Harvester and grain cart cooperative working docking method, system and device

Abstract

The application discloses a method, system and equipment for joint operation of a harvester and a grain transport vehicle, and relates to the field of machinery. The operation path and positioning point of the harvester are preset; the operation path and positioning point of the grain transport vehicle are preset; the grain unloading point is calculated through a plane geometry algorithm; the harvester is controlled to move along a straight line to the grain unloading point, and it is determined whether the distance between the harvester and the grain unloading point is less than or equal to the preset grain unloading distance; if yes, the harvester stops moving; if no, the harvester continues moving; the grain transport vehicle is controlled to move along a straight line to the grain unloading point, and it is determined whether the distance between the grain transport vehicle and the grain unloading point is less than or equal to the preset grain unloading distance; if yes, the grain transport vehicle stops moving; if no, the grain transport vehicle continues moving; the target position of the grain port is calculated through the positioning point of the harvester, the positioning point of the grain transport vehicle and the preset vertical distance; the rotation angle, the pitch angle and the length of the grain unloading cylinder are adjusted, and the grain unloading is started. The application realizes accurate positioning and joint operation of the harvester and the grain transport vehicle, and improves the joint operation accuracy of the harvester and the grain transport vehicle.

Description

Technical Field

[0001] This invention relates to the field of mechanical technology, and in particular to a method, system and equipment for the coordinated operation of a harvester and a grain transport vehicle. Background Technology

[0002] When unmanned harvesters and unmanned grain transport vehicles work together, once the harvester's grain bin is full, the grain needs to be transferred to the grain transport vehicle. Then, the harvester continues harvesting, and the grain transport vehicle transfers the grain to the unloading point, thus achieving continuous harvesting operations. Summary of the Invention

[0003] The purpose of this invention is to provide a method, system, and equipment for the coordinated operation and docking of a harvester and a grain transport vehicle, so as to achieve precise positioning and docking of the harvester and the grain transport vehicle, thereby improving the accuracy of the docking.

[0004] To achieve the above objectives, embodiments of the present invention provide the following solutions:

[0005] A method for coordinating the operation of a harvester and a grain transport vehicle includes:

[0006] The preset operating path of the harvester is a straight line A1B1, and the positioning point of the harvester is E; the preset operating path of the grain transport vehicle is a straight line A2B2, and the positioning point of the grain transport vehicle is F; the intersection point of the straight line A1B1 and the straight line A2B2 is calculated by a plane geometry algorithm; the intersection point is the unloading point C of the harvester and the grain transport vehicle working together.

[0007] Control the harvester to move along the straight line A1B1 towards the unloading point C, and determine whether the distance between the harvester and the unloading point C is less than or equal to the preset unloading distance d1; if yes, the harvester stops moving; if no, the harvester continues to move.

[0008] Control the grain transport vehicle to move along the straight line A2B2 towards the unloading point C, and determine whether the distance between the grain transport vehicle and the unloading point C is less than or equal to the preset unloading distance d2; if yes, the grain transport vehicle stops moving; if no, the grain transport vehicle continues to move.

[0009] Once both the harvester and the grain transport vehicle have arrived at the unloading point C, the target position H(x) of the grain outlet is calculated using the harvester's positioning point E, the grain transport vehicle's positioning point F, and the preset vertical distance d3. h ,y h ,z h );

[0010] Based on the target location H(x) of the grain outlet h ,y h ,z hAdjust the rotation angle, pitch angle and length of the unloading hopper so that the position D of the harvester's outlet is located at a preset vertical distance d3 above the positioning point F of the grain transport vehicle to start unloading.

[0011] Optionally, after both the harvester and the grain transport vehicle arrive at the unloading point C, the target position H(x) of the grain outlet is calculated using the harvester's positioning point E, the grain transport vehicle's positioning point F, and the preset vertical distance d3. h ,y h ,z h Specifically, it includes:

[0012] Based on the positioning point E(x) of the harvester e ,y e The harvester's heading angle θ1, the position parameters d4 and d5 of the unloading hopper at the harvester's positioning point E, are used to obtain the coordinates G(x) of the unloading hopper origin. g ,y g );

[0013] Based on the positioning point F(x) of the grain transport vehicle f ,y f ), the heading angle θ2 of the grain transport vehicle and the coordinates of the origin of the unloading hopper G(x) g ,y g ), thus obtaining the two-dimensional target position H(x) of the grain outlet. h ,y h );

[0014] Based on the two-dimensional target position H(x) of the grain outlet h ,y h The target position H(x) of the grain outlet is obtained by using the vertical preset distance d3 and d3. h ,y h ,z h ).

[0015] Optionally, based on the target position H(x) of the grain outlet h ,y h ,z h ) Calculate the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l in reverse.

[0016] The unloading drum is adjusted to a preset state according to the target position of the horizontal angle θ3, the pitch angle α, and the length l of the unloading drum adjustment parameters.

[0017] The current position (x, y, z) of the grain outlet is obtained based on the preset state of the unloading hopper;

[0018] Determine the difference between the current position (x, y, z) of the grain outlet and the target position H(x) of the grain outlet. h ,y h ,z hIs the distance to the second preset threshold less than or equal to the distance to the second preset threshold?

[0019] If so, begin unloading the grain;

[0020] If not, return to execute "based on the target position H(x) of the grain outlet". h ,y h ,z h The steps are: "reverse calculation of the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l".

[0021] To achieve the above objectives, embodiments of the present invention also provide the following solutions:

[0022] A system for coordinated operation of a harvester and a grain transport vehicle includes:

[0023] The unloading point calculation module is used to preset the harvester's operating path as a straight line A1B1 and the harvester's positioning point as E; preset the grain transport vehicle's operating path as a straight line A2B2 and the grain transport vehicle's positioning point as F; and calculate the intersection of straight lines A1B1 and A2B2 using a plane geometry algorithm; the intersection point is the unloading point C of the harvester and the grain transport vehicle working together.

[0024] The displacement control module, connected to the unloading point calculation module, is used for:

[0025] Control the harvester to move along the straight line A1B1 towards the unloading point C, and determine whether the distance between the harvester and the unloading point C is less than or equal to the preset unloading distance d1; if yes, the harvester stops moving; if no, the harvester continues to move.

[0026] Control the grain transport vehicle to move along the straight line A2B2 towards the unloading point C, and determine whether the distance between the grain transport vehicle and the unloading point C is less than or equal to the preset unloading distance d2; if yes, the grain transport vehicle stops moving; if no, the grain transport vehicle continues to move.

[0027] The target position calculation module is connected to both the unloading point calculation module and the displacement control module, and is used for:

[0028] Once both the harvester and the grain transport vehicle have arrived at the unloading point C, the target position H(x) of the grain outlet is calculated using the harvester's positioning point E, the grain transport vehicle's positioning point F, and the preset vertical distance d3. h ,y h ,z h );

[0029] Based on the target location H(x) of the grain outlet h ,y h ,z hAdjust the rotation angle, pitch angle and length of the unloading hopper so that the position D of the harvester's outlet is located at a preset vertical distance d3 above the positioning point F of the grain transport vehicle to start unloading.

[0030] Optionally, the target location calculation module specifically includes:

[0031] The grain unloading hopper origin coordinate calculation unit is used to calculate the coordinates of the harvester's positioning point E(x). e ,y e The harvester's heading angle θ1, the position parameters d4 and d5 of the unloading hopper at the harvester's positioning point E, are used to obtain the coordinates G(x) of the unloading hopper origin. g ,y g );

[0032] A two-dimensional target position calculation unit, connected to the origin coordinate calculation unit of the unloading hopper, is used to calculate the target position based on the positioning point F(x) of the grain transport vehicle. f ,y f ), the heading angle θ2 of the grain transport vehicle and the coordinates of the origin of the unloading hopper G(x) g ,y g ), thus obtaining the two-dimensional target position H(x) of the grain outlet. h ,y h );

[0033] The three-dimensional target position calculation unit, connected to the two-dimensional target position calculation unit, is used to calculate the two-dimensional target position H(x) of the grain outlet. h ,y h The target position H(x) of the grain outlet is obtained by using the vertical preset distance d3 and d3. h ,y h ,z h ).

[0034] Optionally, the target location calculation module further includes:

[0035] The reverse calculation unit is used to calculate the target position H(x) of the grain outlet. h ,y h ,z h ) Calculate the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l in reverse.

[0036] An adjustment actuator is connected to the reverse calculation unit and is used to adjust the unloading drum to a preset state according to the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l.

[0037] The judgment unit, connected to the adjustment actuator, is used for:

[0038] The current position (x, y, z) of the grain outlet is obtained based on the preset state of the unloading hopper;

[0039] Determine the difference between the current position (x, y, z) of the grain outlet and the target position H(x) of the grain outlet. h ,y h ,z h Is the distance to the second preset threshold less than or equal to the distance to the second preset threshold?

[0040] If so, begin unloading the grain;

[0041] If not, return to execute "based on the target position H(x) of the grain outlet". h ,y h ,z h The steps are: "reverse calculation of the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l".

[0042] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for coordinated operation and docking of the harvester and the grain transport vehicle.

[0043] A non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed, implements the method for coordinating the harvester and the grain transport vehicle.

[0044] In this embodiment of the invention, the operating path and positioning point of the harvester are preset; the operating path and positioning point of the grain transport vehicle are preset; the unloading point is calculated using a planar geometric algorithm; the harvester is controlled to move along a straight line towards the unloading point, and it is determined whether the distance between the harvester and the unloading point is less than or equal to a preset unloading distance; if so, the harvester stops moving; if not, the harvester continues moving; the grain transport vehicle is controlled to move along a straight line towards the unloading point, and it is determined whether the distance between the grain transport vehicle and the unloading point is less than or equal to a preset unloading distance; if so, the grain transport vehicle stops moving; if not, the grain transport vehicle continues moving; the target position of the grain outlet is calculated using the positioning points of the harvester and the grain transport vehicle, and the preset vertical distance; the rotation angle, pitch angle, and length of the unloading hopper are adjusted, and unloading begins. This invention achieves precise positioning and docking of the harvester and the grain transport vehicle, improving the docking accuracy between them. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart illustrating the method for coordinating the operation of a harvester and a grain transport vehicle according to an embodiment of the present invention.

[0047] Figure 2 This is a schematic diagram of coordinated grain unloading provided in an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the grain outlet location provided in an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of a grain unloading hopper provided in an embodiment of the present invention;

[0050] Figure 5 A flowchart of the collaborative grain unloading process provided in this embodiment of the invention;

[0051] Figure 6 The grain unloading hopper control system provided in the embodiments of the present invention;

[0052] Figure 7 This is a dimensional diagram of the grain unloading mechanism provided in an embodiment of the present invention. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] The purpose of this invention is to provide a method, system, and equipment for the coordinated operation of a harvester and a grain transport vehicle, so as to solve the problem of large docking errors when harvesters and grain transport vehicles work together.

[0055] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] Figure 1 This paper illustrates an exemplary process for the collaborative operation and docking method of the harvester and grain transport vehicle described above. The steps are described in detail below.

[0057] Step S1: Please refer to Figure 2 The preset operating path of the harvester is a straight line A1B1, and the positioning point of the harvester is E; the preset operating path of the grain transport vehicle is a straight line A2B2, and the positioning point of the grain transport vehicle is F; the intersection point of the straight line A1B1 and the straight line A2B2 is calculated by a plane geometry algorithm; the intersection point is the unloading point C of the harvester and the grain transport vehicle working together.

[0058] Step S2: Control the harvester to move along the straight line A1B1 towards the unloading point C, and determine whether the distance between the harvester and the unloading point C is less than or equal to the preset unloading distance d1; if yes, the harvester stops moving; if no, the harvester continues to move.

[0059] Step S3: Control the grain transport vehicle to move along the straight line A2B2 towards the unloading point C, and determine whether the distance between the grain transport vehicle and the unloading point C is less than or equal to the preset unloading distance d2; if yes, the grain transport vehicle stops moving; if no, the grain transport vehicle continues to move.

[0060] Step S4: After both the harvester and the grain truck arrive at the unloading point C, calculate the target position H(x) of the grain outlet using the harvester's positioning point E, the grain truck's positioning point F, and the preset vertical distance d3. h ,y h ,z h );

[0061] Specifically, it includes:

[0062] Step S41: Please refer to Figure 3 According to the positioning point E(x) of the harvester e ,y e The harvester's heading angle θ1, the position parameters d4 and d5 of the unloading hopper at the harvester's positioning point E, are used to obtain the coordinates G(x) of the unloading hopper origin. g ,y g The specific calculation formula is as follows:

[0063]

[0064] Step S42: Please refer to Figure 4 Based on the positioning point F(x) of the grain transport vehicle f ,y f ), the heading angle θ2 of the grain transport vehicle and the coordinates of the origin of the unloading hopper G(x) g ,y g ), thus obtaining the two-dimensional target position H(x) of the grain outlet. h ,y h The specific calculation formula is as follows:

[0065]

[0066] Step S43: Based on the two-dimensional target position H(x) of the grain outlet... h ,y h The target position H(x) of the grain outlet is obtained by using the vertical preset distance d3 and d3. h ,y h ,z h ).

[0067] Step S44: Based on the target position H(x) of the grain outleth ,y h ,z h ) Calculate the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l in reverse.

[0068] In one example, during operation, the harvester's discharge port needs to be aligned with the grain tank of the grain transport vehicle to complete the unloading task.

[0069] The unloading mechanism has three adjustable parameters: horizontal angle θ, pitch angle α, and length l. The position parameters of the grain outlet are (x, y, z). The specific calculation formula is as follows:

[0070]

[0071]

[0072]

[0073] Step S45: Adjust the unloading drum to the preset state according to the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l;

[0074] Step S46: Obtain the current position (x, y, z) of the grain outlet according to the preset state of the unloading hopper;

[0075] x = l * cos(α - 90°) * cos(θ);

[0076] y = l*sin(α-90°)*sin(θ);

[0077] z = h + l * sin(α - 90°)

[0078] Step S47: Determine the current position (x, y, z) of the grain outlet and the target position H(x, y, z) of the grain outlet. h y h , z h Whether the distance is less than or equal to the second preset threshold; the second preset threshold can be 0.2m.

[0079] In one example, the structure of the grain unloading hopper control system is as follows: Figure 5 and Figure 6 As shown, a dedicated controller is used to adjust the position of the unloading hopper. The host computer obtains the target parameters of the unloading mechanism's horizontal angle θ, pitch angle α, and length l through step S44. The controller internally uses closed-loop control to adjust the unloading mechanism's horizontal angle θ, pitch angle α, and length l to the set target position. During the adjustment process, the current horizontal angle θ', pitch angle α', and length l' of the unloading mechanism, collected by the sensors, are sent to the host computer at a frequency of 50Hz. The host computer obtains the current position coordinates (x, y, z) of the harvester's outlet through step S46.

[0080] Step S48: If yes, begin unloading the grain;

[0081] Step S49: If not, return to execute "Based on the target position H(x) of the grain outlet". h ,y h ,z h The steps are: "reverse calculation of the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l".

[0082] Step S5: Please refer to Figure 7 According to the target location H(x) of the grain outlet h ,y h ,z h Adjust the rotation angle, pitch angle, and length of the unloading hopper so that the harvester's outlet position D is located at a preset vertical distance d3 above the grain transport vehicle's positioning point F, and begin unloading. At this time, z h It equals d3.

[0083] In summary, in this embodiment of the invention, the following steps are taken: The harvester's operating path and positioning point are preset; the grain transport vehicle's operating path and positioning point are preset; the unloading point is calculated using a planar geometric algorithm; the harvester is controlled to move along a straight line towards the unloading point, and it is determined whether the distance between the harvester and the unloading point is less than or equal to a preset unloading distance; if so, the harvester stops moving; otherwise, the harvester continues moving; the grain transport vehicle is controlled to move along a straight line towards the unloading point, and it is determined whether the distance between the grain transport vehicle and the unloading point is less than or equal to a preset unloading distance; if so, the grain transport vehicle stops moving; otherwise, the grain transport vehicle continues moving; the target position of the grain outlet is calculated using the harvester's positioning point, the grain transport vehicle's positioning point, and a preset vertical distance; the rotation angle, pitch angle, and length of the unloading hopper are adjusted, and unloading begins. This invention achieves precise positioning and docking between the harvester and the grain transport vehicle, improving the docking accuracy between them.

[0084] To achieve the above objectives, embodiments of the present invention also provide the following solutions:

[0085] A system for coordinated operation of a harvester and a grain transport vehicle includes:

[0086] The unloading point calculation module is used to preset the harvester's operating path as a straight line A1B1 and the harvester's positioning point as E; preset the grain transport vehicle's operating path as a straight line A2B2 and the grain transport vehicle's positioning point as F; and calculate the intersection of straight lines A1B1 and A2B2 using a plane geometry algorithm; the intersection point is the unloading point C of the harvester and the grain transport vehicle working together.

[0087] The displacement control module, connected to the unloading point calculation module, is used for:

[0088] Control the harvester to move along the straight line A1B1 towards the unloading point C, and determine whether the distance between the harvester and the unloading point C is less than or equal to the preset unloading distance d1; if yes, the harvester stops moving; if no, the harvester continues to move.

[0089] Control the grain transport vehicle to move along the straight line A2B2 towards the unloading point C, and determine whether the distance between the grain transport vehicle and the unloading point C is less than or equal to the preset unloading distance d2; if yes, the grain transport vehicle stops moving; if no, the grain transport vehicle continues to move.

[0090] The target position calculation module is connected to both the unloading point calculation module and the displacement control module, and is used for:

[0091] Once both the harvester and the grain transport vehicle have arrived at the unloading point C, the target position H(x) of the grain outlet is calculated using the harvester's positioning point E, the grain transport vehicle's positioning point F, and the preset vertical distance d3. h ,y h ,z h );

[0092] The target location calculation module specifically includes:

[0093] The grain unloading hopper origin coordinate calculation unit is used to calculate the coordinates of the harvester's positioning point E(x). e ,y e The harvester's heading angle θ1, the position parameters d4 and d5 of the unloading hopper at the harvester's positioning point E, are used to obtain the coordinates G(x) of the unloading hopper origin. g ,y g );

[0094] A two-dimensional target position calculation unit, connected to the origin coordinate calculation unit of the unloading hopper, is used to calculate the target position based on the positioning point F(x) of the grain transport vehicle. f ,y f ), the heading angle θ2 of the grain transport vehicle and the coordinates of the origin of the unloading hopper G(x) g ,y g ), thus obtaining the two-dimensional target position H(x) of the grain outlet. h ,y h );

[0095] The three-dimensional target position calculation unit, connected to the two-dimensional target position calculation unit, is used to calculate the two-dimensional target position H(x) of the grain outlet. h ,y h The target position H(x) of the grain outlet is obtained by using the vertical preset distance d3 and d3. h ,y h ,z h ).

[0096] The target location calculation module also includes:

[0097] The reverse calculation unit is used to calculate the target position H(x) of the grain outlet. h ,y h ,z h ) Calculate the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l in reverse.

[0098] An adjustment actuator is connected to the reverse calculation unit and is used to adjust the unloading drum to a preset state according to the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l.

[0099] The judgment unit, connected to the adjustment actuator, is used for:

[0100] The current position (x, y, z) of the grain outlet is obtained based on the preset state of the unloading hopper;

[0101] Determine the difference between the current position (x, y, z) of the grain outlet and the target position H(x) of the grain outlet. h ,y h ,z h Is the distance to the second preset threshold less than or equal to the distance to the second preset threshold?

[0102] If so, begin unloading the grain;

[0103] If not, return to execute "based on the target position H(x) of the grain outlet". h ,y h ,z h The steps are: "reverse calculation of the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l".

[0104] Based on the target location H(x) of the grain outlet h ,y h ,z h Adjust the rotation angle, pitch angle and length of the unloading hopper so that the position D of the harvester's outlet is located at a preset vertical distance d3 above the positioning point F of the grain transport vehicle to start unloading.

[0105] Furthermore, the present invention also provides an electronic device, which may include: a processor, a communication interface, a memory, and a communication bus. The processor, communication interface, and memory communicate with each other via the communication bus. The processor can call a computer program stored in the memory to execute the aforementioned method for coordinated operation between the harvester and the grain transport vehicle.

[0106] Furthermore, when the computer program in the aforementioned memory is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

[0107] Furthermore, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed, implements the aforementioned method for coordinating the harvester and the grain transport vehicle.

[0108] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0109] This document uses specific examples to illustrate the principles and implementation methods of the embodiments of the present invention. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of the embodiments of the present invention. At the same time, for those skilled in the art, there will be changes in specific implementation methods and application scope based on the ideas of the embodiments of the present invention. In summary, the content of this specification should not be construed as a limitation on the embodiments of the present invention.

Claims

1. A method for coordinating the operation of a harvester and a grain transport vehicle, characterized in that, include: The preset operating path of the harvester is a straight line A1B1, and the positioning point of the harvester is E; the preset operating path of the grain transport vehicle is a straight line A2B2, and the positioning point of the grain transport vehicle is F; the intersection point of the straight line A1B1 and the straight line A2B2 is calculated by a plane geometry algorithm; the intersection point is the unloading point C of the harvester and the grain transport vehicle working together. Control the harvester to move along the straight line A1B1 towards the unloading point C, and determine whether the distance between the harvester and the unloading point C is less than or equal to the preset unloading distance d1; if yes, the harvester stops moving; if no, the harvester continues to move. Control the grain transport vehicle to move along the straight line A2B2 towards the unloading point C, and determine whether the distance between the grain transport vehicle and the unloading point C is less than or equal to the preset unloading distance d2; if yes, the grain transport vehicle stops moving; if no, the grain transport vehicle continues to move. Once both the harvester and the grain transport vehicle have arrived at the unloading point C, the target position H(x) of the grain outlet is calculated using the harvester's positioning point E, the grain transport vehicle's positioning point F, and the preset vertical distance d3. h ,y h ,z h Specifically, it includes: Based on the harvester's positioning point E(x) e ,y e The harvester's heading angle θ1, the position parameters d4 and d5 of the unloading hopper at the harvester's positioning point E, are used to obtain the coordinates G(x) of the unloading hopper origin. g ,y g ); Based on the positioning point F(x) of the grain transport vehicle f ,y f ), the heading angle θ2 of the grain transport vehicle and the coordinates G(x) of the origin of the unloading hopper g ,y g ), to obtain the two-dimensional target position H(x) of the grain outlet. h ,y h ); Based on the two-dimensional target position H(x) of the grain outlet h ,y h The target position H(x) of the grain outlet is obtained by using the vertical preset distance d3 and d3. h ,y h ,z h ); Based on the target location H(x) of the grain outlet h ,y h ,z h Adjust the rotation angle, pitch angle and length of the unloading hopper so that the position D of the harvester's outlet is located at a preset vertical distance d3 above the positioning point F of the grain transport vehicle to start unloading.

2. The method for coordinated operation and docking of a harvester and a grain transport vehicle according to claim 1, characterized in that, According to the target position H(x) of the grain outlet h ,y h ,z h ) Calculate the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l in reverse. The unloading drum is adjusted to a preset state according to the target position of the horizontal angle θ3, the pitch angle α, and the length l of the unloading drum adjustment parameters. The current position (x, y, z) of the grain outlet is obtained based on the preset state of the unloading hopper; Determine the difference between the current position (x, y, z) of the grain outlet and the target position H (x, y, z) of the grain outlet. h ,y h ,z h Is the distance to the second preset threshold less than or equal to the second preset threshold? If so, begin unloading the grain; If not, return to execute "based on the target position H(x) of the grain outlet". h ,y h ,z h The steps are: "reverse calculation of the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l".

3. A system for coordinated operation and docking of a harvester and a grain transport vehicle, characterized in that, include: The unloading point calculation module is used to preset the harvester's operating path as a straight line A1B1 and the harvester's positioning point as E; preset the grain transport vehicle's operating path as a straight line A2B2 and the grain transport vehicle's positioning point as F; and calculate the intersection of straight lines A1B1 and A2B2 using a plane geometry algorithm; the intersection point is the unloading point C of the harvester and the grain transport vehicle working together. The displacement control module, connected to the unloading point calculation module, is used for: Control the harvester to move along the straight line A1B1 towards the unloading point C, and determine whether the distance between the harvester and the unloading point C is less than or equal to the preset unloading distance d1; if yes, the harvester stops moving; if no, the harvester continues to move. Control the grain transport vehicle to move along the straight line A2B2 towards the unloading point C, and determine whether the distance between the grain transport vehicle and the unloading point C is less than or equal to the preset unloading distance d2; if yes, the grain transport vehicle stops moving; if no, the grain transport vehicle continues to move. The target position calculation module is connected to both the unloading point calculation module and the displacement control module, and is used for: Once both the harvester and the grain transport vehicle have arrived at the unloading point C, the target position H(x) of the grain outlet is calculated using the harvester's positioning point E, the grain transport vehicle's positioning point F, and the preset vertical distance d3. h ,y h ,z h ); Based on the target location H(x) of the grain outlet h ,y h ,z h Adjust the rotation angle, pitch angle and length of the unloading hopper so that the position D of the harvester's outlet is located at a preset vertical distance d3 above the positioning point F of the grain transport vehicle to start unloading; The target location calculation module includes: The grain unloading hopper origin coordinate calculation unit is used to calculate the coordinates of the harvester's positioning point E(x). e ,y e The harvester's heading angle θ1, the position parameters d4 and d5 of the unloading hopper at the harvester's positioning point E, are used to obtain the coordinates G(x) of the unloading hopper origin. g ,y g ); A two-dimensional target position calculation unit, connected to the origin coordinate calculation unit of the unloading hopper, is used to calculate the target position based on the positioning point F(x) of the grain transport vehicle. f ,y f ), the heading angle θ2 of the grain transport vehicle and the coordinates G(x) of the origin of the unloading hopper g ,y g ), to obtain the two-dimensional target position H(x) of the grain outlet. h ,y h ); The three-dimensional target position calculation unit, connected to the two-dimensional target position calculation unit, is used to calculate the two-dimensional target position H(x) of the grain outlet. h ,y h The target position H(x) of the grain outlet is obtained by using the vertical preset distance d3 and d3. h ,y h ,z h ).

4. The harvester and grain transport vehicle collaborative operation docking system according to claim 3, characterized in that, The target location calculation module also includes: The reverse calculation unit is used to calculate the target position H(x) of the grain outlet. h ,y h ,z h ) Calculate the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l in reverse. An adjustment actuator, connected to the reverse calculation unit, is used to adjust the unloading drum to a preset state according to the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l. The judgment unit, connected to the adjustment actuator, is used for: The current position (x, y, z) of the grain outlet is obtained based on the preset state of the unloading hopper; Determine the difference between the current position (x, y, z) of the grain outlet and the target position H (x, y, z) of the grain outlet. h ,y h ,z h Is the distance to the second preset threshold less than or equal to the second preset threshold? If so, begin unloading the grain; If not, return to execute "based on the target position H(x) of the grain outlet". h ,y h ,z h The steps are: "reverse calculation of the target position of the unloading drum adjustment parameters: horizontal angle θ3, pitch angle α, and length l".

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for coordinating the harvester and grain transport vehicle as described in claims 1-2.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed, it implements the method for coordinating the harvester and grain transport vehicle as described in claims 1-2.

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