CN115067061A - Grain box grain unloading return position monitoring system and method and harvester - Google Patents

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

A grain tank unloading grain return position monitoring system and method and harvester

technical field

The invention belongs to the technical field of agricultural machinery, and in particular relates to a system and method for monitoring the position of unloading grain from a grain tank and returning home, and a harvester.

Background technique

In recent years, with the promotion of grain combine harvesters in my country, the efficiency of grain harvesting operations has been greatly improved. Among them, small and medium-sized combine harvesters have been widely used due to the characteristics of partitioning and small planting scale in my country's farmland areas. During the operation of the small and medium-sized combine harvester, the harvested grains will be temporarily stored in the grain tank of the fuselage. When the grain tank is full, the combine harvester will stop the harvesting operation and drive to the ridge area to unload the grain at a fixed point.

The existing small and medium-sized combine harvesters face the following problems during the harvesting operation:

The grain tank of the small and medium-sized combine harvester is not large. When the loading capacity of the grain tank of the harvester reaches a certain level, the grain tank alarm will be issued. At this time, the operator needs to drive the combine harvester to the field edge to unload the grain in time to avoid food waste. . However, when unloading grain, due to the lack of manual experience or the location of the grain tank alarm is too far from the unloading area, it will lead to a long unloading transfer path, and the non-harvest unloading time will increase, which greatly reduces the work efficiency; and If the rated load capacity of the grain tank cannot be reasonably and fully utilized, and the grain is frequently loaded and unloaded when the loading capacity of the grain tank is insufficient, the total number of unloading of the harvester will be increased, and the non-harvesting operation time will also be increased, reducing the work efficiency.

SUMMARY OF THE INVENTION

In view of the above-mentioned technical problems, one of the purposes of one mode of the present invention is to provide a monitoring system for the position of unloading grain from the grain tank and returning to home, so as to improve the working efficiency of harvesting operations; one of the purposes of one mode of the present invention is to provide a kind of unloading grain from the grain tank The control method of the return position monitoring system calculates the reasonable return position of the harvester unloading grain, the time and position information of the harvester to the unloading area, and sends the unloading command to the grain truck to reach the designated unloading point, waiting for unloading, Improve the working efficiency of harvesting operations; one of the purposes of one aspect of the present invention is to provide a harvester including the monitoring system for the unloading and returning position of the grain tank, and one of the purposes of one aspect of the present invention is to provide a kind of harvester including the The harvester of the grain tank unloading and returning position monitoring system is controlled according to the control method of the grain tank unloading and returning position monitoring system.

Note that the description of these purposes does not preclude the existence of other purposes. One form of the present invention need not achieve all of the above objectives. Objects other than the aforementioned objects may be extracted from the descriptions in the specification, drawings, and claims.

The technical scheme of the present invention is:

A grain tank unloading and returning position monitoring system, comprising a monitoring device, a display device, a computing device, a positioning device and a communication device;

The monitoring device is used to monitor the grain weight of the grain tank and transmit it to the computing device;

The display device is used to input at least the rated load of the grain tank, the cutting width of the harvester, the grain yield per square meter, and the position information of the four vertices of the operating field, and transmit it to the computing device, and the display device is also used to at least display the information. The working path of the harvester, the early warning grain unloading interval, the estimated grain unloading point, the unloading return point and the grain tank loading capacity;

The positioning device is used to collect the position information of the four vertices of the rectangular operation field and the position P(X, Y) information of the real-time perception harvester, and transmit it to the computing device;

The communication device is used for unloading time and position information transmission between the harvester and the unloading truck;

The computing device is respectively connected with the monitoring device, the display unit, the positioning device and the communication device, and the computing device calculates the loading capacity of the grain tank, the remaining loading capacity and the position of unloading and returning to the ship according to the information of the monitoring device, the display device and the positioning device; The device is used to receive the time and position information of the harvester to the grain unloading area estimated by the computing device, and send the grain unloading instruction to the grain truck to reach the specified grain unloading point within the specified time.

In the above scheme, the computing device receives the rated grain loading capacity M of the grain tank inputted by the display device, the cutting width D of the harvester, the grain yield per square meter q, the position information of the four vertices of the operation field, and the operation data collected by the positioning device. Real-time perception of the position P (X, Y) information of the harvester, and the pressure p of the grain at the bottom of the grain tank monitored by the monitoring device;

The computing device establishes an environmental model of a rectangular farmland with a length of A and a width of B through the position information of the four vertices of the operation field, and adopts the inner spiral traversal planning method to plan the traversing operation path of the harvester, and calculate the operation path of each circle. the journey;

The computing device calculates the grain weight m in the grain tank through the pressure p of the grain at the bottom of the grain tank monitored by the monitoring device, and subtracts the grain weight m in the harvested grain tank from the rated load M of the grain tank to obtain the remaining maximum loading amount m _h ;

The calculating device calculates the remaining maximum harvesting distance as L _h through the cutting width D, the yield per square meter q and the remaining maximum loading amount m _h , and calculates the position interval P _h of the remaining maximum harvesting distance L _h , that is, the early warning grain unloading interval is obtained. ;

The computing device calculates the time T hi that the harvester takes to travel from the current position point P ₀ to the full-load point P _i of the grain tank, and calculates the time T _hi that the harvester takes to harvest from the current position point P ₀ and move to the unloaded grain return point P _j , the total time T _hj used, calculate the total time T _Uj required to travel from the grain return point P _j to the unloading area, and use the weighted coefficient method to establish the objective constraint function model F(j) that affects the unloading return point:

F(j)=K _h *f(T _hi -T _hj )+K _u *f(T _Uj ), 0≤K _h , K _u ≤1

Among them, K _h and K _u are the weighting coefficients of (T _hi -T _hj ) and T _Uj , respectively. To solve the j value corresponding to the minimum value of the single objective function F(j), the obtained point P _j is the desired the position of unloading and returning to the voyage;

The computing device calculates the waiting time _Twj required by the current harvester to complete the harvest and arrive at the unloading area: after calculating the point _Pj , calculate the time T _hj required for the current harvester to travel to the point _Pj , starting from the point _Pj The time required to travel to the unloading area is T _Uj , and the current waiting time for the harvester to complete the harvest and reach the unloading area is T _wj =T _hj +T _Uj ;

The computing device sends the acquired _Twj and P _j to the grain truck through the communication device, and the grain truck stops the vehicle to the position closest to the point P _j within the waiting time _Twj .

In the above solution, the monitoring device is a pressure sensor; the pressure sensor is installed at the bottom of the grain tank to monitor the pressure p of the grain at the bottom of the grain tank.

In the above solution, the computing device is an industrial computer.

A method for monitoring the system for returning to home according to the unloading of the grain tank, comprising the following steps:

Obtaining position information: The positioning device collects the position information of the four vertices of the operation field and transmits it to the display device, collects the real-time perception of the position P(X, Y) information of the harvester and transmits it to the computing device;

Input and display information: The display device inputs the rated load M of the grain tank, the cutting width D of the harvester, the grain yield per square meter q and the position information of the four vertices of the operating field, and transmits it to the computing device;

Calculate the distance of each cycle of the operation path: the computing device establishes an environmental model of a rectangular farmland with length A and width B through the position information of the four vertices of the operation field, and uses the inner spiral traversal planning method to plan the traversing operation of the harvester. path, calculate the distance of each lap of the working path;

Calculation of the remaining maximum load: the calculation device calculates the grain weight m in the grain tank through the pressure p of the grain at the bottom of the grain tank monitored by the monitoring device, and subtracts the grain weight m in the harvested grain tank from the rated load M of the grain tank. Remaining maximum load m _h ;

Calculate the early warning grain unloading interval: According to the cutting width D, the yield per square meter q and the remaining maximum loading capacity m _h , calculate the corresponding remaining maximum harvesting distance as L _h , and calculate the position interval P _h of the remaining maximum harvesting distance L _h in combination with the position information , that is, the early warning grain unloading interval is obtained;

Calculate the position of unloading and returning to home: Calculate the time T hi that the harvester travels from the current position point P ₀ to the full-load point _Pi of the grain tank, and calculate the time T _hi that the harvester takes to harvest from the current position point P ₀ and move to the return point of unloading grain At P _j , the time T _hj used is to calculate the time T _Uj required to travel from the grain return point P _j to the unloading area, and the weighted coefficient method is used to establish the objective constraint function model F(j) that affects the unloading return point:

F(j)=K _h *f(T _hi -T _hj )+K _u *f(T _Uj ), 0≤K _h , K _u ≤1

Among them, K _h and K _u are the weighting coefficients of (T _hi -T _hj ) and T _Uj respectively, and the j value corresponding to the minimum value of the single objective function F(j) is obtained, and the corresponding point P _j is obtained. Return to the desired location for unloading grain;

Calculate the waiting time T _wj required by the current harvester to complete the harvest and reach the unloading area: after calculating the point P _j , calculate the time T _hj required by the current harvester to travel to the point P _j , and travel from the point P _j to the unloading area. The time required for the area is T _Uj , and the current waiting time for the harvester to complete the harvest and reach the unloading area is T _wj =T _hj +T _Uj ;

The _Twj and P _j calculated by the computing device are sent to the grain truck through the communication device, and the grain truck stops the vehicle to the position closest to the point P _j within the waiting time _Twj .

In the above scheme, the calculation of the distance of each lap of the working path is specifically: the vehicle carries out the automatic harvesting operation with the cutting width D along the working path, and the total number of laps harvested by the harvester is N:

N = round up [Min(A, B)/2D]

The length and width of the corresponding working path of the Kth cycle are A _K and B _K , respectively:

A _K =(A-2*(k-1)*D), B _K =(B-2*(k-1)*D), K＜=N

Among them, the distance of the K-th cycle harvesting operation path is L _K :

L _K =2*(A _K +B _K )-4D.

Further, the step of calculating the pre-warning grain unloading interval is specifically as follows: calculating the remaining maximum harvesting distance as L _{h through the cutting width D, the output per square meter q and the remaining maximum loading amount m h :}

Combined with the length AK and width B _K of the _K -th cycle path, and the position P(X, Y) of the harvester, calculate the position interval P _h of the remaining maximum harvest distance L _h , the interval distance is d, and the position of L _h is discretized interval P _h , get the point set P _hd ,

Wherein, P ₀ =P(X, Y)

P _hd represents the set of all possible harvester stopping and unloading locations within the remaining maximum harvesting distance interval, where point P _i is the position of the harvester when it reaches the rated maximum loading capacity, and P ₀ is the current position of the harvester .

Further, the step of calculating the position of unloading grain and returning to sailing is specifically:

The automatic driving process of the harvester includes two parts: straight running and turning. On the straight path, the harvesting speed of the harvester during harvesting is v _h , the traveling speed when unloading grain is v _u , and the time used for each turn during the harvesting movement is T _h , the time used for each turn during the unloading transfer movement is Tu, the harvester travels from the current position to the full load of the grain tank, that is, from point P ₀ to point P _{i ,} the time used is T _hi , The straight-line path length of L _hi :

L _hi =L _h

Combined with the number of turns K where the harvester is located, and determine whether the side where P ₀ is located is the long side A _K or the short side B _K , the number of turns during the corresponding harvesting operation is calculated as Z _hi :

或

n＝向上取整{L_hi/(A_K+B_K)}=,

or

n=round up {L _hi /(A _K +B _K )}

Calculate T _hi :

When the grain unloading return point is P _j , 1≤j≤i, according to the position of the four sides of the rectangle where P _j is located, start from the side parallel to the grain unloading area, and establish area 1 and area 2 counterclockwise. , area three, area four;

Assuming that the harvester harvests from point P ₀ and moves to point P _j , the total time used is T _hj ,

Calculate the straight-line distance required to walk as L _hj :

Combined with the number of turns K where the harvester is located, and determine whether the side where P _j is located is the long side A _K or the short side B _K , the number of turns during the corresponding harvesting operation is calculated as Z _hj :

或

n＝向上取整{L_hj/(A_K+B_K)}=,

or

n=round up {L _hj /(A _K +B _K )}

So the corresponding total time taken to move from the harvesting operation at point P ₀ to point P _j is T _hj :

The path length of the harvester from point P _j to the unloading area is _Luj . When the point P _j is located in different areas, the length of the straight path included respectively is Lu _(1~4) and the number of turns is Z _{u(1~4 )} , the corresponding total time of moving on the unloading path is T _Uj :

其中Z_u1＝0、Z_u2＝2、Z_u3＝3、Z_u4＝1

where Z _u1 =0, Z _u2 =2, Z _u3 =3, Z _u4 =1

Taking the loading capacity m of the grain box of the harvester and the distance Lu from the harvester to the grain _unloading area as constraints, the value corresponding to the movement time of the early warning grain unloading interval is: T _hi -T _hj ;

The weighted coefficient method is used to establish the objective constraint function model F(j) that affects the return point of unloading grain:

F(j)=K _h *f(T _hi -T _hj )+K _u *f(T _Uj ), 0≤K _h , K _u ≤1

where K _h and K _u are the weighting coefficients of (T _hi- T _hj ) and T _Uj , respectively,

That is, to solve the j value corresponding to the minimum value of the single objective function F(j), the obtained point P _j is the required unloading and returning position.

A harvester includes the described grain tank unloading and returning position monitoring system.

A harvester, comprising the monitoring system for the position monitoring of the unloading and returning position of the grain tank, the monitoring system for the returning position monitoring for the unloading and returning of the grain tank is controlled according to the method of the monitoring system for the position monitoring system for the unloading and returning of the grain tank.

Compared with the prior art, the beneficial effects of the present invention are as follows: according to one aspect of the present invention, a system for monitoring the position of unloading grain from a grain tank and returning home can measure the grain pressure at the bottom of the grain tank of the harvester through the monitoring device, so as to realize the monitoring of the grain pressure at the bottom of the grain tank of the harvester. The real-time monitoring of the loading capacity in the box improves the drawbacks of the traditional grain box loading volume alarm system that cannot monitor the grain box in real time, and can display the loading volume in real time through the display device, avoiding the burden of manually detecting the grain box.

According to one mode of the present invention, the location information of the harvester can be obtained in real time according to the positioning device assembled on the harvester, and the early warning interval for unloading grain and the reasonable return point for unloading grain can be obtained through calculation, and displayed on the display device to remind the The staff is very intuitive. The harvester stops harvesting at a reasonable unloading and returning point, and transfers to the unloading point for unloading, which effectively utilizes the loading capacity of the grain tank and reduces the transfer time during the unloading process. , which can improve the efficiency of harvesting operations;

According to one aspect of the present invention, a control method for a monitoring system for a grain tank unloading and returning home position, calculates and obtains reasonable harvester unloading grain returning position, time and position information from the harvester to the grain unloading area, and sends the information in time To the grain truck, the grain truck can reach the designated point in the grain unloading area within the specified time according to the information received, which increases the initiative and flexibility of the grain unloading truck, and improves the traditional unloading method. The utilization rate of grain trucks breaks the traditional situation of one harvester with one grain truck, and also improves the utilization rate of grain trucks and improves the efficiency of grain unloading operations.

Note that the description of these effects does not prevent the existence of other effects. One form of the present invention does not necessarily have to have all of the above-described effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, and the like.

Description of drawings

FIG. 1 is a schematic connection diagram of a system according to an embodiment of the present invention;

2 is a schematic diagram of the working path and unloading information of the harvester according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of field area division according to an embodiment of the present invention.

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "rear", "left", " The orientation or positional relationship indicated by "right", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. is based on the drawings The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention . In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as "first" or "second" may expressly or implicitly include one or more of that feature. In the description of the present invention, "plurality" means two or more, unless otherwise expressly and specifically defined.

In the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrally connected; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or the internal communication between the two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

Figure 1 shows a preferred embodiment of the system for monitoring the position of the grain tank unloading and returning to the ship. The monitoring system for the position of returning to the ship after unloading the grain tank includes a monitoring device, a display device, a computing device, a positioning device and a communication device;

The monitoring device is used to monitor the grain weight of the grain tank and transmit it to the computing device;

The display device is used to input at least the rated load of the grain tank, the cutting width of the harvester, the grain yield per square meter, and the position information of the four vertices of the operating field, and transmit it to the computing device, and the display device is also used to at least display the information. The working path of the harvester, the early warning grain unloading interval, the estimated grain unloading point, the unloading return point and the grain tank loading capacity;

The positioning device is used to collect the position information of the four vertices of the rectangular operation field and the position P(X, Y) information of the real-time perception harvester, and transmit it to the computing device;

The communication device is used for the transmission of grain unloading time and position information between the harvester and the grain unloading truck, and sends the grain unloading instruction to the grain transport truck to prepare for unloading the grain.

The computing device is respectively connected with the monitoring device, the display unit, the positioning device and the communication device, and the computing device calculates the loading capacity of the grain tank, the remaining loading capacity and the position of unloading and returning to the ship according to the information of the monitoring device, the display device and the positioning device; The device is used to receive the time and position information of the harvester to the grain unloading area estimated by the computing device, and send the grain unloading instruction to the grain truck to reach the designated grain unloading point.

Preferably, the computing device is respectively connected with the monitoring device, the display unit, the positioning device and the communication device, the computing device calculates the loading capacity of the grain tank according to the information of the detection device and the control panel, and calculates the remaining loading of the combine harvester in combination with the information of the positioning device quantity and unloaded grain return position.

Preferably according to this embodiment, the operation field is rectangular, the grain unloading area is the field head road area of the operation field, and only exists in the field head where one side of the rectangular operation field is located and is parallel to the corresponding side. Any point inside can be used as unloading point.

Preferably according to this embodiment, the monitoring device is a pressure sensor; the pressure sensor is installed at the bottom of the grain tank, and is used to monitor the pressure p of the grain at the bottom of the grain tank. Preferably, the monitoring device includes three groups of six pressure sensors, which are evenly distributed at the bottom of the grain tank.

Preferably according to this embodiment, the computing device is an industrial computer.

Preferably according to this 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 includes a computing device and a communication unit;

The computing device receives the rated loading capacity M of the grain tank, the cutting width D of the harvester, the grain yield q per square meter, the position information of the four vertices of the operation field inputted by the display device, and the real-time perception of the harvester collected by the positioning device. The position P(X, Y) information of , and the pressure p of the grain at the bottom of the grain tank monitored by the monitoring device,

The computing device establishes an environmental model of a rectangular farmland with a length of A and a width of B through the position information of the four vertices of the operation field, and adopts the inner spiral traversal planning method to plan the traversing operation path of the harvester, and calculate the operation path of each circle. the journey;

The computing device calculates the grain weight m in the grain tank through the pressure p of the grain at the bottom of the grain tank monitored by the monitoring device, and subtracts the grain weight m in the harvested grain tank from the rated load M of the grain tank to obtain the remaining maximum loading amount m _h ;

The calculating device calculates the corresponding remaining maximum harvest distance as L _h through the cutting width D, the yield per square meter q and the remaining maximum loading amount m _h , and calculates the position interval P _h of the remaining maximum harvest distance L _h , that is, the pre-warning discharge is obtained. food range;

The computing device calculates the time T hi that the harvester takes to travel from the current position point P ₀ to the full-load point P _i of the grain tank, and calculates the time T _hi that the harvester takes to harvest from the current position point P ₀ and move to the unloaded grain return point P _j , the total time T _hj used, calculate the total time T _Uj required to travel from the grain return point P _j to the unloading area, and use the weighted coefficient method to establish the objective constraint function model F(j) that affects the unloading return point:

F(j)=K _h *f(T _hi -T _hj )+K _u *f(T _Uj ), 0≤K _h , K _u ≤1

Among them, K _h and K _u are the weighting coefficients of (T _hi -T _hj ) and T _Uj respectively. To find the j value corresponding to the minimum value of the single objective function F(j), the corresponding point P _j is obtained as The requested position for unloading and returning to the voyage;

The computing device calculates the waiting time _Twj required by the current harvester to complete the harvest and arrive at the unloading area: after calculating the point _Pj , calculate the time T _hj required for the current harvester to travel to the point _Pj , starting from the point _Pj The time required to travel to the unloading area is T _Uj , and the current waiting time for the harvester to complete the harvest and reach the unloading area is T _wj =T _hj +T _Uj ;

The communication unit sends the obtained T _wj and P _j to the grain truck through the communication device, and the grain truck stops the vehicle to the position closest to the point P _j within the waiting time T _wj and waits to unload the grain.

With reference to Figures 1, 2 and 3, a control method according to the monitoring system for the position of unloading grain from the grain tank and returning to home includes the following steps:

Obtaining position information: The positioning device collects the position information of the four vertices of the operating field and transmits it to the display device, and collects the real-time perception of the position P(X, Y) information of the harvester and transmits it to the computing device.

Input and display information: The display device inputs the rated load M of the grain tank, the cutting width D of the harvester, the grain yield per square meter q and the position information of the four vertices of the operating field, and transmits it to the computing device.

Calculate the distance of each cycle of the operation path: the computing device establishes an environmental model of a rectangular farmland with length A and width B through the position information of the four vertices of the operation field, and uses the inner spiral traversal planning method to plan the traversing operation of the harvester. path, calculate the distance of each lap of the work path,

Specifically, the harvester performs automatic harvesting operations with the cutting width D along the operation path, and the total number of laps harvested by the harvester is N:

N = round up [Min(A, B)/2D]

The length and width of the corresponding working path of the Kth cycle are A _K and B _K , respectively:

A _K =(A-2*(k-1)*D), B _K =(B-2*(k-1)*D), K＜=N

Among them, the distance of the K-th cycle harvesting operation path is L _K :

L _K =2*(A _K +B _K )-4D.

Calculate the remaining maximum loading: by calibrating the pressure values detected by the pressure sensor under different grain loadings, obtain the pressure p of the grain at the bottom of the grain tank monitored by the pressure sensor; Pressure p, calculate the grain weight m in the grain tank through the pre-calibrated value, and subtract the grain weight m in the harvested grain tank from the rated grain load M of the grain tank to obtain the remaining maximum loading capacity m _h , the remaining maximum loading capacity: m _h =Mm.

转弯路径长度不参与计算；计算剩余最大收获距离L_h的位置区间P_h，即得到预警卸粮区间，具体为：Calculate the early warning grain unloading interval: According to the cutting width D, the yield per square meter q and the remaining maximum loading capacity m _h , the remaining maximum harvesting distance is calculated as L _h ,

The length of the turning path is not involved in the calculation; the position interval P _h of the remaining maximum harvest distance L _h is calculated to obtain the early warning grain unloading interval, specifically:

Combined with the length AK and width B _K of the _K -th cycle path, and the position P(X, Y) of the harvester, calculate the position interval P _h of the remaining maximum harvest distance L _h , the interval distance is d, and the position of L _h is discretized interval P _h , get the point set P _hd ,

Wherein, P ₀ =P(X, Y)

P _hd represents the set of all possible harvester stopping and unloading locations within the remaining maximum harvesting distance interval, where point P _i is the position of the harvester when it reaches the rated maximum loading capacity, and P ₀ is the current position of the harvester .

Calculate the position of unloading and returning to home: Calculate the time T hi that the harvester travels from the current position point P ₀ to the full-load point _Pi of the grain tank, and calculate the time T _hi that the harvester takes to harvest from the current position point P ₀ and move to the return point of unloading grain At P _j , the time T _hj is used to calculate the time T _Uj required to travel from the grain return point P _j to the unloading area, and the weighted coefficient method is used to establish the objective constraint function model F(j) that affects the unloaded grain return point, specifically: :

Simplify the motion path of the harvester. The automatic driving process of the harvester includes two parts: straight and turning. Assume that the traveling speed of the harvester during harvesting is v _h on the straight path, and the traveling speed during unloading is v _u , assuming that the harvesting motion The turning methods are the same at all times, and the time used for each turn is _Th , assuming that the time used for each turn during the unloading transfer movement is _Tu , the harvester drives from the current position to the full load of the grain tank, that is, from point P When the line _{0 reaches the point Pi, the time taken is T hi ,} and the length of the straight-line path is L _hi :

L _hi =L _h

Combined with the number of turns K where the harvester is located, and determine whether the side where P ₀ is located is the long side A _K or the short side B _K , the number of turns during the corresponding harvesting operation is calculated as Z _hi :

或

n＝向上取整{L_hi/(A_K+B_K)}

or

n=round up {L _hi /(A _K +B _K )}

Calculate T _hi :

When the grain unloading return point is P _j , 1≤j≤i, according to the position of the four sides of the rectangle where P _j is located, start from the side parallel to the grain unloading area, and establish area 1 and area 2 counterclockwise. , area three, area four;

Assuming that the harvester harvests from point P ₀ and moves to point P _j , the total time used is T _hj ,

Calculate the straight-line distance required to walk as L _hj :

Combined with the number of turns K where the harvester is located, and judging whether the side where P _j is located is the long side A _K or the short side B _K , the number of turns when calculating the corresponding harvesting operation is Z _hj :

n＝向上取整{L_hj/(A_K+B_K)}

n=round up {L _hj /(A _K +B _K )}

So the corresponding total time taken to move from the harvesting operation at point P ₀ to point P _j is T _hj :

The path length of the harvester from point P _j to the unloading area is _Luj . When the point P _j is located in different areas, the length of the straight path included respectively is Lu _(1~4) and the number of turns is Z _{u(1~4 )} , the corresponding total time of moving on the unloading path is T _Uj :

其中Z_u1＝0、Z_u2＝2、Z_u3＝3、Z_u4＝1

where Z _u1 =0, Z _u2 =2, Z _u3 =3, Z _u4 =1

_Constrained by the harvester grain box loading m and the distance Lu from the harvester to the unloading area, the grain box loading rate is required to be as close to 100% as possible, that is, the value of m is as large as possible, and _{Lu is} as short as possible, where the value of m is The problem that is as large as possible can be converted into that the point P _j is as close to P _i as possible, and the corresponding length of the remaining unharvested interval in P _h is as short as possible, that is, the corresponding movement time in this area is as small as possible. The value corresponding to the movement time in the unloading interval is: T _hi- T _hj ;

In order to reduce the non-harvest operation time as the goal, the multi-objective problem is converted into a single-objective problem. Taking the function value as the constraint, the weighted coefficient method is used to establish the objective constraint function model F(j) that affects the unloading and returning point:

F(j)=K _h *f(T _hi -T _hj )+K _u *f(T _Uj ), 0≤K _h ≤1, 0≤K _u ≤11

Among them, K _h and K _u are the weighting coefficients of (T _hi -T _hj ) and T _Uj , respectively. The weighting coefficients can be preset to convert the problem into the problem of solving the minimum value of the function, that is, to solve the problem of solving the single objective function F(j). The value of j corresponding to the minimum value, then the obtained point P _j is the desired position of unloading and returning to home.

Calculate the waiting time T _wj required by the current harvester to complete the harvest and reach the unloading area: after calculating the point P _j , calculate the time T _hj required by the current harvester to travel to the point P _j , and travel from the point P _j to the unloading area. The time required for the area is T _Uj , and the current waiting time for the harvester to complete the harvest and reach the unloading area is T _w : T _wj =T _hj +T _Uj ;

The _Twj and _Pj calculated by the computing device are sent to the grain truck through the communication device, and the grain truck stops the vehicle to the position closest to the point _Pj within the waiting time _Twj and waits to unload the grain.

A harvester includes the described grain tank unloading and returning position monitoring system.

A harvester, comprising the monitoring system for the position monitoring of the unloading and returning position of the grain tank, the monitoring system for the returning position monitoring for the unloading and returning of the grain tank is controlled according to the method of the monitoring system for the position monitoring system for the unloading and returning of the grain tank.

In the present invention, the weight of the harvested grain in the grain tank is detected by the monitoring device, the remaining loading amount is calculated, then the remaining harvesting distance in the harvesting operation of the harvester is calculated, and the remaining harvesting position interval is estimated in combination with the current position information of the harvester, and finally the grain The large loading capacity of the box and the short path from the harvester to the unloading area are the optimization goals. The constraint function model that affects the unloading position of the harvester is constructed, and the reasonable position of the harvester unloading and returning to home is calculated and obtained.

It should be understood that although this specification is described according to various embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions for the feasible embodiments of the present invention, and they are not intended to limit the protection scope of the present invention. Changes should all be included within the protection 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 ：

Or

n is in the direction ofUpper round { 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 a long side A _K Or short side B _K Calculating the number of turns in the corresponding harvesting operation as Z _hj ：

Or

n-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 ：

Wherein Z _u1 ＝0、Z _u2 ＝2、Z _u3 ＝3、Z _u4 ＝1

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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