Harvester-grain transport vehicle collaborative operation method and device, electronic equipment and medium

Abstract

The embodiment of the invention discloses a harvester-grain transport vehicle collaborative operation method and device, electronic equipment and a medium, and the method comprises the steps: controlling a grain transport vehicle to wait for grain unloading in a field edge region located at the end part of each operation line when a harvester is controlled to perform harvesting operation on a target land parcel; when the harvester performs harvesting operation on the middle section part of the current operation row in the one or more operation rows and the granary of the harvester is full, determining the unloading point of the harvester based on whether the adjacent operation row of the current operation row is the harvested operation row or not; and based on the position of the grain unloading point of the harvester, controlling the grain transporting vehicle to approach the harvester to unload the grain of the harvester. According to the embodiment of the invention, harvesting operation can be timely and efficiently carried out on a harvester with a full granary in the middle section of an operation line.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a harvester-grain transport vehicle collaborative operation method, device, electronic equipment and medium. Background Art

[0002] When the harvester and the grain transport vehicle work together, when the grain bin of the harvester is full, the grain needs to be transferred to the grain transport vehicle, and then the harvester continues the harvesting operation and the grain transport vehicle transfers the grain to the grain unloading point, thereby realizing continuous harvesting operation. The system operation scheme of the harvester grain transport vehicle in the prior art includes a fixed-point collaborative grain unloading mode. When the harvester and the grain transport vehicle work together through the fixed-point collaborative grain unloading mode, the harvester and the grain transport vehicle need to complete the grain unloading in the field area. This method is applicable when the harvester completes the harvesting operation of the corresponding operation row and drives to the end of the corresponding operation row when the grain is just full. It cannot meet the needs of the harvester to unload grain in a timely and efficient manner in the middle section of the operation row and when the grain bin is full, and its practicality is poor. Summary of the invention

[0003] The embodiments of the present invention provide a harvester-grain transport vehicle collaborative operation method, device, electronic equipment and medium, which can timely and efficiently unload grain from a harvester that is performing harvesting operations in the middle section of an operation row and whose grain bin is full.

[0004] In a first aspect, an embodiment of the present invention provides a harvester-grain transport vehicle collaborative operation method, comprising:

[0005] When controlling the harvester to harvest the target plot, controlling the grain transport vehicle to wait for unloading grain in the field head area at the end of each operation row;

[0006] When the harvester is harvesting the middle section of the current operation row among the one or more operation rows and the grain bin of the harvester is full, determining the grain unloading point of the harvester based on whether the adjacent operation row of the current operation row is a harvested operation row; and

[0007] Based on the position of the grain unloading point of the harvester, the grain transport vehicle is controlled to approach the harvester to unload the grain.

[0008] In a second aspect, an embodiment of the present invention provides a harvester-grain transport vehicle collaborative operation device, comprising:

[0009] The grain unloading waiting control module is used to control the grain transport vehicle to wait for grain unloading in the field head area at the end of each operation row when controlling the harvester to perform harvesting operation on the target plot;

[0010] a grain unloading point determination module, for determining the grain unloading point of the harvester based on whether the adjacent working row of the current working row is a harvested working row when the harvester is harvesting the middle section of the current working row among the one or more working rows and the grain bin of the harvester is full; and

[0011] The grain unloading control module is used to control the grain transport vehicle to approach the harvester to unload the grain based on the position of the grain unloading point of the harvester.

[0012] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the grain harvester-grain transport vehicle collaborative operation method as described in any one of the embodiments of the present invention is implemented.

[0013] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a method for collaborative operation of a grain harvester and a grain transport vehicle as described in any one of the embodiments of the present invention.

[0014] The embodiments of the present invention provide a harvester-grain transport vehicle collaborative operation method, device, electronic device and medium. When controlling the harvester to perform harvesting operations on a target plot of land, the grain transport vehicle is controlled to wait for unloading grain in the end-of-field areas at both ends. When the harvester is harvesting the middle section of an operation row and the granary is full, the grain unloading point of the harvester is determined based on whether the adjacent operation row of the current operation row is a harvested operation row. The optimal harvester unloading point is flexibly determined, and the grain transport vehicle can be controlled to quickly approach the harvester for unloading grain while considering whether the adjacent operation row has been harvested. This can facilitate timely and efficient unloading of grain for the harvester that is harvesting in the middle section of the operation row and whose granary is full, thereby improving the efficiency of harvesting and unloading operations and improving the practicality of the harvester-grain transport vehicle collaborative operation solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a flow chart of a harvester-grain transport vehicle collaborative operation method provided by an embodiment of the present invention;

[0017] Figure 2 is another flow chart of the harvester-grain transport vehicle collaborative operation method provided by an embodiment of the present invention;

[0018] Figure 3 It is a schematic diagram of a scenario in which adjacent operation rows of a current operation row provided by an embodiment of the present invention have been harvested operation rows;

[0019] Figure 4 This is a schematic diagram of a scenario in which an adjacent operation row of a current operation row is not a harvested operation row provided by an embodiment of the present invention;

[0020] Figure 5 It is a structural schematic diagram of a harvester-grain transport vehicle cooperative operation device provided by an embodiment of the present invention;

[0021] Figure 6 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only 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 should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] Figure 1 A flowchart of a harvester-grain transporter collaborative operation method provided in an embodiment of the present invention is provided. The method can be executed by a harvester-grain transporter collaborative operation device provided in an embodiment of the present invention, and the device can be implemented in software and / or hardware. In a specific embodiment, the device can be integrated into an electronic device, such as a computer, a server, etc. The following embodiments will be described by taking the device integrated into a computer at the harvester end as an example. Reference Figure 1 , the method may specifically include the following steps:

[0025] Step 101, when controlling the harvester to harvest the target plot, controlling the grain transport vehicle to wait for unloading grain in the field head area at the end of each operation row. This step can help control the grain transport vehicle to quickly approach the harvester and unload grain to the harvester when the harvester is located in the middle section of the operation row and the grain bin is full.

[0026] Specifically, the path for the harvesting operation of the above-mentioned harvester can be one of a variety of paths such as a straddle type, a ring type, and a reciprocating type.

[0027] Specifically, the headland area located at the end of each operating row may be understood as one headland area or two headland areas located at both ends of each operating row.

[0028] Optionally, the target plot includes multiple small plots, and the above-mentioned two headland areas respectively include multiple waiting points for grain trucks. The multiple waiting points for grain trucks in each headland area correspond one-to-one to the multiple small plots, that is, for each small plot, there is a grain truck waiting point corresponding to the current small plot in each of the two headland areas.

[0029] Specifically, the two headland areas of the target plot can be as follows Figure 2 and Figure 3 as shown in .

[0030] Specifically, the waiting point for the grain transport vehicle corresponding to each small plot can be set in the two field head areas, close to the starting operation row of the corresponding small plot. For example, the waiting point for the grain transport vehicle corresponding to each small plot can be set at a position point whose distance from the corresponding starting operation row is not greater than a preset distance threshold and is located in the two field head areas.

[0031] Specifically, each grain truck waiting point in the same field area can be set on the same straight line, such as Figure 3 and Figure 4 As shown, they may not be arranged on the same straight line.

[0032] Optionally, the process of controlling the harvester to perform harvesting operations on the target plot includes: controlling the harvester to perform harvesting operations on each small plot in turn based on a cross-row path.

[0033] Optionally, the process of controlling the harvester to perform harvesting operations on each small plot in sequence based on a cross-row path can be based on a predetermined complete harvesting operation path, or can be based on a block operation path corresponding to each small plot in sequence.

[0034] Specifically, it is also possible to not divide the land into plots, directly control the harvester to harvest the target plot according to a predetermined harvesting operation path, and set a waiting point for the grain truck in each of the two field head areas.

[0035] Specifically, the number of the above-mentioned grain transport vehicles can be one or more.

[0036] Optionally, when the number of the grain transport vehicle is one, the process of controlling the grain transport vehicle to wait for grain unloading in the field headland area at the end of each operation row includes:

[0037] When the harvester is harvesting each small plot of land, the grain transport vehicle is controlled to wait at a corresponding grain transport vehicle waiting point in a field area to unload grain.

[0038] Optionally, the process of controlling the grain truck to wait for unloading grain at a corresponding grain truck waiting point in a field area includes: sending a grain transport start instruction and the position of the first grain truck waiting point corresponding to the first small plot where the harvester is operating to the grain truck, so that the grain truck can be ignited and started, a path to the first grain truck waiting point is planned, and the grain truck goes to the above-mentioned first grain truck waiting point via the corresponding path.

[0039] Optionally, the process of controlling the grain truck to wait for unloading at a corresponding grain truck waiting point in a field area includes: after the harvester completes the harvesting operation on the current small plot, controlling the grain truck to transfer from the current grain truck waiting point to the next grain truck waiting point. The current grain truck waiting point is the grain truck waiting point corresponding to the current small plot, and the next grain truck waiting point is the grain truck waiting point corresponding to the next small plot to be operated.

[0040] Step 102, when the harvester is harvesting the middle section of the current operation row in one or more operation rows and the grain bin of the harvester is full, the harvester grain unloading point is determined based on whether the adjacent operation row of the current operation row is a harvested operation row. The optimal harvester grain unloading point can be flexibly determined based on whether the adjacent operation row of the current operation row is a harvested operation row, which can help control the grain transport vehicle to start from the current area and quickly approach the harvester to unload grain while considering the adjacent operation rows of the current operation row.

[0041] Specifically, the middle section of the current operation row may be understood as other sections except the two end sections of the current operation row.

[0042] Specifically, the adjacent operation row of the current operation row may be any one of two adjacent operation rows of the current operation row.

[0043] Specifically, when the grain level in the grain bin of the harvester reaches a first preset grain level range, it can be determined that the grain bin of the harvester is full. The first preset grain level range can be set based on empirical data, for example, can be set to 90%-100%.

[0044] It is understandable that in order to shorten the time required for unloading grain and unload grain efficiently, the grain transport truck can unload grain to the harvester at the harvester position in the middle section of the corresponding operation row. When the grain transport truck approaches the harvester to unload grain, it cannot pass through the unharvested area, otherwise it will cause the crops to be crushed. In addition, since the grain transport truck needs to be located to the side of the harvester instead of directly in front of or behind when unloading grain to the harvester, the unloading position of the harvester is determined according to whether the adjacent operation of the current operation row is a harvested operation row, which can help to flexibly determine the best harvester unloading point, and then control the grain transport truck to quickly approach the harvester to unload grain, shorten the time required for unloading grain, and improve the unloading efficiency.

[0045] Optionally, the process of determining the harvester unloading point based on whether the adjacent operating row of the current operating row is a harvested operating row includes: determining the harvester unloading point based on whether the adjacent operating row of the current operating row is a harvested operating row and the current position of the grain transport vehicle.

[0046] Step 103, based on the position of the harvester's grain unloading point, control the grain transport vehicle to approach the harvester to unload the grain. This step is based on steps 101 and 102. When the harvester is harvesting the target plot, the grain transport vehicle is controlled to wait for unloading in the field head areas at both ends, and when the harvester is harvesting the middle section of the operation row and the granary is full, the harvester's grain unloading point is determined based on whether the adjacent operation row of the current operation row is a harvested operation row, and the best harvester grain unloading point is flexibly determined, which can help control the grain transport vehicle to quickly approach the harvester to unload the grain while considering whether the adjacent operation row has been harvested, so as to help the harvester that is harvesting in the middle section of the operation row and whose granary is full to unload the grain in a timely and efficient manner, thereby improving the efficiency of harvesting and unloading operations and improving the practicality of the harvester-grain transport vehicle collaborative operation solution.

[0047] Optionally, the process of controlling the grain transport vehicle to approach the harvester to unload the grain based on the position of the harvester's grain unloading point includes:

[0048] The grain transport truck is sent an unloading instruction and the location information of the harvester's unloading point, so that after receiving the unloading instruction, the grain transport truck plans an unloading route to the harvester's unloading point and unloads grain by approaching the harvester's unloading point through the corresponding route.

[0049] Specifically, the grain transport vehicle can adjust its own speed, forward and reverse gears, etc. according to the location of the harvester's unloading point to reach the vicinity of the harvester. The grain transport vehicle can adjust its relative position with the harvester according to its own loading status fed back by the grain transport vehicle's loading status sensing system, thereby adjusting the position of the unloading port to achieve uniform unloading.

[0050] Optionally, the harvester-grain transport vehicle collaborative operation method provided by the embodiment of the present invention also includes, after completing the current grain unloading, controlling the grain transport vehicle to go to the grain transport vehicle waiting point corresponding to the current operation plot to continue waiting for grain unloading.

[0051] Optionally, the process of controlling the grain truck to go to the grain truck waiting point corresponding to the current working plot to continue waiting for unloading grain includes: after completing this unloading, controlling the grain truck to go to the grain truck waiting point with the shortest path among the grain truck waiting points corresponding to the current working plot to wait for unloading grain, and the shortest path does not include the unharvested area of ​​the target plot.

[0052] Specifically, the process of controlling the grain truck to go to the grain truck waiting point with the shortest path among the grain truck waiting points corresponding to the current operation block to wait for unloading grain includes: controlling the grain truck to go to the nearest grain truck waiting point among the grain truck waiting points corresponding to the current operation block, or controlling the grain truck to go to the grain truck waiting point where the grain truck was located before the current unloading to wait for unloading grain.

[0053] Specifically, after the grain level in the harvester's grain bin reaches the second preset grain level range, an instruction to end unloading and the location of the corresponding grain truck waiting point can be sent to the grain truck, so that the grain truck returns to the corresponding grain truck waiting point after receiving the instruction to end unloading.

[0054] Specifically, the second preset grain level range may be set based on empirical data, for example, may be set to 0-10%.

[0055] In the actual harvesting and unloading operation scenario, when the grain truck loading status perception system detects that the granary is full, it plans the unloading path to the granary and unloads the grain through the corresponding unloading path. After unloading the grain, it continues to return to the corresponding grain truck waiting point and waits for the next unloading instruction.

[0056] In actual harvesting and unloading operation scenarios, after the harvester completes the harvesting operation on the target plot, it can send an end-of-operation instruction to the grain truck, determine the harvester's entry path to the garage, and control the harvester to complete the entry through the corresponding entry path; after receiving the end-of-operation instruction and unloading the last grain into the granary, the grain truck determines the entry path to the garage and completes the entry through the corresponding entry path.

[0057] The following further describes the harvester-grain transport vehicle collaborative operation method provided by the embodiment of the present invention. Figure 2 As shown, Figure 1 Step 102 in the method may include step 1021 or step 1022.

[0058] Specifically, steps 1021 and 1022 are respectively:

[0059] Step 1021, when the adjacent operation line of the current operation line is a harvested operation line, the current harvester position is determined as the grain unloading point of the harvester.

[0060] Optional, such as Figure 3 As shown in , the adjacent operation row 0 of the current operation row 1 is a harvested operation row, so the current harvester position is determined as the grain unloading point of this harvester.

[0061] Step 1022, when the adjacent working row of the current working row is not a harvested working row, a position point on the row change path when the harvester last changed rows is determined as the unloading point of the harvester this time, wherein the row change path is the path within the headland area that the harvester passes through when changing rows after completing the harvesting operation of an working row.

[0062] Specifically, the above line break path can be as follows Figure 3 and Figure 4 As shown in , it includes the part of the harvester's operating path that is parallel to the grain unloading path at the end of the field.

[0063] Optional, such as Figure 4 As shown, the adjacent operation rows 2 and 4 of the current operation row 3 are not harvested operation rows, so a position point on the row change path when the harvester last changed rows is determined as the unloading point of the harvester this time.

[0064] Optional, such as Figure 2 As shown, Figure 1 Step 103 in the method may include step 1031 or 1032 .

[0065] Specifically, step 1031 and step 1032 are respectively:

[0066] Step 1031, control the grain transport vehicle to pass through the corresponding adjacent harvested operation rows and approach the current harvester position.

[0067] Optionally, the above process of controlling the grain transport vehicle to pass through the corresponding harvested adjacent working rows and approach the current harvester position includes: sending unloading instructions, location information of the unloading point of the harvester and location information of the harvested part of the current working row to the grain transport vehicle, so that the grain transport vehicle plans the unloading path of the current working row including the harvested adjacent working rows of the current working row, and moves towards the harvester based on the corresponding unloading path.

[0068] Specifically, the grain transport vehicle can determine the corresponding unloading path based on the location information of the harvester's unloading point, the location information of the harvested part of the current operation row, the current location information of the grain transport vehicle, the turning radius of the grain transport vehicle, the length and swing angle information of the harvester's unloading arm, etc.

[0069] Specifically, the position information of the harvested part of the current operation row can also be sent to the grain transport vehicle in real time.

[0070] In a specific example, if Figure 3 As shown, the grain transport truck passes through the adjacent operation row 0 of the current operation row 1 and approaches the current harvester position to unload grain.

[0071] Step 1032, while controlling the harvester to return to the current harvester unloading point, control the grain transport vehicle to pass through the headland unloading path of the headland area where the current harvester unloading point is located and approach the current harvester unloading point, wherein the headland unloading path is the driving path of the grain transport vehicle in the headland area during the unloading process.

[0072] Optionally, the process of controlling the grain transport vehicle to pass through the headland unloading path of the headland area where the harvester unloading point is located and approach the harvester unloading point includes:

[0073] When the headland area where the current harvester unloading point is located is the area where the current grain transport vehicle is not present, the grain transport vehicle is controlled to pass through the harvested operation rows in the target plot and the headland unloading path of the headland area where the current harvester unloading point is located, close to the current harvester unloading point, among which the area where the current grain transport vehicle is not present is the headland area where the grain transport vehicle is not present at the current moment.

[0074] Optionally, the process of controlling the grain transport vehicle to pass through the harvested operating rows in the target plot and the headland unloading path of the headland area where the current harvester unloading point is located to approach the current harvester unloading point includes: sending unloading instructions, location information of the current harvester unloading point, location information of the harvested operating rows in the target plot and location information of the headland unloading path to the grain transport vehicle, so that the grain transport vehicle plans the current unloading path including the harvested operating rows and the headland unloading path of the headland area where the current harvester unloading point is located, and proceeds to approach the harvester through the current unloading path.

[0075] Specifically, the location information of the harvested area and the location information of the grain unloading path at the end of the field can also be sent to the harvester in real time.

[0076] In one specific example, controlling the grain truck passing Figure 4 The No. 0 operation row that has completed the harvesting operation and the headland unloading path in the headland area where the harvester unloading point is located are close to the harvester for this unloading.

[0077] Specifically, when the headland area where the current harvester unloading point is located is the area where the current grain transport vehicle is located, the grain transport vehicle is controlled to only pass through the headland unloading path of the headland area where the current harvester unloading point is located to approach the current harvester unloading point.

[0078] Optionally, before the grain transport vehicle is controlled to pass through the headland area where the harvester unloading point is located and approaches the harvester unloading point, the headland unloading path is determined based on the waiting points of each grain transport vehicle located in the same headland area.

[0079] Optionally, a path connecting various grain truck waiting points in the same headland area is determined as the grain unloading path in the above-mentioned headland area.

[0080] Specifically, when the waiting points of grain transport vehicles in the same field area are on a straight line, the field unloading path can be a straight line, as shown in FIG. Figure 3 and Figure 4 shown.

[0081] Specifically, the above-mentioned grain unloading path at the field may not be a straight line.

[0082] Specifically, the grain unloading path at the field may be determined before step 101, and then the waiting point for the grain transport vehicle on the grain unloading path at the field may be determined.

[0083] It can be understood that when the adjacent working row of the current working row has harvested working rows, the path connecting the current harvester position and the current grain transport vehicle position may include the harvested adjacent working rows but not include other unharvested areas of the target plot; therefore, when the adjacent working row of the current working row has harvested working rows, the current harvester position is used as the unloading point of this harvester, and the grain transport vehicle is controlled to pass through the harvested adjacent working rows of the current working row and approach the harvester, so that the grain transport vehicle can complete the unloading of grain to the harvester as soon as possible, and the harvester can continue to be involved in the harvesting operation as soon as possible, thereby improving the overall efficiency of harvesting and unloading operations.

[0084] It can be understood that when the adjacent working rows of the current working row are not harvested working rows, that is, when the adjacent working rows of the current working row are all harvested, the grain transport truck cannot approach the current position of the harvester to unload grain from the harvester. Therefore, the harvester needs to exit the current working row and return to a position point on the line change path when the harvester last changed lines. Therefore, when the harvested part of the current working row is not between the current harvester position and the current grain transport truck area, the adjacent working rows of the current working row are not harvested working rows, and a position point on the last line change path is determined as the unloading point of this harvester. At the same time as the harvester goes to the unloading point of this harvester, the grain transport truck is controlled to pass through the harvested working rows in the target plot and the unloading path at the end of the field where the current grain transport truck is not in the area. This can complete the unloading of grain from the harvester by the grain transport truck as soon as possible, and enable the harvester to continue to be involved in the harvesting operation as soon as possible, thereby improving the overall efficiency of harvesting and unloading operations.

[0085] Figure 5 1 is a structural diagram of a harvester-grain transporter cooperative operation device provided in an embodiment of the present invention, and the device is suitable for executing a harvester-grain transporter cooperative operation method provided in an embodiment of the present invention. Figure 5 As shown, the device may specifically include:

[0086] The grain unloading waiting control module 501 is used to control the grain transport vehicle to wait for grain unloading in the field head area at the end of each operation row when controlling the harvester to perform harvesting operation on the target plot. It can be helpful to control the grain transport vehicle to quickly approach the harvester and unload grain to the harvester when the harvester is located in the middle section of the operation row and the grain bin is full.

[0087] Optionally, the target plot includes multiple small plots, and the two end areas at both ends of each operation row respectively include multiple waiting points for grain trucks, and the multiple waiting points for grain trucks in each end area correspond one-to-one to the multiple small plots.

[0088] Optionally, the process of controlling the harvester to perform harvesting operations on the target plot includes: controlling the harvester to perform harvesting operations on each small plot in turn based on a cross-row path.

[0089] Optionally, the above-mentioned waiting for grain unloading control module 501 can be specifically used to control the grain transport vehicle to wait for grain unloading at a corresponding grain transport vehicle waiting point in a field area when the harvester is performing harvesting operations on each small plot.

[0090] Optionally, the above-mentioned waiting for grain unloading control module 501 can also be used to control the grain truck to go to the grain truck waiting point corresponding to the current working plot and wait for grain unloading by the shortest path, after completing the current grain unloading, and the shortest path does not include the unharvested area of ​​the target plot.

[0091] The grain unloading point determination module 502 is used to determine the grain unloading point of the harvester based on whether the adjacent working row of the current working row is a harvested working row when the harvester is harvesting the middle section of the current working row in one or more working rows and the grain bin of the harvester is full. It can flexibly determine the best grain unloading point of the harvester based on whether the adjacent working row of the current working row is a harvested working row, so as to facilitate the control of the grain transport vehicle to start from the current area and quickly approach the harvester to unload grain while considering the adjacent working rows of the current working row.

[0092] Optionally, the above-mentioned grain unloading point determination module 502 can be specifically used to determine the current harvester position as the grain unloading point of the harvester when the adjacent operation line of the current operation line has harvested the operation line.

[0093] Optionally, the above-mentioned grain unloading point determination module 502 can be specifically used to determine a position point on the line change path when the harvester last changed lines as the grain unloading point of this harvester when the adjacent working line of the current working line is not a harvested working line.

[0094] Grain unloading control module 503 is used to control the grain transport vehicle to approach the harvester to unload grain based on the position of the harvester's grain unloading point. This module is combined with modules 501 and 502. When the harvester is harvesting the target plot, the grain transport vehicle is controlled to wait for unloading in the field head areas at both ends, and when the harvester is harvesting the middle section of the operation row and the granary is full, the grain unloading point of the harvester is determined based on whether the adjacent operation row of the current operation row is a harvested operation row, and the best harvester grain unloading point is flexibly determined, which can help control the grain transport vehicle to quickly approach the harvester to unload grain while considering whether the adjacent operation row has been harvested, so as to help timely and efficiently unload grain for the harvester that is harvesting in the middle section of the operation row and has a full granary, thereby improving the efficiency of harvesting and unloading operations and improving the practicality of the harvester-grain transport vehicle collaborative operation solution.

[0095] Optionally, the grain unloading control module 503 can be specifically used to control the grain transport vehicle to pass through the corresponding adjacent harvested operation rows and approach the current harvester position.

[0096] Optionally, the grain unloading control module 503 can be specifically used to control the harvester to return to the current harvester grain unloading point while controlling the grain transport vehicle to pass through the headland unloading path of the headland area where the current harvester grain unloading point is located to approach the current harvester grain unloading point;

[0097] Among them, the row-changing path is the path in the headland area that the harvester passes through when changing rows after completing the harvesting operation of an operation row; the headland grain unloading path is the path that the grain transport truck travels in the headland area during the grain unloading process.

[0098] Optionally, the above-mentioned grain unloading control module 503 can be specifically used to control the grain transport vehicle to pass through the harvested operation rows in the target plot and the headland unloading path of the headland area where the grain unloading point of the current harvester is located, when the headland area where the grain transport vehicle is not currently present is the headland area where the grain transport vehicle is not currently present, to approach the grain unloading point of the current harvester; wherein, the area where the grain transport vehicle is not currently present is the headland area where the grain transport vehicle is not currently present.

[0099] Optionally, the harvester-grain transport vehicle collaborative operation device provided in an embodiment of the present invention further includes: a field unloading path determination module, which is specifically used to determine the field unloading path based on various grain transport vehicle waiting points located in the same field area.

[0100] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the functional modules described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0101] An embodiment of the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the harvester-grain transporter collaborative operation method provided in any of the above embodiments is implemented.

[0102] An embodiment of the present invention further provides a computer-readable medium having a computer program stored thereon, and when the program is executed by a processor, the harvester-grain transporter collaborative operation method provided in any of the above embodiments is implemented.

[0103] The embodiment of the present invention further provides a computer program product, including a computer program, which, when executed by a processor, implements the harvester-grain transporter collaborative operation method as described in any one of the embodiments of the present invention.

[0104] Reference below Figure 6 , which shows a schematic diagram of the structure of a computer system 600 of an electronic device suitable for implementing an embodiment of the present invention. Figure 6 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0105] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage part 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the system 600 are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0106] The following components are connected to the I / O interface 605: an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read therefrom is installed into the storage section 608 as needed.

[0107] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the central processing unit (CPU) 601, the above-mentioned functions defined in the system of the present invention are executed.

[0108] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0109] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0110] The modules and / or units involved in the embodiments of the present invention may be implemented in software or hardware. The modules and / or units described may also be set in a processor, for example, it may be described as: a processor includes a grain unloading control module, a grain unloading point determination module, and a grain unloading control module. The names of these modules do not, in some cases, constitute limitations on the modules themselves.

[0111] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently and not be assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device implements: when controlling the harvester to harvest the target plot, controlling the grain transport vehicle to wait for unloading in the headland area at the end of each operation row; when the harvester harvests the middle section of the current operation row in one or more operation rows and the grain bin of the harvester is full, determining the unloading point of the harvester based on whether the harvested part of the current operation row is located between the current harvester position and the area where the grain transport vehicle is currently located; the area where the current grain transport vehicle is located is the headland area where the grain transport vehicle is currently located; and controlling the grain transport vehicle to approach the harvester to unload the grain based on the position of the unloading point of the harvester.

[0112] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A harvester-grain transporter collaborative operation method, characterized in that: include: When controlling the harvester to harvest the target plot, controlling the grain transport vehicle to wait for unloading grain in the field head area at the end of each operation row; When the harvester is harvesting the middle section of the current operation row among the one or more operation rows and the grain bin of the harvester is full, determining the grain unloading point of the harvester based on whether the adjacent operation row of the current operation row is a harvested operation row; and Based on the position of the grain unloading point of the harvester, the grain transport vehicle is controlled to approach the harvester to unload the grain.

2. The harvester-grain transporter collaborative operation method according to claim 1, characterized in that: The step of determining the harvester unloading point based on whether the adjacent operation row of the current operation row is a harvested operation row includes: When the adjacent operation row of the current operation row has harvested the operation row, the current harvester position is determined as the grain unloading point of the current harvester; The controlling the grain transport vehicle to approach the harvester based on the position of the grain unloading point of the harvester comprises: The grain transport vehicle is controlled to pass through the corresponding adjacent harvested operation rows and approach the current harvester position.

3. The harvester-grain transporter collaborative operation method according to claim 1, characterized in that: The step of determining the harvester unloading point based on whether the adjacent operation row of the current operation row is a harvested operation row includes: When the adjacent operation row of the current operation row is not a harvested operation row, a position point on the row change path when the harvester last changed rows is determined as the grain unloading point of the harvester this time; The controlling the grain transport vehicle to approach the harvester based on the position of the grain unloading point of the harvester comprises: While controlling the harvester to return to the current harvester grain unloading point, controlling the grain transport vehicle to pass through the headland grain unloading path of the headland area where the current harvester grain unloading point is located and approach the current harvester grain unloading point; Among them, the row-changing path is the path in the field headland area that the harvester passes through when changing rows after completing the harvesting operation of an operation row; the field headland grain unloading path is the driving path of the grain transport vehicle in the field headland area during the grain unloading process.

4. The harvester-grain transporter collaborative operation method according to claim 3, characterized in that: The step of controlling the grain transport vehicle to pass through the headland unloading path of the headland area where the current harvester unloading point is located to approach the current harvester unloading point includes: When the headland area where the current harvester unloading point is located is an area where the current grain transport vehicle is not present, the grain transport vehicle is controlled to pass through the harvested operation rows in the target plot and the headland area where the current harvester unloading point is located to approach the current harvester unloading point; Among them, the current area where the grain transport truck is not present is the field area where the grain transport truck is not present at the current moment.

5. The harvester-grain transporter collaborative operation method according to claim 3, characterized in that: Before the grain transport vehicle is controlled to pass through the headland unloading path of the headland area where the harvester unloading point is located and approaches the harvester unloading point, The grain unloading path at the headland is determined based on the waiting points for the grain transport vehicles located in the same headland area.

6. The harvester-grain transporter collaborative operation method according to claim 1, characterized in that: The target plot includes a plurality of small plots, and the two headland areas at both ends of each operation row respectively include a plurality of grain transport vehicle waiting points, and the plurality of grain transport vehicle waiting points in each headland area correspond one to one to the plurality of small plots; The controlling the harvester to perform a harvesting operation on the target plot includes: Control the harvester to harvest each small plot in turn based on a cross-row path; The method of controlling the grain transport vehicle to wait for grain unloading in the field headland area at the end of each operation row comprises: When the harvester is harvesting the small plots, the grain transport vehicle is controlled to wait for unloading grain at a corresponding grain transport vehicle waiting point in the field head area.

7. The harvester-grain transporter collaborative operation method according to claim 6, characterized in that: Also includes: After completing the grain unloading, the grain truck is controlled to go to the grain truck waiting point corresponding to the current operation plot and the shortest path leads to the grain truck waiting point to wait for unloading, and the shortest path does not include the unharvested area of ​​the target plot.

8. A harvester-grain transporter cooperative operation device, characterized in that: include: The grain unloading waiting control module is used to control the grain transport vehicle to wait for grain unloading in the field head area at the end of each operation row when controlling the harvester to perform harvesting operation on the target plot; A grain unloading point determination module is used to determine the grain unloading point of the harvester based on whether the adjacent working row of the current working row is a harvested working row when the harvester is harvesting the middle section of the current working row in one or more working rows and the grain bin of the harvester is full; as well as The grain unloading control module is used to control the grain transport vehicle to approach the harvester to unload the grain based on the position of the grain unloading point of the harvester.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, it implements the harvester-grain transporter collaborative operation method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the harvester-grain transporter collaborative operation method as described in any one of claims 1 to 7 is implemented.

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