Agricultural machine multi-machine cooperative field scheduling management and control system and regulation and control method

Abstract

The invention belongs to the field of agricultural machinery and automatic driving, and particularly relates to an agricultural machinery multi-machine cooperative on-site scheduling management and control system and a regulation and control method, and the system comprises a chassis vehicle and a plurality of agricultural machinery in communication with the chassis vehicle. The chassis vehicle is suitable for sending a work task to each agricultural machine, and each agricultural machine is suitable for feeding back task progress and position data to the chassis vehicle; the chassis vehicle is suitable for sending a control instruction to the corresponding agricultural machine so as to control the agricultural machine; accurate multi-machine scheduling and efficient operation management in the field environment are achieved, and agricultural mechanization is promoted to develop towards the intelligentization and automation direction.

Description

Technical Field

[0001] The present invention belongs to the field of agricultural machinery and automatic driving, and in particular relates to a multi-machine coordinated on-site dispatching control system and a control method for agricultural machinery. Background Art

[0002] The present invention relates to the field of automation and intelligent control technology of agricultural machinery, in particular to the technical field related to the scheduling and control of multi-machine collaborative operations in agricultural production. Specifically, the present invention relates to a field scheduling and control system that can perform unified scheduling, task planning and real-time monitoring of multiple unmanned agricultural machinery in the field. The system realizes unified control of the machine and field agricultural machinery through vehicle-mounted interactive equipment, and is suitable for multi-machine collaborative operation scheduling in various agricultural scenarios. Especially in complex field environments, the system can effectively improve operation efficiency and operation quality.

[0003] With the development of modern agriculture, intelligent and automated agricultural machinery is being used more and more widely in agricultural production. Traditional agricultural machinery is mostly single-machine operation, which is difficult to meet the efficient production needs of large areas of farmland. In order to improve agricultural production efficiency, the collaborative operation of multiple agricultural machinery has become a trend. However, in actual operation, the collaborative operation of multiple machines has problems such as scheduling difficulties, difficult control of operation trajectories, and difficulty in real-time monitoring of operation status. These problems not only affect the overall operation efficiency, but also increase the complexity of operation and management difficulty. Therefore, how to effectively carry out multi-machine collaborative scheduling and control has become a technical problem that needs to be solved urgently.

[0004] Therefore, due to the technical problem that it is difficult for agricultural machinery to work in coordination in the field, it is necessary to design a new on-site dispatching and control system and control method for multi-machine coordination of agricultural machinery.

[0005] It should be noted that the above information disclosed in this background technology section is only used to understand the background technology of the present application concept, and therefore, the above description is not considered to constitute information of the prior art. Summary of the invention

[0006] The disclosed embodiments at least provide a multi-machine coordinated on-site dispatching control system and control method for agricultural machinery.

[0007] In a first aspect, an embodiment of the present disclosure provides a multi-machine coordinated on-site dispatching and control system for agricultural machinery, including:

[0008] A chassis vehicle, and a plurality of agricultural machines communicating with the chassis vehicle;

[0009] The chassis vehicle is suitable for sending work tasks to each agricultural machine, and each agricultural machine is suitable for feeding back task progress and position data to the chassis vehicle; and

[0010] The chassis vehicle is suitable for sending control instructions to the corresponding agricultural machinery to control the agricultural machinery.

[0011] In an optional implementation, the chassis vehicle includes: a first industrial computer, and a control panel and a first communication module electrically connected to the first industrial computer;

[0012] The control panel is adapted to select a preset task, and the first industrial computer is adapted to send the selected task to the corresponding agricultural machine; and

[0013] The control panel is suitable for selecting a control mode of the agricultural machine, namely a remote control mode and a local driving mode;

[0014] The remote control mode is to assign tasks to the agricultural machinery and control the agricultural machinery;

[0015] The driving mode of the machine is to control the chassis vehicle.

[0016] In an optional embodiment, the chassis vehicle further comprises: a steering wheel, pedals and operating levers electrically connected to the first industrial control machine;

[0017] The sensor provided in the steering wheel is suitable for detecting the rotation angle of the steering wheel, and sending the detected angle to the first industrial computer, and the first industrial computer is suitable for determining the direction and amplitude of the steering wheel rotation according to the detected angle;

[0018] The pedal is connected to a pressure sensor, and the pressure sensor is suitable for detecting the pressure exerted on the pedal when the pedal is stepped on, and the first industrial computer is suitable for judging whether the pedal corresponds to acceleration or braking at this time according to the pressure detected by the pressure sensor;

[0019] The operating lever is provided with a position sensor, and the position sensor is suitable for detecting the change of the position of the operating lever, and the first industrial computer determines the corresponding operation mode of the agricultural machine according to the position of the operating lever;

[0020] The first industrial computer is suitable for sending the direction and amplitude of the steering wheel rotation, whether the pedal corresponds to acceleration or braking at this time, and the corresponding operation mode of the agricultural machinery to the corresponding agricultural machinery through the first communication module.

[0021] In an optional implementation, the chassis vehicle further includes: a display screen electrically connected to the first industrial control machine;

[0022] The display screen is suitable for displaying the tasks of the agricultural machinery and the completion status of the tasks.

[0023] In an optional embodiment, the agricultural machine includes: a second industrial computer, and a laser radar, a GPS module, and a second communication module electrically connected to the second industrial computer;

[0024] The second communication module is suitable for receiving the work task sent by the chassis vehicle;

[0025] The GPS module is suitable for detecting the position of the agricultural machine, and the second industrial computer is suitable for controlling the agricultural machine to travel according to the route in the work task according to the position detected by the GPS module;

[0026] The laser radar is suitable for measuring distance during the driving of the agricultural machinery.

[0027] In an optional implementation, the agricultural machine further comprises: a camera and a posture sensor electrically connected to the second industrial control machine;

[0028] The camera is suitable for capturing images of the surrounding environment during the driving of the agricultural machine, and the second industrial computer is suitable for avoiding collision of the agricultural machine based on the images;

[0029] The attitude sensor is suitable for detecting the angle, speed and attitude of the agricultural machine;

[0030] The second industrial computer is suitable for adjusting the agricultural machinery according to the angle, speed and posture to keep the agricultural machinery stable.

[0031] In an optional implementation, the agricultural machine further comprises: an object measuring module electrically connected to the second industrial control machine;

[0032] The object detection module is suitable for detecting the number of rice seedlings in the agricultural machine used for transplanting rice, and the second industrial computer is suitable for judging the task completion status of the agricultural machine according to the number of rice seedlings; and

[0033] When the number of seedlings is less than a preset number, the agricultural machinery used for transplanting sends a signal to the chassis vehicle through the second communication module indicating the need to replenish seedlings, and the chassis vehicle sends a control signal to the agricultural machinery used for transporting seedlings, so that the agricultural machinery used for transporting seedlings transports the seedlings to the agricultural machinery used for transplanting.

[0034] In a second aspect, the disclosed embodiment further provides a control method adopted by the above-mentioned agricultural machinery multi-machine collaborative on-site dispatching and control system, which is characterized by comprising:

[0035] The chassis vehicle sends work tasks to each agricultural machine, and each agricultural machine is adapted to feed back task progress and position data to the chassis vehicle; and

[0036] The chassis vehicle sends control instructions to the corresponding agricultural machinery to control the agricultural machinery.

[0037] In an optional embodiment, the chassis vehicle sends work tasks to each agricultural machine, and each agricultural machine is suitable for feeding back task progress and position data to the chassis vehicle. The method includes:

[0038] The chassis vehicle selects the type of agricultural machinery through the control panel, that is, selects at least one agricultural machinery for transplanting rice seedlings and at least one agricultural machinery for transporting rice seedlings;

[0039] The work tasks are sent to all agricultural machinery through the control surface, and the work tasks include the form routes corresponding to the agricultural machinery used for transplanting rice seedlings.

[0040] In an optional implementation, the chassis vehicle sends a control instruction to a corresponding agricultural machine to control the agricultural machine, including:

[0041] When the agricultural machinery breaks down, the chassis vehicle directly controls the agricultural machinery to move it.

[0042] The beneficial effect of the present invention is that the agricultural machinery multi-machine collaborative on-site dispatching and control system comprises: a chassis vehicle, and several agricultural machinery establishing communication with the chassis vehicle; the chassis vehicle is suitable for sending work tasks to each agricultural machinery, and each agricultural machinery is suitable for feeding back task progress and position data to the chassis vehicle; and the chassis vehicle is suitable for sending control instructions to the corresponding agricultural machinery to control the agricultural machinery; accurate multi-machine dispatching and efficient operation management are realized in the field environment, and agricultural mechanization is promoted to develop in the direction of intelligence and automation.

[0043] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0044] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, this article specifically cites preferred embodiments and provides detailed descriptions as follows in conjunction with the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0046] Figure 1 A principle block diagram of a multi-machine coordinated on-site dispatching and control system for agricultural machinery provided by an embodiment of the present disclosure;

[0047] Figure 2 An overall scheme diagram of an interactive system provided by an embodiment of the present disclosure;

[0048] Figure 3 A diagram of a multi-machine collaborative overall solution provided by an embodiment of the present disclosure;

[0049] Figure 4 A flowchart of on-site dispatching and control of multiple agricultural machines in coordination provided by the embodiment of the present disclosure;

[0050] Figure 5 A schematic diagram of the partial structure of a chassis vehicle provided in an embodiment of the present disclosure.

[0051] In the figure:

[0052] 1 Steering wheel, 2 Pedals, 3 Display screen, 4 Control panel, 5 Joystick. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] As used herein, the phrases "in one embodiment," "according to one embodiment," "in some embodiments," and the like generally refer to the fact that the particular feature, structure, or characteristic following the phrase may be included in at least one embodiment of the present disclosure. Therefore, a particular feature, structure, or characteristic may be included in more than one embodiment of the present disclosure, so that these phrases do not necessarily refer to the same embodiment. As used herein, the terms "example," "exemplary," and the like are used to "serve as an example, instance, or illustration." Any implementation, aspect, or design described herein as "example" or "exemplary" is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. On the contrary, the use of the terms "example," "exemplary," and the like is intended to present concepts in a concrete manner.

[0055] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0056] like Figures 1 to 5 As shown, at least one disclosed embodiment provides a multi-machine coordinated on-site dispatching and control system for agricultural machinery, including: a chassis vehicle, and several agricultural machinery (unmanned agricultural machinery) communicating with the chassis vehicle; the chassis vehicle is suitable for sending work tasks to each agricultural machinery, and each agricultural machinery is suitable for feeding back task progress and location data to the chassis vehicle; and the chassis vehicle is suitable for sending control instructions to the corresponding agricultural machinery to control the agricultural machinery; accurate multi-machine dispatching and efficient operation management are realized in the field environment, and agricultural mechanization is promoted to develop in the direction of intelligence and automation; and real-time dispatching, control and dynamic update of operation tasks of multiple unmanned agricultural machinery in the field are realized. The system is suitable for various operation scenarios such as cultivation, fertilization, sowing, and harvesting of various crops.

[0057] The chassis vehicle can carry out real-time dispatch and unified control of all agricultural machinery at the edge of the field, monitor and operate all agricultural machinery, and the chassis vehicle can also enter the farmland for on-site operations.

[0058] In an optional embodiment, the chassis vehicle includes: a first industrial computer, and a control panel 4 and a first communication module electrically connected to the first industrial computer; the control panel 4 is suitable for selecting preset tasks, and the first industrial computer is suitable for sending the selected tasks to the corresponding agricultural machinery; and the control panel 4 is suitable for selecting the control mode of the agricultural machinery, namely the remote control mode and the local driving mode; the remote control mode is for assigning tasks to the agricultural machinery and controlling the agricultural machinery, and can remotely dispatch and control multiple agricultural machinery; the local driving mode is for controlling the chassis vehicle; the control panel 4 is used to uniformly control multiple agricultural machinery, and to plan and update operation tasks in real time to improve field operation efficiency and operation quality; the first communication module is used to communicate with all agricultural machinery to facilitate signal transmission, realize remote control of all agricultural machinery, and facilitate coordinated control of all agricultural machinery; the remote control mode and the local driving mode can be switched freely, and the switching function can be set in the control panel 4 or integrated in the vehicle-mounted interactive system.

[0059] In an optional embodiment, the chassis vehicle further includes: a steering wheel 1, a pedal 2 and an operating lever 5 electrically connected to the first industrial computer; the sensor provided in the steering wheel 1 is suitable for detecting the rotation angle of the steering wheel 1, and sending the detected angle to the first industrial computer, and the first industrial computer is suitable for judging the direction and amplitude of the rotation of the steering wheel 1 according to the detected angle; the pedal 2 is connected to a pressure sensor, and the pressure sensor is suitable for detecting the pressure exerted on the pedal 2 when the pedal 2 is stepped on, and the first industrial computer is suitable for judging whether the pedal 2 corresponds to acceleration or braking at this time according to the pressure detected by the pressure sensor; the operating lever 5 is provided with a position sensor, and the position sensor is provided in the operating lever 5. The position sensor is suitable for detecting the change of the position of the operating lever 5, and the first industrial computer determines the corresponding operation mode of the agricultural machinery through the position of the operating lever 5; the first industrial computer is suitable for sending the direction and amplitude of the steering wheel 1, whether the pedal 2 corresponds to acceleration or braking at this time, and the corresponding operation mode of the agricultural machinery to the corresponding agricultural machinery through the first communication module; the steering wheel 1 can be used to control the direction of the agricultural machinery and the direction of the chassis vehicle, similar to the steering wheel 1 of driving an ordinary vehicle; when the operator turns the steering wheel 1, the built-in sensor of the steering wheel 1 (such as an angle sensor, etc.) will collect the rotation angle of the steering wheel 1 to determine the direction (left or right) and force (amplitude of rotation) of the control. The pedal 2 is usually divided into an accelerator pedal and a brake pedal, both of which are connected to a pressure sensor. The accelerator pedal controls the forward speed of the agricultural machinery and the chassis vehicle, while the brake pedal and the chassis vehicle control deceleration and stopping; when the operator steps on the pedal 2, the pressure sensor will collect the applied force (i.e., the pressure on the pedal 2) and convert it into a speed or brake signal. The operating lever 5 can be used for lifting and lowering agricultural machinery, starting working tools, etc.; the operator pushes or pulls the operating lever 5, and the built-in position sensor (such as a photoelectric sensor, etc.) of the operating lever 5 will sense its position change and convert it into a corresponding command signal; when the operator needs to remotely and directly operate the agricultural machinery due to an abnormality of the agricultural machinery, the physical operation applied by the operator to the chassis vehicle (such as turning the steering wheel 1 and stepping on the pedal 2) is converted into an electrical signal through the built-in sensor of the steering wheel 1, the pressure sensor, and the built-in position sensor of the operating lever 5. Subsequently, these electrical signals will be transmitted to the first industrial computer of the chassis vehicle. As a central processing unit, the first industrial computer will digitally process these original signals and convert them into corresponding control instructions. After receiving these digital signals, the first industrial computer will first perform data processing and task analysis. The first industrial computer will calculate the steering angle and speed change of the agricultural machinery according to the rotation angle of the steering wheel 1, and determine the driving speed according to the strength of the stepped accelerator pedal. At the same time, the first industrial computer will integrate these data into a complete set of control instructions, and prepare to send the control instructions to the agricultural machinery through the first communication module; the processed control instructions will be transmitted to the unmanned agricultural machinery through the first communication module of the chassis vehicle. The signal is sent to the target agricultural machinery. This wireless signal transmission enables the operator to control multiple unmanned agricultural machinery from a remote location in the field.The unmanned agricultural machine receives control signals from the chassis vehicle through the second communication module. After passing through the second communication module, these signals are transmitted to the second industrial computer of the unmanned agricultural machine. The second industrial computer decodes and processes the received control signals; converts the received steering wheel 1 signal into a steering operation to adjust the driving direction of the unmanned agricultural machine; adjusts the speed of the unmanned agricultural machine or brakes according to the signal of the acceleration or brake pedal; the signal of the operating lever 5 will start or stop a specific agricultural machine operation tool. After processing the signal, the second industrial computer will directly control the various subsystems of the unmanned agricultural machine and perform corresponding operations. In addition to receiving and executing instructions from the chassis vehicle, the second industrial computer of the unmanned agricultural machine will also monitor the operation status of the agricultural machine in real time, and feed back this information to the chassis vehicle through the second communication module, including the current position of the agricultural machine, operation progress, equipment operation status, etc. The operator on the chassis vehicle can make corresponding adjustments or update the task plan based on this feedback information.

[0060] In an optional embodiment, the chassis vehicle also includes: a display screen 3 electrically connected to the first industrial computer; the display screen 3 is suitable for displaying the tasks of the agricultural machinery and the status of task completion; the first industrial computer is provided with a vehicle-mounted interactive system, which can be displayed through the display screen 3, and the operation trajectory and operation status of the unmanned agricultural machinery (agricultural machinery) in the field can be displayed in real time. Users can monitor and adjust the operation of the agricultural machinery in real time through the vehicle-mounted interactive system.

[0061] In an optional embodiment, the agricultural machinery includes: a second industrial computer, and a laser radar, a GPS module and a second communication module electrically connected to the second industrial computer; the second communication module is suitable for receiving work tasks sent by the chassis vehicle; the GPS module is suitable for detecting the position of the agricultural machinery, and the second industrial computer is suitable for controlling the agricultural machinery to travel according to the route in the work task based on the position detected by the GPS module; the laser radar is suitable for measuring distance during the driving of the agricultural machinery.

[0062] In an optional embodiment, the agricultural machinery also includes: a camera and a posture sensor electrically connected to the second industrial computer; the camera is suitable for capturing images of the surrounding environment during the driving of the agricultural machinery, and the second industrial computer is suitable for avoiding collision of the agricultural machinery based on the image; the posture sensor is suitable for detecting the angle, speed and posture of the agricultural machinery; the second industrial computer is suitable for adjusting the agricultural machinery according to the angle, speed and posture to keep the agricultural machinery stable.

[0063] In an optional embodiment, the agricultural machinery also includes: a measuring module electrically connected to the second industrial computer; the measuring module is suitable for detecting the number of seedlings in the agricultural machinery used for transplanting rice (rice transplanter), and the second industrial computer is suitable for judging the task completion status of the agricultural machinery according to the number of seedlings; and when the number of seedlings is less than a preset number, the agricultural machinery used for transplanting rice sends a signal to the chassis vehicle through the second communication module indicating the need to replenish seedlings, and the chassis vehicle sends a control signal to the agricultural machinery used for transporting seedlings (rice transporter), so that the agricultural machinery used for transporting seedlings transports the seedlings to the agricultural machinery used for transplanting rice.

[0064] Specifically, the unified control of multiple agricultural machinery can be that rice transplanters A, B, C and rice transporter D are equipped with laser radars to detect surrounding obstacles and distances to ensure that they can avoid obstacles during operation; laser radars accurately detect the environment through laser ranging technology, provide safe positions during operation, and help agricultural machinery to travel smoothly in different fields; cameras are used to monitor the working environment of the corresponding rice transplanters and rice transporters, and obtain visual information of the surroundings, especially in complex environments (such as ridges, ditches, etc.). The data from the cameras helps agricultural machinery make decisions to ensure that each rice transplanter and rice transporter can perceive the surrounding environment in real time during operation to avoid collision or misoperation; the GPS module provides accurate geographic location coordinates for rice transplanters and rice transporters to ensure that each agricultural machinery can operate according to the preset path released by the chassis vehicle. With the accurate longitude and latitude coordinates provided by the GPS module, rice transplanter A can automatically operate along the planned route in field E, and rice transporter D can accurately drive from the rice seedling supply station F to the field where rice transplanters A, B, and C are located according to demand. The attitude sensor is used to monitor the angle, speed and attitude of each agricultural machine to ensure that the rice transplanter and rice transporter can maintain stable operation in complex terrain (such as muddy and undulating fields). The attitude sensor data is used to correct and optimize the path to prevent deviations during the operation and ensure the continuity and stability of rice transplanting and rice transport. The control panel 4 of the chassis vehicle is equipped with a real-time map display function. The operator can see the geographical information of the entire farmland through GIS technology. The boundaries of the field, the current positions of each rice transplanter A, B, C and rice transporter D, and their task progress status will be marked on the map.

[0065] The operator first selects transplanter A, B, C or rice seedling transporter D to assign tasks through the control panel 4. Transplanters A, B, C are responsible for plots G, H, and I respectively, while plot F serves as a seedling supply station, and rice seedling transporter D is responsible for transporting the seedlings from plot F to each transplanting plot. Before the operation begins, the operator first clearly identifies the location and shape of each field through the GIS map interface of the chassis vehicle. Through the control panel 4, the operator clicks on field G, assigns transplanter A to the field, and generates a transplanting path to ensure that transplanter A can smoothly transplant from one end of the field to the other end. Similarly, the operator also plans respective operation routes for transplanters B and C to ensure that they can work independently without conflict, and sets specific operation parameters (such as transplanting depth and speed) for transplanters A, B, and C. The task of rice seedling transporter D is to transport seedlings for transplanters A, B, and C along the planned path. During the operation of transplanters A, B, C and transporter D, the chassis vehicle receives their real-time operation status and location information through the first communication module. The operation progress is displayed in real time through the display screen 3, such as the transplanting progress of transplanter A in field G, the use of seedlings, etc. During field operations, the laser radar and camera of the rice transplanter and rice transporter continuously detect the surrounding environment. The laser radar helps the rice transplanter avoid obstacles in the field through ranging technology, while the camera monitors the surrounding visual information, especially on the ridges or in places with complex terrain, to ensure that the agricultural machinery can make correct decisions. At the same time, the GPS module and attitude sensor ensure that the rice transplanter and rice transporter can strictly follow the planned path. The GPS module provides accurate geographic locations for rice transplanters A, B, C and rice transporter D, while the attitude sensor helps them maintain stable operation in complex fields by monitoring the angle and speed of agricultural machinery. When rice transplanter A is working in field G, its operation progress and status are displayed in real time on the display screen 3 of the chassis vehicle. The usage of seedlings is monitored by the object measurement module. If the seedlings in the seedling tray of transplanter A are about to run out, the object measurement module will immediately feedback this status to the chassis through the second communication module. At this time, the chassis will automatically send instructions to the seedling transporter D, notifying it to go to field G to replenish seedlings; after receiving the instructions, the seedling transporter D will quickly return to field F along the planned path for replenishment, and immediately return to field G to replenish seedlings for transplanter A after completion; the chassis dynamically adjusts the operation tasks according to the real-time feedback of various sensors and GPS module data; when transplanter A completes the operation task of field G, the chassis will automatically update the task, dispatch transplanter A to field H or field I, and re-plan a new operation path. If transplanter B encounters a problem in the operation of field H, such as a failure of the transplanting tool, the chassis vehicle will immediately receive fault feedback. At this time, the operator can manually dispatch transplanter A to field H to take over the transplanting task through the control panel 4 to ensure that the operation is not interrupted; at the same time, the rice seedling transporter D continues to deliver the seedlings from the supply station to the new operation area according to the needs of field H.Through real-time updating of tasks, the chassis can ensure efficient collaboration between multiple rice transplanters and rice transporters to avoid waste of resources. If rice transplanter A or rice transporter D cannot continue to operate due to equipment failure (such as a problem with the rice transplanting tool of rice transplanter A, or the fuel of rice transporter D is exhausted), the chassis will receive fault feedback through real-time monitoring, and the operator can manually adjust the task area through the control panel 4 and reallocate the task to other agricultural machinery; during the entire operation process, the chassis continuously tracks the status and progress of rice transplanters A, B, C and rice transporter D through real-time monitoring. According to the actual operation progress, rice seedling exhaustion or failure of each agricultural machinery, their tasks are dynamically adjusted. For example, when rice transplanter C completes its task in field I ahead of schedule, the control panel 4 can also automatically dispatch it to the area where the operation has not yet been completed to ensure efficient use of resources. If a major failure occurs during the operation and the rice transplanter A, B, C or the rice transporter D cannot continue to operate, the operator can exit the remote control mode through the control panel 4, switch to the local driving mode of the chassis vehicle, and directly drive the chassis vehicle 1 into the field for inspection or maintenance; in the field, the operator can use the control panel 4 of the chassis vehicle to manually intervene, restore or adjust the operation tasks of the agricultural machinery, and ensure the smooth completion of the entire operation process.

[0066] When there is a farmland that needs agricultural machinery operation, the user first selects the field area A to be operated. i , and give the operating radius W k , and according to the operating speed V of different agricultural machinery k , calculate their work efficiency E k , E k It can be expressed by the following formula:

[0067] E k =W k ×V k

[0068] Among them, k represents agricultural machinery k;

[0069] The work efficiency E is calculated by k After that, the operation time T of agricultural machinery can be calculated. k , T k It can be expressed by the following formula:

[0070]

[0071] Among them, i represents field i;

[0072] It can also be calculated by the fuel consumption per unit time F k and agricultural machinery power P k Calculate the operating cost of agricultural machinery C k , C k It can be expressed by the following formula:

[0073] C k =F k ·P k

[0074] The GPS module sends data information in 0183 protocol, parses the data in GPGGA format, extracts its longitude, latitude and altitude information, and converts the longitude, latitude and altitude into Cartesian coordinates (x GPS ,y GPS , z GPS )

[0075] R=R earth +h

[0076] x GPS =R·cos(latitude)·cos(longitude)

[0077] y GPS =R·cos(latitude)·sin(longitude)

[0078] z GPS = R sin(latitude)

[0079] In this way, the real-time position of the agricultural machinery can be obtained, so that the distance between the current position of the agricultural machinery and the position of the field can be calculated. The calculation formula is as follows:

[0080]

[0081] Where (x goal ,y goal ) are the coordinates of the target field.

[0082] Comprehensive work efficiency E k , Operation time T k 、Activity cost C k and the distance h(n) between the current position of the agricultural machinery and the position of the field GPS ), calculate the optimal agricultural machinery allocation function ψ(k, A i ), which is calculated as follows:

[0083]

[0084] Among them, α 1 ,α 2 ,α 3 is the weight coefficient, which is used to balance the impact of various parameters on the matching degree. Their relationship is α 1 +α 2 +α 3 =1. If α 1The larger the value, the greater the impact of operating efficiency on decision-making, and the smaller the impact of other factors. i ) is used to comprehensively consider the operation time T k and activity cost C k , when ψ(k, A i ) is higher, the better the match between the agricultural machinery and the field, thus arranging the most suitable agricultural machinery work for the user.

[0085] LiDAR is used to detect obstacles in front of agricultural machinery and measure the distance to the obstacles. i and angle θ i LiDAR data can help agricultural machinery avoid obstacles and adjust the driving direction. i represents the distance between the agricultural machinery and the obstacle, θ i Indicates the angle of the obstacle relative to the agricultural machinery. The second industrial computer obtains the point cloud data of the radar, processes the radar data through the following formula, and converts it into coordinates (x i ,y i ), x i =d i ·cos(θ i )

[0086] y i =d i ·sin(θ i )

[0087] When the LiDAR detects an obstacle, it can trigger path replanning. Combined with the A* or Dijkstra algorithm, the optimal path to avoid obstacles is calculated. The distance cost function f(n) can be expressed as:

[0088] f(n)=g(n)+h(n)

[0089]

[0090] Where (x start ,y start ) is the current position coordinate of the agricultural machinery, and (x goal ,y goal ) is the coordinate of the target position of the agricultural machinery. The path with the smallest f(n) value, that is, the path with the lowest cost, is preferred to avoid obstacles and maintain efficiency as much as possible. g(n) represents the actual cost from the starting point to the current node, and h(n) is the heuristic estimate from the current node to the target node. The algorithm starts from the starting point, calculates the f(n) value of each possible path node, selects the node with the smallest f(n) for expansion, and continuously updates and selects the optimal path L. The path L is refined into n coordinate points: (x 1 ,y 1 )、(x 2 ,y2 )……(x j ,y j )……(x n ,y n ), the distance d between each point j , and its calculation formula is as follows:

[0091]

[0092] IMU provides the acceleration of agricultural machinery k , calculate the current real-time speed v of the agricultural machinery k , v k It can be expressed by the following formula:

[0093] v k =v k-1 +a k Δt

[0094] If the agricultural machine approaches an obstacle, the speed can be adjusted according to the distance of the obstacle. When the obstacle is detected to be close, the speed v(s) should be reduced to avoid collision. The calculation formula of v(s) is as follows:

[0095]

[0096] Among them, d 0 is a preset safety distance, d obs is the distance between the agricultural machine and the obstacle. The time to bypass the obstacle can be calculated The calculation formula is as follows:

[0097]

[0098] Set a warning time T for the time to bypass obstacles threshold ,when When a remote assistance request is made.

[0099] When the first industrial computer of the chassis receives the remote request, it receives the hexadecimal signal of the CAN communication protocol sent by the steering wheel 1, extracts the hexadecimal signal and converts it into the steering wheel 1 rotation angle signal θ_steering, and similarly extracts the hexadecimal control signal sent by the pedal 2 and the joystick 5 using the CAN protocol. The first industrial computer converts it into the acceleration / deceleration pedal pressure signal P_velocity and the joystick 5 signal C_joystick, converts the θ_steering, P_velocity and C_joystick signals into JSON format signals, and sends the control signal through MQTT. The topic of the control signal is agriculture / control, and the composition of the message is

[0100] message={"command":"control","data":{"steering_angle":θ_steering,

[0101] "speed": P_velocity, "action": C_joystick}}, after receiving the corresponding signal, the second industrial computer of the agricultural machinery corresponds the signal to the respective topic, and converts the received signal into a hexadecimal signal through Can communication, and writes it to the control module to achieve the purpose of remote assistance.

[0102] At least one other disclosed embodiment also provides a control method adopted by the above-mentioned agricultural machinery multi-machine collaborative on-site dispatching and control system, which is characterized by including: the chassis vehicle sends work tasks to each agricultural machinery, and each agricultural machinery is suitable for feedback of task progress and position data to the chassis vehicle; and the chassis vehicle sends control instructions to the corresponding agricultural machinery to control the agricultural machinery.

[0103] In an optional embodiment, the chassis vehicle sends work tasks to each agricultural machine, and each agricultural machine is suitable for feeding back task progress and position data to the chassis vehicle. The method includes: the chassis vehicle selects the type of agricultural machinery through the control panel 4, that is, selects at least one agricultural machine for transplanting rice seedlings and at least one agricultural machine for transporting rice seedlings; the work tasks are sent down to all agricultural machinery through the control surface, and the work tasks include the form route corresponding to the agricultural machinery used for transplanting rice seedlings.

[0104] In an optional embodiment, the chassis vehicle sends a control instruction to the corresponding agricultural machinery to control the agricultural machinery, including: when the agricultural machinery fails, the chassis vehicle directly controls the agricultural machinery to move the agricultural machinery.

[0105] To sum up, the agricultural machinery multi-machine collaborative on-site dispatching and control system includes: a chassis vehicle, and several agricultural machinery that establish communication with the chassis vehicle; the chassis vehicle is suitable for sending work tasks to each agricultural machinery, and each agricultural machinery is suitable for feeding back task progress and position data to the chassis vehicle; and the chassis vehicle is suitable for sending control instructions to the corresponding agricultural machinery to control the agricultural machinery; it realizes accurate multi-machine dispatching and efficient operation management in the field environment, and promotes the development of agricultural mechanization towards intelligence and automation.

[0106] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A multi-machine coordinated on-site dispatching and control system for agricultural machinery, characterized in that: include: A chassis vehicle, and a plurality of agricultural machines communicating with the chassis vehicle; The chassis vehicle is suitable for sending work tasks to each agricultural machine, and each agricultural machine is suitable for feeding back task progress and position data to the chassis vehicle; as well as The chassis vehicle is suitable for sending control instructions to the corresponding agricultural machinery to control the agricultural machinery.

2. The agricultural machinery multi-machine collaborative on-site dispatching and control system according to claim 1, characterized in that: The chassis vehicle comprises: a first industrial computer, and a control panel and a first communication module electrically connected to the first industrial computer; The control panel is adapted to select a preset task, and the first industrial computer is adapted to send the selected task to the corresponding agricultural machine; and The control panel is suitable for selecting a control mode of the agricultural machine, namely a remote control mode and a local driving mode; The remote control mode is to assign tasks to the agricultural machinery and control the agricultural machinery; The driving mode of the machine is to control the chassis vehicle.

3. The agricultural machinery multi-machine collaborative on-site dispatching and control system according to claim 2, characterized in that: The chassis vehicle further comprises: a steering wheel, pedals and operating levers electrically connected to the first industrial control machine; The sensor provided in the steering wheel is suitable for detecting the rotation angle of the steering wheel, and sending the detected angle to the first industrial computer, and the first industrial computer is suitable for determining the direction and amplitude of the steering wheel rotation according to the detected angle; The pedal is connected to a pressure sensor, and the pressure sensor is suitable for detecting the pressure exerted on the pedal when the pedal is stepped on, and the first industrial computer is suitable for judging whether the pedal corresponds to acceleration or braking at this time according to the pressure detected by the pressure sensor; The operating lever is provided with a position sensor, and the position sensor is suitable for detecting the change of the position of the operating lever, and the first industrial computer determines the corresponding operation mode of the agricultural machine according to the position of the operating lever; The first industrial computer is suitable for sending the direction and amplitude of the steering wheel rotation, whether the pedal corresponds to acceleration or braking at this time, and the corresponding operation mode of the agricultural machinery to the corresponding agricultural machinery through the first communication module.

4. The agricultural machinery multi-machine collaborative on-site dispatching and control system according to claim 3, characterized in that: The chassis vehicle further comprises: a display screen electrically connected to the first industrial control machine; The display screen is suitable for displaying the tasks of the agricultural machinery and the completion status of the tasks.

5. The agricultural machinery multi-machine collaborative on-site dispatching and control system according to claim 4, characterized in that: The agricultural machine comprises: a second industrial computer, and a laser radar, a GPS module and a second communication module electrically connected to the second industrial computer; The second communication module is suitable for receiving the work task sent by the chassis vehicle; The GPS module is suitable for detecting the position of the agricultural machine, and the second industrial computer is suitable for controlling the agricultural machine to travel according to the route in the work task according to the position detected by the GPS module; The laser radar is suitable for measuring distance during the driving of the agricultural machinery.

6. The agricultural machinery multi-machine collaborative on-site dispatching and control system according to claim 5, characterized in that: The agricultural machine further comprises: a camera and a posture sensor electrically connected to the second industrial control machine; The camera is suitable for capturing images of the surrounding environment during the driving of the agricultural machine, and the second industrial computer is suitable for avoiding collision of the agricultural machine based on the images; The attitude sensor is suitable for detecting the angle, speed and attitude of the agricultural machine; The second industrial computer is suitable for adjusting the agricultural machinery according to the angle, speed and posture to keep the agricultural machinery stable.

7. The agricultural machinery multi-machine coordinated on-site dispatching and control system according to claim 6, characterized in that: The agricultural machine further comprises: an object measuring module electrically connected to the second industrial control machine; The object detection module is suitable for detecting the number of rice seedlings in the agricultural machine used for transplanting rice, and the second industrial computer is suitable for judging the task completion status of the agricultural machine according to the number of rice seedlings; and When the number of seedlings is less than a preset number, the agricultural machinery used for transplanting sends a signal to the chassis vehicle through the second communication module indicating the need to replenish seedlings, and the chassis vehicle sends a control signal to the agricultural machinery used for transporting seedlings, so that the agricultural machinery used for transporting seedlings transports the seedlings to the agricultural machinery used for transplanting.

8. A control method used by the agricultural machinery multi-machine collaborative on-site dispatching and control system as claimed in claim 1, characterized in that: include: The chassis vehicle sends work tasks to each agricultural machine, and each agricultural machine is adapted to feed back task progress and location data to the chassis vehicle; as well as The chassis vehicle sends control instructions to the corresponding agricultural machinery to control the agricultural machinery.

9. The control method according to claim 8, characterized in that: The method in which the chassis sends work tasks to each agricultural machine, and each agricultural machine is adapted to feed back task progress and position data to the chassis includes: The chassis vehicle selects the type of agricultural machinery through the control panel, that is, selects at least one agricultural machinery for transplanting rice seedlings and at least one agricultural machinery for transporting rice seedlings; The work tasks are sent to all agricultural machinery through the control surface, and the work tasks include the form routes corresponding to the agricultural machinery used for transplanting rice seedlings.

10. The control method according to claim 8, characterized in that: The chassis vehicle sends a control instruction to the corresponding agricultural machine to control the agricultural machine, including: When the agricultural machinery breaks down, the chassis vehicle directly controls the agricultural machinery to move it.

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