Cooperative scheduling method, device and equipment for heterogeneous agricultural machinery

Abstract

The embodiment of the invention discloses a cooperative scheduling method, device and equipment for various kinds of agricultural machinery, and the method comprises the steps: determining the target time for the host agricultural machinery equipment to reach a cooperative working state in a target working area according to the current storage amount, the maximum storage amount and the working efficiency of the host agricultural machinery equipment; according to the target time, the current position of the host agricultural equipment and the running speed of the host agricultural equipment, determining a target position of the host agricultural equipment reaching a cooperative working state in the target working area; according to the current position of the slave agricultural equipment corresponding to the host agricultural equipment, the target position and the running speed of the slave agricultural equipment, the predicted time for the slave agricultural equipment to reach the target position is determined; and under the condition that the target used time is equal to the predicted used time, sending a scheduling instruction to the slave agricultural machine equipment.

Description

Technical Field

[0001] This document relates to the field of computer technology, and in particular to methods, devices and equipment for coordinated scheduling of heterogeneous agricultural machinery. Background Art

[0002] With the rapid development of navigation technology and vehicle control technology, agricultural machinery and equipment are gradually moving towards the path of automated precision development. In the scenario of heterogeneous agricultural machinery working together, the slave agricultural machinery equipment can move in parallel with the host agricultural machinery equipment to assist the host agricultural machinery equipment in agricultural operations.

[0003] However, when the host agricultural machinery equipment operates independently, the slave agricultural machinery equipment always follows the host agricultural machinery equipment, which on the one hand causes a waste of resources, and on the other hand there is a potential risk of collision, resulting in low efficiency of the cooperative work of heterogeneous agricultural machinery. To this end, the embodiments of this specification provide a technical solution to improve the efficiency of the cooperative work of heterogeneous agricultural machinery. Summary of the invention

[0004] The purpose of the embodiments of this specification is to provide a technical solution to improve the working efficiency of heterogeneous agricultural machinery working in coordination.

[0005] In order to implement the above technical solution, the embodiments of this specification are implemented as follows:

[0006] An embodiment of the present specification provides a method for coordinated scheduling of heterogeneous agricultural machinery, the method being applied to a host agricultural machinery device, the method comprising: determining a target time for the host agricultural machinery device to reach a coordinated working state in a target working area according to a current storage capacity, a maximum storage capacity, and an operating efficiency of the host agricultural machinery device; determining a target position for the host agricultural machinery device to reach a coordinated working state in the target working area according to the target time, the current position of the host agricultural machinery device, and the driving speed of the host agricultural machinery device; determining a predicted time for the slave agricultural machinery device to reach the target position according to the current position of a slave agricultural machinery device corresponding to the host agricultural machinery device, the target position, and the driving speed of the slave agricultural machinery device; and sending a scheduling instruction to the slave agricultural machinery device when the target time is equal to the predicted time, the scheduling instruction being used to trigger the slave agricultural machinery device to travel to the target position, and triggering the slave agricultural machinery device to work in coordination with the host agricultural machinery device when it reaches the target position.

[0007] An embodiment of the present specification provides a method for coordinated scheduling of heterogeneous agricultural machinery, the method being applied to slave agricultural machinery equipment, the method comprising: receiving a scheduling instruction sent by a host agricultural machinery equipment corresponding to the slave agricultural machinery equipment when the target time is equal to the predicted time, the scheduling instruction carrying a target position for the host agricultural machinery equipment to reach a coordinated working state in a target working area, the target position being determined based on the target time, the current position of the host agricultural machinery equipment and the driving speed of the host agricultural machinery equipment, the target time being determined based on the current storage capacity, the maximum storage capacity and the operating efficiency of the host agricultural machinery equipment, and the predicted time being the time for the slave agricultural machinery equipment to reach the target position determined based on the current position of the slave agricultural machinery equipment, the target position and the driving speed of the slave agricultural machinery equipment; in response to the scheduling instruction, controlling the slave agricultural machinery equipment to travel to the target position, and cooperating with the host agricultural machinery equipment when the target position is reached.

[0008] The embodiment of the present specification provides a cooperative scheduling device for heterogeneous agricultural machinery, the device comprising: a first calculation module, for determining the target time for the host agricultural machinery to reach a cooperative working state in a target working area according to the current storage capacity, maximum storage capacity and working efficiency of the cooperative scheduling device for heterogeneous agricultural machinery; a position determination module, for determining the target position for the cooperative scheduling device for heterogeneous agricultural machinery to reach a cooperative working state in the target working area according to the target time, the current position of the cooperative scheduling device for heterogeneous agricultural machinery and the driving speed of the host agricultural machinery; a second calculation module, for determining the predicted time for the slave agricultural machinery to reach the target position according to the current position of the slave agricultural machinery of the cooperative scheduling device for heterogeneous agricultural machinery, the target position and the driving speed of the slave agricultural machinery; an instruction sending module, for sending a scheduling instruction to the slave agricultural machinery when the target time is equal to the predicted time, the scheduling instruction is used to trigger the slave agricultural machinery to travel to the target position, and trigger the slave agricultural machinery to work in cooperation with the cooperative scheduling device for heterogeneous agricultural machinery when the slave agricultural machinery reaches the target position.

[0009] An embodiment of the present specification provides a cooperative scheduling device for heterogeneous agricultural machinery, the device comprising: an instruction receiving module, used to receive a scheduling instruction sent by a host agricultural machinery device corresponding to the cooperative scheduling device of the heterogeneous agricultural machinery when the target time is equal to the predicted time, the scheduling instruction carries a target position of the host agricultural machinery device to reach a cooperative working state in a target working area, the target position is determined according to the target time, the current position of the host agricultural machinery device and the driving speed of the host agricultural machinery device, the target time is determined according to the current storage capacity, maximum storage capacity and operating efficiency of the host agricultural machinery device, and the predicted time is the time required for the slave agricultural machinery device to reach the target position determined according to the current position of the cooperative scheduling device of the heterogeneous agricultural machinery, the target position, and the driving speed of the slave agricultural machinery device; an instruction execution module, used to control the cooperative scheduling device of the heterogeneous agricultural machinery to travel to the target position in response to the scheduling instruction, and to cooperate with the host agricultural machinery device when the target position is reached.

[0010] The embodiment of the present specification provides a cooperative scheduling device for heterogeneous agricultural machinery, the cooperative scheduling device for heterogeneous agricultural machinery comprising: a processor; and a memory arranged to store computer executable instructions, wherein the executable instructions, when executed, cause the processor to: determine a target time for the cooperative scheduling device for heterogeneous agricultural machinery to reach a cooperative working state in a target working area according to a current storage capacity, a maximum storage capacity, and an operating efficiency of the cooperative scheduling device for heterogeneous agricultural machinery; determine a cooperative working state of the heterogeneous agricultural machinery according to the target time, a current position of the cooperative scheduling device for heterogeneous agricultural machinery, and a driving speed of the cooperative scheduling device for heterogeneous agricultural machinery; The scheduling device reaches the target position of the collaborative working state in the target working area; determines the predicted time for the slave agricultural machinery equipment to reach the target position according to the current position of the slave agricultural machinery equipment of the collaborative scheduling device of the heterogeneous agricultural machinery, the target position, and the driving speed of the slave agricultural machinery equipment; and sends a scheduling instruction to the slave agricultural machinery equipment when the target time is equal to the predicted time, and the scheduling instruction is used to trigger the slave agricultural machinery equipment to travel to the target position, and trigger the slave agricultural machinery equipment to work collaboratively with the collaborative scheduling device of the heterogeneous agricultural machinery when it reaches the target position.

[0011] An embodiment of the present specification provides a cooperative scheduling device for heterogeneous agricultural machinery, the cooperative scheduling device for heterogeneous agricultural machinery comprising: a processor; and a memory arranged to store computer executable instructions, wherein when the executable instructions are executed, the processor: receives a scheduling instruction sent by a host agricultural machinery device corresponding to the cooperative scheduling device for heterogeneous agricultural machinery when the target time is equal to the predicted time, the scheduling instruction carries a target position for the host agricultural machinery device to reach a cooperative working state in a target working area, the target position is determined according to the target time, the current position of the host agricultural machinery device and the driving speed of the host agricultural machinery device, the target time is determined according to the current storage capacity, maximum storage capacity and operation efficiency of the host agricultural machinery device, and the predicted time is the time taken for the cooperative scheduling device of the heterogeneous agricultural machinery to reach the target position determined according to the current position of the cooperative scheduling device for heterogeneous agricultural machinery, the target position, and the driving speed of the cooperative scheduling device for heterogeneous agricultural machinery; in response to the scheduling instruction, controls the cooperative scheduling device of the heterogeneous agricultural machinery to travel to the target position, and cooperates with the host agricultural machinery device when the target position is reached.

[0012] The embodiments of the present specification also provide a storage medium, which is used to store computer-executable instructions. When the executable instructions are executed by a processor, the following process is implemented: according to the current storage capacity, maximum storage capacity and operating efficiency of the host agricultural machinery equipment, the target time for the host agricultural machinery equipment to reach a collaborative working state in the target working area is determined; according to the target time, the current position of the host agricultural machinery equipment and the driving speed of the host agricultural machinery equipment, the target position of the host agricultural machinery equipment to reach the collaborative working state in the target working area is determined; according to the current position of the slave agricultural machinery equipment corresponding to the host agricultural machinery equipment, the target position, and the driving speed of the slave agricultural machinery equipment, the predicted time for the slave agricultural machinery equipment to reach the target position is determined; when the target time is equal to the predicted time, a scheduling instruction is sent to the slave agricultural machinery equipment, and the scheduling instruction is used to trigger the slave agricultural machinery equipment to travel to the target position, and trigger the slave agricultural machinery equipment to work in collaboration with the host agricultural machinery equipment when it reaches the target position.

[0013] The embodiments of the present specification also provide a storage medium, which is used to store computer-executable instructions. When the executable instructions are executed by a processor, the following process is implemented: receiving a scheduling instruction sent by a host agricultural machinery device corresponding to a slave agricultural machinery device when the target time is equal to the predicted time, the scheduling instruction carries a target position for the host agricultural machinery device to reach a collaborative working state in a target working area, the target position is determined based on the target time, the current position of the host agricultural machinery device and the driving speed of the host agricultural machinery device, the target time is determined based on the current storage capacity, maximum storage capacity and operating efficiency of the host agricultural machinery device, and the predicted time is the time it takes for the slave agricultural machinery device to reach the target position, determined based on the current position of the slave agricultural machinery device, the target position, and the driving speed of the slave agricultural machinery device; in response to the scheduling instruction, the slave agricultural machinery device is controlled to travel to the target position, and collaborate with the host agricultural machinery device when the target position is reached.

[0014] The embodiments of the present specification also provide a computer program product, including a computer program, which implements the following process when executed by a processor: determining a target time for the host agricultural machinery to reach a collaborative working state in a target working area based on a current storage capacity, a maximum storage capacity, and an operating efficiency of the host agricultural machinery; determining a target position for the host agricultural machinery to reach a collaborative working state in the target working area based on the target time, the current position of the host agricultural machinery, and the driving speed of the host agricultural machinery; determining a predicted time for the slave agricultural machinery to reach the target position based on the current position of a slave agricultural machinery corresponding to the host agricultural machinery, the target position, and the driving speed of the slave agricultural machinery; and sending a scheduling instruction to the slave agricultural machinery when the target time is equal to the predicted time, wherein the scheduling instruction is used to trigger the slave agricultural machinery to travel to the target position, and trigger the slave agricultural machinery to work in collaboration with the host agricultural machinery when it reaches the target position.

[0015] The embodiments of the present specification also provide a computer program product, including a computer program, which implements the following process when executed by a processor: receiving a scheduling instruction sent by a host agricultural machinery device corresponding to a slave agricultural machinery device when the target time is equal to the predicted time, the scheduling instruction carries a target position for the host agricultural machinery device to reach a collaborative working state in a target working area, the target position is determined based on the target time, the current position of the host agricultural machinery device and the driving speed of the host agricultural machinery device, the target time is determined based on the current storage capacity, maximum storage capacity and operating efficiency of the host agricultural machinery device, and the predicted time is the time it takes for the slave agricultural machinery device to reach the target position, determined based on the current position of the slave agricultural machinery device, the target position, and the driving speed of the slave agricultural machinery device; in response to the scheduling instruction, controlling the slave agricultural machinery device to travel to the target position, and working in collaboration with the host agricultural machinery device when the slave agricultural machinery device reaches the target position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings required for use in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor.

[0017] Figure 1 This is an embodiment of a method for coordinated scheduling of heterogeneous agricultural machinery in this specification;

[0018] Figure 2 This is another embodiment of a method for coordinated scheduling of heterogeneous agricultural machinery in this specification;

[0019] Figure 3 A schematic diagram of a target working area of ​​this specification;

[0020] Figure 4 This is another embodiment of a method for coordinated scheduling of heterogeneous agricultural machinery in this specification;

[0021] Figure 5 A schematic diagram of a communication process between heterogeneous agricultural machines in this specification;

[0022] Figure 6 This is a schematic diagram of another communication process between heterogeneous agricultural machines in this specification;

[0023] Figure 7 This is a schematic diagram of an algorithm for a coordinated scheduling method of heterogeneous agricultural machinery in this specification;

[0024] Figure 8This is another embodiment of a method for coordinated scheduling of heterogeneous agricultural machinery in this specification;

[0025] Fig. 9 A schematic diagram of a turning strategy for a heterogeneous agricultural machine in this specification;

[0026] Fig.10 This is a schematic diagram of another communication process between heterogeneous agricultural machines in this specification;

[0027] Fig.11 This is a schematic diagram of an algorithm for another method of cooperative scheduling of heterogeneous agricultural machinery in this specification;

[0028] Fig.12 This is an embodiment of a coordinated scheduling device for heterogeneous agricultural machinery in this specification;

[0029] Fig.13 This is another embodiment of a coordinated dispatching device for heterogeneous agricultural machinery of this specification;

[0030] Fig.14 This is an embodiment of a coordinated scheduling device for heterogeneous agricultural machinery in this specification. DETAILED DESCRIPTION

[0031] The embodiments of this specification provide a method, device and equipment for coordinated scheduling of heterogeneous agricultural machinery.

[0032] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this specification.

[0033] The embodiments of this specification provide a technical solution to improve the working efficiency of heterogeneous agricultural machinery working together. With the rapid development of navigation technology and vehicle control technology, agricultural machinery and equipment are gradually moving towards the development path of automation and precision. In the scenario of heterogeneous agricultural machinery working together, the slave agricultural machinery equipment can move in parallel with the host agricultural machinery equipment to assist the host agricultural machinery equipment in agricultural operations. However, when the host agricultural machinery equipment operates independently, the slave agricultural machinery equipment always follows the host agricultural machinery equipment. On the one hand, there is a problem of waste of resources, and on the other hand, there is also a potential risk of collision, resulting in low working efficiency of heterogeneous agricultural machinery working together. To this end, the embodiments of this specification provide a technical solution to improve the working efficiency of heterogeneous agricultural machinery working together. In this scheme, the target time for the host agricultural machinery to reach the collaborative working state in the target working area can be determined based on the current storage capacity, maximum storage capacity and operating efficiency of the host agricultural machinery. The target position for the host agricultural machinery to reach the collaborative working state in the target working area is determined based on the target time, the current position of the host agricultural machinery and the driving speed of the host agricultural machinery. The predicted time for the slave agricultural machinery to reach the target position is determined based on the current position, target position and driving speed of the slave agricultural machinery corresponding to the host agricultural machinery. When the target time is equal to the predicted time, a scheduling instruction is sent to the slave agricultural machinery, wherein the scheduling instruction is used to trigger the slave agricultural machinery to travel to the target position and trigger the slave agricultural machinery to work in collaboration with the host agricultural machinery when it reaches the target position. In this way, when the target time for the host agricultural machinery to obtain the collaborative working state in the target working area is equal to the predicted time for the slave agricultural machinery to reach the target position, a dispatch instruction can be sent to the slave agricultural machinery in advance when the host agricultural machinery has not yet reached the target position, so as to trigger the slave agricultural machinery to travel to the target position. On the one hand, it can avoid the scheduling mode in which the host agricultural machinery sends a dispatch instruction to the slave agricultural machinery when it reaches the target position, and the problem that the host agricultural machinery needs to stop and wait can be avoided. On the other hand, it can also avoid the scheduling mode in which the slave agricultural machinery follows the host agricultural machinery, which has problems such as waste of resources and collision risk, and can improve the working efficiency of the collaborative work of heterogeneous agricultural machinery.

[0034] like Figure 1 As shown, the embodiment of this specification provides a method for coordinated scheduling of heterogeneous agricultural machinery. The execution subject of the method can be a server. The method can be applied to host agricultural machinery equipment. The host agricultural machinery equipment can be any agricultural machinery equipment that can perform agricultural operations. The method can specifically include the following steps:

[0035] In step S102, the target time required for the host agricultural machinery to reach a coordinated working state in a target working area is determined according to the current storage capacity, maximum storage capacity and working efficiency of the host agricultural machinery.

[0036] The target working area may be any area where agricultural operations are required, for example, the target working area may be an indoor area such as a greenhouse.

[0037] In implementation, the host agricultural machinery equipment may be agricultural machinery equipment that can independently carry out agricultural operations, and the slave agricultural machinery equipment may be equipment that assists the host agricultural machinery equipment in completing agricultural operations under the leadership of the host agricultural machinery equipment. For example, taking the host agricultural machinery equipment as a harvester and the slave agricultural machinery equipment as a grain transport vehicle as an example, the harvester as the host agricultural machinery equipment can independently complete the harvesting operation in the target work area (such as farmland), and the harvester can temporarily store the harvested grain in the harvester's own grain storage bin. With the continuous operation of the harvesting work, the amount of grain in the harvester's grain storage bin gradually reaches the full load of the harvester (i.e., the maximum storage capacity). When the grain storage capacity reaches the upper limit of the harvester's grain storage bin capacity (i.e., the maximum storage capacity), the harvester reaches a collaborative working state. At this time, the slave agricultural machinery equipment (i.e., the grain transport vehicle) needs to work in coordination, that is, the grain transport vehicle can assist the harvester in completing the unloading of grain.

[0038] The server can calculate the current storage capacity, maximum storage capacity and operating efficiency of the host agricultural machinery according to the following formula:

[0039] t m =(C m0 -C m ) / W,

[0040] Determine the target time for the host agricultural machinery to reach the coordinated working state in the target working area, where t m For target time, C m0 is the maximum storage capacity of the host agricultural machinery, C m is the current storage capacity of the host agricultural machinery, and W is the efficiency of the host agricultural machinery.

[0041] In step S104, the target position of the host agricultural machinery to reach the cooperative working state in the target working area is determined according to the target time, the current position of the host agricultural machinery and the driving speed of the host agricultural machinery.

[0042] During implementation, the server can determine the path distance based on the target time and the driving speed of the host agricultural machinery equipment, and then determine the target position of the host agricultural machinery equipment to achieve a collaborative working state in the target working area based on the path distance and the current position of the host agricultural machinery equipment.

[0043] In step S106, the predicted time required for the slave agricultural machinery to reach the target position is determined based on the current position and the target position of the slave agricultural machinery corresponding to the master agricultural machinery, and the driving speed of the slave agricultural machinery.

[0044] During implementation, the server can determine the straight-line distance between the two positions based on the current position and target position of the slave agricultural machinery equipment corresponding to the host agricultural machinery equipment, and then determine the predicted time for the slave agricultural machinery equipment to reach the target position based on the straight-line distance and the driving speed of the slave agricultural machinery equipment.

[0045] In addition, there may be multiple slave agricultural machinery equipment to be scheduled, and the server may obtain the working status of each slave agricultural machinery equipment to be scheduled (such as whether it is in an idle and available state), and determine the slave agricultural machinery equipment that can be scheduled this time based on the obtained working status.

[0046] In step S108, when the target time is equal to the predicted time, a scheduling instruction is sent to the slave agricultural machinery.

[0047] The dispatch instruction may be used to trigger the slave agricultural machinery to travel to the target location, and trigger the slave agricultural machinery to work in coordination with the host agricultural machinery when the slave agricultural machinery reaches the target location.

[0048] During implementation, when the target time is equal to the predicted time, the server can send a scheduling instruction to the slave agricultural machinery equipment through the wireless communication module between the host agricultural machinery equipment and the slave agricultural machinery equipment, so as to trigger the slave agricultural machinery equipment to travel to the target position, so that the slave agricultural machinery equipment can work in coordination with the host agricultural machinery equipment when it reaches the target position.

[0049] The embodiments of the present specification provide a method for coordinated scheduling of heterogeneous agricultural machinery. The target time for a host agricultural machinery device to reach a coordinated working state in a target working area can be determined based on the current storage capacity, maximum storage capacity and operating efficiency of the host agricultural machinery device. The target position for the host agricultural machinery device to reach the coordinated working state in the target working area can be determined based on the target time, the current position of the host agricultural machinery device and the driving speed of the host agricultural machinery device. The predicted time for the slave agricultural machinery device to reach the target position can be determined based on the current position, target position and driving speed of a slave agricultural machinery device corresponding to the host agricultural machinery device. When the target time is equal to the predicted time, a scheduling instruction is sent to the slave agricultural machinery device, wherein the scheduling instruction is used to trigger the slave agricultural machinery device to travel to the target position, and trigger the slave agricultural machinery device to work in coordination with the host agricultural machinery device when it reaches the target position. In this way, when the target time for the host agricultural machinery to obtain the collaborative working state in the target working area is equal to the predicted time for the slave agricultural machinery to reach the target position, a dispatch instruction can be sent to the slave agricultural machinery in advance when the host agricultural machinery has not yet reached the target position, so as to trigger the slave agricultural machinery to travel to the target position. On the one hand, it can avoid the scheduling mode in which the host agricultural machinery sends a dispatch instruction to the slave agricultural machinery when it reaches the target position, and the problem that the host agricultural machinery needs to stop and wait can be avoided. On the other hand, it can also avoid the scheduling mode in which the slave agricultural machinery follows the host agricultural machinery, which has problems such as waste of resources and collision risk, and can improve the working efficiency of the collaborative work of heterogeneous agricultural machinery.

[0050] In practical applications, in the above step S104, there are various specific processing methods for determining the target position of the host agricultural machinery equipment to reach the cooperative working state in the target working area according to the target time, the current position of the host agricultural machinery equipment and the driving speed of the host agricultural machinery equipment. The following is an optional processing method, such as Figure 2 As shown, the processing may specifically include the following steps S1042 to S1044.

[0051] In step S1042 , the path distance between the target position and the current position of the host agricultural machinery is determined according to the target time and the travel speed of the host agricultural machinery.

[0052] In implementation, the server may determine the product of the target time and the travel speed of the host agricultural machinery as the path distance between the target position and the current position of the host agricultural machinery.

[0053] The host agricultural machinery equipment moves from the current position (X 1 ,Y 1 ) reaches the expected full position (X f ,Y f) (i.e., the target position) and the time taken by the host agricultural machinery to reach the full warehouse state from the current state t m Equal, t m The calculation expression is:

[0054] t m =(C m0 -C m ) / W, where t m Time for the target.

[0055] The host agricultural machinery can obtain the coordinate point of the current position (X 1 ,Y 1 ), the target position (X f ,Y f ) must satisfy the following relationship, that is, the path distance between the target location and the current location of the host agricultural machinery can be determined according to the following relationship:

[0056] dist[(X 1 ,Y 1 ),(X f ,Y f )]=v w ×t m ,

[0057] Among them, dist[(X 1 ,Y 1 ),(X f ,Y f )] is the path distance, which means the host agricultural machinery equipment follows the preset planned path from (X 1 ,Y 1 ) to (X f ,Y f ) rather than the Euclidean distance.

[0058] In step S1044, the target position of the host agricultural machinery in the target working area to achieve the coordinated working state is determined according to the preset planned path of the host agricultural machinery in the target working area, the path distance and the current position of the host agricultural machinery.

[0059] Among them, the preset planned path of the host agricultural machinery equipment in the target working area is a planned path determined according to a preset model predictive control algorithm based on the equipment parameters of the host agricultural machinery equipment and the area parameters of the target working area.

[0060] In implementation, the server may determine a preset planned path of the host agricultural machinery in the target working area according to a preset model predictive control (MPC) algorithm, based on equipment parameters of the host agricultural machinery and area parameters of the target working area.

[0061] For example, if the target working area is Figure 3 Taking the rectangular farmland plot shown as an example, before the heterogeneous agricultural machinery collaborative work is carried out, the server can plan the full coverage path of the host operation for the farmland plot according to the equipment parameters of the host agricultural machinery equipment and the regional parameters of the target working area (such as the operating range, etc.). Specifically, the preset planning path may include the straight working section in the middle of the farmland plot and the turning sections on both sides of the farmland plot. The host agricultural machinery equipment needs to complete the operation work on the crops in the straight working section, while the host agricultural machinery equipment does not need to operate in the turning section, but only needs to complete the U-turn. The MPC algorithm can achieve the effect of tracking control according to the set discrete trajectory. Therefore, the full coverage planning path can be discretized, and the planning path can be sampled according to a preset sampling period (such as T = 0.01s) to obtain the discrete trajectory of the planning path of the host agricultural machinery equipment, such as the matrix ref p×5 Indicates that, where p can represent the total number of discrete trajectory points in the discrete trajectory, the matrix ref p×5 The row vector of (index p ,x p ,y p ,δ p ,v p ), index in the row vector p Represents the index value corresponding to each discrete trajectory point of the expected path, x p Indicates the expected horizontal coordinate, y p represents the expected ordinate, δ p represents the desired front wheel steering angle and v p Represents the expected speed. According to the discrete trajectory matrix ref p×5 Based on the MPC controller, the host agricultural machinery can continuously operate along the desired path from the starting point of the preset planned path to the end point of the preset planned path in the farmland to complete the corresponding operation task.

[0062] In practical applications, in the above step S106, according to the current position and target position of the slave agricultural machinery corresponding to the master agricultural machinery, and the driving speed of the slave agricultural machinery, the specific processing method for determining the predicted time for the slave agricultural machinery to reach the target position can be various. The following is another optional processing method, such as Figure 2 As shown, the processing may specifically include the following step S1062.

[0063] In step S1062, according to the current position and target position of the slave agricultural machinery corresponding to the master agricultural machinery, and the driving speed of the slave agricultural machinery, the following formula is used:

[0064]

[0065] Determine the predicted time for the slave agricultural machinery to reach the target location, where t a is the prediction time, X f is the horizontal coordinate of the target position, Y f is the ordinate of the target position, X 0 is the horizontal coordinate of the current position of the slave agricultural machinery, Y 0 is the ordinate of the current position of the slave agricultural machinery, v a It is the travel speed of the slave agricultural machinery.

[0066] In practice, when the master agricultural machinery equipment calls the slave agricultural machinery equipment to assist in the operation, the slave agricultural machinery equipment can directly start from the agricultural machinery parking garage and go to the estimated full warehouse point (i.e., the target position) to assist the master agricultural machinery equipment in the operation. Therefore, the predicted time t for the slave agricultural machinery equipment to reach the estimated full warehouse point from the agricultural machinery parking garage is a The calculation expression can be:

[0067]

[0068] When t m =t a time (i.e. the predicted time and the target time are equal), indicating that the host agricultural machinery equipment has moved from the current position (X 1 ,Y 1 ) along the preset planned path to reach the expected full warehouse point (X f ,Y f ) (i.e., the target position) and the time when the slave agricultural machinery equipment leaves the agricultural machinery parking garage (X 0 ,Y 0 )Go to the expected full position point (X f ,Y f ) are equal. Therefore, when the condition t is satisfied m =t a When the host agricultural machinery equipment can issue a dispatch instruction to call the slave agricultural machinery equipment from the agricultural machinery parking garage (X 0 ,Y 0 ) depart for (X f ,Y f In this way, the slave agricultural machinery and the master agricultural machinery can reach the target position at the same time (X f ,Y f), directly start the collaborative operation of heterogeneous agricultural machinery, so that the host agricultural machinery equipment does not need to stop and wait for the slave agricultural machinery equipment to assist in the operation when the warehouse is full, reducing the non-operation waiting time of the host agricultural machinery equipment and improving the collaborative operation efficiency of heterogeneous agricultural machinery.

[0069] The embodiments of the present specification provide a method for coordinated scheduling of heterogeneous agricultural machinery. The target time for a host agricultural machinery device to reach a coordinated working state in a target working area can be determined based on the current storage capacity, maximum storage capacity and operating efficiency of the host agricultural machinery device. The target position for the host agricultural machinery device to reach the coordinated working state in the target working area can be determined based on the target time, the current position of the host agricultural machinery device and the driving speed of the host agricultural machinery device. The predicted time for the slave agricultural machinery device to reach the target position can be determined based on the current position, target position and driving speed of a slave agricultural machinery device corresponding to the host agricultural machinery device. When the target time is equal to the predicted time, a scheduling instruction is sent to the slave agricultural machinery device, wherein the scheduling instruction is used to trigger the slave agricultural machinery device to travel to the target position, and trigger the slave agricultural machinery device to work in coordination with the host agricultural machinery device when it reaches the target position. In this way, when the target time for the host agricultural machinery to obtain the collaborative working state in the target working area is equal to the predicted time for the slave agricultural machinery to reach the target position, a dispatch instruction can be sent to the slave agricultural machinery in advance when the host agricultural machinery has not yet reached the target position, so as to trigger the slave agricultural machinery to travel to the target position. On the one hand, it can avoid the scheduling mode in which the host agricultural machinery sends a dispatch instruction to the slave agricultural machinery when it reaches the target position, and the problem that the host agricultural machinery needs to stop and wait can be avoided. On the other hand, it can also avoid the scheduling mode in which the slave agricultural machinery follows the host agricultural machinery, which has problems such as waste of resources and collision risk, and can improve the working efficiency of the collaborative work of heterogeneous agricultural machinery.

[0070] like Figure 4 As shown, the embodiment of this specification provides a method for coordinated scheduling of heterogeneous agricultural machinery. The execution subject of the method can be a server. The method can be applied to slave agricultural machinery equipment. The slave agricultural machinery equipment can be any agricultural machinery equipment that can assist the host agricultural machinery equipment in performing agricultural operations. The method can specifically include the following steps:

[0071] In step S402, a scheduling instruction sent by the master agricultural machinery corresponding to the slave agricultural machinery is received when the target time is equal to the predicted time.

[0072] Among them, the dispatching instruction can carry the target position of the host agricultural machinery equipment to reach the collaborative working state in the target working area. The target position can be determined according to the target time, the current position of the host agricultural machinery equipment and the driving speed of the host agricultural machinery equipment. The target time can be determined according to the current storage capacity, maximum storage capacity and operating efficiency of the host agricultural machinery equipment. The predicted time can be the time taken for the slave agricultural machinery equipment to reach the target position determined according to the current position, target position and driving speed of the slave agricultural machinery equipment.

[0073] In step S404, in response to the dispatch instruction, the slave agricultural machinery is controlled to travel to the target position, and cooperates with the master agricultural machinery when reaching the target position.

[0074] In practice, in the scenario of heterogeneous agricultural machinery working together, when the host agricultural machinery follows the preset planning path in the target working area, it will need the assistance of the slave agricultural machinery to ensure normal operation due to some of its own indicators being constrained (for example, when the harvester is full in the farmland, a grain truck needs to come to assist in unloading the grain to ensure the normal progress of subsequent harvesting operations). Figure 3 An agricultural machinery parking garage can be set up on the left side of the target working area shown. When the slave agricultural machinery equipment is not in a state of assisting the host agricultural machinery equipment in operation, the slave agricultural machinery equipment can wait in the agricultural machinery parking garage for the host agricultural machinery equipment to send a scheduling instruction. When the slave agricultural machinery equipment receives the scheduling instruction sent by the host agricultural machinery equipment, the slave agricultural machinery equipment can plan a collaborative operation path based on the coordinates and index point information of the target position transmitted by the host agricultural machinery equipment. The path planning method of the slave agricultural machinery equipment can refer to the path planning method of the preset planned path of the host agricultural machinery equipment, which will not be repeated here.

[0075] After receiving the dispatch instruction of the host agricultural machinery, the slave agricultural machinery can plan the operation path of the slave agricultural machinery according to the current position of the host agricultural machinery, the target position of the estimated full warehouse point of the host agricultural machinery, and the preset planned path of the host agricultural machinery received by the wireless communication module. Among them, the path planning method of the slave agricultural machinery can be consistent with the path planning method of the host agricultural machinery, that is, the slave agricultural machinery can also achieve the tracking effect of the agricultural machinery on the planned path based on the MPC controller, so it is not repeated.

[0076] Among them, in order to improve the control efficiency of the MPC controller, the slave agricultural machinery equipment can be equipped with an MPC controller separately, such as Figure 5 As shown, the cooperative operation between the host agricultural machinery equipment and the slave agricultural machinery equipment can rely on the wireless communication equipment between the host agricultural machinery equipment and the slave agricultural machinery equipment to realize the transmission of information.

[0077] After completing the path planning of the slave agricultural machinery equipment, the slave agricultural machinery equipment can move to the target location along the planned path under the control of the MPC controller to assist the host agricultural machinery equipment in collaborative operations. Specifically, after the slave agricultural machinery equipment receives the dispatching instruction of the host agricultural machinery equipment, the slave agricultural machinery equipment can move from the agricultural machinery parking garage (X 0 ,Y 0 ) and follow the straight path to the target location (X f ,Y f The slave agricultural machinery and the master agricultural machinery reach the target position at the same time (X f ,Y f ), the master agricultural machinery equipment and the slave agricultural machinery equipment can start collaborative operation. When the master agricultural machinery equipment and the slave agricultural machinery equipment are performing collaborative operation, the planned path of the slave agricultural machinery equipment can be regarded as the planned path of the master agricultural machinery equipment shifted to one side by a preset distance. The specific preset distance can be determined according to the specifications of the master agricultural machinery equipment and the slave agricultural machinery equipment and the collaborative operation requirements. After the path planning of the slave agricultural machinery equipment is determined, the slave agricultural machinery equipment can move in parallel with the master agricultural machinery equipment as required to assist the master agricultural machinery equipment in completing the collaborative operation task.

[0078] In the process of heterogeneous agricultural machinery cooperation, the host agricultural machinery can transfer the crops loaded by itself to the slave agricultural machinery. The current storage capacity C of the slave agricultural machinery a It will continue to grow with the progress of collaborative work. Therefore, the current storage capacity of slave agricultural machinery equipment must meet the constraint conditions: C a ≤C a0 , where C a0 It is the maximum capacity of the slave agricultural machinery.

[0079] When the current storage capacity of the slave agricultural machinery equipment is equal to the maximum capacity C of the slave agricultural machinery equipment a0 When the slave agricultural machinery equipment does not meet the conditions for continuing the collaborative operation, the slave agricultural machinery equipment can end the collaborative operation task and use the satellite navigation positioning module to determine the coordinate point of the current position of the slave agricultural machinery equipment. The path of the slave agricultural machinery equipment returning from the current position to the agricultural machinery parking garage can be re-planned, so as to return to the agricultural machinery parking garage along the planned path based on the MPC controller to empty the crops and wait for the next scheduling instruction of the host agricultural machinery equipment.

[0080] In addition, there can be multiple slave agricultural machinery equipment, and the host agricultural machinery equipment can also determine the first time for the slave agricultural machinery equipment currently working in collaboration to reach a full warehouse state based on the current storage capacity and maximum capacity of the slave agricultural machinery equipment currently working in collaboration, and send scheduling instructions to other slave agricultural machinery equipment in the agricultural machinery parking garage based on the first time and the current storage capacity of the host agricultural machinery equipment, so as to schedule other slave agricultural machinery equipment to perform collaborative operations when the slave agricultural machinery equipment currently working in collaboration reaches a full warehouse state.

[0081] In addition, if Figure 6 As shown, the host agricultural machinery equipment can use the satellite navigation positioning module and the capacity sensor module to obtain the coordinates of the current position of the host agricultural machinery equipment, the current storage capacity of the host agricultural machinery equipment and other data information, and transmit the relevant data to the computing central processor, which can calculate the coordinates of the target position of the expected full warehouse point of the host agricultural machinery equipment and the timing of calling the slave agricultural machinery equipment for collaborative operation. At the same time, the computing central processor can also transmit the preset planning path of the host agricultural machinery equipment, the driving speed of the host agricultural machinery equipment, the posture of the host agricultural machinery equipment and other information to the MPC controller to realize the kinematic control of the host agricultural machinery equipment. The wireless communication module of the host agricultural machinery equipment can transmit the trigger instruction, the coordinates of the target position of the expected full warehouse point of the host agricultural machinery equipment, the preset planning path of the host agricultural machinery equipment and other data information to the wireless communication module of the slave agricultural machinery equipment to establish a collaborative basis for the command-based collaborative scheduling of heterogeneous agricultural machinery. The slave agricultural machinery equipment can obtain the above data information through the wireless communication module, and transmit the obtained data information to the computing central processor of the slave agricultural machinery equipment, so as to combine the data information obtained by the satellite navigation positioning module and the capacity sensor module of the slave agricultural machinery equipment to calculate the planning path and collaborative state scheduling instructions of the slave agricultural machinery equipment. The calculated data and information such as the driving speed and posture of the slave agricultural machinery equipment are then transmitted to the MPC controller of the slave agricultural machinery equipment to realize the response of the slave agricultural machinery equipment to the coordinated scheduling of the host agricultural machinery equipment.

[0082] In summary, if Figure 7 As shown, in the first step, the preset planning path of the host agricultural machinery equipment and the maximum storage capacity C of the host agricultural machinery equipment can be initialized according to the regional parameters of the target working area and the equipment parameters of the agricultural machinery. 0 , the operating efficiency of the host agricultural machinery equipment W, the coordinates of the agricultural machinery parking garage (X 0 ,Y 0 ) and the travel speed v of the slave agricultural machinery to assist the host agricultural machinery in its operation a After initialization, the model predictive control algorithm can be used to control heterogeneous agricultural machinery to achieve autonomous driving and collaborative operation.

[0083] In the second step, based on the model predictive control algorithm, the host agricultural machinery is controlled to start working in the target working area along the preset planned path.

[0084] The third step is to update the current storage capacity C of the host agricultural machinery and the coordinates of the target position of the estimated full storage point of the host agricultural machinery in real time during the operation of the host agricultural machinery. f ,Y f ), and calculate the time t of the host agricultural machinery from the current position to the target position of the estimated full warehouse point m , and the time t required for the slave agricultural machinery to move from the agricultural machinery parking garage to the target location of the estimated full warehouse point a .

[0085] Judgement m With t a Are they equal? ​​If t m With t a are not equal, return to step 3 and repeat the calculation; if t m With t a If they are equal, proceed to step 4.

[0086] Step 4: When t m With t a When the master agricultural machinery equipment is equal, the master agricultural machinery equipment can send a dispatch instruction to the slave agricultural machinery equipment to trigger the slave agricultural machinery equipment to leave the agricultural machinery parking garage (X 0 ,Y 0 ) to start the journey to the target location (X f ,Y f ) to assist the host agricultural machinery in its operation. At the expected full warehouse point, the host agricultural machinery and the slave agricultural machinery will meet and start collaborative operation.

[0087] In the fifth step, the slave agricultural machinery equipment and the host agricultural machinery equipment can move forward in parallel along the planned path to achieve collaborative operation. After the collaborative operation task is completed, the host agricultural machinery equipment can continue to move forward along the planned path, and the slave agricultural machinery equipment can return to the agricultural machinery parking garage to stop and wait for the next call.

[0088] Finally, it is determined whether the host agricultural machinery has completed all the operation tasks. If the host agricultural machinery has not completed it, it returns to the second step to let the host agricultural machinery continue to operate along the planned path and repeat the command-based collaborative scheduling with the slave agricultural machinery. If the host agricultural machinery has completed all the operation tasks, the algorithm ends.

[0089] The embodiment of the present specification provides a method for cooperative scheduling of heterogeneous agricultural machinery, receiving a scheduling instruction sent by a host agricultural machinery device corresponding to a slave agricultural machinery device when the target time is equal to the predicted time, wherein the scheduling instruction may carry the target position of the host agricultural machinery device in the target working area to reach the cooperative working state, the target position may be determined according to the target time, the current position of the host agricultural machinery device and the driving speed of the host agricultural machinery device, the target time may be determined according to the current storage capacity, the maximum storage capacity and the operating efficiency of the host agricultural machinery device, and the predicted time may be the time taken for the slave agricultural machinery device to reach the target position determined according to the current position, the target position and the driving speed of the slave agricultural machinery device. In response to the scheduling instruction, the slave agricultural machinery device is controlled to travel to the target position, and cooperates with the host agricultural machinery device when the target position is reached. In this way, when the target time for the host agricultural machinery to obtain the collaborative working state in the target working area is equal to the predicted time for the slave agricultural machinery to reach the target position, a dispatch instruction can be sent to the slave agricultural machinery in advance when the host agricultural machinery has not yet reached the target position, so as to trigger the slave agricultural machinery to travel to the target position. On the one hand, it can avoid the scheduling mode in which the host agricultural machinery sends a dispatch instruction to the slave agricultural machinery when it reaches the target position, and the problem that the host agricultural machinery needs to stop and wait can be avoided. On the other hand, it can also avoid the scheduling mode in which the slave agricultural machinery follows the host agricultural machinery, which has problems such as waste of resources and collision risk, and can improve the working efficiency of the collaborative work of heterogeneous agricultural machinery.

[0090] In practical applications, the preset planning path of the slave agricultural machinery equipment in the target working area can be a planning path determined according to a preset model predictive control algorithm based on the equipment parameters of the slave agricultural machinery equipment and the regional parameters of the target working area. Accordingly, when the slave agricultural machinery equipment is in a coordinated working state, Huakeyi controls the slave agricultural machinery equipment according to the forward state of the host agricultural machinery equipment. The specific processing methods for controlling the slave agricultural machinery equipment can be various. An optional processing method is provided below, such as Figure 8 As shown, the process may specifically include the following steps S802 to S806.

[0091] In step S802, when the slave agricultural machinery is in a coordinated working state, the forward state of the master agricultural machinery is acquired.

[0092] The forward state may include a straight-line driving state and a turning driving state.

[0093] In step S804, when the master agricultural machinery is in a straight-line driving state, the driving speed of the slave agricultural machinery is controlled to be the same as the driving speed of the master agricultural machinery.

[0094] In step S806, when the host agricultural machinery equipment is in a turning driving state, the driving speed of the slave agricultural machinery equipment is controlled to be a first preset speed, and when the host agricultural machinery equipment is converted from a turning driving state to a straight driving state, the control increment of the slave agricultural machinery equipment is determined according to the index point of the host agricultural machinery equipment and the preset planned path of the slave agricultural machinery equipment, so as to control the slave agricultural machinery equipment to continue driving through the control increment.

[0095] The first preset speed may be less than a preset speed threshold.

[0096] In implementation, for example, Figure 3 In the target working area shown, the host agricultural machinery equipment only needs to work in the straight working section, and the host agricultural machinery equipment does not work when turning at the end of the field, which means that the host agricultural machinery equipment does not need the assistance of the slave agricultural machinery equipment during the turning process. Since the slave agricultural machinery equipment is not required to closely follow the host agricultural machinery equipment for collaborative operation in the turning section, in order to avoid collisions between different types of agricultural machinery and improve the overall operation efficiency, the strategy of "master and slave agricultural machinery turning in sequence" can be adopted, that is, the host agricultural machinery equipment does not stop and wait during the entire operation process, and always moves forward along the preset planned path of the host agricultural machinery equipment, but allows the slave agricultural machinery equipment to accelerate and catch up with the host agricultural machinery equipment after completing the turn, so as to achieve the collaborative operation of different types of agricultural machinery in the straight working section.

[0097] For example, Fig. 9 As shown, Fig. 9 In (1), the main agricultural machinery and the slave agricultural machinery move forward in parallel in the straight working section to achieve collaborative operation until the turning point at the end of the field. Fig. 9 In (2), when entering a turn, in order to avoid collision between different types of agricultural machinery, the slave agricultural machinery can stop and wait, while the master agricultural machinery continues to move forward along the preset planned path and starts to turn. Fig. 9 (3), after the master agricultural machinery equipment completes the turn, the slave agricultural machinery equipment can start turning along the planned path. Fig. 9 In (4), considering that the host agricultural machinery has a certain loading capacity, it does not completely need the assistance of the slave agricultural machinery in the straight working section. Therefore, when the host agricultural machinery completes the turn and enters the straight working section, it does not stop to wait for the slave agricultural machinery to complete the turn, but continues to move forward along the preset planned path to work first, thus realizing "the host does not stop". The slave agricultural machinery continues to complete the turn along the preset planned path of the slave agricultural machinery. Fig. 9 (5), the host agricultural machinery equipment can continue to operate along the straight working section, and the slave agricultural machinery equipment will accelerate to catch up with the host agricultural machinery equipment according to the control increment after entering the straight working section, and resume the coordinated operation with the host agricultural machinery equipment as soon as possible. Fig. 9In (6), after the slave agricultural machinery equipment catches up with the master agricultural machinery equipment, the master agricultural machinery equipment and the slave agricultural machinery equipment continue to move forward in parallel along the straight working section to achieve collaborative operation.

[0098] In practical applications, the control increment may include a speed increment and a steering angle increment. Accordingly, in the above step S806, the specific processing method for determining the control increment of the slave agricultural machinery equipment according to the index point of the host agricultural machinery equipment and the preset planned path of the slave agricultural machinery equipment may include the processing of the following steps A1 to A2.

[0099] In step A1, the index points of the slave agricultural machinery are updated according to the index points of the master agricultural machinery to obtain updated index points.

[0100] In step A1, a preset model predictive control algorithm is used to determine a speed increment and a steering angle increment of the slave agricultural machinery based on the updated index point, equipment parameters of the slave agricultural machinery and area parameters of the target working area.

[0101] In implementation, the MPC algorithm can achieve tracking effects according to the set discrete trajectory, so it is necessary to discretize the full coverage planning path, and then obtain the discrete trajectory matrix of the planning path. The MPC controller can realize the tracking control of the agricultural machinery on the planning path according to the discrete trajectory matrix. p×5 and ref_a p×5 The planning path discrete trajectory matrices of the host agricultural machinery equipment and the slave agricultural machinery equipment can be respectively, and their corresponding row vectors are (index mp ,x mp ,y mp ,δ mp ,v mp ) and (index ap ,x ap ,y ap ,δ ap ,v ap ), the items in the row vector represent the index point, expected horizontal coordinate, expected vertical coordinate, expected front wheel steering angle and expected speed corresponding to each discrete trajectory point in the planned path of the host agricultural machinery and the slave agricultural machinery. In addition, the turning flag of the host agricultural machinery can be expressed as isTurning m , the turning mark of the slave agricultural machinery can be isTurning a , when the host agricultural machinery is in a turning state, isTurning m isTurning is 1; when the host agricultural machinery is in a straight-line driving state, mThe MPC controller can control the motion state of agricultural machinery by controlling the control increment of agricultural machinery equipment. The control increment of the slave agricultural machinery equipment can be Δu t =[Δv t ,Δδ t ], where Δv t Can be the speed increment of the slave agricultural machinery, Δδ t It can increase the steering angle of the front wheels of the follower agricultural equipment.

[0102] Discrete trajectory matrix ref_m based on the planned path of the host agricultural machinery equipment and the slave agricultural machinery equipment p×5 and ref_a p×5 Based on the MPC controller, the host agricultural machinery and the slave agricultural machinery move forward in a coordinated manner along the straight working section. m withisTurning a In the process of collaborative operation, the slave agricultural machinery equipment always checks the turning flag bit isTurning of the master agricultural machinery equipment. m , when isTurning m When it changes to 1, it means that the host agricultural machinery is about to enter the turning state. At this time, the slave agricultural machinery should stop and wait for the host agricultural machinery to complete the turning. m When it is 1, the control increment Δu in the MPC controller of the slave agricultural machinery equipment is t =[Δv t ,Δδ t ]=[0,0], when the host agricultural machinery equipment is turning, the control increment Δu of the slave agricultural machinery equipment t It is always 0 to achieve the effect that the slave agricultural machinery equipment stops and waits for the master agricultural machinery equipment to complete the turn.

[0103] After the host agricultural machinery completes the turn, isTurning m From 1 to 0, the slave agricultural machinery can start turning. m When it is 0, cancel the t The MPC controller of the slave agricultural machinery equipment can continue to be based on the slave discrete trajectory matrix ref_a p×5 Get the row vector (index) corresponding to the subsequent discrete points in the planned path of the slave agricultural machinery equipment ap ,x ap ,y ap ,δ ap ,v ap ), calculate the control increment Δu of the output slave agricultural machinery equipment t =[Δv t ,Δδ t], control the slave agricultural machinery equipment to start turning along the planned path of the slave agricultural machinery equipment, and at the same time isTurning a Changes from 0 to 1. In the process of the slave agricultural machinery turning, the host agricultural machinery does not stop and wait, but continues to move forward along the preset planned path of the host agricultural machinery to perform the operation first.

[0104] Waiting for the slave agricultural machinery to complete the turn and enter the straight working section, isTurning a From 1 to 0, at this time, the slave agricultural machinery equipment needs to accelerate along the straight working section to catch up with the host agricultural machinery equipment and resume the coordinated operation with the host agricultural machinery equipment as soon as possible. For example, the method of tracking index points in the MPC algorithm can be used to control the slave agricultural machinery equipment to accelerate and catch up with the host agricultural machinery equipment. The MPC controller can achieve the tracking effect by controlling the agricultural machinery to track the index point. The index point can be a specific point on the trajectory or the ideal position of the agricultural machinery on the trajectory. The MPC controller can use the current vehicle state and index point information to predict the future state and optimize the control input to achieve the expected trajectory tracking effect.

[0105] The master agricultural machinery and the slave agricultural machinery can refer to the planned path discrete trajectory matrix ref_m under the control of the MPC controller. p×5 and ref_a p×5 Tracking operation. For the host agricultural machinery and the slave agricultural machinery, when the host agricultural machinery enters the straight operation section, it does not stop and wait, but continues to follow the index point value index of the host agricultural machinery. mp From the discrete trajectory matrix ref_m p×5 Get ref_m p×5 Corresponding row vector information (index mp ,x mp ,y mp ,δ mp ,v mp ), the MPC controller of the host agricultural machinery uses this as a reference point to control the host agricultural machinery to track the path operation. For the slave agricultural machinery, when the host agricultural machinery and the slave agricultural machinery are both in the straight line operation segment, and the slave agricultural machinery lags behind the host agricultural machinery in relative position, the index point value of the slave agricultural machinery can be made equal to the index point value of the host agricultural machinery (that is, the index point of the slave agricultural machinery can be updated according to the index point of the host agricultural machinery), that is:

[0106] index a =index m

[0107] By updating the index point value of the slave agricultural machinery equipment to the index point value of the master agricultural machinery equipment, the MPC controller of the slave agricultural machinery equipment can Find the index point value index of the slave agricultural machinery equipment a index m The corresponding index point row vector information, in this way, the expected position point of the slave agricultural machinery equipment becomes a trajectory point on the planned path of the slave agricultural machinery equipment that is relatively parallel to the current position of the host agricultural machinery equipment.

[0108] In this way, by tracking the master index point, the MPC controller of the slave agricultural machinery equipment can use the updated desired position point of the slave agricultural machinery equipment and the current agricultural machinery state to optimize the control input and increase the speed increment Δv of the slave agricultural machinery equipment. t , so that the slave agricultural machinery equipment can achieve the effect of accelerating to catch up with the master agricultural machinery equipment. After the slave agricultural machinery equipment accelerates to catch up with the master agricultural machinery equipment, the master agricultural machinery equipment and the slave agricultural machinery equipment resume collaborative operation, and the heterogeneous agricultural machinery can continue to move forward in parallel along the planned path to complete the collaborative operation of the heterogeneous agricultural machinery.

[0109] Among them, Fig.10 As shown, the host agricultural machinery equipment can use the satellite navigation positioning module to obtain the coordinates of the current position of the host agricultural machinery equipment and transmit the information to the computing central processor to calculate the real-time index point value index of the host agricultural machinery equipment mp and actual velocity and posture, and the discrete trajectory matrix ref_m of the host agricultural machinery p×5 The information is input into the MPC controller to control the host agricultural machinery to operate along the planned path. At the same time, the host agricultural machinery can use the wireless communication module between the host agricultural machinery and the slave agricultural machinery to set the turning flag of the host agricultural machinery to isTurning. m And the real-time index point value index of the host agricultural machinery m The data is transmitted to the computing central processor of the slave agricultural machinery equipment, and the MPC controller of the slave agricultural machinery equipment can be used according to isTurning m Control the turning strategy of the slave agricultural machinery. The computing central processor of the slave agricultural machinery can use index m Calculate and update the index value of the slave agricultural machinery equipment a and transmitted to the MPC controller, which can combine the discrete trajectory matrix of the slave agricultural machinery Adjust the speed increment Δv of the slave agricultural machinery equipment based on the information t , so as to control the slave agricultural machinery equipment to accelerate and catch up with the host agricultural machinery equipment in the straight operation section according to the control increment, and restore the coordinated operation between the master and slave agricultural machinery as soon as possible.

[0110] In summary, if Fig.11 As shown above, in summary, the imperative collaborative turning algorithm includes:

[0111] The first step is to initialize the turning flag isTurning of the master and slave agricultural machinery m =0 and isTurning a = 0 and other related parameters, the master and slave machines work together in the straight line according to the planned path. During the collaborative operation, the slave machine always checks the turning flag of the master machine isTurning m Whether it becomes 1, if isTurning m If it is still 0, the collaborative work will continue along the straight line working section.

[0112] Step 2: When isTurning m When it changes to 1, it means that the host enters the turning driving state. At this time, the control increment Δu of the slave agricultural machinery equipment is set t =[Δv t ,Δδ t ]=[0,0], the slave agricultural machinery stops and waits for the master agricultural machinery to complete the turn. At the same time, the slave agricultural machinery checks the turning flag bit isTurning of the master agricultural machinery m Whether it becomes 0, if isTurning m If it is still 1, the slave agricultural machinery continues to stop and wait.

[0113] Step 3: When isTurning m When it becomes 0, the host agricultural machinery equipment completes the turn and enters the straight operation section, and the control increment Δu of the slave agricultural machinery equipment is canceled at this time. t =[Δv t ,Δδ t ] is reset to zero, the slave starts turning, and the turning flag of the slave agricultural machinery equipment isTurning a Changes to 1. Check isTurning during the turning process of the slave agricultural machinery a Whether it changes to 0, if the turning flag bit of the slave agricultural machinery isTurning a If it is still 1, the slave agricultural machinery continues to complete the turn according to the planned path.

[0114] Step 4: When isTurning a After it becomes 0, it means that the slave agricultural machinery equipment has also completed the turn. At this time, let the index point index of the slave agricultural machinery equipment a Equal to the index point index of the host agricultural machinery equipment m The model predictive controller can increase the speed increment Δv of the slave agricultural machinery by tracking the index point t , so that the slave agricultural machinery equipment can catch up with the host agricultural machinery equipment at an accelerated speed.

[0115] In the fifth step, after the slave agricultural machinery equipment catches up with the master agricultural machinery equipment, the master and slave continue to move forward in parallel along the straight working section to complete the cooperative operation of heterogeneous agricultural machinery. And according to the conditions such as the capacity of the master and slave agricultural machinery, it is judged whether the cooperative operation task of heterogeneous agricultural machinery is completed. If it is completed, the algorithm ends. If not, it returns to the first step to continue the cooperative operation.

[0116] Based on the needs of heterogeneous agricultural machinery cooperative operation in unmanned farms, the imperative cooperative scheduling and turning method of the above heterogeneous agricultural machinery proposed by the model predictive control method achieves the effect of "host machine does not stop" in the whole operation process through "estimated expected full warehouse point" and "slave machine accelerates to track the host machine", which can minimize the non-operation waiting time of the host agricultural machinery equipment. In addition, while improving the efficiency of cooperative operation, it also avoids the potential risk of collision between heterogeneous agricultural machinery, which can improve the efficiency of agricultural machinery cooperative operation in unmanned farms.

[0117] The embodiment of the present specification provides a method for cooperative scheduling of heterogeneous agricultural machinery, receiving a scheduling instruction sent by a host agricultural machinery device corresponding to a slave agricultural machinery device when the target time is equal to the predicted time, wherein the scheduling instruction may carry the target position of the host agricultural machinery device in the target working area to reach the cooperative working state, the target position may be determined according to the target time, the current position of the host agricultural machinery device and the driving speed of the host agricultural machinery device, the target time may be determined according to the current storage capacity, the maximum storage capacity and the operating efficiency of the host agricultural machinery device, and the predicted time may be the time taken for the slave agricultural machinery device to reach the target position determined according to the current position, the target position and the driving speed of the slave agricultural machinery device. In response to the scheduling instruction, the slave agricultural machinery device is controlled to travel to the target position, and cooperates with the host agricultural machinery device when the target position is reached. In this way, when the target time for the host agricultural machinery to obtain the collaborative working state in the target working area is equal to the predicted time for the slave agricultural machinery to reach the target position, a dispatch instruction can be sent to the slave agricultural machinery in advance when the host agricultural machinery has not yet reached the target position, so as to trigger the slave agricultural machinery to travel to the target position. On the one hand, it can avoid the scheduling mode in which the host agricultural machinery sends a dispatch instruction to the slave agricultural machinery when it reaches the target position, and the problem that the host agricultural machinery needs to stop and wait can be avoided. On the other hand, it can also avoid the scheduling mode in which the slave agricultural machinery follows the host agricultural machinery, which has problems such as waste of resources and collision risk, and can improve the working efficiency of the collaborative work of heterogeneous agricultural machinery.

[0118] The above is a method for coordinating the dispatching of heterogeneous agricultural machinery provided by the embodiments of this specification. Based on the same idea, the embodiments of this specification also provide a device for coordinating the dispatching of heterogeneous agricultural machinery, such as Fig.12 shown.

[0119] The cooperative scheduling device for heterogeneous agricultural machinery includes: a first calculation module 1201, a position determination module 1202, a second calculation module 1203 and an instruction sending module 1204, wherein:

[0120] The first calculation module 1201 is used to determine the target time for the host agricultural machinery to reach a coordinated working state in a target working area according to the current storage capacity, maximum storage capacity and working efficiency of the coordinated scheduling device of the heterogeneous agricultural machinery;

[0121] A position determination module 1202 is used to determine the target position of the cooperative scheduling device of the heterogeneous agricultural machinery to reach the cooperative working state in the target working area according to the target time, the current position of the cooperative scheduling device of the heterogeneous agricultural machinery and the driving speed of the host agricultural machinery;

[0122] The second calculation module 1203 is used to determine the predicted time for the slave agricultural machinery to reach the target position according to the current position of the slave agricultural machinery of the cooperative scheduling device of the heterogeneous agricultural machinery, the target position, and the driving speed of the slave agricultural machinery;

[0123] The instruction sending module 1204 is used to send a scheduling instruction to the slave agricultural machinery equipment when the target time is equal to the predicted time. The scheduling instruction is used to trigger the slave agricultural machinery equipment to travel to the target position and trigger the slave agricultural machinery equipment to work in coordination with the coordinated scheduling device of the heterogeneous agricultural machinery when it reaches the target position.

[0124] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiment of the cooperative scheduling device for heterogeneous agricultural machinery, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0125] The embodiments of the present specification provide a collaborative scheduling device for heterogeneous agricultural machinery. When the target time for the host agricultural machinery equipment to obtain the collaborative working state in the target working area is equal to the predicted time for the slave agricultural machinery equipment to reach the target position, the host agricultural machinery equipment can send a scheduling instruction to the slave agricultural machinery equipment in advance before the host agricultural machinery equipment reaches the target position, so as to trigger the slave agricultural machinery equipment to travel to the target position. On the one hand, it can avoid the scheduling mode in which the host agricultural machinery equipment sends a scheduling instruction to the slave agricultural machinery equipment when reaching the target position, and the problem that the host agricultural machinery equipment needs to stop and wait can be avoided. On the other hand, it can also avoid the scheduling mode in which the slave agricultural machinery equipment follows the host agricultural machinery equipment, and there are problems such as waste of resources and collision risk. The working efficiency of the collaborative work of heterogeneous agricultural machinery can be improved.

[0126] The above is a method for coordinating the dispatching of heterogeneous agricultural machinery provided by the embodiments of this specification. Based on the same idea, the embodiments of this specification also provide a device for coordinating the dispatching of heterogeneous agricultural machinery, such as Fig.13 shown.

[0127] The cooperative scheduling device for heterogeneous agricultural machinery includes: an instruction receiving module 1301 and an instruction execution module 1302, wherein:

[0128] The instruction receiving module 1301 is used to receive the dispatch instruction sent by the host agricultural machinery equipment corresponding to the cooperative dispatching device of the heterogeneous agricultural machinery when the target time is equal to the predicted time, the dispatch instruction carries the target position of the host agricultural machinery equipment to reach the cooperative working state in the target working area, the target position is determined according to the target time, the current position of the host agricultural machinery equipment and the driving speed of the host agricultural machinery equipment, the target time is determined according to the current storage capacity, maximum storage capacity and working efficiency of the host agricultural machinery equipment, and the predicted time is the time taken for the slave agricultural machinery equipment to reach the target position determined according to the current position of the cooperative dispatching device of the heterogeneous agricultural machinery, the target position, and the driving speed of the slave agricultural machinery equipment;

[0129] The instruction execution module 1302 is used to control the cooperative scheduling device of the heterogeneous agricultural machinery to travel to the target position in response to the scheduling instruction, and to cooperate with the host agricultural machinery equipment when reaching the target position.

[0130] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiment of the cooperative scheduling device for heterogeneous agricultural machinery, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0131] The embodiments of the present specification provide a collaborative scheduling device for heterogeneous agricultural machinery. When the target time for the host agricultural machinery equipment to obtain the collaborative working state in the target working area is equal to the predicted time for the slave agricultural machinery equipment to reach the target position, the host agricultural machinery equipment can send a scheduling instruction to the slave agricultural machinery equipment in advance before the host agricultural machinery equipment reaches the target position, so as to trigger the slave agricultural machinery equipment to travel to the target position. On the one hand, it can avoid the scheduling mode in which the host agricultural machinery equipment sends a scheduling instruction to the slave agricultural machinery equipment when reaching the target position, and the problem that the host agricultural machinery equipment needs to stop and wait can be avoided. On the other hand, it can also avoid the scheduling mode in which the slave agricultural machinery equipment follows the host agricultural machinery equipment, and there are problems such as waste of resources and collision risk. The working efficiency of the collaborative work of heterogeneous agricultural machinery can be improved.

[0132] The above is a cooperative scheduling device for heterogeneous agricultural machinery provided by the embodiment of this specification. Based on the same idea, the embodiment of this specification also provides a cooperative scheduling device for heterogeneous agricultural machinery, such as Fig.14 shown.

[0133] The cooperative scheduling device for heterogeneous agricultural machinery may provide a terminal device or a server, etc. for the above-mentioned embodiment.

[0134] The collaborative scheduling device for heterogeneous agricultural machinery may have relatively large differences due to different configurations or performances, and may include one or more processors 1401 and memory 1402, and the memory 1402 may store one or more storage applications or data. Among them, the memory 1402 may be a short-term storage or a persistent storage. The application stored in the memory 1402 may include one or more modules (not shown in the figure), and each module may include a series of computer executable instructions in the collaborative scheduling device for heterogeneous agricultural machinery. Furthermore, the processor 1401 may be configured to communicate with the memory 1402, and execute a series of computer executable instructions in the memory 1402 on the collaborative scheduling device for heterogeneous agricultural machinery. The collaborative scheduling device for heterogeneous agricultural machinery may also include one or more power supplies 1403, one or more wired or wireless network interfaces 1404, one or more input and output interfaces 1405, and one or more keyboards 1406.

[0135] Specifically, in this embodiment, the coordinated scheduling device for heterogeneous agricultural machinery includes a memory and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs may include one or more modules, and each module may include a series of computer executable instructions for the coordinated scheduling device for heterogeneous agricultural machinery, and the one or more programs are configured to be executed by one or more processors, including the following computer executable instructions:

[0136] Determining a target time for the host agricultural machinery to reach a coordinated working state in a target working area according to the current storage capacity, maximum storage capacity and working efficiency of the host agricultural machinery;

[0137] Determine a target position where the host agricultural machinery reaches a coordinated working state in the target working area according to the target time, the current position of the host agricultural machinery and the travel speed of the host agricultural machinery;

[0138] Determine a predicted time for the slave agricultural machinery to reach the target position according to the current position of the slave agricultural machinery corresponding to the master agricultural machinery, the target position, and the driving speed of the slave agricultural machinery;

[0139] When the target time is equal to the predicted time, a scheduling instruction is sent to the slave agricultural machinery equipment, and the scheduling instruction is used to trigger the slave agricultural machinery equipment to travel to the target position and trigger the slave agricultural machinery equipment to work in coordination with the host agricultural machinery equipment when reaching the target position.

[0140] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiment of the coordinated scheduling device for heterogeneous agricultural machinery, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0141] Specifically, in this embodiment, the coordinated scheduling device for heterogeneous agricultural machinery includes a memory and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs may include one or more modules, and each module may include a series of computer executable instructions for the coordinated scheduling device for heterogeneous agricultural machinery, and the one or more programs are configured to be executed by one or more processors, including the following computer executable instructions:

[0142] receiving a dispatch instruction sent by a host agricultural machinery corresponding to the slave agricultural machinery when the target time is equal to the predicted time, the dispatch instruction carrying a target position for the host agricultural machinery to reach a coordinated working state in a target working area, the target position being determined according to the target time, the current position of the host agricultural machinery and the driving speed of the host agricultural machinery, the target time being determined according to the current storage capacity, the maximum storage capacity and the operating efficiency of the host agricultural machinery, and the predicted time being the time taken for the slave agricultural machinery to reach the target position, determined according to the current position of the slave agricultural machinery, the target position and the driving speed of the slave agricultural machinery;

[0143] In response to the dispatching instruction, the slave agricultural machinery is controlled to travel to the target position, and cooperates with the master agricultural machinery when the slave agricultural machinery reaches the target position.

[0144] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiment of the coordinated scheduling device for heterogeneous agricultural machinery, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0145] The embodiments of the present specification provide a collaborative scheduling device for heterogeneous agricultural machinery. When the target time for the host agricultural machinery to obtain the collaborative working state in the target working area is equal to the predicted time for the slave agricultural machinery to reach the target position, the host agricultural machinery can send a scheduling instruction to the slave agricultural machinery in advance before the host agricultural machinery reaches the target position, so as to trigger the slave agricultural machinery to travel to the target position. On the one hand, it can avoid the scheduling mode in which the host agricultural machinery sends a scheduling instruction to the slave agricultural machinery when reaching the target position, and the problem that the host agricultural machinery needs to stop and wait can be avoided. On the other hand, it can also avoid the scheduling mode in which the slave agricultural machinery follows the host agricultural machinery, and there are problems such as waste of resources and risk of collision. The working efficiency of the collaborative work of heterogeneous agricultural machinery can be improved.

[0146] Furthermore, based on the above Figures 1 to 11 In one embodiment, the present specification further provides a storage medium for storing computer executable instruction information. In a specific embodiment, the storage medium may be a USB flash drive, an optical disk, a hard disk, etc. When the computer executable instruction information stored in the storage medium is executed by the processor, the following process can be implemented:

[0147] Determining a target time for the host agricultural machinery to reach a coordinated working state in a target working area according to the current storage capacity, maximum storage capacity and working efficiency of the host agricultural machinery;

[0148] Determine a target position where the host agricultural machinery reaches a coordinated working state in the target working area according to the target time, the current position of the host agricultural machinery and the travel speed of the host agricultural machinery;

[0149] Determine a predicted time for the slave agricultural machinery to reach the target position according to the current position of the slave agricultural machinery corresponding to the master agricultural machinery, the target position, and the driving speed of the slave agricultural machinery;

[0150] When the target time is equal to the predicted time, a scheduling instruction is sent to the slave agricultural machinery equipment, and the scheduling instruction is used to trigger the slave agricultural machinery equipment to travel to the target position and trigger the slave agricultural machinery equipment to work in coordination with the host agricultural machinery equipment when reaching the target position.

[0151] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the above-mentioned storage medium embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0152] Furthermore, based on the above Figures 1 to 11 In one embodiment, the present specification further provides a storage medium for storing computer executable instruction information. In a specific embodiment, the storage medium may be a USB flash drive, an optical disk, a hard disk, etc. When the computer executable instruction information stored in the storage medium is executed by the processor, the following process can be implemented:

[0153] receiving a dispatch instruction sent by a host agricultural machinery corresponding to the slave agricultural machinery when the target time is equal to the predicted time, the dispatch instruction carrying a target position for the host agricultural machinery to reach a coordinated working state in a target working area, the target position being determined according to the target time, the current position of the host agricultural machinery and the driving speed of the host agricultural machinery, the target time being determined according to the current storage capacity, the maximum storage capacity and the operating efficiency of the host agricultural machinery, and the predicted time being the time taken for the slave agricultural machinery to reach the target position, determined according to the current position of the slave agricultural machinery, the target position and the driving speed of the slave agricultural machinery;

[0154] In response to the dispatching instruction, the slave agricultural machinery is controlled to travel to the target position, and cooperates with the master agricultural machinery when the slave agricultural machinery reaches the target position.

[0155] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the above-mentioned storage medium embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0156] An embodiment of the present specification provides a storage medium. When the target time for the host agricultural machinery to obtain the collaborative working state in the target working area is equal to the predicted time for the slave agricultural machinery to reach the target position, the host agricultural machinery can send a scheduling instruction to the slave agricultural machinery in advance before the host agricultural machinery reaches the target position, so as to trigger the slave agricultural machinery to travel to the target position. On the one hand, it can avoid the scheduling mode in which the host agricultural machinery sends a scheduling instruction to the slave agricultural machinery when reaching the target position, and the problem that the host agricultural machinery needs to stop and wait exists. On the other hand, it can also avoid the scheduling mode in which the slave agricultural machinery follows the host agricultural machinery, and there are problems such as waste of resources and collision risk. The working efficiency of the collaborative work of heterogeneous agricultural machinery can be improved.

[0157] Furthermore, based on the above Figures 1 to 11In one or more embodiments of the present specification, a computer program product is provided, including a computer program. When the computer program in the computer program product is executed by a processor, the following process can be implemented:

[0158] Determining a target time for the host agricultural machinery to reach a coordinated working state in a target working area according to the current storage capacity, maximum storage capacity and working efficiency of the host agricultural machinery;

[0159] Determine a target position where the host agricultural machinery reaches a coordinated working state in the target working area according to the target time, the current position of the host agricultural machinery and the travel speed of the host agricultural machinery;

[0160] Determine a predicted time for the slave agricultural machinery to reach the target position according to the current position of the slave agricultural machinery corresponding to the master agricultural machinery, the target position, and the driving speed of the slave agricultural machinery;

[0161] When the target time is equal to the predicted time, a scheduling instruction is sent to the slave agricultural machinery equipment, and the scheduling instruction is used to trigger the slave agricultural machinery equipment to travel to the target position and trigger the slave agricultural machinery equipment to work in coordination with the host agricultural machinery equipment when reaching the target position.

[0162] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the above-mentioned computer program product embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0163] Furthermore, based on the above Figures 1 to 11 In one or more embodiments of the present specification, a computer program product is provided, including a computer program. When the computer program in the computer program product is executed by a processor, the following process can be implemented:

[0164] receiving a dispatch instruction sent by a host agricultural machinery corresponding to the slave agricultural machinery when the target time is equal to the predicted time, the dispatch instruction carrying a target position for the host agricultural machinery to reach a coordinated working state in a target working area, the target position being determined according to the target time, the current position of the host agricultural machinery and the driving speed of the host agricultural machinery, the target time being determined according to the current storage capacity, the maximum storage capacity and the operating efficiency of the host agricultural machinery, and the predicted time being the time taken for the slave agricultural machinery to reach the target position, determined according to the current position of the slave agricultural machinery, the target position and the driving speed of the slave agricultural machinery;

[0165] In response to the dispatching instruction, the slave agricultural machinery is controlled to travel to the target position, and cooperates with the master agricultural machinery when the slave agricultural machinery reaches the target position.

[0166] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the above-mentioned computer program product embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0167] The embodiments of the present specification provide a computer program product. When the target time for the host agricultural machinery to obtain the collaborative working state in the target working area is equal to the predicted time for the slave agricultural machinery to reach the target position, the host agricultural machinery can send a scheduling instruction to the slave agricultural machinery in advance before the host agricultural machinery reaches the target position, so as to trigger the slave agricultural machinery to travel to the target position. On the one hand, it can avoid the scheduling mode in which the host agricultural machinery sends a scheduling instruction to the slave agricultural machinery when reaching the target position, and the problem that the host agricultural machinery needs to stop and wait exists. On the other hand, it can also avoid the scheduling mode in which the slave agricultural machinery follows the host agricultural machinery, and there are problems such as waste of resources and collision risk. The working efficiency of the collaborative work of heterogeneous agricultural machinery can be improved.

[0168] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0169] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0170] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0171] For the convenience of description, the above devices are described in terms of functions and are divided into various units. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0172] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, one or more embodiments of this specification may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, one or more embodiments of this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0173] The embodiments of this specification are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable fraud case serial and parallel device to produce a machine, so that the instructions executed by the processor of the computer or other programmable fraud case serial and parallel device generate instructions for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0174] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable fraud case serial and parallel device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0175] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0176] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0177] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0178] It should be understood by those skilled in the art that the embodiments of this specification may be provided as methods, systems or computer program products. Therefore, one or more embodiments of this specification may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, one or more embodiments of this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0179] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0180] The above description is only an embodiment of this specification and is not intended to limit this document. For those skilled in the art, this specification may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this specification should be included in the scope of the claims of this specification.

Claims

1. A method for coordinated scheduling of heterogeneous agricultural machinery, the method being applied to a host agricultural machinery device, the method comprising: Determining a target time for the host agricultural machinery to reach a coordinated working state in a target working area according to the current storage capacity, maximum storage capacity and working efficiency of the host agricultural machinery; Determine a target position where the host agricultural machinery reaches a coordinated working state in the target working area according to the target time, the current position of the host agricultural machinery and the travel speed of the host agricultural machinery; Determine a predicted time for the slave agricultural machinery to reach the target position according to the current position of the slave agricultural machinery corresponding to the master agricultural machinery, the target position, and the driving speed of the slave agricultural machinery; When the target time is equal to the predicted time, a scheduling instruction is sent to the slave agricultural machinery equipment, and the scheduling instruction is used to trigger the slave agricultural machinery equipment to travel to the target position and trigger the slave agricultural machinery equipment to work in coordination with the host agricultural machinery equipment when reaching the target position.

2. The method according to claim 1, wherein determining the target position of the host agricultural machinery to reach the coordinated working state in the target working area according to the target time, the current position of the host agricultural machinery and the driving speed of the host agricultural machinery comprises: Determining a path distance between the target position and the current position of the host agricultural machinery according to the target time and the travel speed of the host agricultural machinery; The target position of the host agricultural machinery in the target working area at which the host agricultural machinery reaches a cooperative working state is determined according to the preset planned path of the host agricultural machinery in the target working area, the path distance and the current position of the host agricultural machinery.

3. According to the method of claim 2, the preset planned path of the host agricultural machinery in the target working area is a planned path determined based on a preset model predictive control algorithm, based on the equipment parameters of the host agricultural machinery and the area parameters of the target working area.

4. The method according to claim 3, wherein the step of determining the predicted time for the slave agricultural machinery to reach the target position based on the current position of the slave agricultural machinery corresponding to the master agricultural machinery, the target position, and the driving speed of the slave agricultural machinery comprises: According to the current position of the slave agricultural machinery corresponding to the master agricultural machinery, the target position, and the driving speed of the slave agricultural machinery, the following formula is used: Determine the predicted time for the slave agricultural machinery to reach the target location, where t a is the prediction time, X f is the horizontal coordinate of the target position, Y f is the ordinate of the target position, X0 is the abscissa of the current position of the slave agricultural machinery, Y0 is the ordinate of the current position of the slave agricultural machinery, and v a is the travel speed of the slave agricultural machinery.

5. A method for cooperative scheduling of heterogeneous agricultural machinery, the method being applied to slave agricultural machinery equipment, the method comprising: receiving a dispatch instruction sent by a host agricultural machinery corresponding to the slave agricultural machinery when the target time is equal to the predicted time, the dispatch instruction carrying a target position for the host agricultural machinery to reach a coordinated working state in a target working area, the target position being determined according to the target time, the current position of the host agricultural machinery and the driving speed of the host agricultural machinery, the target time being determined according to the current storage capacity, the maximum storage capacity and the operating efficiency of the host agricultural machinery, and the predicted time being the time taken for the slave agricultural machinery to reach the target position, determined according to the current position of the slave agricultural machinery, the target position and the driving speed of the slave agricultural machinery; In response to the dispatching instruction, the slave agricultural machinery is controlled to travel to the target position, and cooperates with the master agricultural machinery when the slave agricultural machinery reaches the target position.

6. The method according to claim 5, wherein the preset planned path of the slave agricultural machinery in the target working area is a planned path determined according to a preset model predictive control algorithm based on equipment parameters of the slave agricultural machinery and area parameters of the target working area, and the method further comprises: When the slave agricultural machinery equipment is in a coordinated working state, obtaining the forward state of the master agricultural machinery equipment, wherein the forward state includes a straight-line driving state and a turning driving state; When the host agricultural machinery is in a straight-line driving state, controlling the driving speed of the slave agricultural machinery to be the same as the driving speed of the host agricultural machinery; When the host agricultural machinery equipment is in a turning driving state, the driving speed of the slave agricultural machinery equipment is controlled to be a first preset speed, and when the host agricultural machinery equipment is converted from the turning driving state to a straight driving state, the control increment of the slave agricultural machinery equipment is determined according to the index point of the host agricultural machinery equipment and the preset planned path of the slave agricultural machinery equipment, so as to control the slave agricultural machinery equipment to continue driving through the control increment, wherein the first preset speed is less than the preset speed threshold.

7. The method according to claim 6, wherein the control increment comprises a speed increment and a steering angle increment, and the step of determining the control increment of the slave agricultural machinery equipment according to the index point of the master agricultural machinery equipment and the preset planned path of the slave agricultural machinery equipment comprises: According to the index point of the host agricultural machinery, the index point of the slave agricultural machinery is updated to obtain an updated index point; The preset model predictive control algorithm is used to determine the speed increment and steering angle increment of the slave agricultural machinery equipment based on the updated index point, the equipment parameters of the slave agricultural machinery equipment and the area parameters of the target working area.

8. A coordinated dispatching device for heterogeneous agricultural machinery, the device comprising: A first calculation module is used to determine the target time for the host agricultural machinery to reach a coordinated working state in a target working area according to the current storage capacity, maximum storage capacity and working efficiency of the coordinated scheduling device of the heterogeneous agricultural machinery; a position determination module, for determining a target position of the cooperative scheduling device of the heterogeneous agricultural machinery to reach a cooperative working state in the target working area according to the target time, the current position of the cooperative scheduling device of the heterogeneous agricultural machinery and the driving speed of the host agricultural machinery; A second calculation module is used to determine the predicted time for the slave agricultural machinery to reach the target position according to the current position of the slave agricultural machinery of the cooperative scheduling device of the heterogeneous agricultural machinery, the target position, and the driving speed of the slave agricultural machinery; An instruction sending module is used to send a scheduling instruction to the slave agricultural machinery equipment when the target time is equal to the predicted time, and the scheduling instruction is used to trigger the slave agricultural machinery equipment to travel to the target position, and trigger the slave agricultural machinery equipment to work in coordination with the coordinated scheduling device of the heterogeneous agricultural machinery when it reaches the target position.

9. A coordinated dispatching device for heterogeneous agricultural machinery, the device comprising: an instruction receiving module, for receiving a dispatch instruction sent by a host agricultural machinery corresponding to the cooperative dispatching device of the heterogeneous agricultural machinery when the target time is equal to the predicted time, the dispatch instruction carrying a target position of the host agricultural machinery in a target working area to reach a cooperative working state, the target position being determined according to the target time, the current position of the host agricultural machinery and the driving speed of the host agricultural machinery, the target time being determined according to the current storage capacity, the maximum storage capacity and the operating efficiency of the host agricultural machinery, and the predicted time being the time taken for the slave agricultural machinery to reach the target position, determined according to the current position of the cooperative dispatching device of the heterogeneous agricultural machinery, the target position and the driving speed of the slave agricultural machinery; The instruction execution module is used to respond to the scheduling instruction, control the cooperative scheduling device of the heterogeneous agricultural machinery to travel to the target position, and cooperate with the host agricultural machinery equipment when reaching the target position.

10. A coordinated dispatching device for heterogeneous agricultural machinery, characterized in that: The method comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the method for coordinated scheduling of heterogeneous agricultural machinery as described in any one of claims 1 to 7 are implemented.

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