Unmanned cooperative unloading and transfer operation method

Abstract

The application discloses a kind of unmanned cooperative unloading and transfer operation method, belong to agricultural machinery autonomous operation technical field, the cooperative unloading transfer scheme given in the present application, while guaranteeing efficient harvesting, provide more feasible and practical solution at present stage, the unmanned unloading transfer mode proposed, effectively solve the operation time waste of traditional unmanned harvesting machine transfer unloading, and effectively solve the time that unmanned harvesting machine is full of field unloading after waiting because of the insufficient carrying capacity of grain truck, further guarantee the uninterrupted operation of unmanned harvesting machine, greatly improve the comprehensive operation efficiency of unmanned harvesting machine, compared with traditional manned grain truck unloading, this unloading process does not need manual intervention, solve the problem of manual occupation in the unloading link of unmanned harvesting process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of autonomous operation of agricultural machinery, and more particularly to a method for unmanned cooperative grain unloading and transfer operation. BACKGROUND

[0002] The "unmanned agricultural machinery technology" refers to the integration of satellite positioning, environmental perception, remote communication, bus network and intelligent control technologies to realize unmanned operation according to the planned path. In recent years, with the production enterprises of agricultural machinery navigation automatic driving system and some colleges and research institutes developing agricultural machinery navigation system in depth, intelligent control, positioning, communication and other aspects have been effectively combined with agricultural machinery, accelerating the development process of unmanned agricultural machinery. In the past two years, the scale of agricultural production has gradually formed, and the standardization of farmland construction has developed rapidly, promoting the emergence of unmanned farms.

[0003] In recent years, the unmanned agricultural machinery technology represented by navigation automatic driving has developed significantly, and unmanned agricultural machinery has reduced the labor intensity to a certain extent, but the comprehensive operation efficiency has not been significantly improved, especially in the grain unloading link. At present, the unmanned harvesting still adopts the fixed point unloading mode. In this mode, the unmanned harvesting machine is generally transferred from the full grain operation point to the unloading point for unloading by manual driving or remote control operation, and then returns to the original operation point for further unmanned harvesting operation after unloading is completed. The main problems and shortcomings are as follows: in the fixed point unloading mode, the grain bin may be full at any time during the straight-line harvesting operation of the unmanned harvesting machine, and the transfer of the harvesting machine to the unloading point and back to the original position after unloading is completed is easily affected by the uncut grain barrier, which causes inconvenience and long transfer path, resulting in the uncut grain being easily crushed to cause yield loss and reduce the efficiency of the entire harvesting process; after the grain bin of the harvesting machine is full, if the grain transport vehicle is not in place, the harvesting operation cannot continue until the grain transport vehicle is in place and unloading is completed, which seriously restricts the harvesting progress; the entire unloading process requires manual participation, and full unmanned automatic unloading cannot be realized. The main reasons for the above problems include the following: the fixed point unloading mode is derived from the traditional manual driving harvesting operation, and with the development of unmanned agricultural operation, the unloading mode has not been innovated to match the unmanned harvesting; the autonomous transfer of the path for unloading at any point with full grain involves global dynamic path planning, and the current technology is not mature and the technical cost is high. SUMMARY

[0004] 1. Technical problems to be solved

[0005] In view of the problems in the prior art, the purpose of the present application is to provide a method for unmanned harvesting machine to cooperate with unmanned transport vehicle to realize full grain autonomous unloading and transfer operation.

[0006] The grain unloading path planning and autonomous operation method, the cooperative grain unloading and transfer scheme provided by the present application can ensure efficient harvesting, and provides a more feasible and practical solution at the present stage, the unmanned grain unloading and transfer mode effectively solves the waste of operation time of the traditional unmanned harvester in transferring and unloading grain, and effectively solves the time waiting for the unmanned harvester to unload grain in the field after the grain full due to insufficient carrying capacity of the grain carrying vehicle, further ensures uninterrupted operation of the unmanned harvester, greatly improves the comprehensive operation efficiency of the unmanned harvester, and compared with the traditional manned grain carrying vehicle unloading, the unloading process does not need manual participation, and the problem of manual occupation in the unloading link of the unmanned harvesting process is solved.

[0007] Technical scheme

[0008] To solve the above problems, the present application adopts the following technical scheme.

[0009] An unmanned cooperative grain unloading and transfer operation method, the method comprises the following steps:

[0010] S1, autonomous warehouse: when the unmanned harvester autonomously leaves the warehouse, the grain carrying vehicle is automatically started and autonomously leaves the warehouse along the pre-planned path, the grain carrying vehicle receives the running state and walking speed of the unmanned harvester in real time, and controls the safety following according to the speed;

[0011] S2, parking and waiting: in order not to affect the unmanned harvesting operation of the unmanned harvester, an unloading waiting point is set outside the safe operation area of the unmanned harvester (on the working path of the grain carrying vehicle), and when the grain carrying vehicle reaches the waiting point, it is parked and turned off, and waits for the unmanned harvester to unload grain;

[0012] S3, autonomous grain receiving: when the unmanned harvester returns to the unloading line (parallel to the working path of the grain carrying vehicle in the field) and waits for unloading, the grain carrying vehicle is instructed to unload grain and is informed of its current position (latitude and longitude information); after receiving the instruction, the grain carrying vehicle is automatically started, and moves towards the unmanned harvester along its working path; during the movement, the grain carrying vehicle calculates the position of the unmanned harvester in real time according to the position of the unmanned harvester and its high-precision positioning, and automatically stops when it reaches the reliable unloading area of the unmanned harvester (the unloading area is a circular area with the unloading cylinder at the tail of the unmanned harvester as the center and the unloading wall length L as the radius), and simultaneously communicates to the unmanned harvester that it has reached the unloading point and can unload grain, at which time the unmanned harvester automatically starts unloading;

[0013] S4, return and wait: after the unmanned harvester completes unloading (the grain bin low position sensor signal disappears), the grain carrying vehicle is communicated that the unloading is completed, and the grain carrying vehicle starts to automatically move along the working path to the waiting point, if the grain position of the grain carrying vehicle does not reach the unloading grain position, the grain carrying vehicle will automatically turn off after reaching the waiting point, and wait for the next unloading of the unmanned harvester;

[0014] S5, autonomous unloading: if the grain position of the grain transport vehicle has reached its unloading position, the grain transport vehicle will not stop and turn off after reaching the waiting point, but will continue to move to the grain transport vehicle parked on the roadside (the position of the grain transport vehicle is a fixed position, which has been collected and marked in the navigation system of the grain transport vehicle in advance), when it reaches the effective unloading area of the grain transport vehicle, the grain transport vehicle automatically stops and expands the unloading wall to unload grain autonomously; after unloading is completed (the signal of the low position grain sensor of the grain transport vehicle disappears), the grain transport vehicle retracts the unloading wall and moves to the unloading waiting point to wait for the next unloading of the unmanned harvester;

[0015] S6, autonomous warehousing: when the unmanned harvester completes all harvesting operations, it communicates to the grain transport vehicle that the harvesting is complete, and after the grain transport vehicle completes the last unloading, it transfers to the hangar along the operation path to start autonomous warehousing, and after reaching the hangar, the grain transport vehicle automatically stops and turns off, and the entire unloading and transfer process is completed. Advantages

[0016] Compared with the prior art, the advantages of the present application are:

[0017] (1) The cooperative unloading and transfer scheme provided by the present application provides a more feasible and practical solution at the present stage while ensuring efficient harvesting, and the proposed unmanned unloading and transfer mode effectively solves the problem of waste of operation time in the transfer and unloading of the traditional unmanned harvester, and effectively solves the problem of waiting time for unloading in the field after the grain transport vehicle is full due to insufficient carrying capacity of the grain transport vehicle, further ensuring uninterrupted operation of the unmanned harvester, greatly improving the overall operation efficiency of the unmanned harvester, and compared with the traditional manned grain transport vehicle unloading, this unloading process does not require manual intervention, solving the problem of manual occupation in the unloading process of the unmanned harvester. BRIEF DESCRIPTION OF DRAWINGS

[0018] Fig. 1 The method flowchart of the present application for cooperative unloading path planning and autonomous operation of the unmanned harvester;

[0019] Fig. 2 The schematic diagram of the present application for field block, path planning and unloading site planning. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application; obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments; based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application. EMBODIMENT

[0021] Please refer to Figs. 1-2 , a method for cooperative unloading and transfer operation of an unmanned vehicle,

[0022] The method comprises the following steps:

[0023] S1, autonomous warehouse: when the unmanned harvester autonomously leaves the warehouse, an order is sent to the grain transport vehicle to leave the warehouse, the grain transport vehicle is automatically started and moves along the pre-planned path, and the grain transport vehicle receives the running state and speed of the unmanned harvester in real time and controls the speed to follow the unmanned harvester safely;

[0024] S2, parking and waiting: in order not to affect the unmanned harvesting operation of the unmanned harvester, a grain unloading waiting point is set outside the safe operation area of the unmanned harvester (on the working path of the grain transport vehicle), the grain transport vehicle stops and turns off when it reaches the waiting point, and waits for the unmanned harvester to unload grain;

[0025] S3, autonomous grain receiving: when the unmanned harvester returns to the unloading line (parallel to the working path of the grain transport vehicle in the field) and waits for unloading, an unloading order is sent to the grain transport vehicle and the current position (latitude and longitude information) of the grain transport vehicle is informed; after receiving the order, the grain transport vehicle is automatically started and moves along the working path to the unmanned harvester; during the movement, the grain transport vehicle calculates the distance from the unmanned harvester in real time according to the position of the unmanned harvester and its own high-precision positioning, and automatically stops when it reaches the reliable unloading area of the unmanned harvester (the unloading area is a circular area with the grain unloading cylinder at the tail of the unmanned harvester as the center and the unloading wall length L as the radius), and communicates to the unmanned harvester that the unloading point has been reached and the grain can be unloaded, at which time the unmanned harvester automatically starts unloading;

[0026] S4, return and wait: after the unmanned harvester completes unloading (the low-position sensor signal of the grain bin disappears), the grain transport vehicle is communicated that the unloading is completed, and the grain transport vehicle starts to automatically move along the working path to the waiting point; if the grain position of the grain transport vehicle has not reached the unloading position, the grain transport vehicle will automatically turn off when it reaches the waiting point, and wait for the unmanned harvester to unload next time;

[0027] S5, autonomous unloading: if the grain position of the grain transport vehicle has reached the unloading position, the grain transport vehicle will not stop and turn off when it reaches the waiting point, but continue to move to the grain transport vehicle parked on the roadside (the position of the grain transport vehicle is a fixed position, which has been collected and marked in the navigation system of the grain transport vehicle in advance), and when it reaches the effective unloading area of the grain transport vehicle, the grain transport vehicle automatically stops and unfolds the unloading wall to autonomously unload; after the unloading is completed (the low-position sensor signal of the grain transport vehicle disappears), the grain transport vehicle retracts the unloading wall and moves to the unloading waiting point to wait for the unmanned harvester to unload next time;

[0028] S6, autonomous warehouse: after the unmanned harvester completes all harvesting operations, the grain transport vehicle is communicated that the harvesting is completed, and the grain transport vehicle starts to move to the warehouse along the working path after completing the last unloading, and then starts to autonomously enter the warehouse, and the grain transport vehicle automatically stops and turns off when it reaches the warehouse, and the whole unloading and transportation process is completed.

[0029] The above merely provides the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art, according to the technical solution of the present application and the improved concept thereof, makes equivalent replacement or change within the technical range disclosed by the present application, and should be covered within the protection scope of the present application.

Claims

1. An unmanned collaborative grain unloading and transporting method, characterized by: The method comprises the following steps: S1. Autonomous Departure: When the unmanned harvester autonomously leaves the warehouse, it issues a departure instruction to the grain transporter. The grain transporter automatically ignites and starts and autonomously leaves the warehouse along the pre-planned path. The grain transporter receives the unmanned harvester's operating status and travel speed in real time, and performs safe following control based on the travel speed. S2. Stop and wait: To avoid affecting the unmanned harvester's harvesting operation, a grain unloading waiting point is set outside the unmanned harvester's safe operating area. When the grain transport vehicle arrives at the waiting point, it stops and turns off the engine to wait for the unmanned harvester to unload the grain. S3. Autonomous grain receiving: When the unmanned harvester returns to the unloading line parallel to the grain truck's working path in the field and stops to wait for unloading, it issues an unloading instruction to the grain truck and informs the truck of its current location. Upon receiving this command, the grain transporter automatically ignites and moves along its working path toward the unmanned harvester. During the movement, the grain transporter calculates its distance from the unmanned harvester in real time based on the position of the unmanned harvester and its own high-precision positioning. When it reaches the unmanned harvester's reliable grain unloading area, it automatically stops. The grain unloading area is a circular area with the grain unloading drum at the tail of the unmanned harvester as the center and the grain unloading wall as the radius. At the same time, the grain transporter communicates to the unmanned harvester that it has reached the unloading point and can unload grain. At this time, the unmanned harvester automatically starts unloading. S4. Return to wait: After the unmanned harvester has finished unloading the grain, it notifies the grain transport vehicle that the unloading is complete. The grain transport vehicle then automatically moves along the working path toward the waiting point. If the grain level of the grain transport vehicle has not reached its unloading position, the grain transport vehicle will automatically shut down upon reaching the waiting point and wait for the next unloading by the unmanned harvester. S5. Autonomous grain unloading: If the grain truck has reached its unloading position, it will not stop or turn off the engine after arriving at the waiting point, but will continue to move towards the grain truck parked on the roadside. When it reaches the effective unloading area of ​​the grain truck, the grain truck will automatically stop and deploy the unloading wall to unload the grain autonomously. After unloading is completed, the grain truck will retract the unloading wall and move to the unloading waiting point to wait for the next unloading of the unmanned harvester; S6. Autonomous storage: When the unmanned harvester completes all harvesting operations, it communicates to inform the grain transport truck that the harvesting is complete. After the grain transport truck completes the last unloading of grain, it moves along the operation path to the hangar and begins autonomous storage. After arriving at the hangar, the grain transport truck automatically stops and turns off the engine, and the entire grain unloading and transfer process is completed.

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