position monitoring system is characterized by comprising a monitoring device, a display device, a calculating device, a positioning device and a communication device;
the monitoring device is used for monitoring the weight of grains in the grain tank and transmitting the weight to the calculating device;
the display device is used for at least inputting the rated load of the grain tank, the cutting width of the harvester, the grain yield per square meter and the position information of four vertexes of the operation field and transmitting the position information to the computing device, and the display device is also used for at least displaying the operation path of the harvester, the early warning grain unloading interval, the pre-estimated grain unloading point, the grain unloading return point and the grain tank loading capacity;
the positioning device is used for acquiring position information of four vertexes of a rectangular operation field and position P (X, Y) information of the real-time perception harvester and transmitting the position information to the computing device;
the communication device is used for transmitting grain unloading time and position information between the harvester and the grain unloading vehicle;
the calculating device is respectively connected with the monitoring device, the display unit, the positioning device and the communication device, and calculates the loading capacity, the residual loading capacity and the unloading return position of the grain tank according to the information of the monitoring device, the display device and the positioning device; the communication device is used for receiving the time and the position information of the harvester to the grain unloading area estimated by the calculating device and sending a grain unloading instruction to the grain transporting vehicle to reach the specified grain unloading point within the specified time.
2. The grain tank grain unloading return position monitoring system of claim 1,
the calculating device receives the rated loading capacity M of the grain tank, the operation cutting width D of the harvester, the grain yield q per square meter and the position information of four vertexes of an operation field block which are input by the display device, the position P (X, Y) information of the harvester is sensed in real time by the positioning device, and the pressure P of grains at the bottom of the grain tank is monitored by the monitoring device;
the calculation device establishes an environment model of a rectangular farmland with the length of A and the width of B according to the position information of four vertexes of the operation field block, plans a traversal operation path of the harvester by adopting an internal spiral traversal planning method, and calculates the path of each circle of operation path;
the calculation device calculates the weight M of grains in the grain tank through the pressure p of the grains at the bottom of the grain tank monitored by the monitoring device, and subtracts the weight M of the grains in the harvested grain tank from the rated loading capacity M of the grain tank to obtain the residual maximum loading capacity M h ；
The computing means passes through the swath D, the yield per square meter q and the remaining maximum load m h Calculating the remaining maximum harvest distance as L h Calculating the remaining maximum harvest distance L h Position section P of h Obtaining an early warning grain unloading interval;
the computing means computes the current position point P of the harvester 0 Harvesting and driving to the full loading point P of the grain tank i Time T of treatment hi Calculating the current position point P of the harvester 0 Harvesting and moving to a grain unloading return point P j Total time T used hj Calculating the return point P from grain j Total time T required for driving to grain unloading area Uj Establishing a target constraint function model F (j) influencing a grain unloading return point by adopting a weighting coefficient method:
F(j)＝K h *f(T hi -T hj )+K u *f(T Uj )，0≤K h 、K u ≤1
wherein K h 、K u Are respectively (T) hi -T hj ) And T Uj The point P is obtained by solving the value of j corresponding to the minimum value of the single objective function F (j) j The calculated grain unloading return position is obtained;
the calculating device calculates the waiting time T required by the current distance from the harvester to the completion of the harvest and the arrival of the grain unloading area wj : calculate to obtain a point P j Thereafter, the current receiver travel to point P is calculated j Required time T hj From point P j The time required for driving to the grain unloading area is T Uj Waiting time T required by the current distance from the harvesting machine to finish harvesting and reach the grain unloading area wj ＝T hj +T Uj ；
The computing device will obtain T through the communication device wj And P j Sending the data to a grain transporting vehicle, wherein the grain transporting vehicle waits for time T wj Parking the vehicle to a distance point P j The nearest position.
3. The grain bin grain unloading return position monitoring system of claim 1, wherein the monitoring device is a pressure sensor; the pressure sensor is arranged at the bottom of the grain tank and used for monitoring the pressure p of grains at the bottom of the grain tank.
4. The grain bin grain unloading return position monitoring system of claim 1, wherein the computing device is an industrial personal computer.
5. A method for the grain bin unloading return position monitoring system according to any one of claims 1-4, which is characterized by comprising the following steps:
obtaining position information: the positioning device collects position information of four vertexes of the field of the operation field and transmits the position information to the display device, and collects position P (X, Y) information of the real-time perception harvester and transmits the position P (X, Y) information to the computing device;
inputting display information: the display device inputs the rated loading capacity M of the grain tank, the operation cutting width D of the harvester, the grain yield q per square meter and the position information of four vertexes of the operation field block and transmits the position information to the calculation device;
calculating the path of each circle of operation path: the calculation device establishes an environment model of a rectangular farmland with the length of A and the width of B through position information of four vertexes of the field of the operation field, plans a traversal operation path of the harvester by adopting an internal spiral traversal planning method, and calculates the path of each circle of the operation path;
calculating the remaining maximum load: the calculation device calculates the weight M of grains in the grain tank through the pressure p of the grains at the bottom of the grain tank monitored by the monitoring device, and subtracts the weight M of the grains in the harvested grain tank from the rated loading capacity M of the grain tank to obtain the residual maximum loading capacity M h ；
Calculating an early warning grain unloading interval: by swathing D, yield per square meter q and remaining maximum load m h Calculating the remaining maximum harvest distance as L h Calculating the remaining maximum harvest distance L in combination with the position information h Position section P of h Obtaining an early warning grain unloading interval;
calculating the grain unloading return position: calculating the current position point P of the harvester 0 Harvesting and driving to the full loading point P of the grain tank i Time T used for treatment hi Calculating the current position point P of the harvester 0 Harvesting and moving to unloading return point P j Time T used for treatment hj Calculating the return point P from grain j Time T required for driving to grain unloading area Uj Establishing a target constraint function model F (j) influencing a grain unloading return point by adopting a weighting coefficient method:
F(j)＝K h *f(T hi -T hj )+K u *f(T Uj )，0≤K h 、K u ≤1
wherein, K h 、K u Are respectively (T) hi -T hj ) And T Uj The weighting coefficient (f) is obtained by solving the j value corresponding to the minimum value of the single objective function (f), (j), and then the corresponding point (P) is obtained j The position is the calculated grain unloading return position;
calculating the waiting time T required by the current distance between the harvester and the grain unloading area when the harvesting is finished wj : calculate to obtain a point P j Thereafter, the current receiver travel to point P is calculated j Required time T hj From point P j Travel to grain unloading areaThe required time is T Uj Waiting time T required by the current distance from the harvesting machine to finish harvesting and reach the grain unloading area wj ＝T hj +T Uj ；
Calculating T obtained by the calculating device through the communication device wj And P j Sending the data to a grain transporting vehicle, wherein the grain transporting vehicle waits for time T wj Parking the vehicle to a distance point P j The nearest position.
6. The method for monitoring the grain bin grain unloading return position according to claim 5, wherein the calculation of the distance of each circle of operation path specifically comprises the following steps: the vehicle performs automatic harvesting work along the work path with swath D, the total number of turns harvested by the harvester is N:
n-rounding up [ Min (A, B)/2D ]
The length and width of the corresponding operation path of the Kth circle are respectively A K And B K ：
A K ＝(A-2*(k-1)*D)、B K ＝(B-2*(k-1)*D)，K＜＝N
Wherein the path of the K-th harvest operation path is L K ：
L K ＝2*(A K +B K )-4D。
7. The method for monitoring the grain bin grain unloading return position according to claim 6, wherein the step of calculating the early warning grain unloading interval specifically comprises the following steps: by swathing D, yield per square meter q and remaining maximum load m h Calculating the remaining maximum harvest distance as L h ：
Combined with length A of the K-th turn path K And width B K And the position P (X, Y) of the harvester, calculating the remaining maximum harvesting distance L h Position section P of h At a separation distance d, discretizing L h Position section P of h To obtain a point set P hd ，
P hd Discretization [ P ═ A ═ B y ]＝[P 0 ，P 1 ，......，P i-1 ，P i ]I is rounded upward
Wherein, P 0 ＝P(X，Y)
P hd Representing the set of all possible harvester stop grain discharge sites within the remaining maximum harvesting distance interval, where point P i At the position where the harvester reaches the rated maximum load, P 0 Is the current position of the harvester.
8. The method for monitoring the grain unloading return position of the grain bin according to claim 7, wherein the step of calculating the grain unloading return position specifically comprises the following steps:
the automatic driving process of the harvester comprises two parts of straight running and turning, and the running speed of the harvester during harvesting on a straight path is v h The advancing speed during grain unloading is v u The time length of each turn in harvesting movement is T h The time length of each turn is T when the grain is unloaded and transferred u The harvester is driven from the current position to the full grain tank, i.e. from point P 0 Move to point P i The time taken is T hi The linear path length of travel is L hi ：
L hi ＝L h
Combining the number of turns K of the harvester and judging P 0 The side is a long side A K Or short side B K Calculating the number of turns in the corresponding harvesting operation as Z hi ：
Calculated T hi ：
The grain unloading return point is P j When j is more than or equal to 1 and less than or equal to i, according to P j The positions of four sides of the rectangle are different, starting with the side parallel to the grain unloading area, and establishing an area I, an area II, an area III and an area IV in the counterclockwise direction;
setting the slave point P of the harvester 0 Is in harvest operation and moves to point P j The total time used is T hj ，
Calculating the linear distance L of the required walking hj ：
Combining the number of turns K of the harvester and judging P j The side is a long side A K Or short side B K Calculating the number of turns in the corresponding harvesting operation as Z hj ：
So the corresponding slave point P 0 To the point P of harvest operation j Total time taken for treatment is T hj ：
From point P of the harvester j The length of the path to the grain unloading area is L uj When point P is j When located in different areas, the straight paths respectively have a length of L u(1～4) And the number of turns is Z u(1～4) The corresponding total time of moving on the grain unloading path is T Uj ：
By the grain box loading capacity m of the harvester and the distance L from the harvester to the grain unloading area u For constraint, the corresponding value of the movement time of the early warning grain unloading interval is as follows: t is hi -T hj ；
Adopting a weighting coefficient method to establish a target constraint function model F (j) influencing the unloading return point:
F(j)＝K h *f(T hi -T hj )+K u *f(T Uj )，0≤K h ≤1、0≤K u ≤1
wherein K h 、K u Are respectively (T) hi -T hj ) And T Uj The weighting coefficient of (2);
that is, the point P is obtained by solving the value of j corresponding to the minimum value of the single objective function F (j) j The position is the required unloading return position.
9. A harvester, characterized in that, comprises the grain tank unloading return position monitoring system of any one of claims 1-4.
10. A harvester, characterized in that, comprises the grain tank unloading return position monitoring system of any one of claims 1 to 4, and the grain tank unloading return position monitoring system is controlled according to the method of the grain tank unloading return position monitoring system of any one of claims 5 to 8.
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Inventor after: Shi Yan Inventor after: Xu Lizhang Inventor after: Lu En Inventor after: Hu Jinpeng Inventor after: Liu Peng Inventor after: Zhang Wenbin Inventor before: Xu Lizhang Inventor before: Shi Yan Inventor before: Lu En Inventor before: Hu Jinpeng Inventor before: Liu Peng Inventor before: Zhang Wenbin |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |