Cooperative scheduling method and system for unmanned harvesting vehicle and grain transporting vehicle

Abstract

The invention relates to agricultural machinery equipment and computer technology, in particular to a cooperative scheduling method for an unmanned harvesting vehicle and a grain transporting vehicle, and the method comprises the steps: enabling the grain transporting vehicle to start from a preset starting point, approach to the harvesting vehicle along an online expected path, judging whether a parallel state online condition is met or not in the approaching process, and if the parallel state online condition is met, starting the grain transporting vehicle; the harvest vehicle issues a harvest vehicle expected path point coordinate sequence to the grain transport vehicle, and the grain transport vehicle expected path point coordinate sequence is calculated according to the harvest vehicle expected path point coordinate sequence; the grain transporting vehicle moves along the expected path point of the grain transporting vehicle at the expected parallel speed and judges whether the unloading condition is met or not at the same time, if the unloading condition is met, an unloading request is sent to the harvesting vehicle, and the unloading process is started; when the grain full state of the grain transporting vehicle reaches a set value, a grain unloading stop request is sent to the harvesting vehicle, the grain unloading action is stopped, the grain unloading process is finished, and the grain transporting vehicle obtains an expected return path and performs return operation according to the expected return path.

Description

technical field [0001] The invention relates to agricultural machinery equipment and computer technology, in particular to a coordinated scheduling method and system for unmanned harvesting vehicles and grain transport vehicles. Background technique [0002] With the increase in the domestic population, the reduction in the area of ​​effective arable land, and the continuous decrease in the number of unloading workers brought about by urbanization, domestic food security has become a new and important security issue. In view of the increasingly prominent shortage of agricultural machinery drivers, current technology The plan is to use large farms and a highly mechanized approach to maximize food production with minimal human consumption. [0003] In the current manned harvesting and unloading operations, there are two operation modes, parking coordination and parallel coordination. If the unloading is carried out in the mode of parking coordination, that is, after the harve...

AI Technical Summary

Problems solved by technology

If the unloading is carried out in the mode of parking coordination, that is, after the harvester's own granary is full, the harvester stops, and the grain transport vehicle or grain transfer vehicle drives to the appropriate position under the harvester's unloading barrel, and then starts the unloading operation. After the completion and the grain transport vehicle leaves, the harvester continues to harvest and unload, which is inefficient and consumes a lot of manpower; if the unloading is carried out in a parallel collaborative model, due to the difficulty in coordination between drivers, the distance between the vehicles is too far and the grain Spilling will cause economic losses. When the distance between vehicles is too close, all the food may be spilled, and scratches are likely to occur between the two vehicles, which may even threaten the personal safety of the driver.

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