Agricultural harvesting system and method based on automatic following chassis control of agricultural machinery

Abstract

The present invention provides an agricultural harvesting system and method based on automatic following chassis control of agricultural machinery, wherein the system comprises: a control module for controlling a following chassis vehicle to follow a main harvesting vehicle to perform harvesting operations in a field; an acquisition module for continuously acquiring the distance and travel deviation angle between the following chassis vehicle and the main harvesting vehicle; and a correction module for correcting the following chassis vehicle to follow the main harvesting vehicle based on the distance and the travel deviation angle. The present invention controls the following chassis vehicle to follow the main harvesting vehicle to perform harvesting operations in a field, and corrects the following chassis vehicle to follow the main harvesting vehicle based on the distance and the travel deviation angle between the following chassis vehicle and the main harvesting vehicle. The main harvesting vehicle does not need to go to a temporary unloading point and can continue to perform harvesting operations, which greatly improves the efficiency of agricultural machinery in performing harvesting operations and improves the rationality of agricultural machinery operation design.

Description

Technical Field

[0001] The present invention relates to the field of intelligent agricultural technology, and in particular to an agricultural harvesting system and method based on automatic following chassis control of agricultural machinery. Background Art

[0002] When agricultural machinery is carrying out harvesting operations in the farmland, there may be a situation where the stored grain is saturated. At this time, it is necessary to immediately go to the temporary unloading point to unload the harvested grain, free up storage space, and then go back to the farmland to continue the harvesting operation.

[0003] However, the power of agricultural machinery itself is limited. If it frequently goes to the unloading point to unload and then returns to continue the harvesting operation, a large amount of electricity will be wasted, affecting the efficiency of the agricultural machinery's harvesting operation and reducing the rationality of the agricultural machinery operation design.

[0004] Therefore, a solution is urgently needed. Summary of the invention

[0005] One of the purposes of the present invention is to provide an agricultural harvesting system based on automatic following chassis control of agricultural machinery, which controls the following chassis vehicle to follow the main harvesting vehicle to perform harvesting operations in the field, and based on the distance between the following chassis vehicle and the main harvesting vehicle and the travel deviation angle, the following chassis vehicle is corrected to follow the main harvesting vehicle. The grain harvested by the main harvesting vehicle can be transported into the grain storage device on the following chassis vehicle. When the grain storage device on the following chassis vehicle is saturated, the following chassis vehicle will go to a temporary unloading point to unload the grain on its own. The main harvesting vehicle does not need to go to the temporary unloading point and can continue to perform harvesting operations, which greatly improves the efficiency of agricultural machinery in performing harvesting operations and improves the rationality of agricultural machinery operation design.

[0006] An agricultural harvesting system based on automatic following chassis control of an agricultural machine provided by an embodiment of the present invention comprises:

[0007] The first control module is used to control the follow-up chassis vehicle to follow the harvesting main vehicle to perform harvesting operations in the field;

[0008] An acquisition module is used to continuously acquire the distance and travel deviation angle between the following chassis vehicle and the harvesting main vehicle;

[0009] The correction module is used to make a following correction for the following chassis vehicle to follow the main harvesting vehicle based on the distance and the travel deviation angle.

[0010] Preferably, the following chassis is provided with two following stations, and the two following stations are symmetrically arranged at equal heights perpendicular to the traveling direction of the following chassis;

[0011] The main harvesting vehicle is provided with a target station, and the target station is arranged along the center line of the traveling direction of the main harvesting vehicle.

[0012] Preferably, the acquisition module continuously acquires the distance and the travel deviation angle between the following chassis vehicle and the main harvesting vehicle, including:

[0013] Calculate the distance between the following chassis vehicle and the main harvester vehicle:

[0014]

[0015] in, To measure the distance between the following chassis and the main harvesting vehicle, To obtain the location coordinates of the target station on the host vehicle, , is the distance between the two following stations on the following chassis and the target station on the harvesting main vehicle, is the distance between the two following stations on the following chassis. To obtain the height difference between the target station on the main vehicle and the two following stations on the following chassis, To follow the deviation angle between the chassis vehicle and the main harvester vehicle, is the inverse tangent function.

[0016] Preferably, the correction module performs a following correction on the following chassis vehicle following the harvesting main vehicle based on the distance and the travel deviation angle, including:

[0017] Controlling the distance to continuously fall within a preset distance interval;

[0018] The travel deviation angle is controlled to be equal to a preset value.

[0019] Preferably, the agricultural harvesting system based on the automatic following chassis control of the agricultural machine also includes:

[0020] The second control module is configured to include:

[0021] Obtain the following driving route of the following chassis vehicle within a preset time in the future;

[0022] Retrieving an environmental map of the field;

[0023] Get the size parameters of the following chassis vehicle;

[0024] Based on the size parameter, the environment map and the following driving route, determining whether there is a continuous landing area when the following chassis vehicle follows the following driving route;

[0025] When the answer is no, obtaining a no-placement area when the following chassis vehicle travels along the following travel route and a partial route on the following travel route passing through the no-placement area;

[0026] Determine an alternative route for the follow-up chassis vehicle to travel along the local route based on the size parameter, the environment map, the unlandable area and the local route;

[0027] When the following chassis vehicle is about to start traveling along the local route, the following chassis vehicle is controlled to enter a temporary autonomous movement mode, and the following chassis vehicle is controlled to start traveling along the replacement route. When the following chassis vehicle has finished traveling along the replacement route, the following chassis vehicle is controlled to relay travel based on the following travel route.

[0028] Preferably, determining an alternative route for following the chassis vehicle along the local route based on the size parameter, the environment map, the unfeasible area and the local route comprises:

[0029] Connecting the starting points of the replacement routes on the environment map to obtain a target line;

[0030] A target circle is formed with the midpoint of the target line as the center and half the length of the target line as the radius;

[0031] Determine whether the target line intersects with the no-landing area;

[0032] When they do not intersect, the line length ratio on the local route that falls within the target circle is determined; when the line length ratio is greater than or equal to a preset ratio threshold, the shortest distance between the non-landing area and the target line is obtained, and when the shortest distance is greater than or equal to half the length of the machine width in the size parameter, the target line is used as an alternative route for following the chassis vehicle along the local route; when the line length ratio is less than the ratio threshold, the target line is used as an alternative route for following the chassis vehicle along the local route;

[0033] When the intersection occurs, an alternative route for following the chassis vehicle along the local route is determined based on an obstacle avoidance route planning model, the size parameters, the environment map, the no-go area and the local route.

[0034] An agricultural harvesting method based on automatic following chassis control of an agricultural machine provided by an embodiment of the present invention comprises:

[0035] Control the follow-up chassis vehicle to follow the main harvester vehicle to perform harvesting operations in the field;

[0036] Continuously obtain the distance and travel deviation angle between the following chassis vehicle and the main harvesting vehicle;

[0037] Based on the distance and the travel deviation angle, a following correction is performed on the following chassis vehicle to follow the main harvesting vehicle.

[0038] Preferably, the following chassis is provided with two following stations, and the two following stations are symmetrically arranged at equal heights perpendicular to the traveling direction of the following chassis;

[0039] The main harvesting vehicle is provided with a target station, and the target station is arranged along the center line of the traveling direction of the main harvesting vehicle.

[0040] Preferably, the continuously acquiring the distance and the travel deviation angle between the following chassis vehicle and the main harvesting vehicle comprises:

[0041] Calculate the distance between the following chassis vehicle and the main harvester vehicle:

[0042]

[0043] in, To measure the distance between the following chassis and the main harvesting vehicle, To obtain the location coordinates of the target station on the host vehicle, , is the distance between the two following stations on the following chassis and the target station on the harvesting main vehicle, is the distance between the two following stations on the following chassis. To obtain the height difference between the target station on the main vehicle and the two following stations on the following chassis, To follow the deviation angle between the chassis vehicle and the main harvester vehicle, is the inverse tangent function.

[0044] Preferably, the following correction of the following chassis vehicle following the harvesting main vehicle based on the distance and the travel deviation angle includes:

[0045] Controlling the distance to continuously fall within a preset distance interval;

[0046] The travel deviation angle is controlled to be equal to a preset value.

[0047] Preferably, the agricultural harvesting method based on the automatic following chassis control of the agricultural machine also includes:

[0048] Obtain the following driving route of the following chassis vehicle within a preset time in the future;

[0049] Retrieving an environmental map of the field;

[0050] Get the size parameters of the following chassis vehicle;

[0051] Based on the size parameter, the environment map and the following driving route, determining whether there is a continuous landing area when the following chassis vehicle follows the following driving route;

[0052] When the answer is no, obtaining a no-placement area when the following chassis vehicle travels along the following travel route and a partial route on the following travel route passing through the no-placement area;

[0053] Determine an alternative route for the follow-up chassis vehicle to travel along the local route based on the size parameter, the environment map, the unfeasible area and the local route;

[0054] When the following chassis vehicle is about to start traveling along the local route, the following chassis vehicle is controlled to enter a temporary autonomous movement mode, and the following chassis vehicle is controlled to start traveling along the replacement route. When the following chassis vehicle has finished traveling along the replacement route, the following chassis vehicle is controlled to relay travel based on the following travel route.

[0055] Preferably, determining an alternative route for following the chassis vehicle along the local route based on the size parameter, the environment map, the unfeasible area and the local route comprises:

[0056] Connecting the starting points of the replacement routes on the environment map to obtain a target line;

[0057] A target circle is formed with the midpoint of the target line as the center and half the length of the target line as the radius;

[0058] Determine whether the target line intersects with the no-landing area;

[0059] When they do not intersect, the line length ratio on the local route that falls within the target circle is determined; when the line length ratio is greater than or equal to a preset ratio threshold, the shortest distance between the non-landing area and the target line is obtained, and when the shortest distance is greater than or equal to half the length of the machine width in the size parameter, the target line is used as an alternative route for following the chassis vehicle along the local route; when the line length ratio is less than the ratio threshold, the target line is used as an alternative route for following the chassis vehicle along the local route;

[0060] When the intersection occurs, an alternative route for following the chassis vehicle along the local route is determined based on an obstacle avoidance route planning model, the size parameters, the environment map, the no-go area and the local route.

[0061] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0062] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0064] Figure 1 Schematic diagram of an agricultural harvesting system based on automatic following chassis control of agricultural machinery in an embodiment of the present invention;

[0065] Figure 2 It is a schematic diagram of another agricultural harvesting system based on automatic following chassis control of agricultural machinery in an embodiment of the present invention;

[0066] Figure 3 It is a schematic diagram of an agricultural harvesting method based on automatic following chassis control of an agricultural machine in an embodiment of the present invention. DETAILED DESCRIPTION

[0067] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0068] The embodiment of the present invention provides an agricultural harvesting system based on automatic following chassis control of agricultural machinery, such as Figure 1 As shown, including:

[0069] The first control module 1 is used to control the follower chassis vehicle to follow the harvester main vehicle to perform harvesting operations in the field;

[0070] Acquisition module 2, used for continuously acquiring the distance and travel deviation angle between the following chassis vehicle and the harvesting main vehicle;

[0071] The correction module 3 is used to make a following correction for the following chassis vehicle to follow the main harvesting vehicle based on the distance and the travel deviation angle.

[0072] The present application provides a following chassis vehicle and a main harvesting vehicle. The main harvesting vehicle can perform harvesting operations in farmland, and the following chassis vehicle follows the main harvesting vehicle. The grain harvested by the main harvesting vehicle can be transported into the grain storage device on the following chassis vehicle. When the grain storage device on the following chassis vehicle is saturated, the following chassis vehicle will automatically go to a temporary unloading point to unload the grain. At this time, another main harvesting vehicle can be dispatched to fill the position. In addition, when the following chassis vehicle is controlled to follow the main harvesting vehicle to perform harvesting operations in the field, the distance and travel deviation angle between the following chassis vehicle and the main harvesting vehicle are continuously obtained. Based on the distance and travel deviation angle between the following chassis vehicle and the main harvesting vehicle, the following chassis vehicle is corrected to follow the main harvesting vehicle to ensure that the following chassis vehicle can follow the main harvesting vehicle at the optimal angle and distance.

[0073] The present application controls the following chassis vehicle to follow the main harvesting vehicle to perform harvesting operations in the field, and based on the distance and travel deviation angle between the following chassis vehicle and the main harvesting vehicle, the following chassis vehicle is corrected to follow the main harvesting vehicle. The grain harvested by the main harvesting vehicle can be transported into the grain storage device on the following chassis vehicle. When the grain storage device on the following chassis vehicle is saturated, the following chassis vehicle will go to the temporary unloading point to unload the grain on its own. The main harvesting vehicle does not need to go to the temporary unloading point and can continue to perform harvesting operations, which greatly improves the efficiency of agricultural machinery in performing harvesting operations and improves the rationality of agricultural machinery operation design.

[0074] The following chassis is provided with two following stations, which are symmetrically arranged at equal heights perpendicular to the traveling direction of the following chassis;

[0075] The main harvesting vehicle is provided with a target station, and the target station is arranged along the center line of the traveling direction of the main harvesting vehicle.

[0076] The following station and target station are equipped with DW1000 chips, which can perform bidirectional ranging and positioning.

[0077] The acquisition module continuously acquires the distance and the travel deviation angle between the following chassis vehicle and the main harvesting vehicle, including:

[0078] Calculate the distance between the following chassis vehicle and the main harvester vehicle:

[0079]

[0080] in, To measure the distance between the following chassis and the main harvesting vehicle, To obtain the location coordinates of the target station on the host vehicle, , is the distance between the two following stations on the following chassis and the target station on the harvesting main vehicle, is the distance between the two following stations on the following chassis. To obtain the height difference between the target station on the main vehicle and the two following stations on the following chassis, To follow the deviation angle between the chassis vehicle and the main harvester vehicle, is the inverse tangent function. To obtain the height difference between the target station on the main vehicle and the two following stations on the following chassis vehicle, because the two following stations are set at the same height, the height difference is a value.

[0081] The correction module performs a following correction on the following chassis vehicle following the harvesting main vehicle based on the distance and the travel deviation angle, including:

[0082] Controlling the distance to continuously fall within a preset distance interval;

[0083] The travel deviation angle is controlled to be equal to a preset value.

[0084] The distance range can be 0.5 meters to 1 meter, ensuring that the following chassis vehicle is not too far or too close to the main harvesting vehicle; the preset value is 0, ensuring that the following chassis vehicle does not deviate when the main harvesting vehicle is driving in a straight line, and the following chassis vehicle can turn with the main harvesting vehicle when it turns.

[0085] Agricultural harvesting system based on automatic following chassis control of agricultural machinery, such as Figure 2 As shown, it also includes:

[0086] The second control module 2 is used to include:

[0087] Obtain the following driving route of the following chassis vehicle within a preset time in the future;

[0088] Retrieving an environmental map of the field;

[0089] Get the size parameters of the following chassis vehicle;

[0090] Based on the size parameter, the environment map and the following driving route, determining whether there is a continuous landing area when the following chassis vehicle follows the following driving route;

[0091] When the answer is no, obtaining a no-placement area when the following chassis vehicle travels along the following travel route and a partial route on the following travel route passing through the no-placement area;

[0092] Determine an alternative route for the follow-up chassis vehicle to travel along the local route based on the size parameter, the environment map, the unfeasible area and the local route;

[0093] When the following chassis vehicle is about to start traveling along the local route, the following chassis vehicle is controlled to enter a temporary autonomous movement mode, and the following chassis vehicle is controlled to start traveling along the replacement route. When the following chassis vehicle has finished traveling along the replacement route, the following chassis vehicle is controlled to relay travel based on the following travel route.

[0094] The preset time can be 3 minutes; the environmental map of the field is a two-dimensional map marked with various environmental parameters in the field, such as: a two-dimensional map marked with ditches, grain stacks, etc.; the size parameters of the following chassis vehicle are the maximum body length and maximum body width, etc.; based on the size parameters, the environmental map and the following driving route, it can be determined whether the following chassis vehicle continues to have a foothold area along the following driving route. Continuous foothold area means that the following chassis vehicle can continue to drive normally on the ground. According to the size parameters, the following chassis vehicle can be simulated to travel along the following driving route on the environmental map to determine whether it will collide with obstacles. The foothold area is a non-foothold area (such as: ditch edge, etc.), etc. If there is none, it means that there is a continuous foothold area. landing area; when there is no continuous landing area, determine the non-landing area when the following chassis vehicle travels along the following driving route and the local route passing through the non-landing area on the following driving route; determine a replacement route for the local route, and when the following chassis vehicle is about to start traveling along the local route, control the following chassis vehicle to enter a temporary autonomous movement mode, the temporary autonomous movement mode means that the following chassis vehicle does not need to continue to follow the main harvesting vehicle and can move on its own, and control the following chassis vehicle to start traveling along the replacement route. When the following chassis vehicle finishes traveling along the replacement route, the following chassis vehicle is controlled to relay driving based on the following driving route, so that the following chassis vehicle passes through the non-landing area in a better way.

[0095] Generally, when the main harvester is driving in the field, it will only consider its own future road conditions, and its automated driving route planning will not take into account the following chassis vehicle behind it. However, the road conditions in the field are very complicated. For example, when the main harvester drives to the edge of a ditch and turns around on the spot, if the following chassis vehicle continues to follow the main harvester, it may drive into the ditch. The embodiment of the present invention can solve this problem by determining whether the following chassis vehicle continues to have a landing area along the future following driving route. If not, a local route passing through the non-landing area is obtained, and the local route is replaced. Based on the replaced route, the following chassis vehicle is controlled to assist it in passing the non-landing area. The main harvester does not need to consider the following chassis vehicle behind it for route planning, which greatly improves the applicability of the system and is more intelligent.

[0096] Based on the size parameter, the environment map, the unfeasible area and the local route, determining an alternative route for the following chassis vehicle to travel along the local route, comprising:

[0097] Connecting the starting points of the replacement routes on the environment map to obtain a target line;

[0098] A target circle is formed with the midpoint of the target line as the center and half the length of the target line as the radius;

[0099] Determine whether the target line intersects with the no-landing area;

[0100] When they do not intersect, the line length ratio on the local route that falls within the target circle is determined; when the line length ratio is greater than or equal to a preset ratio threshold, the shortest distance between the non-landing area and the target line is obtained, and when the shortest distance is greater than or equal to half the length of the machine width in the size parameter, the target line is used as an alternative route for following the chassis vehicle along the local route; when the line length ratio is less than the ratio threshold, the target line is used as an alternative route for following the chassis vehicle along the local route;

[0101] When the intersection occurs, an alternative route for following the chassis vehicle along the local route is determined based on an obstacle avoidance route planning model, the size parameters, the environment map, the no-go area and the local route.

[0102] Half the length of the target line refers to half the length of the target line; the obstacle avoidance route planning model is an artificial intelligence model that can perform obstacle avoidance route planning, which belongs to the existing obstacle avoidance technology and will not be described in detail here; when the target line intersects with the non-landing area, it means that the target line cannot be used as a replacement route, and intervention is required to determine the replacement route for obstacle avoidance; when the target line does not intersect with the non-logical area, determine the proportion of the line length on the local route that falls into the target circle. The line length ratio refers to the ratio of the length of the part of the route that falls into the target circle on the local route to the total length of the local route. The ratio threshold can be, for example, 2 / 3. When the line length ratio is greater than or equal to the ratio threshold, it means that the span between the starting points of the replacement route is large, and it is necessary to determine the following chassis. Whether the vehicle can smoothly drive along the target line without hitting the unfeasible area, obtain the shortest distance between the unfeasible area and the target line, and the shortest distance is the shortest distance between a point on the boundary line of the unfeasible area and the target line; when the shortest distance is greater than or equal to half the length of the machine width in the size parameter, it means that the following chassis vehicle can smoothly drive along the target line without hitting the unfeasible area (when the following chassis vehicle drives along a route, the center position of its chassis is always kept coincident with the route), and the target line is used as an alternative route for the following chassis vehicle to drive along the local route; however, when the line length ratio is less than the ratio threshold, it means that the span between the starting points of the alternative route is small, and the target line can be directly used as an alternative route for the following chassis vehicle to drive along the local route.

[0103] When determining a replacement route, the embodiment of the present invention does not use the obstacle avoidance route planning model unless necessary, thereby reducing the usage rate of the obstacle avoidance route planning model, thereby reducing model operation resources and improving the efficiency of determining the replacement route; in addition, the replacement route is determined in multiple ways, thereby improving the accuracy and suitability of the replacement route determination.

[0104] The embodiment of the present invention provides an agricultural harvesting method based on automatic following chassis control of agricultural machinery, such as Figure 3 As shown, including:

[0105] S1, controlling the follow-up chassis vehicle to follow the main harvester vehicle to perform harvesting operations in the field;

[0106] S2, continuously obtaining the distance and travel deviation angle between the following chassis vehicle and the harvesting main vehicle;

[0107] S3. Based on the distance and the travel deviation angle, correction is performed on the following chassis vehicle to follow the harvesting main vehicle.

[0108] The following chassis is provided with two following stations, which are symmetrically arranged at equal heights perpendicular to the traveling direction of the following chassis;

[0109] The main harvesting vehicle is provided with a target station, and the target station is arranged along the center line of the traveling direction of the main harvesting vehicle.

[0110] The continuously acquiring the distance and the travel deviation angle between the following chassis vehicle and the main harvesting vehicle includes:

[0111] Calculate the distance between the following chassis vehicle and the main harvester vehicle:

[0112]

[0113] in, To measure the distance between the following chassis and the main harvesting vehicle, To obtain the location coordinates of the target station on the host vehicle, , is the distance between the two following stations on the following chassis and the target station on the harvesting main vehicle, is the distance between the two following stations on the following chassis. To obtain the height difference between the target station on the main vehicle and the two following stations on the following chassis, To follow the deviation angle between the chassis vehicle and the main harvester vehicle, is the inverse tangent function.

[0114] The following correction of the following chassis vehicle following the main harvesting vehicle based on the distance and the travel deviation angle includes:

[0115] Controlling the distance to continuously fall within a preset distance interval;

[0116] The travel deviation angle is controlled to be equal to a preset value.

[0117] The agricultural harvesting method based on automatic following chassis control of agricultural machinery also includes:

[0118] Obtain the following driving route of the following chassis vehicle within a preset time in the future;

[0119] Retrieving an environmental map of the field;

[0120] Get the size parameters of the following chassis vehicle;

[0121] Based on the size parameter, the environment map and the following driving route, determining whether there is a continuous landing area when the following chassis vehicle follows the following driving route;

[0122] When the answer is no, obtaining a no-placement area when the following chassis vehicle travels along the following travel route and a partial route on the following travel route passing through the no-placement area;

[0123] Determine an alternative route for the follow-up chassis vehicle to travel along the local route based on the size parameter, the environment map, the unlandable area and the local route;

[0124] When the following chassis vehicle is about to start traveling along the local route, the following chassis vehicle is controlled to enter a temporary autonomous movement mode, and the following chassis vehicle is controlled to start traveling along the replacement route. When the following chassis vehicle has finished traveling along the replacement route, the following chassis vehicle is controlled to relay travel based on the following travel route.

[0125] Based on the size parameter, the environment map, the unfeasible area and the local route, determining an alternative route for the following chassis vehicle to travel along the local route, comprising:

[0126] Connecting the starting points of the replacement routes on the environment map to obtain a target line;

[0127] A target circle is formed with the midpoint of the target line as the center and half the length of the target line as the radius;

[0128] Determine whether the target line intersects with the no-landing area;

[0129] When they do not intersect, the line length ratio on the local route that falls within the target circle is determined; when the line length ratio is greater than or equal to a preset ratio threshold, the shortest distance between the non-landing area and the target line is obtained, and when the shortest distance is greater than or equal to half the length of the machine width in the size parameter, the target line is used as an alternative route for following the chassis vehicle along the local route; when the line length ratio is less than the ratio threshold, the target line is used as an alternative route for following the chassis vehicle along the local route;

[0130] When the intersection occurs, an alternative route for following the chassis vehicle along the local route is determined based on an obstacle avoidance route planning model, the size parameters, the environment map, the no-go area and the local route.

[0131] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An agricultural harvesting system based on automatic following chassis control of agricultural machinery, characterized in that: include: The first control module is used to control the follow-up chassis vehicle to follow the harvesting main vehicle to perform harvesting operations in the field; An acquisition module is used to continuously acquire the distance and travel deviation angle between the following chassis vehicle and the harvesting main vehicle; A correction module, used for performing a following correction on the following chassis vehicle following the harvesting main vehicle based on the distance and the travel deviation angle; Also includes: The second control module is configured to include: Obtain the following driving route of the following chassis vehicle within a preset time in the future; Retrieving an environmental map of the field; Get the size parameters of the following chassis vehicle; Based on the size parameter, the environment map and the following driving route, determining whether there is a continuous landing area when the following chassis vehicle follows the following driving route; When the answer is no, obtaining a no-placement area when the following chassis vehicle travels along the following travel route and a partial route on the following travel route passing through the no-placement area; Determine an alternative route for the follow-up chassis vehicle to travel along the local route based on the size parameter, the environment map, the unfeasible area and the local route; When the following chassis vehicle is about to start traveling along the local route, the following chassis vehicle is controlled to enter a temporary autonomous movement mode, and the following chassis vehicle is controlled to start traveling along the replacement route, and when the following chassis vehicle has finished traveling along the replacement route, the following chassis vehicle is controlled to perform relay driving based on the following driving route; Based on the size parameter, the environment map, the unfeasible area and the local route, determining an alternative route for the following chassis vehicle to travel along the local route, comprising: Connecting the starting points of the replacement routes on the environment map to obtain a target line; A target circle is formed with the midpoint of the target line as the center and half the length of the target line as the radius; Determine whether the target line intersects with the no-landing area; When they do not intersect, the line length ratio on the local route that falls within the target circle is determined; when the line length ratio is greater than or equal to a preset ratio threshold, the shortest distance between the non-landing area and the target line is obtained, and when the shortest distance is greater than or equal to half the length of the machine width in the size parameter, the target line is used as an alternative route for following the chassis vehicle along the local route; when the line length ratio is less than the ratio threshold, the target line is used as an alternative route for following the chassis vehicle along the local route; When the intersection occurs, an alternative route for following the chassis vehicle along the local route is determined based on an obstacle avoidance route planning model, the size parameters, the environment map, the no-go area and the local route.

2. The agricultural harvesting system based on automatic following chassis control of agricultural machinery as claimed in claim 1, characterized in that: The following chassis is provided with two following stations, which are symmetrically arranged at equal heights perpendicular to the traveling direction of the following chassis; The main harvesting vehicle is provided with a target station, and the target station is arranged along the center line of the traveling direction of the main harvesting vehicle.

3. The agricultural harvesting system based on automatic following chassis control of agricultural machinery as claimed in claim 2, characterized in that: The acquisition module continuously acquires the distance and the travel deviation angle between the following chassis vehicle and the main harvesting vehicle, including: Calculate the distance between the following chassis vehicle and the main harvester vehicle: in, To measure the distance between the following chassis and the main harvesting vehicle, To obtain the location coordinates of the target station on the host vehicle, , is the distance between the two following stations on the following chassis and the target station on the harvesting main vehicle, is the distance between the two following stations on the following chassis. To obtain the height difference between the target station on the main vehicle and the two following stations on the following chassis, To follow the deviation angle between the chassis vehicle and the main harvester vehicle, is the inverse tangent function.

4. The agricultural harvesting system based on automatic following chassis control of agricultural machinery as claimed in claim 1, characterized in that: The correction module performs a following correction on the following chassis vehicle following the harvesting main vehicle based on the distance and the travel deviation angle, including: Controlling the distance to continuously fall within a preset distance interval; The travel deviation angle is controlled to be equal to a preset value.

5. An agricultural harvesting method based on automatic following chassis control of agricultural machinery, characterized in that: include: Control the follow-up chassis vehicle to follow the main harvester vehicle to perform harvesting operations in the field; Continuously obtain the distance and travel deviation angle between the following chassis vehicle and the main harvesting vehicle; Based on the distance and the travel deviation angle, a following correction is performed on the following chassis vehicle following the harvesting main vehicle; Also includes: Obtain the following driving route of the following chassis vehicle within a preset time in the future; Retrieving an environmental map of the field; Get the size parameters of the following chassis vehicle; Based on the size parameter, the environment map and the following driving route, determining whether there is a continuous landing area when the following chassis vehicle follows the following driving route; When the answer is no, obtaining a no-placement area when the following chassis vehicle travels along the following travel route and a partial route on the following travel route passing through the no-placement area; Determine an alternative route for the follow-up chassis vehicle to travel along the local route based on the size parameter, the environment map, the unfeasible area and the local route; When the following chassis vehicle is about to start traveling along the local route, the following chassis vehicle is controlled to enter a temporary autonomous movement mode, and the following chassis vehicle is controlled to start traveling along the replacement route, and when the following chassis vehicle has finished traveling along the replacement route, the following chassis vehicle is controlled to perform relay driving based on the following driving route; Based on the size parameter, the environment map, the unfeasible area and the local route, determining an alternative route for the following chassis vehicle to travel along the local route, comprising: Connecting the starting points of the replacement routes on the environment map to obtain a target line; A target circle is formed with the midpoint of the target line as the center and half the length of the target line as the radius; Determine whether the target line intersects with the no-landing area; When they do not intersect, the proportion of the line length on the local route that falls within the target circle is determined; when the line length proportion is greater than or equal to a preset proportion threshold, the shortest distance between the non-landing area and the target line is obtained, and when the shortest distance is greater than or equal to half the length of the machine width in the size parameter, the target line is used as an alternative route for following the chassis vehicle along the local route; when the line length proportion is less than the proportion threshold, the target line is used as an alternative route for following the chassis vehicle along the local route; When the intersection occurs, an alternative route for following the chassis vehicle along the local route is determined based on an obstacle avoidance route planning model, the size parameters, the environment map, the no-go area and the local route.

6. The agricultural harvesting method based on automatic following chassis control of agricultural machinery as claimed in claim 5, characterized in that: The following chassis is provided with two following stations, which are symmetrically arranged at equal heights perpendicular to the traveling direction of the following chassis; The main harvesting vehicle is provided with a target station, and the target station is arranged along the center line of the traveling direction of the main harvesting vehicle.

7. The agricultural harvesting method based on automatic following chassis control of agricultural machinery as claimed in claim 6, characterized in that: The continuously acquiring the distance and the travel deviation angle between the following chassis vehicle and the main harvesting vehicle includes: Calculate the distance between the following chassis vehicle and the main harvester vehicle: in, To measure the distance between the following chassis and the main harvesting vehicle, To obtain the location coordinates of the target station on the host vehicle, , is the distance between the two following stations on the following chassis and the target station on the harvesting main vehicle, is the distance between the two following stations on the following chassis. To obtain the height difference between the target station on the main vehicle and the two following stations on the following chassis, To follow the deviation angle between the chassis vehicle and the main harvester vehicle, is the inverse tangent function.

8. The agricultural harvesting method based on automatic following chassis control of agricultural machinery as claimed in claim 5, characterized in that: The following correction of the following chassis vehicle following the main harvesting vehicle based on the distance and the travel deviation angle includes: Controlling the distance to continuously fall within a preset distance interval; The travel deviation angle is controlled to be equal to a preset value.

Images