Path planning method and system for collaborative operation of multi-grain combine harvesters and grain transport vehicles

Abstract

The present invention discloses a path planning method and system for collaborative operation of multiple grain combine harvesters and grain transport vehicles. The method first pre-plans the field operation path, defines the cross-row turning and grain unloading strategies of the grain combine harvesters, and establishes a path cost matrix for cross-row operation of the grain combine harvesters and grain transport operations of the grain transport vehicles. Based on the cost matrix, the fitness value of each individual grain combine harvester and the fitness value of each individual in the population are calculated until the maximum number of iterations is completed. The shortest operation path sequence number for each grain combine harvester and grain transport vehicle is generated. Based on the shortest operation path sequence number and pre-planned information, the coordinates of the field head, field tail, field head entrance, and grain unloading point of the operation row are determined. Combined with the optimal turning method of the grain combine harvester, navigation reference point information for the grain combine harvester and grain transport vehicle is generated, thus enabling collaborative operation of multiple grain combine harvesters and grain transport vehicles. The present invention improves operation efficiency and reduces the impact of compaction on the field.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent agricultural machinery, and specifically relates to a method and system for planning a path for the collaborative operation of a multi-grain combine harvester and a grain transport vehicle. Background Art

[0002] In recent years, my country has undergone unprecedented changes in agricultural technology. Numerous new technologies and methods have been continuously applied, significantly improving the technological content of agricultural production. Modern agricultural machinery is also widely used in all aspects of agricultural production. However, when harvesting grain, the efficiency of a single grain combine harvester is low, failing to meet the needs of large-scale farm operations. Simultaneous operation of multiple grain combine harvesters can lead to tool path conflicts, repeated harvesting, and waiting for unloading, preventing maximum grain harvesting efficiency. Summary of the Invention

[0003] In response to the shortcomings of the existing technology, the present invention provides a method and system for planning the collaborative operation path of multiple grain combine harvesters and grain transport vehicles, so as to improve the operating efficiency of multiple grain combine harvesters and grain transport vehicles when operating in collaboration, reduce the idle time of grain combine harvesters and grain transport vehicles in the field, and the compaction effect of operating machinery on the field.

[0004] The present invention achieves the above technical objectives through the following technical means.

[0005] Path planning method for collaborative operation of multi-grain combine harvesters and grain transport vehicles:

[0006] The field operation path is pre-planned, and the cross-row turning and grain unloading strategies of the grain combine harvester are defined; based on the strategies, a path cost matrix for the cross-row operation of the grain combine harvester and the grain transport operation of the grain transport vehicle is established, and the fitness value of each grain combine harvester in the individual is calculated according to the cost matrix, and then the fitness value of each individual in the population is obtained until the maximum number of iterations is completed, and the shortest operation path sequence number of each grain combine harvester and grain transport vehicle is generated; based on the shortest operation path sequence number and pre-planning information, the coordinates of the field head, field tail, field head entrance and grain unloading point of the operation row are determined, and combined with the optimal turning method of the grain combine harvester, the navigation reference point information of the grain combine harvester and the grain transport vehicle is generated to realize the collaborative operation of multiple grain combine harvesters and grain transport vehicles.

[0007] Furthermore, the pre-planning information includes the cross-row turning area, the grain transport area, the field head number, the field tail number and the field head entrance number, the cross-row turning area = W*ω1, the grain transport area = W*ω2, the field head number is 2i-1, the field tail number is 2i, and the field head entrance number is 0, where W is the field width, ω1 is the cross-row turning area width, and ω2 is the grain transport area width.

[0008] Furthermore, the strategy includes:

[0009] When the grain combine harvester only needs to make a cross-row turn, the grain combine harvester directly passes through the cross-row turning area and drives into the next working row;

[0010] When the grain combine harvester turns across rows and needs to unload grain, the grain transport truck drives from the field entrance through the grain transport area to the unloading point in advance, waiting for the grain combine harvester to unload grain. The grain combine harvester drives through the cross-row turning area into the grain transport area unloading point to unload grain. After unloading is completed, the grain combine harvester reverses to the cross-row turning area to perform cross-row turning operations, and the grain transport truck drives from the grain transport area to the field entrance.

[0011] Furthermore, the cost matrix is:

[0012]

[0013] Among them: i is any one of the field head number, field tail number and field head entrance number of the operation row in the field pre-planning, j is any one of the field head number, field tail number and field head entrance number of the operation row in the field pre-planning; k is the operation distinguishing mark.

[0014] Further:

[0015] ① When i=0, j is an odd number, and k=0, the element c in the cost matrix i，j，k It represents the shortest path cost of the grain combine harvester from the field entrance to the starting operation row field.

[0016] ② When i≠0, j≠0, k=0, and i≠j, i and j are both odd or even, c i，j，k It represents the shortest path cost for a grain combine harvester to turn directly across rows at the head or tail of a field.

[0017] ③ When i≠0, j≠0, k=1, and i≠j, i and j are both odd numbers, c i，j，k It represents the shortest path cost of the grain combine harvester unloading grain at the head of the field and then turning across the rows.

[0018] ④ When i≠0, j=0, k=0, c i，j，k It represents the shortest path cost of the grain combine harvester from the harvesting operation to the field entrance.

[0019] ⑤ When |ij|=1, (i+j+1) is a positive integer multiple of 4, and k=0, c i，j，k Represents the path cost of the grain combine harvester for harvesting operations, and its value c i，j，k =l;

[0020] ⑥ When i=0, j is an odd number, and k=1, c i，j，k It represents the shortest path cost of the grain truck from the field entrance to the grain unloading point, and its value is c i，j，k =(j / 2-0.5)·w;

[0021] ⑦ When i is an odd number, j = 0, k = 1, c i，j，k It represents the shortest path cost of the grain truck from the unloading point to the field entrance, and its value is c i，j，k =(i / 2-0.5)·w;

[0022] ⑧The c corresponding to i, j, and k in other cases i，j，k Meaningless, its value is c i，j，k =M, M is an infinite number;

[0023] Where: X min is the shorter turning path length in T-type and Ω-type turning modes, π min is the shortest turning path length of the π-type turning method, r min is the minimum turning radius of the grain combine harvester, l is the length of the working row of the grain combine harvester, and % is the remainder symbol.

[0024] Furthermore, the fitness value of each grain combine harvester in the individual is calculated based on the cost matrix, specifically:

[0025] f m =f m1 +f m2

[0026]

[0027]

[0028]

[0029]

[0030]

[0031]

[0032] Among them, f m1 is the sum of the shortest operating paths of a grain combine harvester, f m2 is the sum of the shortest operating routes of the grain transport vehicles serving the grain combine harvester, and n is the total number of operating rows of the grain combine harvester.

[0033] Furthermore, the process of determining the individual is as follows:

[0034] Taking the operation row number as the chromosome, M rows are randomly selected as the initial operation row of each grain combine harvester. The next operation row of each grain combine harvester is selected in turn using the π-type, Ω-type, and T-type turning methods until all operation rows are traversed. The operation row sequence numbers of M groups of grain combine harvesters are generated as an individual, where M is the number of grain combine harvesters.

[0035] Furthermore, the operation row sequence number is converted into the operation path number of the grain combine harvester based on the field head and field tail numbers, and the corresponding relationship is: i→(2i-1)&2i, which is used to calculate the fitness value.

[0036] Furthermore, the operation path sequence number of the grain combine harvester is: 0-odd-even-even-odd-odd-even-…-0.

[0037] A multi-grain combine harvester and grain transport vehicle collaborative operation path planning system, comprising:

[0038] The task processing terminal is used to receive the longitude and latitude of the field boundary and the harvester's cutting width to pre-plan the field operation path, define the grain combine harvester's cross-row turning and grain unloading strategy, establish the path cost matrix for the grain combine harvester's cross-row operation and the grain transport vehicle's grain transport operation, calculate the fitness value and generate the shortest operation path sequence number for each grain combine harvester and grain transport vehicle, and generate navigation reference point information for the grain combine harvester and grain transport vehicle;

[0039] The vehicle-mounted RTK-GNSS navigation module is used to receive navigation reference point information for grain combine harvesters and grain trucks sent by the mission processing terminal, and calculate the lateral deviation and heading deviation between the operating equipment and the navigation reference point information in real time for navigation decision-making.

[0040] The beneficial effects of the present invention are:

[0041] (1) The present invention performs shortest operation path planning for the coordinated operation of multiple grain harvesters and grain transport vehicles, thereby improving the harvesting efficiency of the coordinated operation of multiple grain harvesters and grain transport vehicles;

[0042] (2) The present invention optimizes the optimal cross-row turning mode of each grain combine harvester and the shortest operating path of the grain transport vehicle by improving the genetic algorithm, thereby reducing the compaction effect of the harvesting operation on the field and effectively reducing the empty running distance of the harvester and the grain transport vehicle in the field. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flow chart of the path planning for the collaborative operation of the multi-grain combine harvester and the grain transport vehicle according to the present invention;

[0044] Figure 2This is a schematic diagram of the field head and tail area division and operation row number marking of the present invention;

[0045] Figure 3 It is a schematic diagram of the grain combine harvester of the present invention directly turning across rows and the grain combine harvester unloading grain and turning across rows;

[0046] FIG4( a ) is a schematic diagram of the Ω-shaped turning mode of the grain combine harvester of the present invention;

[0047] FIG4( b ) is a schematic diagram of a T-turn mode of a grain combine harvester according to the present invention;

[0048] FIG4( c ) is a schematic diagram of the π-shaped turning mode of the grain combine harvester of the present invention;

[0049] Figure 5 Improved genetic algorithm flow chart for the present invention;

[0050] Figure 6 Schematic diagram of the collaborative operation path planning system of a multi-grain combine harvester and a grain transport vehicle according to the present invention. DETAILED DESCRIPTION

[0051] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0052] The process of planning the collaborative operation path of the multi-grain combine harvester and the grain transport vehicle of the present invention is as follows: Figure 1 As shown in the figure, the process includes pre-planning the field operation path, defining the cross-row turning and grain unloading strategies of the grain combine harvester, determining the cost matrix C of the grain combine harvester's cross-row operation and the grain transport operation of the grain transport vehicle, and then determining the cross-row operation path number and grain unloading point number of each grain combine harvester and the grain transport vehicle operation path number based on the improved genetic algorithm. Finally, the path information for the collaborative operation of multiple grain combine harvesters and grain transport vehicles is generated. The specific steps are as follows:

[0053] Step (1): Get the longitude and latitude information of the current field boundary and pre-plan the field operation path.

[0054] This embodiment is applicable to rectangular fields, specifically:

[0055] The latitude and longitude information of the current field boundary is obtained by a handheld GPS measuring instrument and converted into the two-dimensional coordinates of the field boundary in the Gaussian plane coordinate system. In the Gaussian plane coordinate system, the field width W and field length L are determined; the row spacing ω of the operation is determined according to the cutting width of the grain combine harvester (the determination process is the existing technology), as follows: Figure 2As shown, the field head, field tail, and working rows are serially numbered. The total number of working rows for a grain combine harvester is n = Roundup(W / w), where Roundup(·) is an integer operator. The sequence numbers of the field head and field tail in row i are 2i-1, 2i, and 0 is the field head entrance number. The field head is divided into a cross-row turning area (W*ω1) and a grain transport area (W*ω2), which allows the grain combine harvester to cross rows and unload grain. The field tail is the cross-row turning area, which only allows the grain combine harvester to turn across rows. In the figure, the width of the cross-row turning area is ω1 (determined by the maximum turning radius of the π-type, Ω-type, and T-type models), and the width of the grain transport area is w2 (determined by the width of the grain transport vehicle).

[0056] Step (2): Define the strategy for the grain combine harvester to turn across rows and unload grain.

[0057] like Figure 3 As shown, when a grain combine harvester only needs to make a cross-row turn, it drives directly through the cross-row turning area to the next working row. When a grain combine harvester makes a cross-row turn and needs to unload grain, the grain transport truck drives from the field entrance through the grain transport area to the grain unloading point in advance, waiting for the grain combine harvester to unload the grain. The grain combine harvester then drives through the cross-row turning area to the grain transport area to unload the grain. After unloading, the grain combine harvester reverses to the cross-row turning area to make a cross-row turn, and the grain transport truck drives from the grain transport area to the field entrance. The determination that a grain combine harvester only needs to make a cross-row turn or that a cross-row turn and unloading operation are both existing technologies.

[0058] Step (3): determine the cost matrix C of the grain combine harvester's cross-row operation and the grain truck's grain transport operation path

[0059] Based on the cross-row turning and grain unloading strategies of the grain combine harvester defined in step (2), the operation path cost matrix C of the grain combine harvester and the grain transport vehicle is established, where:

[0060]

[0061] Where i is any one of the field head number, field tail number and field head entrance number of the operation row in the field pre-planning; j is any one of the field head number, field tail number and field head entrance number of the operation row in the field pre-planning; k is the operation identification mark; specifically:

[0062] ① When i=0, j is an odd number, and k=0, c i，j，k It represents the shortest path cost of the grain combine harvester from the field entrance to the starting operation row field.

[0063] ② When i≠0, j≠0, k=0, and i≠j, i and j are both odd or even, c i，j，kIt represents the shortest path cost for a grain combine harvester to turn directly across rows at the head or tail of a field.

[0064] ③ When i≠0, j≠0, k=1, and i≠j, i and j are both odd numbers, c i，j，k It represents the shortest path cost of the grain combine harvester unloading grain at the head of the field and then turning across the rows.

[0065] ④ When i≠0, j=0, k=0, c i，j，k It represents the shortest path cost of the grain combine harvester from the harvesting operation to the field entrance.

[0066] ⑤ When |ij|=1, (i+j+1) is a positive integer multiple of 4, and k=0, c i，j，k Represents the path cost of the grain combine harvester for harvesting operations, and its value c i，j，k =l;

[0067] ⑥ When i=0, j is an odd number, and k=1, c i，j，k It represents the shortest path cost of the grain truck from the field entrance to the grain unloading point, and its value is c i，j，k =(j / 2-0.5)·w;

[0068] ⑦ When i is an odd number, j = 0, k = 1, c i，j，k It represents the shortest path cost of the grain truck from the unloading point to the field entrance, and its value is c i，j，k =(i / 2-0.5)·w;

[0069] ⑧The c corresponding to i, j, and k in other cases i，j，k Meaningless, its value is c i，j，k =M, M is an infinite number;

[0070] in:

[0071] X min =min{T min ,Ω min}

[0072]

[0073] T min (|ij|)=r min (2+π)+|ij|·w / 2

[0074] π min (|ij|)=|ij|·w / 2+(π-2)r min

[0075] Xmin is the shorter turning path length in T-type and Ω-type turning modes, T min is the shortest turning path length of the T-turn method, Ω min is the shortest turning path length of the Ω-type turning method, π min is the shortest turning path length of the π-type turning mode, see Figure 4 (a), (b), (c), which are schematic diagrams of the Ω-type, T-type, and π-type turning modes respectively; r min is the minimum turning radius of the grain combine harvester, w1 is the width of the turning area, w2 is the width of the grain transport area, l is the length of the working row of the grain combine harvester, and % is the remainder symbol.

[0076] Step (4): Determine the cross-row operation path sequence number and grain unloading point sequence number of each grain combine harvester and the grain transport vehicle operation path sequence number based on the improved genetic algorithm.

[0077] Improve the genetic algorithm process such as Figure 5 As shown, first, the number of individuals N in the population of the improved genetic algorithm and the number of population iterations G are set. In order to improve the convergence speed of the algorithm, unlike the traditional VRP genetic algorithm, the present invention adopts a real number encoding method to use the operation row number as the chromosome, randomly selects M rows as the initial operation row of each grain combine harvester, and sequentially selects the next operation row of each grain combine harvester in a π-type, Ω-type, and T-type turning manner until all operation rows are traversed, and generates the operation row sequence number of M groups of grain combine harvesters as an individual of the initial population of the genetic algorithm, where M is the number of grains. The number of combine harvesters; then the operation row sequence number is converted into the path number of the grain combine harvester based on the field head and field tail numbers for calculating the fitness value. The corresponding relationship is: i→(2i-1)&2i. The starting point of each grain combine harvester is the path number 2i-1, and finally M groups are formed: 0-odd-even-even-odd-odd-even-...-0 form of grain combine harvester operation path number, to ensure that the grain combine harvester starts the operation from the field head, and after completing the harvesting operation, it drives out of the field from the field head entrance, and then determines the field head unloading path point number. According to the cost matrix C, the fitness value f of each grain combine harvester in the individual is calculated. m , m = 1, 2, ..., M, where:

[0078] f m =f m1 +f m2

[0079]

[0080]

[0081]

[0082]

[0083]

[0084] f m1 is the sum of the shortest operating paths of a grain combine harvester, f m2 The sum of the shortest operating routes of the grain transport vehicles serving the grain combine harvester;

[0085] Then the fitness value of each individual in the population is obtained: If the maximum number of iterations G is completed, the shortest operating path serial number of each grain harvester and grain truck is generated; otherwise, the individuals are selected in the order of fitness value and placed into the selection pool, and then the crossover, mutation, reversal, and reinsertion operations in the genetic algorithm are completed until the maximum number of iterations G is completed.

[0086] Step (5): Generate path information for the coordinated operation of multiple grain combine harvesters and grain transport vehicles

[0087] Based on the generated shortest operation path sequence number and the pre-planned information of the field operation path in step (1), the coordinates of the field head, field tail, field head entrance and grain unloading point of the operation row in the Gaussian plane coordinate system are determined (the determination process is the existing technology), and combined with the optimal turning mode of the grain combine harvester (π type or Ω type or T type, determined when establishing the cost matrix), navigation reference point information containing longitude, latitude and heading information is generated for each interval Δs distance of the grain combine harvester and the grain transport vehicle (the generation process is the existing technology).

[0088] like Figure 6 As shown, the collaborative operation path planning system for multiple grain combine harvesters and grain transport vehicles of the present invention includes a task processing terminal, a wireless communication module and a vehicle-mounted RTK-GNSS navigation module; the task processing terminal receives the latitude and longitude of the field boundary and the harvester cutting width to pre-plan the field operation path; the task processing terminal defines the cross-row turning and grain unloading strategies of the grain combine harvester, and establishes a cost matrix for the cross-row operation of the grain combine harvester and the grain transport operation path of the grain transport vehicle; then the task processing terminal determines the shortest operation path sequence number and the optimal turning method of each grain combine harvester according to the improved genetic algorithm, generates the shortest operation path sequence number of the grain combine harvester and the grain transport vehicle, and finally generates the path information (i.e., navigation reference point information) for the collaborative operation of multiple grain combine harvesters and grain transport vehicles, and the above path information is sent to the vehicle-mounted RTK-GNSS navigation module of the equipment via the wireless communication module; the vehicle-mounted RTK-GNSS navigation module calculates the lateral deviation and heading deviation of the operation equipment and the navigation reference point information in real time (the calculation process is the existing technology), and provides navigation decision information for the driver or the unmanned navigation system.

[0089] The embodiments described are preferred implementations of the present invention, but the present invention is not limited to the above implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention are within the scope of protection of the present invention.

Claims

1. A method for planning a collaborative operation path for a multi-grain combine harvester and a grain transport vehicle, characterized by: Pre-plan the field operation path and define the cross-row turning and grain unloading strategy of the grain combine harvester; based on the strategy, establish the path cost matrix of the cross-row operation of the grain combine harvester and the grain transport operation of the grain transport vehicle, calculate the fitness value of each grain combine harvester in the individual according to the cost matrix, and then obtain the fitness value of each individual in the population until the maximum number of iterations is completed, and generate the shortest operation path sequence number of each grain combine harvester and grain transport vehicle; based on the shortest operation path sequence number and pre-planning information, determine the coordinates of the field head, field tail, field head entrance and grain unloading point of the operation row, combine the optimal turning method of the grain combine harvester, generate navigation reference point information of the grain combine harvester and grain transport vehicle, and realize the coordinated operation of multiple grain combine harvesters and grain transport vehicles; The cost matrix is: Where: i is any one of the field head number, field tail number and field head entrance number of the operation row in the field pre-planning; j is any one of the field head number, field tail number and field head entrance number of the operation row in the field pre-planning; The fitness value of each grain combine harvester in the individual is calculated according to the cost matrix, specifically: f m =f m1 +f m2 Among them, f m1 is the sum of the shortest operating paths of a grain combine harvester, f m2 is the sum of the shortest operation routes of the grain transport vehicle serving the grain combine harvester, n is the total number of operation rows of the grain combine harvester; k is the operation identification mark; The process of determining the individual is as follows: Taking the operation row number as the chromosome, M rows are randomly selected as the initial operation row of each grain combine harvester. The next operation row of each grain combine harvester is selected in turn using the π-type, Ω-type, and T-type turning methods until all operation rows are traversed. The operation row sequence numbers of M groups of grain combine harvesters are generated as an individual, where M is the number of grain combine harvesters.

2. The method for planning a collaborative operation path for a multi-grain combine harvester and a grain transport vehicle according to claim 1, characterized in that: The pre-planning information includes the cross-row turning area, grain transport area, field head number, field tail number and field head entrance number. The cross-row turning area = W*ω1, the grain transport area = W*ω2, the field head number is 2i-1, the field tail number is 2i, and the field head entrance number is 0, where W is the field width, ω1 is the cross-row turning area width, and ω2 is the grain transport area width.

3. The method for planning a collaborative operation path for a multi-grain combine harvester and a grain transport vehicle according to claim 1, wherein: The strategies include: When the grain combine harvester only needs to make a cross-row turn, the grain combine harvester directly passes through the cross-row turning area and drives into the next working row; When the grain combine harvester turns across rows and needs to unload grain, the grain transport truck drives from the field entrance through the grain transport area to the unloading point in advance, waiting for the grain combine harvester to unload grain. The grain combine harvester drives through the cross-row turning area into the grain transport area unloading point to unload grain. After unloading is completed, the grain combine harvester reverses to the cross-row turning area to perform cross-row turning operations, and the grain transport truck drives from the grain transport area to the field entrance.

4. The method for planning a collaborative operation path for a multi-grain combine harvester and a grain transport vehicle according to claim 1, characterized in that: ① When i=0, j is an odd number, and k=0, the element c in the cost matrix i，j，k It represents the shortest path cost of the grain combine harvester from the field entrance to the starting operation row field. ② When i≠0, j≠0, k=0, and i≠j, i and j are both odd or even, c i，j，k It represents the shortest path cost for a grain combine harvester to turn directly across rows at the head or tail of a field. ③ When i≠0, j≠0, k=1, and i≠j, i and j are both odd numbers, c i，j，k It represents the shortest path cost of a grain combine harvester unloading grain at the head of the field and then turning across the rows. ④ When i≠0, j=0, k=0, c i，j，k It represents the shortest path cost of the grain combine harvester from the harvesting operation to the field entrance. ⑤ When |ij|=1, (i+j+1) is a positive integer multiple of 4, and k=0, c i,j,k Represents the path cost of the grain combine harvester for harvesting operations, and its value c i,j,k =l; ⑥ When i=0, j is an odd number, and k=1, c i,j,k It represents the shortest path cost of the grain truck from the field entrance to the field unloading point, and its value is c i，j，k =(j / 2-0.5)·w; ⑦ When i is an odd number, j = 0, k = 1, c i,j,k It represents the shortest path cost of the grain truck from the unloading point to the field entrance, and its value is c i,j,k =(i / 2-0.5)·w; ⑧The c corresponding to i, j, and k in other cases i，j，k Meaningless, its value is c i，j，k =M1, M1 is an infinite number; Where: X min is the shorter turning path length in T-type and Ω-type turning modes, π min is the shortest turning path length of the π-type turning method, r min is the minimum turning radius of the grain combine harvester, l is the length of the grain combine harvester's operating row, % is the remainder symbol, ω1 is the width of the cross-row turning area, ω2 is the width of the grain transport area, and ω is the row spacing determined by the cutting width of the grain combine harvester.

5. The method for planning a collaborative operation path for a multi-grain combine harvester and a grain transport vehicle according to claim 1, characterized in that: The operation row sequence number is converted into the operation path number of the grain combine harvester based on the field head and field tail numbers, and the corresponding relationship is: i→(2i-1)&2i, which is used to calculate the fitness value.

6. The method for planning a collaborative operation path for a multi-grain combine harvester and a grain transport vehicle according to claim 5, characterized in that: The operation path sequence number of the grain combine harvester is: 0-odd-even-even-odd-odd-even-…-0.

7. A system for implementing the method for planning a collaborative operation path of a multi-grain combine harvester and a grain transport vehicle according to any one of claims 1 to 6, characterized in that: include: The task processing terminal is used to receive the longitude and latitude of the field boundary and the harvester's cutting width to pre-plan the field operation path, define the grain combine harvester's cross-row turning and grain unloading strategy, establish the path cost matrix for the grain combine harvester's cross-row operation and the grain transport vehicle's grain transport operation, calculate the fitness value and generate the shortest operation path sequence number for each grain combine harvester and grain transport vehicle, and generate navigation reference point information for the grain combine harvester and grain transport vehicle; The vehicle-mounted RTK-GNSS navigation module is used to receive navigation reference point information for grain combine harvesters and grain trucks sent by the mission processing terminal, and calculate the lateral deviation and heading deviation between the operating equipment and the navigation reference point information in real time for navigation decision-making.

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