WO2020206942A1 - 收割机和物流车智能配合系统和方法 - Google Patents

收割机和物流车智能配合系统和方法 Download PDF

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Publication number
WO2020206942A1
WO2020206942A1 PCT/CN2019/106980 CN2019106980W WO2020206942A1 WO 2020206942 A1 WO2020206942 A1 WO 2020206942A1 CN 2019106980 W CN2019106980 W CN 2019106980W WO 2020206942 A1 WO2020206942 A1 WO 2020206942A1
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WIPO (PCT)
Prior art keywords
harvester
logistics vehicle
grain
granary
logistics
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PCT/CN2019/106980
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English (en)
French (fr)
Inventor
姚远
吴迪
王波
王清泉
沈永泉
童超
范顺
Original Assignee
丰疆智能科技股份有限公司
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Application filed by 丰疆智能科技股份有限公司 filed Critical 丰疆智能科技股份有限公司
Priority to EP19923927.8A priority Critical patent/EP3955183A4/en
Priority to CA3132015A priority patent/CA3132015C/en
Priority to AU2019440508A priority patent/AU2019440508A1/en
Publication of WO2020206942A1 publication Critical patent/WO2020206942A1/zh
Priority to US17/490,129 priority patent/US20220015290A1/en

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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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06315—Needs-based resource requirements planning or analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • G06Q10/0835—Relationships between shipper or supplier and carriers
    • G06Q10/08355—Routing methods
    • 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

Definitions

  • the present invention relates to the field of intelligent agricultural machinery, and more specifically to a system and method for intelligent cooperation between a harvester and a logistics vehicle, so that the logistics vehicle can go to the harvester according to the transportation instruction sent by the harvester for unloading grain Grain is loaded on the side of the machine to improve work efficiency.
  • the birth of the combine harvester is a great progress in the development of agricultural machinery, which greatly reduces the labor of farming operations and greatly improves the efficiency of operations.
  • the combine harvester is an integrated crop harvesting machine, which can complete harvesting and threshing operations at one time, and concentrate the grains in the storage warehouse for storage.
  • domestic harvester technology has developed rapidly, and Xinjiang-2 knapsack wheat harvesters, wheeled self-propelled rice and wheat harvesters, crawler-type self-propelled rice and wheat harvesters, and crawler self-propelled harvesters have been developed.
  • Rape harvesters and other mechanical harvesters have also shown a boom in the research and development of longitudinal-axial-flow rice-wheat combine harvesters in recent years, and a variety of longitudinal-axial-flow rice and wheat harvesters have been launched.
  • the grain stored in the combine harvester needs to be unloaded, which is generally divided into two methods: manual unloading and mechanical unloading.
  • manual unloading of grain that is, manually pulling the switch of the storage bin to unload the grain, using sacks to receive grain at the opening, and then transporting the sacks with grain to the home.
  • Manual unloading of grain not only requires a dedicated person to always operate the switch of the storage bin to unload the grain outlet, but also is labor-intensive and troublesome. Therefore, some combine harvesters on the market use mechanical grain unloading, that is, the combine harvester automatically unloads the grain in the storage bin through grain unloading devices such as grain unloading arms, without additional manual configuration.
  • the grain unloading device When the combine harvester uses mechanical grain unloading, the grain unloading device generally directly unloads the grain to the logistics truck, and the logistics vehicle directly transports the grain to the warehouse without using sacks. Especially when many domestic provinces are implementing the Ten Thousand Mu of Good Land Program, when large-scale good land is harvested, the combine harvester uses mechanical unloading and logistics vehicles to work together, which can reduce labor intensity and improve efficiency.
  • the fit of the combine harvester and the logistics vehicle will affect the speed and efficiency of the combine harvester.
  • the cooperation between the combine harvester and the logistics vehicle is realized through the communication between the harvester driver and the logistics vehicle driver.
  • This method is inefficient, messages are not delivered in time, and instructions are delayed.
  • the driver of the logistics vehicle cannot accurately locate the position of the harvester. It is inconvenient to use the description of the driver of the harvester or two people to achieve positioning through other positioning devices.
  • An object of the present invention is to provide an intelligent coordination system and method for a harvester and a logistics vehicle, which ensures the timeliness of message instruction transmission by realizing intelligent communication between a harvester end and a logistics vehicle end, thereby facilitating improvement of operation efficiency.
  • Another object of the present invention is to provide an intelligent coordination system and method for harvesters and logistics vehicles, wherein the harvester side monitors whether the storage bin of the harvester is full, and reports to the The logistics vehicle terminal sends transportation instructions so that the logistics vehicle terminal can receive and respond to the instructions in a timely manner.
  • Another object of the present invention is to provide an intelligent coordination system and method for harvesters and logistics vehicles, in which the preset position of the harvester’s storage warehouse is lower than the full position, so that logistics can be notified when the storage warehouse is about to be full but not yet full. To reduce the waiting time for logistics vehicles and improve work efficiency. Compared with the solution of notifying the logistics truck when the warehouse is full, the solution with the preset position lower than the full warehouse position makes waiting for the logistics truck and harvesting operations parallel, which saves time.
  • Another object of the present invention is to provide an intelligent coordination system and method for harvesters and logistics vehicles.
  • the position of the harvesters can be located, thereby facilitating the rounds of logistics vehicles and harvesters and increasing the number of harvesters and logistics vehicles.
  • the degree of coordination improves work efficiency.
  • the solution of the present invention can accurately and directly locate.
  • Another object of the present invention is to provide an intelligent coordination system and method for a harvester and a logistics vehicle, wherein by identifying the position of the granary of the logistics vehicle, the harvester end can control the grain conveying arm of the harvester to align with the granary of the logistics vehicle, Avoid grain leakage from the granary of the logistics truck.
  • Another object of the present invention is to provide an intelligent coordination system and method for a harvester and a logistics vehicle, wherein by monitoring the grain accumulation height in the granary of the logistics vehicle, the harvester end can adjust the position of the harvester's grain conveying arm to avoid The grain accumulation in the granary of the logistics truck is too high.
  • Another object of the present invention is to provide an intelligent coordination system and method for harvesters and logistics vehicles, wherein by monitoring the height of grain accumulation in the granary of the logistics vehicle, the logistics vehicle terminal can receive instructions to adjust the logistics vehicle and harvester The relative position, so as to stagger the high position in the granary of the logistics vehicle and the exit position of the grain conveying arm of the harvester, and make full use of the granary of the logistics vehicle.
  • Another object of the present invention is to provide an intelligent coordination system and method for a harvester and a logistics vehicle, in which it is judged whether to stop unloading grain according to the remaining storage space in the granary of the logistics vehicle by monitoring to avoid overloading the granary of the logistics vehicle.
  • Another object of the present invention is to provide an intelligent coordination system and method for a harvester and a logistics vehicle, wherein when the grain in the storage bin of the harvester is completely unloaded, the harvester end can control the harvester to stop unloading the grain, thereby eliminating the need Manual inspection and control.
  • the present invention further provides an intelligent coordination system for harvesters and logistics vehicles, including:
  • a harvester end wherein the harvester end includes a storage bin monitoring module and a control module, wherein the storage bin monitoring module is used to monitor the storage information of the harvester storage bin, and the control module receives from the monitoring bin Monitor the storage information of the module to determine whether the storage position of the harvester storage bin has reached the preset position; and
  • a logistics vehicle terminal wherein the harvester terminal and the logistics vehicle terminal are communicatively connected, wherein when the storage position of the harvester storage bin reaches a preset position, the control module sends a transportation instruction to the logistics vehicle terminal, Order the logistics truck to go for transportation.
  • the harvester end includes a harvester positioning module for locating the position of the harvester to form position information, wherein the control module sends a transportation instruction to the logistics vehicle end. , And send the location information to the logistics vehicle terminal together.
  • the preset position of the storage bin of the harvester is lower than the full position of the storage bin.
  • the control module includes a grain unloading device control module for controlling the grain unloading device of the harvester, wherein the grain unloading device control module is triggered by the arrival feedback sent by the logistics vehicle terminal, Start by controlling the unloading device of the harvester.
  • the intelligent coordination system of the harvester and the logistics vehicle further includes a logistics vehicle granary monitoring module, which is used to obtain the position of the logistics vehicle granary relative to the harvester unloading mouth, wherein the control module analyzes the logistics Whether the position of the truck silo relative to the harvester unloading mouth is reasonable.
  • the control module analyzes the reasonable position of the grain unloading port of the harvester, and the grain unloading device control module controls the harvesting The machine unloading device moves the unloading port to a reasonable position.
  • the control module analyzes the reasonable position of the granary of the logistics vehicle relative to the unloading port of the harvester, and reports to the logistics vehicle
  • the terminal sends a position adjustment instruction.
  • the logistics vehicle granary monitoring module obtains the granary loading status, and the control module analyzes whether the logistics vehicle granary is full according to the granary loading status.
  • the unloading device controls The module controls the grain unloading device to stop unloading grain.
  • control module analyzes whether the harvester storage bin is empty according to the storage information of the harvester storage bin, and when the harvester storage bin is empty, the grain unloading device control module controls the grain unloading device to stop unloading grain .
  • the present invention further provides an intelligent coordination method of a harvester and a logistics vehicle, including:
  • the intelligent coordination method of the harvester and the logistics vehicle further includes:
  • the intelligent coordination method of the harvester and the logistics vehicle further includes:
  • the step (f) further includes:
  • the step (f) further includes:
  • the intelligent coordination method of the harvester and the logistics vehicle further includes the steps:
  • the granary of the logistics truck is at a reasonable position relative to the grain unloading port of the harvester, and the grain unloading device of the harvester is activated to start unloading grain.
  • the intelligent coordination method of the harvester and the logistics vehicle further includes the steps:
  • Fig. 1 is an application scenario diagram of an intelligent cooperation system for harvesters and logistics vehicles according to an embodiment of the present invention.
  • Fig. 2 is a structural block diagram of an intelligent cooperation system of a harvester and a logistics vehicle according to an embodiment of the present invention.
  • Fig. 3 is a flowchart of a method for intelligent cooperation between a harvester and a logistics vehicle according to an embodiment of the present invention.
  • Fig. 4 is a flow chart of a grain unloading process of a method for intelligent cooperation between a harvester and a logistics vehicle according to an embodiment of the present invention.
  • the intelligent coordination system and method of a harvester and logistics vehicle of the present invention are described.
  • the harvester and logistics vehicle By implementing intelligent communication between a harvester terminal 10 and a logistics vehicle terminal 20, the harvester and logistics vehicle The intelligent cooperation between them ensures the timeliness of the transmission of the unloading transportation information and instructions, thereby facilitating the improvement of operation efficiency.
  • the harvester terminal 10 includes a storage bin monitoring module 11 for monitoring storage information of the harvester storage bin.
  • the storage bin monitoring module 11 can use camera technology to photograph the storage situation in the storage bin, or can use gravity sensing technology to judge the storage condition in the storage bin by weight, or can use laser distance measurement to judge the storage height of grain, etc.
  • the present invention is not limited.
  • the harvester end 10 includes a control module 12.
  • the control module 12 receives the storage information from the monitoring warehouse monitoring module 11, and determines whether the storage position of the harvester storage warehouse reaches a preset position.
  • the storage warehouse monitoring module 11 may use camera technology to photograph the storage information in the storage warehouse, and the storage information is transmitted to the control module 12 in the form of pictures or videos, and the control module 12 judges according to the content in the pictures or videos. Whether the storage position of the harvester storage bin has reached the preset position.
  • the storage bin monitoring module 11 uses gravity sensing technology to obtain the weight of the stored grain in the storage bin, and the stored information is transmitted to the control module 12 in the form of weight, and the control module 12 determines the harvester according to the current weight Whether the storage position of the storage bin has reached the preset position.
  • the storage bin monitoring module 11 uses laser ranging to obtain the storage height of the stored grain, and the control module 12 determines whether the storage position of the harvester storage bin reaches a preset position according to the current height.
  • the control module 12 uses corresponding analysis techniques to determine whether the storage position of the harvester storage warehouse reaches a preset position.
  • the preset position of the storage bin of the harvester is lower than the full position of the storage bin, so that the waiting time of the logistics vehicle and the harvesting operation time can be parallel, reducing waiting time and improving operation efficiency.
  • the preset position of the storage bin of the harvester is fixed.
  • the control module 12 sets the preset position of the storage bin according to the harvesting speed of the harvester, the threshing speed, and the remaining storage capacity of the storage bin. In other words, the setting of the preset position can be set according to the current working conditions of the harvester, and is not fixed.
  • control module 12 determines that the storage space of the storage bin of the harvester reaches a full bin according to the storage information, it sends a stop operation instruction to the operation module of the harvester, so as to avoid continued harvesting and cause the bin to burst.
  • the harvester end 10 includes a harvester positioning module 13 for positioning the position of the harvester.
  • the harvester positioning module 13 may use positioning technologies such as GPS positioning technology, Beidou satellite positioning technology, base station positioning technology or WiFi positioning technology, and the present invention is not limited.
  • control module 12 determines that the storage position of the storage bin of the harvester reaches a preset position according to the storage information, it sends a transportation instruction and a position information to the logistics vehicle terminal 20.
  • control module 12 confirms that the storage position of the harvester storage bin reaches the preset position, it sends a position acquisition instruction to the harvester positioning module 13, and the harvester positioning module 13 responds to the position acquisition instruction and sends it to the control module 12 Feedback the current position information of the harvester.
  • the transportation instruction includes, but is not limited to, the corresponding number, model, and driver information of the harvester.
  • the logistics vehicle terminal 20 may be implemented as a mobile device such as a mobile phone, a tablet, a wearable device, etc., which is used by the driver of the logistics vehicle.
  • the driver of the logistics vehicle can obtain the transportation instruction and the location information through the logistics vehicle terminal 20, and use navigation software to navigate to the location of the harvester according to the location information.
  • the logistics vehicle terminal 20 can also be implemented as the assembly of logistics vehicles, which can directly accept the transportation instructions and the location information, and use self-assembled navigation software for navigation.
  • the logistics vehicle terminal 20 includes a path planning module 21 for planning a travel path of the logistics vehicle to the position of the harvester according to the location information.
  • the logistics vehicle terminal 20 sends an arrival feedback to the harvester terminal 10 to confirm that the corresponding harvester has been found.
  • the arrival feedback may be manually input by the driver of the logistics vehicle, or may be automatically confirmed and fed back by the logistics vehicle terminal 20 according to the distance between the current position of the logistics vehicle and the current position of the harvester.
  • the control module 12 includes a grain unloading device control module 121 for controlling the grain unloading device of the harvester.
  • the grain unloading device control module 121 is triggered by the arrival feedback sent by the logistics vehicle terminal 20 and controls the grain unloading device of the harvester to start to start unloading grain.
  • the intelligent coordination system of the harvester and the logistics vehicle includes a logistics vehicle granary monitoring module 30, which is used to monitor the logistics vehicle granary information such as the location of the granary of the logistics vehicle and the granary loading condition.
  • the logistics vehicle granary monitoring module 30 can be installed in a position of a harvester such as a grain unloading device and a grain outlet.
  • the logistics vehicle granary monitoring module 30 is implemented as a camera device and is installed in the unloading device of the grain unloading port, so that the position of the logistics vehicle's granary relative to the harvester unloading port can be obtained by shooting the logistics vehicle granary, and During the unloading process, monitor the grain loading condition of the granary.
  • the logistics vehicle granary monitoring module 30 can also be directly installed on the logistics vehicle.
  • the logistics vehicle granary monitoring module 30 is installed on the top side of the side wall of the logistics vehicle granary, and the logistics vehicle granary can also be photographed using camera technology to obtain the position of the logistics vehicle granary relative to the unloading mouth of the harvester. During the grain passing, monitor the grain loading condition of the granary.
  • the control module 12 receives the granary position of the logistics vehicle in the granary information of the logistics vehicle and analyzes the unloading position of the grain unloading port suitable for the grain unloading device of the harvester.
  • the grain unloading device control module 121 controls the grain unloading device of the harvester to move and unload the grain. To a reasonable position, so as to avoid grain leakage during the unloading process.
  • the harvester grain unloading device is implemented as a grain unloading arm, one end of the grain unloading arm is connected to the storage bin of the harvester, and the other end is a grain unloading port.
  • the grain unloading device control module 121 controls the rotation and lifting of the grain unloading arm, so that the grain unloading port of the grain unloading arm is in a reasonable grain unloading position.
  • control module 12 can analyze whether the position of the logistics vehicle granary relative to the harvester unloading mouth is reasonable according to the location of the logistics vehicle granary in the logistics vehicle granary information. If the relative positions of the two are reasonable, the grain unloading device control module 121 activates the grain unloading device to start unloading grain. If the relative positions of the two are unreasonable, for example, there is a risk of grain leakage, the control module 12 analyzes the reasonable position of the logistics truck granary relative to the harvester unloading port, and sends a position adjustment to the logistics truck terminal 20 instruction.
  • the position adjustment instruction includes, but is not limited to, the reasonable position of the logistics vehicle granary relative to the harvester unloading grain, and the logistics vehicle driver can adjust the relative position of the logistics vehicle and the harvester according to the position adjustment instruction to adjust the relative position of the logistics vehicle granary.
  • the unloading port of the harvester is located in a reasonable position.
  • control module 12 analyzes whether the logistics vehicle granary is full according to the granary loading condition of the logistics vehicle granary information. When the granary of the logistics truck is full, the grain unloading device control module 121 controls the grain unloading device to stop unloading grain. In addition, the control module 12 analyzes whether the harvester storage bin is empty according to the storage information of the harvester storage bin. When the harvester storage bin is empty, the grain unloading device control module 121 controls the grain unloading device to stop unloading grain.
  • the grain unloading device control module 121 controls the grain unloading device to stop unloading grain, and sends a grain unloading end message to the logistics vehicle terminal 20 so that The logistics vehicle terminal 20 can confirm that the grain unloading work has ended.
  • the present invention further provides an intelligent coordination method of a harvester and a logistics vehicle.
  • the above-mentioned intelligent coordination system of harvester and logistics vehicle can be applied to the intelligent coordination method of harvester and logistics vehicle to realize the objectives and advantages of the present invention.
  • it is a flowchart of the intelligent coordination method of the harvester and the logistics vehicle of the present invention.
  • Step 110 Obtain storage information of the storage bin of the harvester.
  • the storage information acquisition method of the harvester storage bin is not limited. Camera technology can be used to photograph the storage situation in the storage bin, or gravity sensing technology can be used to judge the storage situation in the storage bin by weight, or laser ranging can be used to Judging the height of grain storage, etc., is not limited by the present invention.
  • Step 120 According to the storage information of the storage bin of the harvester, judge whether the storage position of the storage bin of the harvester reaches a preset position.
  • the corresponding analysis technology can be used to determine whether the storage position of the storage bin of the harvester reaches the preset position.
  • the setting of the preset position may be fixed, or the preset position of the storage bin may be set according to the harvesting speed of the harvester, the threshing speed and the remaining storage capacity of the storage bin.
  • the setting of the preset position can be set according to the current working conditions of the harvester, and is not fixed.
  • Step 130 Locate the position of the harvester to form position information.
  • the positioning of the harvester can use positioning technologies such as GPS positioning technology, Beidou satellite positioning technology, base station positioning technology or WiFi positioning technology, and the present invention is not limited.
  • Step 140 When the storage position of the storage bin of the harvester reaches the preset position, a transportation instruction and the position information are sent to the logistics vehicle terminal.
  • the preset position of the storage bin of the harvester is lower than the full position of the storage bin, so that the waiting time of the logistics vehicle and the harvesting operation time can be parallel, reducing waiting time and improving operation efficiency.
  • the logistics vehicle terminal can be implemented as a mobile device such as a mobile phone, a tablet, a wearable device, etc., which is used by the driver of the logistics vehicle.
  • the driver of the logistics vehicle can obtain the transportation instruction and the location information through the logistics vehicle terminal, and use navigation software to navigate to the location of the harvester according to the location information.
  • the logistics vehicle terminal can also be implemented as the assembly of the logistics vehicle, which can directly accept the transportation instructions and the location information, and use self-assembled navigation software to navigate.
  • Figure 2 is a flow chart of grain unloading of the intelligent coordination method of harvester and logistics vehicle of the present invention.
  • the unloading process can be executed as shown in the figure.
  • Step 210 Receive an arrival feedback.
  • the arrival feedback it can be confirmed that the logistics vehicle has found the corresponding harvester.
  • the arrival feedback may be manually input by the driver of the logistics vehicle, or may be automatically confirmed and fed back according to the distance between the current position of the logistics vehicle and the current position of the harvester.
  • Step 220 Obtain the position of the grain bin of the logistics truck relative to the grain unloading port of the harvester.
  • the position of the logistics vehicle relative to the grain unloading port of the harvester can be obtained by a camera device, and the camera device can be installed on the harvester or the logistics vehicle, and the present invention is not limited.
  • Step 230 Determine whether the position of the granary of the logistics vehicle relative to the grain unloading port of the harvester is reasonable, and if it is unreasonable, adjust the position of the granary of the logistics vehicle relative to the grain unloading port of the harvester to a reasonable position.
  • the granary of the logistics vehicle needs to be located in the path where the grain is discharged from the unloading port, so that the grain can be received by the granary. Therefore, if the position of the granary of the logistics truck relative to the unloading port of the harvester is unreasonable, for example, the distance is too far, the grain cannot reach the granary, and the distance is too close, the grain will pass the granary when it is discharged, and the grain cannot be received reasonably and effectively. . When the positions of the two are unreasonable, the position of the grain bin of the logistics truck relative to the grain unloading port of the harvester can be adjusted by moving the grain unloading port position of the harvester or by moving the logistics vehicle, which is not limited by the present invention.
  • Step 240 The position of the granary of the logistics truck relative to the grain unloading port of the harvester is at a reasonable position, and the grain unloading device of the harvester is activated to start unloading grain.
  • Step 250 When the granary of the logistics vehicle is full or the storage silo of the harvester is empty, control the grain unloading device to stop unloading grain.

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Abstract

一种收割机和物流车智能配合系统和方法，其中收割机和物流车智能配合系统包括一收割机端（10）和一物流车端（20），其中所述收割机端包括一存储仓监控模块（11）和一控制模块（12），其中所述存储仓监控模块（11）用于监控收割机存储仓的存储信息，所述控制模块（12）接收来自所述监控仓监控模块（11）的存储信息，判断收割机存储仓的存储位是否达到预设位，其中所述收割机端（10）和所述物流车端（20）通信地连接，其中当收割机存储仓的存储位达到预设位，所述控制模块（12）向所述物流车端（20）发送一运输指令，以命令物流车前往运输，从而实现收割机和物流车智能配合。

Description

收割机和物流车智能配合系统和方法 技术领域
本发明涉及智能农机领域，更详而言之地涉及一收割机和物流车智能配合系统和方法，以使物流车可以根据待卸粮的所述收割机的发送的运输指令，前往所述收割机周侧装载粮食，以提高作业效率。
背景技术
联合收割机的诞生是农业机械发展的一大进步，极大降低了农间作业的辛苦，也大幅度的提高作业效率。联合收割机是一体化收割农作物的机械，可以一次性完成收割和脱粒等作业，并将谷粒集中到储蓄仓存储。近几年，国内的收割机技术迅速发展，已经研制出有新疆—2号背负式小麦收割机、轮式自走式稻麦收割机、履带式自走式稻麦收割机、履带自走式油菜收割机等多种机械收割机，近年还呈现出纵轴流稻麦联合收割机研究开发热潮，已经推出多款纵轴流稻麦收割机。
联合收割机集中存储的粮食需要卸载，一般分为人工卸粮和机械卸粮两种方式。目前国内多数现有的联合收割机采用的是人工卸粮，即人工拉动储蓄仓卸粮口的开关，利用麻袋等在开口处接粮，之后再将装有粮食的麻袋搬运至家中。人工卸粮不仅需要专人一直操作储蓄仓卸粮口的开关，并且劳动强度大，操作麻烦。所以，市场上部分的联合收割机采用机械卸粮，即联合收割机通过卸粮臂等卸粮装置自动卸载储蓄仓内的粮食，无需额外配置人工。
当所述联合收割机采用机械卸粮时，卸粮装置一般直接将粮食卸载于物流车，物流车直接将粮食运输至仓库，无需使用麻袋。特别是目前国内多省在推行的万亩良田计划时，大型良田收割时，联合收割机采用机械卸粮和物流车配合运作的方式，可以降低劳动强度，有利于效率提高。
而联合收割机和物流车的配合契合度会影响联合收割机的作业速度和效率。目前，联合收割机和物流车的配合是通过收割机驾驶员和物流车驾驶员间的通讯实现。这种方式效率低下，消息传递不及时，指令具有滞后性。此外，物流车驾驶员无法准确定位收割机的位置，需要通过收割机驾驶员的描述或者两人通过其 他定位设备实现定位，十分不便。
发明内容
本发明的一个目的在于提供一种收割机和物流车智能配合系统和方法，通过实现一收割机端和一物流车端之间智能通信，确保消息指令传递的及时性，从而便于提高作业效率。
本发明的另一个目的在于提供一种收割机和物流车智能配合系统和方法，其中所述收割机端监控所述收割机的储蓄仓是否满仓，并在粮食存储到达预设位时向所述物流车端发送运输指令，从而便于物流车端及时接受和响应指令。
本发明的另一个目的在于提供一种收割机和物流车智能配合系统和方法，其中收割机的储蓄仓的预设位低于满仓位，从而在储蓄仓即将满仓但尚未满仓时就可以通知物流车，减少等待物流车时间，提高工作效率。相比在满仓时才通知物流车的方案，预设位低于满仓位的方案使得等待物流车和收割作业并行，更节省时间。
本发明的另一个目的在于提供一种收割机和物流车智能配合系统和方法，通过所述运输指令，可以定位收割机的位置，从而便于物流车和收割机回合，增加收割机和物流车的配合度，提高作业效率。尤其是当收割机处于作业农田，收割机驾驶员无法准确描述位置时，本发明的方案可以准确直接地定位。
本发明的另一个目的在于提供一种收割机和物流车智能配合系统和方法，其中通过识别物流车的粮仓位置，所述收割机端可以控制收割机的输粮臂对准物流车的粮仓，避免粮食漏出物流车的粮仓。
本发明的另一个目的在于提供一种收割机和物流车智能配合系统和方法，其中通过监控物流车的粮仓内粮食堆积高度，所述收割机端可以调整收割机的输粮臂位置，从而避免物流车的粮仓内某一处粮食堆积过高。
本发明的另一个目的在于提供一种收割机和物流车智能配合系统和方法，其中通过监控物流车的粮仓内粮食堆积高度，所述物流车端可以接收指令，以调整物流车和收割机的相对位置，从而错开物流车的粮仓内推积过高处和收割机的输粮臂出口位置，充分利用物流车的粮仓。
本发明的另一个目的在于提供一种收割机和物流车智能配合系统和方法，其中根据监控物流车的粮仓内剩余存储空间，判断是否停止卸粮，避免物流车的粮 仓过载。
本发明的另一个目的在于提供一种收割机和物流车智能配合系统和方法，其中当收割机的储蓄仓内粮食被卸载完全时，所述收割机端可以控制收割机停止卸粮，从而无需人工检查和控制。
为了实现本发明的至少一个目的，依本发明的一个方面，本发明进一步提供一种收割机和物流车智能配合系统，包括：
一收割机端，其中所述收割机端包括一存储仓监控模块和一控制模块，其中所述存储仓监控模块用于监控收割机存储仓的存储信息，所述控制模块接收来自所述监控仓监控模块的存储信息，判断收割机存储仓的存储位是否达到预设位；和
一物流车端，其中所述收割机端和所述物流车端通信地连接，其中当收割机存储仓的存储位达到预设位，所述控制模块向所述物流车端发送一运输指令，以命令物流车前往运输。
根据本发明的一个实施例，所述收割机端包括一收割机定位模块，用于定位收割机的位置，形成一位置信息，其中，所述控制模块向所述物流车端发送一运输指令时，向所述物流车端一并发送所述位置信息。
根据本发明的一个实施例，收割机存储仓的预设位低于存储仓的满仓位。
根据本发明的一个实施例，所述控制模块包括一卸粮装置控制模块，用于控制收割机的卸粮装置，其中所述卸粮装置控制模块被所述物流车端发送的到达反馈触发，以控制收割机的卸粮装置启动。
根据本发明的一个实施例，所述收割机和物流车智能配合系统进一步包括一物流车粮仓监控模块，用于获取物流车粮仓相对于收割机卸粮口的位置，其中所述控制模块分析物流车粮仓相对于收割机卸粮口的位置是否合理。
根据本发明的一个实施例，当物流车粮仓相对于收割机卸粮口的位置不合理时，所述控制模块分析收割机卸粮口卸粮的合理位置，所述卸粮装置控制模块控制收割机卸粮装置移动卸粮口至合理位置。
根据本发明的一个实施例，当物流车粮仓相对于收割机卸粮口的位置不合理时，所述控制模块分析物流车粮仓相对于收割机卸粮口的合理位置，并向所述物流车端发送一位置调整指令。
根据本发明的一个实施例，所述物流车粮仓监控模块获取粮仓载粮情况，所 述控制模块根据粮仓载粮情况，分析物流车粮仓是否满仓，当物流车粮仓满仓，所述卸粮装置控制模块控制卸粮装置停止卸粮。
根据本发明的一个实施例，所述控制模块根据收割机存储仓的存储信息，分析收割机存储仓是否空仓，当收割机存储仓空仓，所述卸粮装置控制模块控制卸粮装置停止卸粮。
依本发明的另一个方面，本发明进一步提供一种收割机和物流车智能配合方法，包括：
(a)根据收割机存储仓的一存储信息，判断收割机存储仓的存储位是否达到预设位；和
(b)当收割机存储仓的存储位达到预设位，向物流车端发送一运输指令，以命令物流车前往运输。
根据本发明的一个实施例，所述收割机和物流车智能配合方法进一步包括：
(c)定位收割机的位置，形成一位置信息；和
(d)当收割机存储仓的存储位达到预设位，向物流车端发送所述位置信息。
根据本发明的一个实施例，所述收割机和物流车智能配合方法进一步包括：
(e)获取物流车的粮仓相对于收割机卸粮口的位置；和
(f)判断物流车的粮仓相对于收割机卸粮口的位置是否合理，如果不合理，则调整物流车粮仓相对于收割机卸粮口的位置至合理位置。
根据本发明的一个实施例，所述步骤(f)进一步包括：
(f.1)分析收割机卸粮口相对于物流车粮仓卸粮的合理位置；和
(f.2)控制收割机卸粮装置移动卸粮口至合理位置。
根据本发明的一个实施例，所述步骤(f)进一步包括：
(f.3)分析物流车粮仓相对于收割机卸粮口的合理位置；
(f.4)向所述物流车端发送一位置调整指令。
根据本发明的一个实施例，所述收割机和物流车智能配合方法进一步包括步骤：
(g)物流车粮仓相对于收割机卸粮口的位置至合理位置处，收割机卸粮装置被启动开始卸粮。
根据本发明的一个实施例，所述收割机和物流车智能配合方法进一步包括步骤：
(h)根据收割机存储仓的存储信息和物流车粮仓的粮仓载粮情况，当物流车粮仓满仓或收割机存储仓空仓时，收割机卸粮装置被控制停止卸粮。
附图说明
图1是根据本发明的一个实施例的收割机和物流车智能配合系统应用场景图。
图2是根据本发明的一个实施例的收割机和物流车智能配合系统结构框图。
图3是根据本发明的一个实施例的收割机和物流车智能配合方法的流程图。
图4是根据本发明的一个实施例的收割机和物流车智能配合方法的卸粮过程流程图。
具体实施方式
以下描述用于揭露本发明以使本领域技术人员能够实现本发明。以下描述中的优选实施例只作为举例，本领域技术人员可以想到其他显而易见的变型。在以下描述中界定的本发明的基本原理可以应用于其他实施方案、变形方案、改进方案、等同方案以及没有背离本发明的精神和范围的其他技术方案。
本领域技术人员应理解的是，在本发明的揭露中，术语“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系是基于附图所示的方位或位置关系，其仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此上述术语不能理解为对本发明的限制。
可以理解的是，术语“一”应理解为“至少一”或“一个或多个”，即在一个实施例中，一个元件的数量可以为一个，而在另外的实施例中，该元件的数量可以为多个，术语“一”不能理解为对数量的限制。
如图1至图2所示，本发明的一收割机和物流车智能配合系统和方法被阐述，通过实现一收割机端10和一物流车端20之间智能通信，实现收割机和物流车之间的智能配合，确保卸粮运输消息指令传递的及时性，从而便于提高作业效率。
具体地，所述收割机端10包括一存储仓监控模块11，用于监控收割机存储仓的存储信息。所述存储仓监控模块11可以利用摄像技术拍摄存储仓内的存储情况，或者可以利用重力感应技术以通过重量判断存储仓内的存储情况，或者可 以用利用激光测距以判断粮食存储高度等，本发明的并不限制。
所述收割机端10包括一控制模块12。所述控制模块12接收来自所述监控仓监控模块11的存储信息，判断收割机存储仓的存储位是否达到预设位。例如，所述存储仓监控模块11可以利用摄像技术拍摄存储仓内的存储信息，存储信息以图片或视频的形式传送至所述控制模块12，所述控制模块12根据图片或视频中的内容判断收割机存储仓的存储位是否达到预设位。或者，例如所述存储仓监控模块11利用重力感应技术获得存储仓内的已存储粮食的重量，存储信息以重量的形式传送至所述控制模块12，所述控制模块12根据当前重量判断收割机存储仓的存储位是否达到预设位。或者，例如所述存储仓监控模块11利用激光测距获得已存储粮食的存储高度，所述控制模块12根据当前高度判断收割机存储仓的存储位是否达到预设位。也就是说，根据所述存储仓监控模块11采用的不同监控技术，所述控制模块12采用对应的分析技术判断收割机存储仓的存储位是否达到预设位。
优选地，收割机存储仓的预设位低于存储仓的满仓位，以便等待物流车的时间和收割作业时间可以并行，减少等待时间，提高作业效率。在本发明的一个实施例中，收割机存储仓的预设位被固定。在本发明的另一个实施例中，所述控制模块12根据收割机的收割速度、脱粒速度和存储仓的剩余存储量等设定存储仓的预设位。也就是说，预设位的设定可以根据收割机当前作业情况设定，并不固定。
当所述控制模块12根据存储信息，判断收割机存储仓的存储位达到满仓位，则向收割机的作业模块发送停止作业指令，从而避免继续收割导致爆仓。
进一步，所述收割机端10包括一收割机定位模块13，用于定位收割机的位置。所述收割机定位模块13可以利用GPS定位技术、北斗卫星定位技术、基站定位技术或WiFi定位技术等定位技术，本发明并不限制。
当所述控制模块12根据存储信息，判断收割机存储仓的存储位达到预设位，则向所述物流车端20发送一运输指令和一位置信息。当所述控制模块12确认收割机存储仓的存储位达到预设位时，向所述收割机定位模块13发送位置获取指令，所述收割机定位模块13响应位置获取指令并向所述控制模块12反馈收割机当前的位置信息。所述运输指令包括但不限于收割机对应编号、型号、驾驶员信息等。
所述物流车端20可以被实施为手机、平板、穿戴设备等移动设备，由物流车的驾驶员使用。物流车驾驶员可以通过所述物流车端20获取所述运输指令和所述位置信息，并根据所述位置信息利用导航软件导航至收割机位置。或者所述物流车端20也可以被实施为物流车的装配，可以直接接受所述运输指令和所述位置信息，并利用自装配的导航软件导航。也就是说，所述物流车端20包括一路径规划模块21，用于根据所述位置信息规划物流车的前往收割机位置的行驶路径。
当物流车到达收割机位置，所述物流车端20向所述收割机端10发送一到达反馈，确认已经找到对应的收割机。所述到达反馈可以是物流车驾驶员手动输入，也可以是所述物流车端20根据物流车当前位置和收割机当前位置的距离自动确认和反馈。
所述控制模块12包括一卸粮装置控制模块121，用于控制收割机的卸粮装置。所述卸粮装置控制模块121被所述物流车端20发送的到达反馈触发，控制收割机的卸粮装置启动，以开始卸粮。
进一步，收割机和物流车智能配合系统包括一物流车粮仓监控模块30，用于监控物流车的粮仓位置和粮仓载粮情况等物流车粮仓信息。所述物流车粮仓监控模块30可以被装在于收割机例如卸粮装置卸粮口等位置。例如，所述物流车粮仓监控模块30被实施为摄像装置，被安装于卸粮装置卸粮口，从而可以通过拍摄物流车粮仓获取物流车粮仓相对于收割机卸粮口的位置，并可以在卸粮过中监控粮仓载粮情况。或者，所述物流车粮仓监控模块30也可以被直接装于所述物流车。例如，所述物流车粮仓监控模块30被安装于物流车粮仓的侧壁的顶侧，也可以利用摄像技术拍摄物流车粮仓获取物流车粮仓相对于收割机卸粮口的位置，并可以在卸粮过中监控粮仓载粮情况。
所述控制模块12接收物流车粮仓信息中物流车的粮仓位置，分析适于收割机卸粮装置卸粮口的卸粮位置，所述卸粮装置控制模块121控制收割机卸粮装置移动卸粮口至合理位置，从而便于避免卸粮过程中粮食泄漏。例如，收割机卸粮装置被实施为一卸粮臂，所述卸粮臂的一端连接收割机的储蓄仓，另一端为卸粮口。所述卸粮装置控制模块121控制所述卸粮臂旋转和升降，以使所述卸粮臂的卸粮口处于合理卸粮位置。
在本发明的另一个实施例中，所述控制模块12可以根据物流车粮仓信息中 物流车的粮仓位置，分析物流车粮仓相对于收割机卸粮口的位置是否合理。如果两者的相对位置合理，则所述卸粮装置控制模块121启动卸粮装置开始卸粮。如果两者的相对位置不合理，例如会有粮食泄漏的风险，则所述控制模块12分析物流车粮仓相对于收割机卸粮口的合理位置，并向所述物流车端20发送一位置调整指令。所述位置调整指令包括但不限于物流车粮仓相对于收割机卸粮口的合理位置，进而物流车驾驶员可以根据所述位置调整指令调整物流车和收割机相对位置，以调整物流车粮仓相对于收割机卸粮口的位于合理位置。
进一步，所述控制模块12根据物流车粮仓信息中的粮仓载粮情况，分析物流车粮仓是否满仓。当物流车粮仓满仓，所述卸粮装置控制模块121控制卸粮装置停止卸粮。并且，所述控制模块12根据收割机存储仓的存储信息，分析收割机存储仓是否空仓。当收割机存储仓空仓，所述卸粮装置控制模块121控制卸粮装置停止卸粮。也就是说，当物流车粮仓满仓或收割机存储仓空仓时，所述卸粮装置控制模块121控制卸粮装置停止卸粮，并向所述物流车端20发送一卸粮结束信息，以使所述物流车端20可以确认卸粮工作已结束。
根据本发明的另一个方面，本发明的进一步提供一收割机和物流车智能配合方法。上述收割机和物流车智能配合系统可以适用所述收割机和物流车智能配合方法，以实现本发明的目的和优势。如图所示，为本发明的收割机和物流车智能配合方法的流程图。
步骤110：获取收割机存储仓的存储信息。
收割机存储仓的存储信息获取方法并不限制，可以利用摄像技术拍摄存储仓内的存储情况，或者可以利用重力感应技术以通过重量判断存储仓内的存储情况，或者可以用利用激光测距以判断粮食存储高度等，本发明的并不限制。
步骤120：根据收割机存储仓的存储信息，判断收割机存储仓的存储位是否达到预设位。
根据存储信息获取方法采用的不同监控技术，可以采用对应的分析技术判断收割机存储仓的存储位是否达到预设位。进一步，预设位的设置可以是固定的，也可以是根据收割机的收割速度、脱粒速度和存储仓的剩余存储量等设定存储仓的预设位。也就是说，预设位的设定可以根据收割机当前作业情况设定，并不固定。
步骤130：定位收割机的位置，形成一位置信息。
收割机的定位可以利用GPS定位技术、北斗卫星定位技术、基站定位技术或WiFi定位技术等定位技术，本发明并不限制。
步骤140：当收割机存储仓的存储位达到预设位，向物流车端发送一运输指令和所述位置信息。
优选地，收割机存储仓的预设位低于存储仓的满仓位，以便等待物流车的时间和收割作业时间可以并行，减少等待时间，提高作业效率。
所述物流车端可以被实施为手机、平板、穿戴设备等移动设备，由物流车的驾驶员使用。物流车驾驶员可以通过所述物流车端获取所述运输指令和所述位置信息，并根据所述位置信息利用导航软件导航至收割机位置。或者所述物流车端也可以被实施为物流车的装配，可以直接接受所述运输指令和所述位置信息，并利用自装配的导航软件导航。
图几为本发明的收割机和物流车智能配合方法的卸粮流程图。当物流车到达收割机位置，可以执行如图卸粮流程。
步骤210：接收一到达反馈。
根据所述到达反馈，可以确认物流车已经找到对应的收割机。所述到达反馈可以是物流车驾驶员手动输入，也可以是根据物流车当前位置和收割机当前位置的距离自动确认和反馈。
步骤220：获取物流车的粮仓相对于收割机卸粮口的位置。
物流车相对于收割机卸粮口的位置可以利用摄像装置获取，而摄像装置可以装在收割机也可以装在物流车，本发明并不限制。
步骤230：判断物流车的粮仓相对于收割机卸粮口的位置是否合理，如果不合理，则调整物流车粮仓相对于收割机卸粮口的位置至合理位置。
物流车的粮仓需要位于粮食从卸粮口排处的路径，才能使粮食被粮仓接收。所以，如果物流车的粮仓相对于收割机卸粮口的位置不合理，例如距离太远，会使粮食不能到达粮仓，而距离太近会使粮食排出时越过粮仓，均不能合理有效地接收粮食。当两者的位置不合理时，物流车粮仓相对于收割机卸粮口的位置可以通过收割机卸粮口位置移动调整，也可以通过移动物流车来调整，本发明并不限制。
步骤240：物流车粮仓相对于收割机卸粮口的位置至合理位置处，启动收割机卸粮装置开始卸粮。
步骤250：当物流车粮仓满仓或收割机存储仓空仓时，控制卸粮装置停止卸粮。
本领域的技术人员应理解，上述描述及附图中所示的本发明的实施例只作为举例而并不限制本发明。本发明的目的已经完整并有效地实现。本发明的功能及结构原理已在实施例中展示和说明，在没有背离所述原理下，本发明的实施方式可以有任何变形或修改。

Claims (16)

  1. 一收割机和物流车智能配合系统，其特征在于，包括：
    一收割机端，其中所述收割机端包括一存储仓监控模块和一控制模块，其中所述存储仓监控模块用于监控收割机存储仓的存储信息，所述控制模块接收来自所述监控仓监控模块的存储信息，判断收割机存储仓的存储位是否达到预设位；和
    一物流车端，其中所述收割机端和所述物流车端通信地连接，其中当收割机存储仓的存储位达到预设位，所述控制模块向所述物流车端发送一运输指令，以命令物流车前往运输。
  2. 根据权利要求1所述的收割机和物流车智能配合系统，其中所述收割机端包括一收割机定位模块，用于定位收割机的位置，形成一位置信息，其中，所述控制模块向所述物流车端发送一运输指令时，向所述物流车端一并发送所述位置信息。
  3. 根据权利要求1所述的收割机和物流车智能配合系统，其中收割机存储仓的预设位低于存储仓的满仓位。
  4. 根据权利要求1所述的收割机和物流车智能配合系统，其中所述控制模块包括一卸粮装置控制模块，用于控制收割机的卸粮装置，其中所述卸粮装置控制模块被所述物流车端发送的到达反馈触发，以控制收割机的卸粮装置启动。
  5. 根据权利要求4所述的收割机和物流车智能配合系统，进一步包括一物流车粮仓监控模块，用于获取物流车粮仓相对于收割机卸粮口的位置，其中所述控制模块分析物流车粮仓相对于收割机卸粮口的位置是否合理。
  6. 根据权利要求5所述的收割机和物流车智能配合系统，其中当物流车粮仓相对于收割机卸粮口的位置不合理时，所述控制模块分析收割机卸粮口卸粮的合理位置，所述卸粮装置控制模块控制收割机卸粮装置移动卸粮口至合理位置。
  7. 根据权利要求5所述的收割机和物流车智能配合系统，其中当物流车粮仓相对于收割机卸粮口的位置不合理时，所述控制模块分析物流车粮仓相对于收割机卸粮口的合理位置，并向所述物流车端发送一位置调整指令。
  8. 根据权利要求5所述的收割机和物流车智能配合系统，其中所述物流车粮仓监控模块获取粮仓载粮情况，所述控制模块根据粮仓载粮情况，分析物流车 粮仓是否满仓，当物流车粮仓满仓，所述卸粮装置控制模块控制卸粮装置停止卸粮。
  9. 根据权利要求4所述的收割机和物流车智能配合系统，其中所述控制模块根据收割机存储仓的存储信息，分析收割机存储仓是否空仓，当收割机存储仓空仓，所述卸粮装置控制模块控制卸粮装置停止卸粮。
  10. 一收割机和物流车智能配合方法，其特征在于，包括：
    (a)根据收割机存储仓的一存储信息，判断收割机存储仓的存储位是否达到预设位；和
    (b)当收割机存储仓的存储位达到预设位，向物流车端发送一运输指令，以命令物流车前往运输。
  11. 根据权利要求10所述收割机和物流车智能配合方法，进一步包括：
    (c)定位收割机的位置，形成一位置信息；和
    (d)当收割机存储仓的存储位达到预设位，向物流车端发送所述位置信息。
  12. 根据权利要求10所述收割机和物流车智能配合方法，进一步包括：
    (e)获取物流车的粮仓相对于收割机卸粮口的位置；和
    (f)判断物流车的粮仓相对于收割机卸粮口的位置是否合理，如果不合理，则调整物流车粮仓相对于收割机卸粮口的位置至合理位置。
  13. 根据权利要求12所述收割机和物流车智能配合方法，其中所述步骤(f)进一步包括：
    (f.1)分析收割机卸粮口相对于物流车粮仓卸粮的合理位置；和
    (f.2)控制收割机卸粮装置移动卸粮口至合理位置。
  14. 根据权利要求12所述收割机和物流车智能配合方法，其中所述步骤(f)进一步包括：
    (f.3)分析物流车粮仓相对于收割机卸粮口的合理位置；
    (f.4)向所述物流车端发送一位置调整指令。
  15. 根据权利要求12所述收割机和物流车智能配合方法，进一步包括步骤：
    (g)物流车粮仓相对于收割机卸粮口的位置至合理位置处，收割机卸粮装置被启动开始卸粮。
  16. 根据权利要求15所述收割机和物流车智能配合方法，进一步包括步骤：
    (h)根据收割机存储仓的存储信息和物流车粮仓的粮仓载粮情况，当物流 车粮仓满仓或收割机存储仓空仓时，收割机卸粮装置被控制停止卸粮。
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