Combined harvester multi-cluster networking system and method based on hierarchical Mesh architecture

Abstract

The invention discloses a combined harvester multi-cluster networking system and method based on a hierarchical Mesh architecture. The combined harvester multi-cluster networking system comprises an intelligent WI-SUN node module, a wireless Mesh network routing gateway, a bypass route, a repeater and a cloud server. And the intelligent WI-SUN node modules are deployed on each combine harvester. The intelligent WI-SUN node module is used for realizing a communication network in a cluster; and each combine harvester performs intra-cluster data transmission with the combine harvesters in the cluster through a built-in intelligent WI-SUN node module. And wireless Mesh communication between clusters is realized by the master node and the wireless Mesh network routing gateway of the clusters, and data aggregation is completed through a bypass route and is transmitted to a cloud server. Therefore, the combined harvester cluster based on the hierarchical Mesh architecture can realize a larger communication range, better penetration capability and anti-interference capability, is suitable for low-power design of large-scale equipment connection, and remarkably improves the real-time acquisition and transmission reliability of agricultural operation data.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent agricultural machinery, and particularly relates to a multi-cluster networking system and method for a combine harvester based on a hierarchical Mesh architecture. Background Art

[0002] Currently, for the communication of agricultural machinery clusters, ZigBee, LoRa and cellular network technologies are mostly used, but they have significant limitations in the collaborative operation of combine harvester clusters: the coverage radius of the ZigBee network is less than 500 meters, making it difficult to meet the multi-machine collaborative requirements for large-scale farmland. Although LoRa has the characteristic of long-distance transmission, due to the undulating terrain of farmland and the occlusion of tall crops, its actual coverage is greatly reduced, and dense deployment of relay devices leads to a sharp increase in costs. Devices within a cellular data cluster cannot communicate directly, failing to meet the real-time requirements. Moreover, it usually requires relatively high power consumption and cannot meet the low-power design requirements for connecting a large number of cluster devices. Summary of the Invention

[0003] The collaborative operation of combine harvester groups is a technical solution in which one main harvester is manned and the rest of the harvesters are unmanned, which can improve the harvesting efficiency, reduce the number of operators, and enable a single person to control multiple harvesters for large-area and high-efficiency harvesting. In the collaborative operation control system, it is necessary to realize multi-cluster networking communication for combine harvesters. The present invention aims to provide a multi-cluster networking system and method for a combine harvester based on a hierarchical Mesh architecture to solve the problems of limited communication range, signal interference, poor dynamic topology adaptability and unbalanced energy efficiency ratio in the existing networking of agricultural machinery. To solve the above technical problems, the present invention provides a multi-cluster networking system for a combine harvester, including an intelligent WI-SUN node module, a wireless Mesh network routing gateway, a bypass routing gateway and a cloud server. Each combine harvester is built-in with an intelligent WI-SUN node, and the intelligent WI-SUN node is used to realize the Mesh network within the cluster, and wireless Mesh communication is realized between the combine harvesters within the cluster through the wireless Mesh network routing gateway; wireless Mesh networks are formed between the clusters through the bypass routing gateway.

[0004] The bypass routing gateway includes an intelligent gateway, and the intelligent gateway is built-in with a Wi-SUN communication module; the intelligent gateway forms a wireless Mesh network channel by communicating with the cluster Wi-SUN master node of the combine harvester through the Wi-SUN node module, and data transmission of wireless Mesh cross-cluster communication is realized between the clusters through the bypass routing gateway.

[0005] The multi-cluster networking system for a combine harvester further includes a repeater, and the repeater is communicatively connected with the bypass routing gateway and is used to expand the coverage range of the wireless Mesh network when the distance between the bypass routing gateways of the clusters exceeds a preset distance.

[0006] Deploy a Wi-SUN communication module supporting multiple protocol stacks in each combine harvester, and build a full Mesh communication network within the cluster based on the improved AODVjr routing protocol; select the WI-SUN master node through a dynamic election algorithm to build a hierarchical Mesh topology across clusters; implement a mobile prediction algorithm to achieve seamless routing switching.

[0007] Correspondingly, an embodiment of the present invention provides a networking system, which includes the combine harvester cluster networking system, a side routing gateway, a repeater, and a cloud server described in the embodiments of the present invention. The networking system communicates wirelessly with the side routing, and the side routing communicates wirelessly with the cloud server.

[0008] Correspondingly, the present invention provides a multi-cluster networking method for combine harvesters, including:

[0009] Build a Wi-SUN communication module in each combine harvester, and the Wi-SUN communication module is used to implement a wireless Mesh network;

[0010] Wireless Mesh communication is realized between combine harvesters within the cluster through the Wi-SUN communication module. The built-in Wi-SUN master node of the combine harvester and the wireless Mesh network routing gateway form a wireless Mesh network, and wireless Mesh communication is realized between clusters by the master node through the wireless Mesh network routing gateway.

[0011] The step of forming a wireless Mesh network by the Wi-SUN communication module of the combine harvester master node and the wireless Mesh network routing gateway, and realizing wireless Mesh communication between combine harvesters through the Wi-SUN communication routing gateway; includes:

[0012] The wireless Mesh network routing gateway includes an intelligent gateway, the intelligent gateway is built with a Wi-SUN communication module, the intelligent gateway and the Wi-SUN master node module of the combine harvester form a wireless Mesh network through the Wi-SUN communication module, and wireless Mesh communication is realized between combine harvesters through the Wi-SUN communication module.

[0013] The step of forming a wireless Mesh network by the Wi-SUN communication module of the master node and the wireless Mesh network routing gateway, and realizing wireless Mesh communication between combine harvesters within the cluster through the wireless Mesh network routing gateway; includes:

[0014] When the wireless Mesh network routing gateway includes selecting a Wi-SUN node from a single cluster as the in-cluster wireless Mesh network routing gateway according to a preset selection principle, the selected Wi-SUN node is called the master node, and the remaining nodes are called slave nodes. The master node forms an inter-cluster wireless Mesh network through the built-in Wi-SUN communication module intelligent gateway Wi-SUN communication module, and the slave nodes achieve wireless Mesh communication through WI-SUN ad hoc networking.

[0015] In the multi-cluster networking system of the combine harvester, the slave nodes need to transmit key monitoring parameters to the master node in real time through a hierarchical Mesh network: ① Rotation speeds of main components (reel, feeding auger, threshing cylinder, etc.); ② Operating speed (GNSS differential positioning + IMU fusion calculation); ③ Geographical location (dual-frequency GNSS + RTK); ④ Operating performance parameters (grain loss rate, impurity content rate, and breakage rate). The side router performs LSTM time series model analysis based on the edge computing unit, dynamically generates blockage warnings, and issues control instructions through the AODVjr protocol of the master node to synchronize the global operation strategy of the cloud.

[0016] Advantages of the present invention:

[0017] The multi-cluster networking system of the combine harvester based on a hierarchical Mesh architecture provided by the embodiments of the present invention enables each combine harvester to perform in-cluster data transmission with combine harvesters within the cluster through the built-in intelligent Wi-SUN node module. Wireless Mesh communication between clusters is achieved by the master node and the wireless Mesh network routing gateway of the cluster, and data aggregation is completed through the side router and transmitted to the cloud server. As a result, the combine harvester clusters based on the hierarchical Mesh architecture can achieve a larger communication range, low latency, better penetration ability, and anti-interference ability, are suitable for large-scale cluster collaborative operations, and significantly improve the reliability of real-time collection and transmission of agricultural operation data. Description of the drawings

[0018] Figure 1 is the system structure block diagram of a multi-cluster networking system of a combine harvester provided by the present invention;

[0019] Figure 2 is the functional module block diagram of a combine harvester in a multi-cluster networking system of a combine harvester provided by the present invention;

[0020] Figure 3 is the wireless Mesh network networking flow chart in a multi-cluster networking system of a combine harvester provided by the present invention;

[0021] Figure 4 is the wireless Mesh network operation flow chart in a multi-cluster networking system of a combine harvester provided by the present invention; Detailed Implementation Modes

[0022] To facilitate the understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings. It should be noted that when an element is described as "fixed to" another element, it can be directly on the other element or there can be one or more intermediate elements therebetween. When an element is described as "electrically connected to" another element, it can be directly connected to the other element or there can be one or more intermediate elements therebetween. The terms "upper", "lower", "inner", "outer", "bottom", etc. used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0023] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the specification of the present invention are only for the purpose of describing specific invention objectives and are not used to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0024] In addition, the technical features involved in the present invention described below can be combined with each other as long as they do not conflict with each other.

[0025] The present invention provides a combined harvester cluster networking system, as Figure 1 shown. This networking system 1 includes: a bypass gateway 11, a plurality of combine harvester WI-SUN nodes 12 and a combine harvester WI-SUN node master node 13, a repeater 10, and a cloud server 3; the combine harvester master and slave nodes 12, 13, the bypass gateway 11, and the repeater 10 are all built-in with Wi-SUN (Wireless Smart Utility Network) communication modules, and this Wi-SUN communication module is used to implement a wireless Mesh network; each combine harvester WI-SUN node 12 in the cluster forms a wireless Mesh network with other WI-SUN nodes in the cluster, and each harvester WI-SUN node 12 realizes wireless Mesh communication through the cluster WI-SUN master node 13.

[0026] As Figure 2As shown in the figure, the system adopts a hierarchical architecture design and is mainly composed of a distributed node layer, an edge computing layer, and a cloud control layer. In the distributed node layer, slave nodes use the WI-SUN protocol to form a multi-hop network with the wireless Mesh network, collect dynamic parameters such as the rotation speed of the main components, the operation speed, and the geographical location in real time, and support the local processing of operation performance parameters; the master node realizes data aggregation and real-time caching through the wireless Mesh network, and is equipped with multi-level network security policies to ensure transmission reliability. The side routing module (corresponding to the edge computing layer) innovatively integrates the LSTM congestion warning model and the fault diagnosis algorithm, supports 4G / 5G / WiFi multi-mode communication, realizes the unified processing of heterogeneous data formats through protocol conversion, and at the same time undertakes the functions of data relay and dynamic routing table maintenance. The cloud server (corresponding to the cloud control layer) relies on machine learning algorithms to optimize the global operation strategy, improves the cluster collaboration efficiency through the three-dimensional path planning algorithm, and supports remote monitoring and control across regions.

[0027] In the present invention, by adopting the Wi-SUN communication module networking method based on the wireless Mesh network, a Wi-SUN communication module is built in each combine harvester to realize the wireless Mesh network. The WI-SUN nodes of each combine harvester in the cluster form a wireless Mesh network with other WI-SUN nodes in the cluster, and each harvester WI-SUN node realizes wireless Mesh communication through the cluster WI-SUN master node. Thus, the combine harvester multi-cluster networking system has the networking method of the Wi-SUN communication module based on the wireless Mesh network, so that the combine harvester cluster based on the hierarchical Mesh architecture can achieve a larger communication range, better penetration ability and anti-interference ability, is suitable for the low-power design of large-scale device connection, and significantly improves the real-time acquisition and transmission reliability of agricultural operation data.

[0028] Specifically, the combine harvester 12 includes a processing module and a Wi-SUN communication module, and the processing module is electrically connected to the Wi-SUN communication module to realize data transmission with the Wi-SUN communication module. The Wi-SUN communication module is used to realize the wireless Mesh network.

[0029] For example, the processing module has data processing capabilities and signal processing capabilities and can be an integrated circuit chip. For example, the processing module can be a general-purpose processor, a DSP (Digital Signal Processor), or other programmable logic devices, etc. The general-purpose processor can be a microprocessor, an MCU (Microcontroller Unit), or any conventional processor, etc.

[0030] The Wi-SUN communication module is a hardware device used to build a wireless Mesh network, enabling wireless communication and data transmission between devices. The Wi-SUN communication module can establish multi-hop communication paths between devices through wireless signals, allowing devices to communicate directly with other devices and form a self-organizing wireless Mesh network. The Wi-SUN communication module supports the Wi-SUN wireless communication protocol.

[0031] The Wi-SUN wireless communication protocol is a collective term for a series of standard wireless communication networks based on the IEEE 802.15.4 as the underlying protocol, mainly including Wi-SUN FAN (Wireless Utility Field Area Network) and Wi-SUN HAN (Wireless Home Area Network). Compared with Wi-Fi that uses the 2.4GHz and 5GHz frequency bands, Wi-SUN has the advantages of low cost, long communication distance, ability to bypass obstacles and easy access, and low power consumption. Through the integration of wireless Mesh network and active frequency hopping technology, Wi-SUN aims to provide reliable, secure, and wide-area communication solutions for applications such as smart grids and the Internet of Things. It can be deployed individually in an area or complement other Internet of Things technologies to reduce the overall construction cost and operating cost.

[0032] A wireless Mesh network (i.e., wireless grid network) is a "multi-hop" network developed from adhoc networks. A wireless Mesh network is a wireless network topology where each device can communicate directly with other devices, forming a self-organizing network. The wireless Mesh network is divided into two roles: root node and leaf node. The root node serves as the routing gateway of the wireless Mesh network, supporting the network access application of leaf nodes and realizing data transmission between leaf nodes. Different from traditional star or bus network structures, in a wireless Mesh network, each device can act as both a root node and a leaf node. Data is transmitted from one device to another through multi-hop communication until it reaches the target device. This multi-hop communication method makes the wireless Mesh network highly robust. Even if a device fails or goes offline, data can still be transmitted through other paths.

[0033] The parameters of the wireless Mesh network are configured during the installation of the combine harvester fleet. The parameters of the wireless Mesh network include network SSID, channel, encryption method, network access authorization key, etc. When deploying WI-SUN nodes or intelligent gateways, this wireless Mesh network parameter configuration information is stored in the WI-SUN nodes or intelligent gateways. When the WI-SUN node or intelligent gateway is powered on, it automatically generates a routing protocol for configuring the wireless Mesh network nodes, enabling the nodes to automatically select the best routing path.

[0034] In the cluster, the Wi-SUN communication module networking method based on the wireless Mesh network is adopted. Each combine harvester can be a leaf node and can directly communicate with other combine harvesters.

[0035] In the present invention, a Wi-SUN communication module is built in the combine harvester, so that the combine harvester can implement a wireless Mesh network through the Wi-SUN communication module.

[0036] In the present invention, the side router 11 and each cluster WI-SUN master node 13 form an inter-cluster wireless Mesh network through the built-in Wi-SUN communication module 121, and the combine harvesters 12 implement an intra-cluster wireless Mesh network through the WI-SUN wireless Mesh network.

[0037] Specifically, for example, the side router gateway 11 is built with a Wi-SUN communication module, and forms a wireless Mesh network with the Wi-SUN master node communication modules of each cluster through the Wi-SUN communication module, and wireless Mesh communication is realized between each cluster through the WI-SUN wireless Mesh.

[0038] The distance between the side router 11 and the slave combine harvester is within a preset distance range, and the preset distance is the maximum distance that the wireless Mesh network where the side router 11 is located can cover. Within the preset distance range, the wireless Mesh network where the side router 11 is located can cover all the WI-SUN communication nodes carried by the combine harvesters within the preset distance range. For example, the preset distance is 300 meters. Therefore, as a leaf node, the combine harvester 12 needs to consider the layout of the combine harvester cluster and the coverage requirements of the wireless Mesh network, and reasonably arrange the position of the combine harvester 12 within the preset distance range to ensure stable communication between the combine harvester 12 and the side router 11.

[0039] In the wireless Mesh network composed of the side router 11 and the combine harvester 12, the side router 11 serves as the root node (root node) of the wireless Mesh network, and all the combine harvester WI-SUN communication modules 12 serve as the leaf nodes of the wireless Mesh network. The side router serves as the routing gateway of the wireless Mesh network, which is used to realize communication and data transmission between combine harvesters, realize remote monitoring and management of combine harvesters, and support the network access application of combine harvesters to join the wireless Mesh network and realize data transmission between each combine harvester.

[0040] As Figure 3 shown, the specific process of the network access application of the combine harvester WI-SUN master node to join the inter-cluster wireless Mesh network is as follows:

[0041] A1) Before the cluster operation, configuration information is set. The configuration information includes configuring the roles of the side routing gateway and the WI-SUN module, as well as the corresponding wireless Mesh network information. Among them, the side routing gateway is configured as the root node role, each combine harvester is configured as a leaf node, and the corresponding root node information and wireless Mesh network information are configured. This configuration information is stored in the side routing gateway and the WI-SUN module when the side routing gateway and the WI-SUN module are deployed.

[0042] A2) After the intelligent gateway is powered on, it reads the configuration information, and the side routing gateway automatically establishes a wireless Mesh network.

[0043] A3) After the WI-SUN module is powered on, it reads the configuration information and automatically generates wireless Mesh network information, which includes the network SSID and the network access authorization key; the WI-SUN module automatically initiates an access application to join the wireless Mesh network according to the network SSID and the network access authorization key.

[0044] A4) If the WI-SUN module fails to access the network successfully within the preset access application time (for example, 10 minutes), it automatically resets and re-initiates an access application to join the wireless Mesh network according to the above step A3).

[0045] It can be seen from the above access application process of the WI-SUN module to join the wireless Mesh network that the wireless Mesh network of the present invention has flexibility and scalability in deployment. The new WI-SUN module can be easily added to the existing wireless Mesh network as a leaf node without additional wiring and equipment installation. In this way, new combine harvesters can be flexibly deployed, and the number of combine harvesters and side routers can be flexibly expanded to meet the growing demand.

[0046] Furthermore, the main WI-SUN node configures network security policies as the routing gateway of the wireless Mesh network to ensure the security and reliability of communication in the wireless Mesh network.

[0047] Among them, the network security policies include:

[0048] 1) Authentication: When the combine harvester is connected to the wireless Mesh network, the combine harvester is authenticated. At this time, the correct pre-shared key needs to be input to connect to the wireless Mesh network.

[0049] 2) Key generation: After the combine harvester passes the authentication, the main WI-SUN node randomly generates a session key for encrypting and decrypting data. This session key is randomly generated and becomes invalid after the wireless Mesh network is disconnected.

[0050] 3) Encryption before data transmission: Before data transmission, the sender encrypts the original data using a preset encryption algorithm (such as the AES encryption algorithm) based on the session key to obtain encrypted data.

[0051] 4) Decryption after reception: The receiver decrypts the received encrypted data using the same session key and a preset encryption algorithm to restore it to the original data.

[0052] 5) Data integrity verification: To ensure that the data has not been tampered with during transmission, the wireless Mesh network uses the Message Authentication Code (MAC) algorithm to verify the data integrity. The receiver uses the session key and the MAC algorithm to verify the received encrypted data. If the verification fails, it indicates that the encrypted data may have been tampered with.

[0053] Furthermore, the main WI-SUN node configures a fault recovery mechanism as the wireless Mesh network routing gateway to ensure the connectivity and reliability of communication. Among them, the fault recovery mechanism includes: when a wireless Mesh network leaf node fails, other leaf nodes can automatically adjust the routing path to ensure the continuity and reliability of communication.

[0054] The wireless Mesh network of the present invention can provide a stable communication connection for the combine harvester through the characteristics of self-organization and self-repair. Even if a combine harvester WI-SUN module as a leaf node fails or is interrupted, other combine harvester WI-SUN modules as leaf nodes in the wireless Mesh network can automatically adjust the routing path to ensure that the communication between the combine harvester and the WI-SUN main node always remains stable and reliable.

[0055] In addition, the wireless Mesh network of the present invention has the ability of automatic route selection and can select the best routing path according to factors such as the wireless Mesh network topology and the signal strength between nodes. This can optimize the data transmission delay and throughput and improve the communication efficiency.

[0056] In this embodiment, by utilizing the link scheduling mechanism of the wireless Mesh network, multiple combine harvesters and the WI-SUN master node are reliably and effectively connected to the same wireless Mesh network local area network, enabling stable communication between the combine harvesters and the WI-SUN master node and data interaction between the combine harvesters. The combine harvester can upload operation information, status information, etc. to the WI-SUN master node through the wireless Mesh network. The WI-SUN master node can collect and process the data uploaded by the cluster, and then perform fault diagnosis and blockage prediction. The WI-SUN master node configures network security policies as the routing gateway of the wireless Mesh network to ensure the security and reliability of communication in the wireless Mesh network; and configures a fault recovery mechanism to ensure the connectivity and reliability of communication; and can enable the combine harvester networking system to have a networking method based on the Wi-SUN communication module of the wireless Mesh network, so that the combine harvester networking system can achieve a larger communication range, better penetration ability and anti-interference ability, and is suitable for low-power designs for large-scale device connections.

[0057] When the distance between the WI-SUN master node and a certain combine harvester is within the preset distance, the wireless Mesh network where the WI-SUN master node is located can cover the combine harvester. However, when the distance between the WI-SUN master node and a certain combine harvester exceeds the preset distance, the wireless Mesh network where the WI-SUN master node is located cannot cover the combine harvester. The distances between combine harvester B and combine harvester C and the WI-SUN master node A are both within the preset distance, and the wireless Mesh network where the WI-SUN master node A is located can cover combine harvester B and combine harvester C. The distances between combine harvester D, combine harvester E and combine harvester F and the WI-SUN master node A exceed the preset distance, and the wireless Mesh network where the WI-SUN master node A is located cannot cover combine harvester D, combine harvester E and combine harvester F.

[0058] In view of this, in this embodiment, a repeater 10 is deployed near but still within the wireless Mesh network coverage range (i.e., within the preset distance range) that exceeds the wireless Mesh network coverage range (i.e., the preset distance range) to expand the coverage range of the wireless Mesh network.

[0059] The deployment location of the repeater 10 can provide a good wireless Mesh network coverage range and can communicate reliably with the WI-SUN master node A and the WI-SUN master node D of those combine harvester clusters that originally exceeded the preset distance.

[0060] Enable the relay function of the repeater 10 in the configuration information set during cluster installation, so that the repeater 10 can support routing relay.

[0061] This side router 11 maintains a routing table to record information and reachability of the combine harvesters acting as leaf nodes. The routing table should be updated in a timely manner to reflect changes in the network topology. When there are changes to the combine harvesters in the network, this side router 11 updates the routing table accordingly and selects a new optimal path for data transmission.

[0062] When this side router 11 is required to perform relay data transmission, the WI-SUN master node sends a data packet to this side router 11, and this side router 11 forwards the data packet to the target cluster WI-SUN master node. When the WI-SUN master node of this cluster fails or becomes ineffective, the routing protocol of the side router 11 detects and updates the routing table, and selects a new WI-SUN master node for data transmission.

[0063] In the present invention, by adding a repeater to the combine harvester cluster networking system, and the repeater is communicatively connected to the side router, the wireless Mesh network can perform relay transmission through the repeater, expanding the coverage of the wireless Mesh network and improving the reliability and performance of communication; reasonably configuring the routing protocol and the relay node selection strategy can optimize the data transmission path and provide a stable communication connection. This means that even when the distance between clusters exceeds the preset distance, data transmission can be carried out through the repeater to achieve stable communication between clusters.

[0064] In practical applications, combine harvester clusters usually need to cover a large area. By adding a repeater to the combine harvester cluster networking system, the coverage of the wireless Mesh network can be extended to a farther location to ensure stable communication of the cluster. In farmland, there may be situations of signal weakening or interference from tall crops. By setting up a repeater, better signal coverage and communication quality can be provided in areas with signal weakening or crop interference, overcoming signal weakening and crop interference. On the other hand, the communication between clusters in farmland needs to be stable and reliable. By setting up a repeater, the reliability of communication can be improved. When a certain node fails or is interrupted, other relay nodes can automatically adjust the routing path to ensure the continuity of communication. When the layout and requirements of the combine harvester cluster change, by setting up a repeater, relay nodes can be conveniently added or moved, and the wireless Mesh network can be flexibly deployed and expanded to adapt to the operation changes and expansion requirements of the cluster. It can solve problems such as the expansion of the coverage of the wireless Mesh network in farmland, signal weakening and crop interference, communication reliability, flexible deployment and expansion, etc.

[0065] One of several Wi-SUN communication modules of combine harvesters is selected as the Wi-SUN master node according to a preset selection principle within the cluster. The combine harvester selected as the Wi-SUN master node (hereinafter referred to as the main combine harvester) forms a wireless Mesh network through its built-in Wi-SUN communication module and the Wi-SUN communication modules of the remaining combine harvesters (hereinafter referred to as slave combine harvesters), and wireless Mesh communication is realized between the slave combine harvesters through the WI-SUN wireless Mesh network.

[0066] Among them, the preset selection principle is: obtain the cluster operation plan, and according to this operation plan, select the combine harvester in the middle of the cluster.

[0067] The cluster networking system A includes combine harvester 13A, combine harvester 12B, and combine harvester 12C. Among them, combine harvester 13A is the combine harvester in the middle of the cluster. Then, according to the preset selection principle, combine harvester 13A is selected as the wireless Mesh network routing gateway. This combine harvester 13A is called the main combine harvester, that is, the master node. The remaining combine harvesters, including combine harvester 12B and combine harvester 12C, are all called slave combine harvesters, that is, slave nodes. The main combine harvester 13A forms a wireless Mesh network through its built-in Wi-SUN communication module and the Wi-SUN communication modules of slave combine harvesters 12B and 12C, and wireless Mesh communication is realized between the slave combine harvesters through this main combine harvester.

[0068] In the wireless Mesh network composed of the main combine harvester and slave combine harvesters, the main combine harvester serves as the root node of the wireless Mesh network, and the slave combine harvesters serve as the leaf nodes of the wireless Mesh network. The main combine harvester serves as the wireless Mesh network routing gateway, which is used to realize communication and data transmission between the slave combine harvesters, realize remote monitoring and management of the slave combine harvesters, and support the network access application of the slave combine harvesters to join the wireless Mesh network and realize data transmission between each slave combine harvester.

[0069] Among them, the specific process of the network access application of the slave combine harvester to join the wireless Mesh network within the cluster is as follows:

[0070] C1) Configuration information is set during cluster installation. This configuration information includes configuring the roles of the main combine harvester and slave combine harvesters, as well as the corresponding wireless Mesh network information of the main combine harvester and slave combine harvesters. Among them, the main combine harvester is configured as the root node role, each slave combine harvester is configured as the leaf node, and the corresponding root node information and wireless Mesh network information are configured. This configuration information is stored in the combine harvester WI-SUN module when the cluster is deployed.

[0071] C2) After the main combine harvester's WI-SUN module is powered on, it reads the configuration information, and the main combine harvester automatically establishes a wireless Mesh network.

[0072] C3) After the slave combine harvester's WI-SUN module is powered on, it reads the configuration information and automatically generates wireless Mesh network information, which includes the network SSID and the network access authorization key; the slave combine harvester automatically initiates an access application to join the wireless Mesh network based on the network SSID and the network access authorization key.

[0073] C4) If the slave combine harvester fails to access the network successfully within the preset access application time (e.g., 10 minutes), it automatically resets and re-initiates an access application to join the wireless Mesh network according to the above step C3).

[0074] From the above access application process of the slave combine harvester to join the wireless Mesh network, it can be seen that the wireless Mesh network of the present invention has flexible deployment and scalability. New combine harvesters can be easily joined to the existing wireless Mesh network as leaf nodes and become slave combine harvesters of the wireless Mesh network without additional wiring and equipment installation. In this way, new combine harvesters can be quickly deployed to meet the growing demand.

[0075] In the wireless Mesh network composed of the main WI-SUN node and the slave WI-SUN nodes, the main WI-SUN node can achieve data transmission with each slave WI-SUN node. The specific process of data transmission is as follows:

[0076] D1) The main WI-SUN node and the slave WI-SUN nodes negotiate with each other to determine the business data encryption and decryption key; the data is encrypted before sending and decrypted first and then processed for business after receiving.

[0077] D2) The slave WI-SUN nodes periodically broadcast and send the operation information and status information of the combine harvester to the main WI-SUN node through the wireless Mesh network.

[0078] D3) The main WI-SUN node collects and processes the operation information and status information of each slave WI-SUN node and transmits them to the side router for fault diagnosis and blockage prediction of each combine harvester according to the deep learning algorithm.

[0079] D4) The main WI-SUN node broadcasts and sends the fault diagnosis and blockage prediction data to each slave WI-SUN node.

[0080] D5) When a certain slave WI-SUN node that is a leaf node fails, other slave WI-SUN nodes that are also leaf nodes can automatically adjust the routing path to ensure the continuity and reliability of communication.

[0081] As Figure 4 shown, according to the data transmission process between the main WI-SUN node and each WI-SUN module above, it can be seen that data interaction can be carried out between the main WI-SUN node and the WI-SUN module through a wireless Mesh network. The main WI-SUN node can upload operation information, status information, etc. to the main WI-SUN node through the wireless Mesh network; the main WI-SUN node can collect and process the data uploaded by the cluster and transmit it to the side router for fault diagnosis and blockage prediction of each combine harvester according to the deep learning algorithm, so as to better manage the combine harvester cluster.

[0082] The side router 11 communicates wirelessly with the cloud server 3, including: the side router 11 communicates wirelessly with the cloud server 3 by means of mobile communication or WiFi.

[0083] In the wireless Mesh network composed of the WI-SUN master node and the slave combine harvesters, the WI-SUN master node serves as the root node of the wireless Mesh network, and all combine harvesters serve as the leaf nodes of the wireless Mesh network. The WI-SUN master node is used to realize communication and data transmission between combine harvesters, realize remote monitoring and management of the combine harvester cluster, and support the access application of combine harvesters to join the wireless Mesh network and realize data transmission between each combine harvester.

[0084] When the distance between the WI-SUN master node and a certain combine harvester exceeds the preset distance and the wireless Mesh network where the WI-SUN master node is located cannot cover the combine harvester, a side router is deployed near but still within the wireless Mesh network coverage range (i.e., within the preset distance range) when approaching beyond the wireless Mesh network coverage range (i.e., the preset distance range) to expand the coverage range of the wireless Mesh network.

[0085] When the wireless Mesh network selects a combine harvester WI-SUN module as the WI-SUN master node from several combine harvesters according to the preset selection principle, the selected combine harvester is called the main combine harvester, and the remaining combine harvesters are called slave combine harvesters. The main combine harvester forms a wireless Mesh network with the Wi-SUN communication modules of the slave combine harvesters through its built-in Wi-SUN communication module, and the slave combine harvesters realize wireless Mesh communication through the main combine harvester. Among them, the preset selection principle is: obtain the cluster operation plan, and according to this operation plan, select the combine harvester in the middle of the cluster.

[0086] It should be noted that the above-described embodiments of the combine harvester multi-cluster system and the embodiments of the combine harvester multi-cluster networking system belong to the same concept. For the specific implementation process, refer to the embodiments of the combine harvester multi-cluster networking system. Moreover, the technical features in the embodiments of the combine harvester multi-cluster networking system are all correspondingly applicable in the above-described embodiments of the combine harvester multi-cluster networking system, and will not be elaborated here.

[0087] It should be noted that in this text, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not explicitly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, method, article or device including that element.

[0088] The series of detailed descriptions listed above are only specific descriptions of the feasible implementation modes of the present invention, and they are not intended to limit the protection scope of the present invention. Any equivalent modes or changes that do not depart from the technology created by the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-cluster networking system for a combine harvester based on a hierarchical Mesh architecture, characterized in that It includes a distributed node layer, an edge computing layer, and a cloud server layer; The distributed node layer includes several combine harvester clusters. The combine harvesters within the cluster are built with intelligent Wi-SUN nodes, and the intelligent Wi-SUN nodes are used to implement a wireless Mesh network within the cluster. Wireless Mesh communication is achieved between the combine harvesters within the cluster through the wireless Mesh network; The edge computing layer includes several side routing gateways. Wireless Mesh communication is achieved between the several combine harvester clusters through the main nodes of each cluster and the side routing gateways; The cloud server layer is used to communicate with the edge computing layer, and synchronously forwards the information between the cloud layer and the distributed node layer by the edge computing layer.

2. The multi-cluster networking system of a combine harvester based on a hierarchical Mesh architecture according to claim 1, wherein The side routing gateway includes an intelligent gateway, and the intelligent gateway is built with a Wi-SUN communication module; the intelligent gateway communicates with the cluster Wi-SUN main node of the combine harvester through the Wi-SUN module to form a wireless Mesh network channel, and data transmission of wireless Mesh cross-cluster communication is achieved between each cluster through the side routing gateway.

3. The multi-cluster networking system of a combine harvester based on a hierarchical Mesh architecture according to claim 2, wherein The cluster Wi-SUN main node is selected through a dynamic election algorithm.

4. A multi-cluster networking system for a combine harvester based on a hierarchical Mesh architecture according to claim 1, characterized in that, It also includes a repeater, and the repeater is communicatively connected to the side routing gateway, and is used to expand the coverage of the wireless Mesh network when the distance between the side routing gateways of each cluster exceeds a preset distance.

5. A multi-cluster networking method for a combine harvester based on a hierarchical Mesh architecture, characterized in that, It includes the following: S1 Configure a Wi-SUN communication module in each combine harvester, and the Wi-SUN communication module is used to implement a wireless Mesh network; S2 Wireless Mesh communication is achieved between the combine harvesters within the cluster through the Wi-SUN communication module, and the built-in Wi-SUN main node of the combine harvester and the wireless Mesh network routing gateway form a wireless Mesh network. Wireless Mesh communication is achieved between each cluster through the main node and the wireless Mesh network routing gateway; S3 The side routing composed of the wireless Mesh network routing gateway and the cloud server are further networked and communicated through communication methods such as 4G or 5G, etc., to realize the real-time interconnection of the operation information of the underlying combine harvesters and the global operation guidance strategy formulated by the cloud server side.

6. The multi-cluster networking method of a combine harvester based on a hierarchical Mesh architecture according to claim 5, characterized in that, In S2, the wireless Mesh network routing gateway includes an intelligent gateway, the intelligent gateway is built with a Wi-SUN communication module, and the intelligent gateway and the combine harvester Wi-SUN main node form an inter-cluster wireless Mesh network through the Wi-SUN communication module. Wireless Mesh communication is achieved between the main and slave nodes of each combine harvester through the Wi-SUN communication module; When the wireless Mesh network routing gateway selects a Wi-SUN node from a single cluster as the wireless Mesh network routing gateway within the cluster according to a preset selection principle, the selected Wi-SUN node is called the main node, and the remaining nodes are called the slave nodes. The main nodes form an inter-cluster wireless Mesh network through the built-in Wi-SUN communication module, and wireless Mesh communication within the cluster is achieved between the main node and the slave nodes through WI-SUN self-organizing networking.

7. A multi-cluster networking method for a combine harvester based on a hierarchical Mesh architecture according to claim 6, characterized in that, In S3, the slave nodes in the multi-cluster networking system of the combine harvester need to transmit key monitoring parameters to the master node in the cluster where they are located in real time through a hierarchical Mesh network, including: ① The rotational speed of the main components, where the main components include the reel, the feeding auger, and the threshing cylinder; ② The operating speed; ③ The geographical location; ④ The operating performance parameters, including the grain loss rate, the impurity content rate, and the breakage rate; The master node of the cluster forwards the parameters transmitted by the slave nodes to the side router composed of wireless Mesh network routing gateways. The side router performs LSTM time series model analysis based on the edge computing unit, dynamically generates a blockage warning, and issues a control instruction to each combine harvester through the AODVjr protocol of the master node. At the same time, the information is uploaded to the cloud server. The cloud server formulates corresponding operation strategies according to the real-time operation situation and issues them to the side router. The side router issues them to the master nodes of each cluster through the inter-cluster wireless Mesh communication network, and then the master nodes synchronously issue them to each combine harvester slave node through the intra-cluster wireless Mesh communication network, finally realizing the synchronous operation of all combine harvesters.

8. A multi-cluster networking method for a combine harvester based on a hierarchical Mesh architecture according to claim 6, characterized in that, The specific process of the Wi-SUN master node of the combine harvester applying to join the inter-cluster wireless Mesh network is as follows: A1) Set the configuration information before cluster operation. Among them, the side router gateway is configured as the root node role, each combine harvester is configured as a leaf node, and the corresponding root node information and wireless Mesh network information are configured. This configuration information is stored in the side router gateway and the Wi-SUN module when the side router gateway and the WI-SUN module are deployed; A2) After the smart gateway is powered on, it reads the configuration information, and the side router gateway automatically establishes a wireless Mesh network; A3) After the WI-SUN module is powered on, it reads the configuration information and automatically generates wireless Mesh network information, which includes the network SSID and the network access authorization key; The WI-SUN module automatically initiates an application to join the wireless Mesh network according to the network SSID and the network access authorization key; A4) If the WI-SUN module fails to successfully join the network within the preset network access application time (for example, 10 minutes), it automatically resets and re-initiates an application to join the wireless Mesh network according to step A3) above.

9. A multi-cluster networking method for a combine harvester based on a hierarchical Mesh architecture according to claim 6, characterized in that, The specific process of the Wi-SUN slave node of the combine harvester applying to join the intra-cluster wireless Mesh network is as follows: C1) Set the configuration information during cluster installation. This configuration information includes configuring the roles of the main combine harvester and the slave combine harvesters, as well as the corresponding wireless Mesh network information of the main combine harvester and the slave combine harvesters. Among them, the main combine harvester is configured as the root node role, each slave combine harvester is configured as a leaf node, and the corresponding root node information and wireless Mesh network information are configured. This configuration information is stored in the Wi-SUN module of the combine harvester when the cluster is deployed; C2) After the WI-SUN module of the main combine harvester is powered on, it reads the configuration information, and this main combine harvester automatically establishes a wireless Mesh network; C3) After the WI-SUN module of the combine harvester is powered on, read the configuration information and automatically generate wireless Mesh network information, which includes the network SSID and the network access authorization key; the combine harvester automatically initiates an access request to join the wireless Mesh network according to the network SSID and the network access authorization key; C4) If the combine harvester fails to access the network successfully within the preset access request time (for example, 10 minutes), it will automatically reset and re-initiate an access request to join the wireless Mesh network according to the above step C3).

10. A multi-cluster networking method for a combine harvester based on a hierarchical Mesh architecture according to claim 6, characterized in that, The specific process of data transmission between the master node and each slave node is as follows: D1) Negotiate with each other between the master node and the slave node to determine the business data encryption and decryption key; encrypt the data before sending and decrypt it before processing the business after receiving; D2) The slave node periodically broadcasts and sends the operation information and status information of the combine harvester to the master node through the wireless Mesh network; D3) The master node collects and processes the operation information and status information of each slave node, transmits it to the side router, and realizes the fault diagnosis and blockage prediction of each combine harvester according to the deep learning algorithm; D4) Then the master node broadcasts and sends the fault diagnosis and blockage prediction data to each slave node; D5) When a certain slave node fails, other slave nodes that are also leaf nodes can automatically adjust the routing path to ensure the continuity and reliability of communication.

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