CN115067061B - Grain unloading and returning position monitoring system and method for grain tank and harvester - Google Patents

Grain unloading and returning position monitoring system and method for grain tank and harvester Download PDF

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Publication number
CN115067061B
CN115067061B CN202210538788.6A CN202210538788A CN115067061B CN 115067061 B CN115067061 B CN 115067061B CN 202210538788 A CN202210538788 A CN 202210538788A CN 115067061 B CN115067061 B CN 115067061B
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grain
harvester
unloading
point
calculating
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CN115067061A (en
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石岩
徐立章
路恩
胡金鹏
刘朋
张文斌
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Jiangsu University
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Jiangsu University
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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
    • 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
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Threshing Machine Elements (AREA)

Abstract

The invention provides a grain unloading and returning position monitoring system and method of a grain tank and a harvester, wherein the grain unloading and returning 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 weight of grains in the grain tank, and the display device is used for inputting and displaying information; the positioning device is used for collecting the position information of four vertexes of the rectangular operation field and sensing the position P (X, Y) information of the harvester in real time; the communication device is used for transmitting grain unloading time and position information between the harvester and the grain unloading vehicle; the calculation device is used for calculating and obtaining reasonable grain unloading and returning positions of the harvester, time and position information of a grain unloading area of the harvester, sending grain unloading instructions to the grain transporting vehicle to reach specified grain unloading points, waiting for grain unloading, and improving the working efficiency of harvesting operation.

Description

Grain unloading and returning position monitoring system and method for grain tank and harvester
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a grain unloading and returning 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 of the characteristics of partitioned and blocked farmland areas and small planting scale in China, the small and medium-sized combine harvester is widely applied. In the process of operation, the small and medium-sized combine harvester temporarily stores the harvested grain seeds in the grain tank of the machine body, and after the grain tank is full, the combine harvester stops harvesting operation and runs to the ridge land area to perform fixed-point grain unloading.
The prior small and medium-sized combine harvester has the following problems in the harvesting process:
the grain tank of the small and medium-sized combine harvester has small volume, and can give an alarm when the loading capacity of the grain tank of the harvester reaches a certain degree, and the combine harvester needs to be opened to the field side in time by an operator to discharge grains, so that the grain waste is avoided. However, when unloading grains, the grain unloading transfer path is longer, the non-harvest grain unloading time is increased, and the working efficiency is greatly reduced because of the shortage of manual experience or the fact that the alarm place of the grain tank is too far away from the grain unloading area; if the rated load capacity of the grain tank cannot be reasonably and fully utilized, grains are frequently discharged when the loading capacity of the grain tank is insufficient, the total grain discharging times of the harvester can be increased, the non-harvesting operation time is also increased, and the working efficiency is reduced.
Disclosure of Invention
Aiming at the technical problems, one of the purposes of one mode of the invention is to provide a grain unloading and returning position monitoring system of a grain tank, which improves 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 and returning position monitoring system, which is used for calculating reasonable grain unloading and returning position of a harvester, time and position information of 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 work efficiency of harvesting operation; one of the purposes of one mode of the invention is to provide a harvester comprising the grain tank unloading and returning position monitoring system, and one of the purposes of the invention is to provide a harvester comprising the grain tank unloading and returning position monitoring system, wherein the harvester is controlled according to a control method of the grain tank unloading and returning position monitoring system.
Note that the description of these objects does not prevent the existence of other objects. Not all of the above objects need be achieved in one embodiment of the present invention. Other objects than the above objects can be extracted from the description of the specification, drawings, and claims.
The technical scheme of the invention is as follows:
a grain unloading and returning position monitoring system of 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 computing device;
the display device is used for inputting at least rated load of the grain tank, cutting amplitude of the harvester, grain yield per square meter and position information of four vertexes of the operation field block, transmitting the information to the computing device, and displaying at least operation path of the harvester, early warning grain unloading interval, estimated grain unloading point, grain unloading return point and grain tank loading capacity;
the positioning device is used for collecting the position information of four vertexes of the rectangular operation field and sensing the position P (X, Y) information of the harvester in real time 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 and returning 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 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 a specified grain unloading point in a specified time.
In the scheme, the computing device receives the rated loading capacity M of the grain tank, the operation cutting width D of the grain tank, the grain yield q of each square meter, the position information of four vertexes of an operation field block, the position P (X, Y) information of the real-time sensing harvester collected by the positioning device and the pressure P of grains at the bottom of the grain tank monitored by the monitoring device, wherein the rated loading capacity M of the grain tank, the operation cutting width D of the grain tank, the grain yield q of each square meter and the position information of the four vertexes of the operation field block are input by the display device;
the computing device establishes an environment model of a rectangular farmland with a length A and a width B through the position information of four vertexes of the operation farmland, adopts an internal spiral traversal planning method, plans a traversal operation path of a harvester, and calculates the path of each circle of operation path;
the calculating 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 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 device is characterized by cutting the web D, the yield q per square meter and the residual maximum loading m h Calculating the residual maximum harvesting distance as L h Calculating the residual maximumDistance of acquisition L h Position interval P of (2) h Obtaining an early warning grain unloading interval;
the calculating device calculates the current position point P of the harvester 0 The harvesting is driven to the full loading point P of the grain tank i At the time T hi Calculating the current position point P of the harvester 0 Harvesting and moving to a grain unloading return point P j Where the total time T used hj Calculating the return point P of the grain j Total time T required for traveling to grain unloading area Uj Establishing an objective constraint function model F (j) affecting the 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 is h 、K u Respectively (T) hi -T hj ) And T Uj Solving the corresponding j value at the minimum value of the single objective function F (j), and obtaining the point P j The calculated grain unloading return position is the calculated grain unloading return position;
the calculating device calculates the waiting time T required by the current distance from the harvesting machine to the harvesting completion and reaching the grain unloading area wj : calculating to obtain a point P j After that, the current harvester driving to point P is calculated j Time T required hj From point P j The time required for driving to the grain unloading area is T Uj Waiting time T required for harvesting completion and reaching grain unloading area of harvester wj ＝T hj +T Uj ；
The computing device obtains T through the communication device wj And P j Is sent to the grain conveying vehicle, and the grain conveying vehicle waits for time T wj In which the vehicle is parked to a distance point P j The nearest location.
In the above scheme, the monitoring device is a pressure sensor; the pressure sensor is arranged at the bottom of the grain tank and is 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 according to the tank unloading return location monitoring system, comprising the steps of:
obtaining position information: the positioning device collects the position information of four vertexes of the operation field and transmits the position information to the display device, and collects the position P (X, Y) information of the real-time sensing harvester and transmits the position P (X, Y) information to the computing device;
inputting display information: the display device inputs rated loading capacity M of the grain tank, operation cutting width D of the harvester, grain yield q per square meter and position information of four vertexes of an operation field block, and transmits the information to the computing device;
calculating the distance of each circle of operation path: the computing device establishes an environment model of a rectangular farmland with a length A and a width B through the position information of four vertexes of the operation farmland, adopts an internal spiral traversal planning method, plans a traversal operation path of a harvester, and calculates the path of each circle of operation path;
calculating the remaining maximum load: the calculating 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 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 cutting the web D, the yield per square meter q and the remaining maximum load m h Calculating the corresponding residual maximum harvesting distance as L h Calculating the remaining maximum harvesting distance L by combining the position information h Position interval P of (2) h Obtaining an early warning grain unloading interval;
calculating the grain unloading and returning position: calculating the current position point P of the harvester 0 The harvesting is driven to the full loading point P of the grain tank i At the time T hi Calculating the current position point P of the harvester 0 Harvesting and moving to a grain unloading return point P j At the time T hj Calculating the return point P of the grain j Time T required for traveling to grain unloading area Uj Establishing an objective constraint function model F (j) affecting the 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 is h 、K u Respectively (T) hi -T hj ) And T Uj Solving the corresponding j value at the minimum value of the single objective function F (j), and obtaining the corresponding point P j The calculated grain unloading return position is obtained;
calculating the waiting time T required by the current distance from the harvesting machine to the harvesting completion and reaching the grain unloading area wj : calculating to obtain a point P j After that, the current harvester driving to point P is calculated j Time T required hj From point P j The time required for driving to the grain unloading area is T Uj Waiting time T required for harvesting completion and reaching grain unloading area of harvester wj ＝T hj +T Uj ；
T calculated by the calculating device through the communication device wj And P j Is sent to the grain conveying vehicle, and the grain conveying vehicle waits for time T wj In which the vehicle is parked to a distance point P j The nearest location.
In the above scheme, the calculating the path length of each circle of the operation path specifically includes: the vehicle performs automatic harvesting operation along the operation path with a cutting width D, and the total number of turns harvested by the harvester is N:
n=round up [ Min (a, B)/2D ]
The length and width of the corresponding K-th circle working path 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 distance 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 cutting the web D, the yield per square meter q and the remaining maximum load m h Calculating the residual maximum harvesting distance as L h ：
Length a combined with the kth path K And width B K And the position P (X, Y) of the harvester, calculating the remaining maximum harvesting distance L h Position interval P of (2) h The spacing distance is d, discretize L h Position interval P of (2) h Obtaining a point set P hd ，
Wherein P is 0 ＝P(X，Y)
P hd Representing the set of all possible harvester off-load and off-load locations within the remaining maximum harvest distance interval, point P i At the position when the harvester reaches the rated maximum loading capacity, P 0 Where is the current location of the harvester.
Further, the step of calculating the unloading and returning position specifically comprises the following steps:
the automatic driving process of the harvester comprises a straight driving part and a turning part, and the driving speed of the harvester during harvesting is v on a straight path h The advancing speed during grain unloading is v u The time length of each turn is T during harvesting exercise h The time length of each turn is T during the grain unloading transfer movement u The harvester is driven from the current position to the full load position of the grain tank, namely from the point P 0 Line to point P i When in treatment, the time is T hi The length of the straight path 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 turning times Z of the corresponding harvesting operation hi ：
＝，Or->n=round-up { L } hi /(A K +B K )}
Calculated as T hi ：
The grain unloading return point is P j When j is 1.ltoreq.i, according to P j The positions of four sides of the rectangle are different, and the four sides are started from the side parallel to the grain unloading area, and an area I, an area II, an area III and an area IV are established in the anticlockwise direction;
let harvester slave point P 0 Harvesting and moving to point P j Where the total time used is T hj ，
Calculating the straight line distance required to walk as L 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 turning times Z of the corresponding harvesting operation hj ：
＝，Or->n=round-up { L } hj /(A K +B K )}
So the corresponding slave point P 0 The harvesting operation moves to point P j The total time used is T hj ：
Harvester slave point P j Path length to grain unloading area is L uj At point P j When being positioned in different areas, the straight path length is L u(1～4) Z is the number of turns u(1～4) The corresponding total time of moving on the grain unloading path is T Uj ：
Wherein Z is u1 ＝0、Z u2 ＝2、Z u3 ＝3、Z u4 ＝1
With the loading capacity m of the grain tank of the harvester and the distance L from the harvester to the grain unloading area u The corresponding value of the movement time of the early warning grain unloading interval is as follows: t (T) hi -T hj ；
Establishing a target constraint function model F (j) affecting the unloading return points 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 Respectively (T) hi- T hj ) And T Uj Is used for the weight coefficient of the (c),
i.e. solving the corresponding j value at the minimum of the single objective function F (j), the point P thus found j And the calculated grain unloading return position is obtained.
A harvester comprises a grain unloading and returning position monitoring system of the grain tank.
The harvester comprises a grain unloading and returning position monitoring system of the grain tank, wherein the grain unloading and returning position monitoring system of the grain tank is controlled according to a method of the grain unloading and returning position monitoring system of the grain tank.
Compared with the prior art, the invention has the beneficial effects that: according to the grain unloading and returning position monitoring system for the grain tank, disclosed by the invention, the real-time monitoring of the loading capacity of the grain tank can be realized by measuring the grain pressure at the bottom of the grain tank of the harvester through the monitoring device, the defect that the traditional grain tank loading capacity alarm system cannot monitor the grain tank in real time is overcome, the loading capacity can be displayed in real time through the display device, and the burden of manually detecting the grain tank is avoided.
According to one mode of the invention, the real-time acquisition of the position information of the harvester can be realized according to the positioning device assembled by the harvester, the grain unloading early warning interval and the reasonable grain unloading return point of the harvester are acquired through calculation, the position information is displayed through the display device, the staff is reminded, the harvester stops harvesting at the reasonable grain unloading return point and is transferred to the grain unloading point to unload grains, the loading capacity of the grain tank is effectively utilized, the transfer time in the grain unloading process is reduced, and the harvesting operation working efficiency can be improved;
according to one mode of the invention, a control method of the grain unloading and returning position monitoring system of the grain tank calculates reasonable grain unloading and returning position of the harvester, time and position information of the harvester to a grain unloading area, and timely sends the information to the grain transporting vehicle, and the grain transporting vehicle can reach a specified point in the grain unloading area within specified time according to the received information, so that the initiative and flexibility of the grain unloading vehicle are improved, the utilization rate of the grain unloading vehicle in a traditional grain unloading mode is improved, the traditional situation that one grain transporting vehicle is matched by one harvester is broken, the utilization rate of the grain transporting vehicle is also improved, and the grain unloading operation working efficiency 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 of the above effects. Effects other than the above are obvious and can be extracted from the description of the specification, drawings, claims, and the like.
Drawings
FIG. 1 is a schematic diagram of the connections of a system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of harvester operation path and unloading information according to an embodiment of the invention;
fig. 3 is a schematic view of field area division according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "rear", "left", "right", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
FIG. 1 shows a preferred embodiment of the system for monitoring the unloading and returning positions of 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 computing device;
the display device is used for inputting at least rated load of the grain tank, cutting amplitude of the harvester, grain yield per square meter and position information of four vertexes of the operation field block, transmitting the information to the computing device, and displaying at least operation path of the harvester, early warning grain unloading interval, estimated grain unloading point, grain unloading return point and grain tank loading capacity;
the positioning device is used for collecting the position information of four vertexes of the rectangular operation field and sensing the position P (X, Y) information of the harvester in real time and transmitting the position information to the computing device;
the communication device is used for transmitting the grain unloading time and position information between the harvester and the grain unloading vehicle, and sending a grain unloading instruction to the grain conveying vehicle for preparing 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 and returning 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 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 a 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 loading capacity of the grain tank according to the information of the detecting device and the control panel, and calculates the residual loading capacity and the grain unloading and returning position of the combine harvester by combining the information of the positioning device.
According to this embodiment, preferably, the operation field block is rectangular, the grain unloading area is a field head road area of the operation field block, only the field head where one side of the rectangular operation field block is located is parallel to the corresponding side, and any point in the area can be used as the grain unloading point.
According to this embodiment, preferably, the monitoring device is a pressure sensor; the pressure sensor is arranged at the bottom of the grain tank and is 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.
According to this embodiment, preferably, the computing device is an industrial personal computer.
According to the preferred embodiment, the positioning device is an RTK-GNSS global positioning navigator and is connected with the computing device.
According to this embodiment, preferably, the display device is a touch display.
The computing device comprises a computing device and a communication unit;
the computing device receives the rated loading capacity M of the grain tank, the operation cutting width D of the grain tank, the grain yield q per square meter, the position information of four vertexes of the operation field, the position P (X, Y) information of the real-time sensing harvester, which is acquired by the positioning device, and the pressure P of grains at the bottom of the grain tank, which is monitored by the monitoring device,
the computing device establishes an environment model of a rectangular farmland with a length A and a width B through the position information of four vertexes of the operation farmland, adopts an internal spiral traversal planning method, plans a traversal operation path of a harvester, and calculates the path of each circle of operation path;
the calculating 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 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 device is characterized by cutting the web D, the yield q per square meter and the residual maximum loading m h Calculating the corresponding residual maximum harvesting distance as L h Calculating the residual maximum harvesting distance L h Position interval P of (2) h Obtaining an early warning grain unloading interval;
the calculating device calculates the current position point P of the harvester 0 The harvesting is driven to the full loading point P of the grain tank i At the time T hi Calculating the current position point P of the harvester 0 Harvesting and moving to a grain unloading return point P j Where the total time T used hj Calculating the return point P of the grain j Total time T required for traveling to grain unloading area Uj Establishing a target affecting a grain unloading return point by adopting a weighting coefficient methodConstraint function model F (j):
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 Respectively (T) hi -T hj ) And T Uj Solving the corresponding j value at the minimum value of the single objective function F (j), and obtaining the corresponding point P j The calculated grain unloading return position is obtained;
the calculating device calculates the waiting time T required by the current distance from the harvesting machine to the harvesting completion and reaching the grain unloading area wj : calculating to obtain a point P j After that, the current harvester driving to point P is calculated j Time T required hj From point P j The time required for driving to the grain unloading area is T Uj Waiting time T required for harvesting completion and reaching grain unloading area of harvester wj ＝T hj +T Uj ；
The communication unit obtains T through a communication device wj And P j Is sent to the grain conveying vehicle, and the grain conveying vehicle waits for time T wj In which the vehicle is parked to a distance point P j The nearest place waits for unloading.
Referring to fig. 1, 2 and 3, a control method of the grain unloading and returning position monitoring system according to the grain tank comprises the following steps:
obtaining position information: the positioning device collects the position information of four vertexes of the operation field and transmits the position information to the display device, and the position P (X, Y) information of the real-time sensing harvester is collected and transmitted to the computing device.
Inputting display information: the display device inputs rated loading capacity M of the grain tank, operation cutting width D of the harvester, grain yield q per square meter and position information of four vertexes of the operation field, and transmits the information to the computing device.
Calculating the distance of each circle of operation path: the computing device establishes an environment model of a rectangular farmland with a length of A and a width of B through the position information of four vertexes of the operation farmland, adopts an internal spiral traversal planning method to plan a traversal operation path of a harvester, calculates the path of each circle of operation path,
the method comprises the following steps: the harvester performs automatic harvesting operation along the operation path with a cutting width D, and the total number of turns harvested by the harvester is N:
n=round up [ Min (a, B)/2D ]
The length and width of the corresponding K-th circle working path 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 distance of the K-th harvest operation path is L K ：
L K ＝2*(A K +B K )-4D。
Calculating the remaining maximum load: the pressure p of grains at the bottom of the grain tank monitored by the pressure sensor is obtained by calibrating the pressure values detected by the pressure sensors under different grain loading amounts; the calculating 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 through a pre-calibrated value, and subtracts the grain weight M in the harvested grain tank from the rated grain tank loading capacity M to obtain the residual maximum loading capacity M h Maximum load remaining: m is m h ＝M-m。
Calculating an early warning grain unloading interval: by cutting the web D, the yield per square meter q and the remaining maximum load m h Calculating the residual maximum harvesting distance as L h ，The turning path length does not participate in the calculation; calculating the remaining maximum harvesting distance L h Position interval P of (2) h The early warning grain unloading interval is obtained, and specifically comprises the following steps:
length a combined with the kth path K And width B K And the position P (X, Y) of the harvester, calculating the remaining maximum harvesting distance L h Position interval P of (2) h The spacing distance is d, discretize L h Position interval P of (2) h Obtaining a point set P hd ，
Wherein P is 0 ＝P(X，Y)
P hd Representing the set of all possible harvester off-load and off-load locations within the remaining maximum harvest distance interval, point P i At the position when the harvester reaches the rated maximum loading capacity, P 0 Where is the current location of the harvester.
Calculating the grain unloading and returning position: calculating the current position point P of the harvester 0 The harvesting is driven to the full loading point P of the grain tank i At the time T hi Calculating the current position point P of the harvester 0 Harvesting and moving to a grain unloading return point P j At the time T hj Calculating the return point P of the grain j Time T required for traveling to grain unloading area Uj The method comprises the steps of establishing an objective constraint function model F (j) affecting a grain unloading return point by adopting a weighting coefficient method, wherein the model is specifically as follows:
simplifying the motion path of the harvester, wherein the automatic driving process of the harvester comprises a straight running part and a turning part, and the travelling speed of the harvester during harvesting is v on the straight path h Assuming that the travelling speed during grain unloading is v u Assuming that the turning modes are the same during the harvest movement, the time length of each turning is T h Assume that the time length of each turn is T during grain unloading transfer movement u The harvester is driven from the current position to the full load position of the grain tank, namely from the point P 0 Line to point P i When in treatment, the time is T hi The length of the straight path 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 turning times Z of the corresponding harvesting operation hi ：
Or->n=round-up { L } hi /(A K +B K )}
Calculated as T hi ：
The grain unloading return point is P j When j is 1.ltoreq.i, according to P j The positions of four sides of the rectangle are different, and the four sides are started from the side parallel to the grain unloading area, and an area I, an area II, an area III and an area IV are established in the anticlockwise direction;
let harvester slave point P 0 Harvesting and moving to point P j Where the total time used is T hj ，
Calculating the straight line distance required to walk as L 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 turning times Z of the corresponding harvesting operation hj ：
n=round-up { L } hj /(A K +B K )}
So the corresponding slave point P 0 The harvesting operation moves to point P j The total time used is T hj ：
Harvester slave point P j Path length to grain unloading area is L uj At point P j When located in different areas, each comprisesIs L u(1～4) Z is the number of turns u(1～4) The corresponding total time of moving on the grain unloading path is T Uj ：
Wherein Z is u1 ＝0、Z u2 ＝2、Z u3 ＝3、Z u4 ＝1
With the loading capacity m of the grain tank of the harvester and the distance L from the harvester to the grain unloading area u For constraint, the grain bin loading rate is required to be as close as possible to 100%, i.e. the value of m is as large as possible, 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 the position P h The length of the residual unharvested interval is as short as possible, namely the corresponding movement time in the area is as short as possible, and the corresponding value of the movement time of the early warning grain unloading interval is as follows: t (T) hi- T hj ；
The method comprises the steps of taking non-harvesting operation time reduction as a target, converting a multi-target problem into a single-target problem, taking the size of a function value as a constraint, and establishing a target constraint function model F (j) affecting 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 ≤1、0≤K u ≤11
wherein K is h 、K u Respectively (T) hi -T hj ) And T Uj The weighting coefficient can be preset, the problem is converted into the minimum problem of the solving function, namely, the point P obtained by solving the j value corresponding to the minimum value of the single objective function F (j) j And the calculated grain unloading return position is obtained.
Calculating the waiting time T required by the current distance from the harvesting machine to the harvesting completion and reaching the grain unloading area wj : calculating to obtain a point P j After that, the current harvester driving to point P is calculated j Time T required hj From point P j The time required for driving to the grain unloading area is T Uj Harvesting from a harvester at presentWait time T required for finishing and reaching grain unloading area w ：T wj ＝T hj +T Uj ；
T calculated by the calculating device through the communication device wj And P j Is sent to the grain conveying vehicle, and the grain conveying vehicle waits for time T wj In which the vehicle is parked to a distance point P j The nearest place waits for unloading.
A harvester comprises a grain unloading and returning position monitoring system of the grain tank.
The harvester comprises a grain unloading and returning position monitoring system of the grain tank, wherein the grain unloading and returning position monitoring system of the grain tank is controlled according to a method of the grain unloading and returning position monitoring system of the grain tank.
According to the invention, the weight of harvested grains in the grain tank is detected through the monitoring device, the residual loading capacity is calculated, the residual harvesting travelling distance in the harvesting operation of the harvester is calculated, the residual harvesting position interval is estimated by combining the position information of the current harvester, finally, the 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 and returning position of the harvester is calculated and obtained.
It should be understood that although the present disclosure has been described in terms of various embodiments, not every embodiment is provided with a separate technical solution, and this description is for clarity only, and those skilled in the art should consider the disclosure as a whole, and the technical solutions in the various embodiments may be combined appropriately to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.

Claims (9)

1. The grain unloading and returning position monitoring system for the grain tank is characterized by comprising 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 computing device;
the display device is used for inputting at least rated load of the grain tank, cutting amplitude of the harvester, grain yield per square meter and position information of four vertexes of the operation field block, transmitting the information to the computing device, and displaying at least operation path of the harvester, early warning grain unloading interval, estimated grain unloading point, grain unloading return point and grain tank loading capacity;
the positioning device is used for collecting the position information of four vertexes of the rectangular operation field and sensing the position P (X, Y) information of the harvester in real time 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 and returning 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 position information of the harvester to the grain unloading area estimated by the calculation device, and sending a grain unloading instruction to the grain transport vehicle to reach a specified grain unloading point in a specified time;
the computing device receives the rated loading capacity M of the grain tank, the operation cutting width D of the grain tank, the grain yield q of each square meter, the position information of four vertexes of an operation field block, the position P (X, Y) information of the grain tank, which is acquired by the positioning device and is sensed in real time, and the pressure P of grains at the bottom of the grain tank, which is monitored by the monitoring device;
the computing device establishes an environment model of a rectangular farmland with a length A and a width B through the position information of four vertexes of the operation farmland, adopts an internal spiral traversal planning method, plans a traversal operation path of a harvester, and calculates the path of each circle of operation path;
the calculating 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 subtracts the rated loading capacity M of the grain tankThe weight m of the grain in the grain tank is obtained to obtain the residual maximum loading m h ；
The computing device is characterized by cutting the web D, the yield q per square meter and the residual maximum loading m h Calculating the residual maximum harvesting distance as L h Calculating the residual maximum harvesting distance L h Position interval P of (2) h Obtaining an early warning grain unloading interval;
the calculating device calculates the current position point P of the harvester 0 The harvesting is driven to the full loading point P of the grain tank i At the time T hi Calculating the current position point P of the harvester 0 Harvesting and moving to a grain unloading return point P j Where the total time T used hj Calculating the return point P of the grain j Total time T required for traveling to grain unloading area Uj Establishing an objective constraint function model F (j) affecting the 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 is h 、K u Respectively (T) hi -T hj ) And T Uj Solving the corresponding j value at the minimum value of the single objective function F (j), and obtaining the point P j The calculated grain unloading return position is the calculated grain unloading return position;
the calculating device calculates the waiting time T required by the current distance from the harvesting machine to the harvesting completion and reaching the grain unloading area wj : calculating to obtain a point P j After that, the current harvester driving to point P is calculated j Time T required hj From point P j The time required for driving to the grain unloading area is T Uj Waiting time T required for harvesting completion and reaching grain unloading area of harvester wj ＝T hj +T Uj ；
The computing device obtains T through the communication device wj And P j Is sent to the grain conveying vehicle, and the grain conveying vehicle waits for time T wj In which the vehicle is parked to a distance point P j The nearest location.
2. The grain bin 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 is used for monitoring the pressure p of grains at the bottom of the grain tank.
3. The grain bin unloading and return position monitoring system of claim 1, wherein the computing device is an industrial personal computer.
4. A method of a tank unloading return location monitoring system according to any one of claims 1-3, comprising the steps of:
obtaining position information: the positioning device collects the position information of four vertexes of the operation field and transmits the position information to the display device, and collects the position P (X, Y) information of the real-time sensing harvester and transmits the position P (X, Y) information to the computing device;
inputting display information: the display device inputs rated loading capacity M of the grain tank, operation cutting width D of the harvester, grain yield q per square meter and position information of four vertexes of an operation field block, and transmits the information to the computing device;
calculating the distance of each circle of operation path: the computing device establishes an environment model of a rectangular farmland with a length A and a width B through the position information of four vertexes of the operation farmland, adopts an internal spiral traversal planning method, plans a traversal operation path of a harvester, and calculates the path of each circle of operation path;
calculating the remaining maximum load: the calculating 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 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 cutting the web D, the yield per square meter q and the remaining maximum load m h Calculating the residual maximum harvesting distance as L h Calculating the remaining maximum harvesting distance L by combining the position information h Position interval P of (2) h Obtaining an early warning grain unloading interval;
calculating the grain unloading and returning position: calculating the current position point P of the harvester 0 The harvesting is driven to the full loading point P of the grain tank i At the time T hi Calculating the current position point P of the harvester 0 Harvesting and moving to a grain unloading return point P j At the time T hj Calculating the return point P of the grain j Time T required for traveling to grain unloading area Uj Establishing an objective constraint function model F (j) affecting the 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 is h 、K u Respectively (T) hi -T hj ) And T Uj Solving the corresponding j value at the minimum value of the single objective function F (j), and obtaining the corresponding point P j The calculated grain unloading return position is obtained;
calculating the waiting time T required by the current distance from the harvesting machine to the harvesting completion and reaching the grain unloading area wj : calculating to obtain a point P j After that, the current harvester driving to point P is calculated j Time T required hj From point P j The time required for driving to the grain unloading area is T Uj Waiting time T required for harvesting completion and reaching grain unloading area of harvester wj ＝T hj +T Uj ；
T calculated by the calculating device through the communication device wj And P j Is sent to the grain conveying vehicle, and the grain conveying vehicle waits for time T wj In which the vehicle is parked to a distance point P j The nearest location.
5. The method of the grain bin unloading and returning position monitoring system according to claim 4, wherein the calculating the path length of each circle of the operation path is specifically as follows: the vehicle performs automatic harvesting operation along the operation path with a cutting width D, and the total number of turns harvested by the harvester is N:
n=round up [ Min (a, B)/2D ]
The length and width of the corresponding K-th circle working path 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 distance of the K-th harvest operation path is L K ：
L K ＝2*(A K +B K )-4D。
6. The method of claim 5, wherein the step of calculating the early warning grain unloading interval comprises the steps of: by cutting the web D, the yield per square meter q and the remaining maximum load m h Calculating the residual maximum harvesting distance as L h ：
Length a combined with the kth path K And width B K And the position P (X, Y) of the harvester, calculating the remaining maximum harvesting distance L h Position interval P of (2) h The spacing distance is d, discretize L h Position interval P of (2) h Obtaining a point set P hd ，
P hd =discretization [ P y ]＝[P 0 ，P 1 ，......，P i-1 ，P i ]I=round up
Wherein P is 0 ＝P(X，Y)
P hd Representing the set of all possible harvester off-load and off-load locations within the remaining maximum harvest distance interval, point P i At the position when the harvester reaches the rated maximum loading capacity, P 0 Where is the current location of the harvester.
7. The method of a grain bin unloading and return position monitoring system according to claim 6, wherein the step of calculating the unloading and return position comprises:
harvester selfThe dynamic driving process comprises a straight driving part and a turning part, and the advancing speed of the harvester during harvesting is v on a straight path h The advancing speed during grain unloading is v u The time length of each turn is T during harvesting exercise h The time length of each turn is T during the grain unloading transfer movement u The harvester is driven from the current position to the full load position of the grain tank, namely from the point P 0 Line to point P i When in treatment, the time is T hi The length of the straight path 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 turning times Z of the corresponding harvesting operation hi ：
Or->n=round-up { L } hi /(A K +B K ) Calculated as T hi ：
The grain unloading return point is P j When j is 1.ltoreq.i, according to P j The positions of four sides of the rectangle are different, and the four sides are started from the side parallel to the grain unloading area, and an area I, an area II, an area III and an area IV are established in the anticlockwise direction;
let harvester slave point P 0 Harvesting and moving to point P j Where the total time used is T hj ，
Calculating the straight line distance required to walk as L 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 turning times Z of the corresponding harvesting operation hj ：
Or->n=round-up { L } hj /(A K +B K )}
So the corresponding slave point P 0 The harvesting operation moves to point P j The total time used is T hj ：
Harvester slave point P j Path length to grain unloading area is L uj At point P j When being positioned in different areas, the straight path length is L u(1～4) Z is the number of turns u(1～4) The corresponding total time of moving on the grain unloading path is T Uj ：
Wherein Z is u1 ＝0、Z u2 ＝2、Z u3 ＝3、Z u4 ＝1
With the loading capacity m of the grain tank of the harvester and the distance L from the harvester to the grain unloading area u The corresponding value of the movement time of the early warning grain unloading interval is as follows: t (T) hi -T hj ；
Establishing a target constraint function model F (j) affecting the unloading return points by adopting a weighting coefficient method:
F(j)＝K h *f(T hi -T hj )+K u *f(T Uj )，0≤K h ≤1、0≤K u ≤1
wherein K is h 、K u Respectively (T) hi -T hj ) And T Uj Weighting coefficients of (2);
i.e. solving the corresponding j value at the minimum of the single objective function F (j), the point P thus found j And the calculated grain unloading return position is obtained.
8. A harvester comprising the tank unloading return position monitoring system of any one of claims 1-3.
9. A harvester comprising the grain bin unloading and return position monitoring system of any one of claims 1-3, the grain bin unloading and return position monitoring system being controlled according to the method of the grain bin unloading and return position monitoring system of any one of claims 4-7.
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