Collaborative grain unloading control method, device, equipment, medium and product for grain transporting vehicle of harvester

Abstract

The invention discloses a cooperative grain unloading control method, device, equipment, medium and product for a harvester and a grain transporting vehicle, and relates to the technical field of agricultural machinery automatic control, and the method comprises the steps: enabling the harvester to send path planning data, position-speed coupling data and cooperative grain unloading data to the grain transporting vehicle through a data transmission terminal; based on the path planning data, performing cooperative path planning on the harvester and the grain transport vehicle according to the field boundary information to obtain a path plan; the field boundary information is obtained by dotting in the field through the harvester; the path planning comprises path planning of the harvester and path planning of the grain transport vehicle; the path planning of the harvester is the same as the path planning of the grain transporting vehicle; the cooperative unloading interval is determined based on path planning, whether the harvester and the grain transporting vehicle are in the cooperative unloading interval or not is judged, the judgment result is determined, the states of the harvester and the grain transporting vehicle are determined according to the judgment result, the accuracy of the relative positions of the harvester and the grain transporting vehicle is achieved, and the harvesting efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of automatic control of agricultural machinery, and particularly to a cooperative grain unloading control method, device, equipment, medium and product for a harvester and a grain carrier truck. Background Art

[0002] Grain unloading is an essential link in the operation process of a combine harvester. During the grain unloading process, precise cooperation between the harvester and the grain carrier truck is required to ensure that the harvested grains are put into the granary. Efficient and accurate cooperative grain unloading is of great significance for improving the operation efficiency and production benefits of the combine harvester.

[0003] At present, the cooperative grain unloading methods between the harvester and the grain carrier truck include modes such as "grain unloading at the field head" and "grain unloading while harvesting". With the development of agricultural mechanization and intelligentization, driverless combine harvesters have been promoted and applied. In actual production, the operation modes of the harvester include two modes: "manual driving" and "driverless". When "grain unloading at the field head" is carried out, the harvesting operation needs to be paused in both the manual or driverless mode, and the harvester is driven to cooperate with the grain carrier truck at the field head of the field for grain unloading. In this case, the grain carrier truck is in a stationary state, and the mutual cooperation between the harvester and the grain carrier truck is relatively simple, but the empty running distance of the harvester is relatively long, resulting in a reduction in the harvesting efficiency.

[0004] When the "grain unloading while harvesting" mode is adopted, the harvester and the grain carrier truck need to move forward synchronously. During the cooperative grain unloading process, the lateral and longitudinal relative positions and speeds of the harvester and the grain carrier truck should be adjusted at all times to ensure that the outlet of the grain unloading tube of the harvester is always inside the granary of the grain carrier truck to avoid grain leakage. For manual driving, the "grain unloading while harvesting" mode has relatively high requirements for the operation skills of the agricultural machine operator, increasing the labor intensity. With the development of the unmanned farm technology, driverless combine harvesters will be more widely applied. Therefore, in the driverless mode, realizing that the grain carrier truck automatically follows the harvester for cooperative grain unloading is an effective way to improve the harvesting efficiency and further liberate the labor force, and is of great significance for realizing the autonomous harvesting operation of the unmanned farm. However, during the cooperative grain unloading process, the harvester and the grain carrier truck need to maintain extremely high relative position accuracy, which poses very high requirements for the positioning accuracy of the driverless mode. However, it is difficult to control the position accuracy of cooperative grain unloading during the driverless process. Summary of the Invention

[0005] The purpose of the present application is to provide a cooperative grain unloading control method, device, equipment, medium and product for a harvester and a grain carrier truck, which solves the problem that the harvester and the grain carrier truck need to maintain extremely high relative position accuracy during the cooperative grain unloading process.

[0006] To achieve the above purpose, the present application provides the following solutions:

[0007] In a first aspect, the present application provides a method for collaborative grain unloading control of a harvester and a grain carrier, including:

[0008] Instruct the harvester to send path planning data, position-speed coupling data, and collaborative grain unloading data to the grain carrier through a data transmission terminal.

[0009] Based on the path planning data, perform collaborative path planning for the harvester and the grain carrier according to the field boundary information to obtain a path plan; the field boundary information is obtained by the harvester making points in the field; the path plan includes the path plan of the harvester and the path plan of the grain carrier; the path plans of the harvester and the grain carrier are the same.

[0010] Based on the path plan, determine a collaborative grain unloading interval, judge whether the harvester and the grain carrier are in the collaborative grain unloading interval, determine a judgment result, and based on the judgment result, determine the states of the harvester and the grain unloading vehicle.

[0011] According to the states of the harvester and the grain carrier, automatically control the longitudinal position deviation of the harvester and the grain carrier to perform collaborative grain unloading.

[0012] In a second aspect, the present application provides a device for collaborative grain unloading control of a harvester and a grain carrier, including:

[0013] A data transmission module for instructing the harvester to send path planning data, position-speed coupling data, and collaborative grain unloading data to the grain carrier through a data transmission terminal.

[0014] A path planning module for performing collaborative path planning for the harvester and the grain carrier according to the field boundary information based on the path planning data to obtain a path plan; the field boundary information is obtained by the harvester making points in the field; the path plan includes the path plan of the harvester and the path plan of the grain carrier; the path plans of the harvester and the grain carrier are the same.

[0015] A state determination module for the harvester and the grain carrier, which is used to determine a collaborative grain unloading interval based on the path plan, judge whether the harvester and the grain carrier are in the collaborative grain unloading interval, determine a judgment result, and based on the judgment result, determine the states of the harvester and the grain unloading vehicle.

[0016] A collaborative grain unloading module for automatically controlling the longitudinal position deviation of the harvester and the grain carrier according to the states of the harvester and the grain carrier to perform collaborative grain unloading.

[0017] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the steps of the combine harvester and grain carrier collaborative grain unloading control method described in any one of the above.

[0018] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the combine harvester and grain carrier collaborative grain unloading control method described in any one of the above.

[0019] In a fifth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the steps of the combine harvester and grain carrier collaborative grain unloading control method described in any one of the above.

[0020] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0021] The present application provides a combine harvester and grain carrier collaborative grain unloading control method, device, equipment, medium and product. The combine harvester sends path planning data, position-speed coupling data, and collaborative grain unloading data to the grain carrier through a data transmission terminal; based on the path planning data, the combine harvester and the grain carrier perform collaborative path planning according to the field boundary information; based on the field boundary information, a straight operation path is planned along the long side of the field, and a turning path is planned along the short side of the field to obtain the path planning of the grain carrier, so that the combine harvester and the grain carrier can effectively utilize the field space and avoid unnecessary driving and waiting time; based on the path planning of the grain carrier, a collaborative grain unloading interval is determined, and when both the combine harvester and the grain carrier are in the collaborative grain unloading interval, automatic collaborative grain unloading operations are performed, which can reasonably allocate the working time and task volume of the combine harvester and the grain carrier; when the combine harvester and the grain carrier exceed the collaborative grain unloading interval, the grain unloading stops. Determine whether the combine harvester and the grain carrier are in the collaborative grain unloading interval, determine the judgment result, and according to the judgment result, determine the states of the combine harvester and the grain carrier, realizing the accuracy of the relative positions of the combine harvester and the grain carrier and improving the harvesting efficiency. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0023] Figure 1 It is a schematic flowchart of a combine harvester and grain carrier collaborative grain unloading control method in an embodiment of the present application;

[0024] Figure 2 Schematic diagram of information transmitted between wireless data transmission terminals provided by an embodiment of the present application;

[0025] Figure 3 Schematic diagram of a harvester making field dots provided by an embodiment of the present application;

[0026] Figure 4 Schematic diagram of the operation path planning of the "compressed row" of the harvester provided by an embodiment of the present application;

[0027] Figure 5 Schematic diagram of the calculation principle of the offset distance of the straight operation path of the grain carrier provided by an embodiment of the present application;

[0028] Figure 6 is a schematic diagram of the collaborative path planning of the harvester and the grain carrier provided by an embodiment of the present application. (a) of Figure 6 is a schematic diagram of the straight operation path of the grain carrier deviating inward from the straight operation path of the harvester towards the inside of the field; (b) of Figure 6 is a schematic diagram of the straight operation path of the grain carrier deviating outward from the straight operation path of the harvester towards the outside of the field;

[0029] Figure 7 Schematic diagram of the calculation principle diagram of the collaborative grain unloading control position provided by an embodiment of the present application;

[0030] Figure 8 Schematic diagram of the AB reference course calculation method provided by an embodiment of the present application;

[0031] Figure 9 Flow chart of the collaborative grain unloading control provided by an embodiment of the present application;

[0032] Figure 10 Block diagram of the collaborative grain unloading position-speed coupling control principle provided by an embodiment of the present application;

[0033] Figure 11 Schematic diagram of the structure of a computer device provided by an embodiment of the present application. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0035] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0036] The objective of this application is to provide a collaborative grain unloading system and control method for a harvester grain carrier, which can achieve automatic following of the grain carrier by the harvester under the driverless mode to unload grain while harvesting, enabling the harvester to operate continuously and improving the harvesting efficiency and economic benefits.

[0037] This application mainly consists of an unmanned harvester and an unmanned grain carrier. The unmanned harvester includes a harvester body, a harvester satellite navigation system, an automatic control system for key harvesting components, a collaborative grain unloading parameter detection system for the harvester, a harvester remote control system, and a wireless data transmission terminal for the harvester. Among them, the harvester body includes, but is not limited to, wheeled harvesters and tracked harvesters. The harvester satellite navigation system is used to control the harvester to move forward along the navigation route. Further, it is used to control the steering wheel of the harvester, thereby controlling the lateral error of the harvester moving along the navigation route to be less than ±5 cm. The harvester satellite navigation system uses existing technologies, such as the NX500 agricultural machinery navigation and autopilot system developed by Shanghai Huace Navigation Technology Co., Ltd., which can send information such as the heading, forward speed, and real-time longitude and latitude coordinates of the harvester to the CAN bus through an open communication interface. The automatic control system for key harvesting components is used to independently control the states of components such as the throttle of the harvester, forward / backward gears, hydrostatic transmission (HST), main clutch, auxiliary clutch, unloading clutch, header lift, and extension / retraction of the unloading auger to achieve automatic harvesting operations. The collaborative grain unloading parameter detection system for the harvester mainly includes a grain bin level sensor, an unloading auger position sensor, an unloading clutch sensor, etc., which are used to judge and generate signals for whether collaborative grain unloading can be carried out. The harvester remote control system includes an on-board remote control receiver and a remote controller, which are used to remotely start or emergently shut down the harvester to ensure operation safety. The wireless data transmission terminal for the harvester is used to send real-time collaborative data to the grain carrier.

[0038] The unmanned grain transport vehicle consists of a grain transport vehicle body, a satellite navigation system for the grain transport vehicle, an automatic control system for key components of the grain transport vehicle, a grain level sensor in the grain bin of the grain transport vehicle, a remote control system for the grain transport vehicle, and a wireless data transmission terminal for the grain transport vehicle. Among them, the grain transport vehicle body includes, but is not limited to, a wheeled self-propelled grain transport vehicle, a crawler self-propelled grain transport vehicle, or a tractor-towed grain transport vehicle. The satellite navigation system for the grain transport vehicle is used to control the grain transport vehicle to move forward along the navigation route. Further, it is used to control the steering wheel of the grain transport vehicle, and then control the lateral error of the grain transport vehicle moving along the navigation route to be less than ±5 cm. The satellite navigation system for the grain transport vehicle uses existing technologies, such as the NX500 agricultural machinery navigation and autopilot system developed by Shanghai Huace Navigation Technology Co., Ltd., which can send information such as the heading, forward speed, and real-time longitude and latitude coordinates of the grain transport vehicle to the CAN bus through an open communication interface. The automatic control system for key components of the grain transport vehicle is used to autonomously control the states of components such as the throttle size and forward / backward gear of the grain transport vehicle to achieve autonomous movement of the grain transport vehicle. Further, it can adjust the longitudinal position of the grain transport vehicle moving along the navigation line by controlling the throttle size and forward / backward gear of the grain transport vehicle. The grain level sensor in the grain bin of the grain transport vehicle is used to detect the remaining amount of grain in the grain bin of the grain transport vehicle in real time, and judge and generate a signal indicating whether collaborative grain unloading can be carried out. The remote control system for the grain transport vehicle includes an on-board remote control receiver and a remote controller, and is used to remotely start or emergently shut down the grain transport vehicle to ensure operation safety. The wireless data transmission terminal for the grain transport vehicle is used to send real-time collaborative data to the harvester.

[0039] As Figure 1 shown, an embodiment of the present application provides a method for controlling collaborative grain unloading of a harvester and a grain transport vehicle, which specifically includes:

[0040] S1: Let the harvester send path planning data, position-speed coupling data, and collaborative grain unloading data to the grain transport vehicle through the data transmission terminal.

[0041] S2: Based on the path planning data, perform collaborative path planning on the harvester and the grain transport vehicle according to the field boundary information to obtain a path plan; the field boundary information is obtained by the harvester making points in the field; the path plan includes the path plan of the harvester and the path plan of the grain transport vehicle; the path plans of the harvester and the grain transport vehicle are the same.

[0042] S3: Determine a collaborative grain unloading interval based on the path plan, judge whether the harvester and the grain transport vehicle are in the collaborative grain unloading interval, determine the judgment result, and determine the states of the harvester and the grain unloading vehicle according to the judgment result.

[0043] S4: According to the states of the harvester and the grain transport vehicle, automatically control the longitudinal position deviation of the harvester and the grain transport vehicle to perform collaborative grain unloading.

[0044] As Figure 2As shown in the figure, to achieve the autonomous following of the grain transport vehicle behind the harvester for collaborative grain unloading, the wireless data transmission terminal transmits the following information between the harvester and the grain transport vehicle. Among them, the harvester sends path planning data, position-speed coupling data, and collaborative grain unloading data to the grain transport vehicle through the data transmission terminal. The path planning data includes instructions for clearing the boundary points of the grain transport vehicle, instructions for marking points A, B, C, and D on the field boundary, the working width of the harvester, and the offset distance of the straight working path of the grain transport vehicle. The position-speed coupling data includes the longitudinal position of the harvester, the heading of the harvester, the forward speed of the harvester, and the current working path number of the harvester. The collaborative grain unloading data includes a request for grain unloading instruction and a signal indicating that the grain unloading is completed. The grain transport vehicle sends collaborative grain unloading data to the harvester through the data transmission terminal, including a start grain unloading instruction and a stop grain unloading instruction.

[0045] Further, in an exemplary embodiment, step S2 can be replaced by the following steps.

[0046] S201: Have the harvester mark points in the field to obtain 4 boundary points of the field, and obtain the field boundary information.

[0047] The self-propelled harvester is easy to operate when moving forward, backward, and turning around in the field, and can conveniently mark points to obtain the field boundary points. While the towed grain transport vehicle is driven by the hitch point between the tractor and the grain transport vehicle, and it requires a large space and is difficult to operate when moving backward and turning around in the field, making it difficult to mark points. In addition, when the harvester and the transport vehicle mark points separately, it is difficult to ensure that they obtain the same field boundary points, which has an adverse impact on the subsequent collaborative path planning.

[0048] To address the above problems, this application adopts the "synchronous marking method" to ensure that the harvester and the grain transport vehicle obtain the same field boundary point information and improve the marking efficiency. That is, the harvester marks points in the field to obtain 4 boundary points of the field, then the harvester transmits the path planning-related data to the grain transport vehicle through the wireless data transmission terminal, and finally the harvester and the grain transport vehicle perform collaborative path planning based on the same field boundary information. The schematic diagram of the harvester marking points in the field is as Figure 3 shown. Drive the harvester to obtain the longitude and latitude coordinates of points A, B, C, and D along the field boundary in sequence, and the marking can be carried out synchronously when harvesting the crop boundary. Figure 3 In " x A(A y )", it represents the UTM coordinates obtained by converting the longitude and latitude coordinates of point A on the field boundary according to the publicly known calculation method. The same applies to B, C, and D as A.

[0049] S202: Based on the field boundary information, plan a straight working path along the long side of the field and a turning path along the short side of the field to obtain the path planning of the grain transport vehicle.

[0050] Since the unloading auger of the harvester is usually set on one side, the unloading operation can only be carried out on one side during the coordinated unloading process. Therefore, the "compressed row" operation path is planned, as Figure 3 shown. The harvester satellite navigation system autonomously plans the operation path according to the boundary points of the field block and the operation width, plans a straight operation path along the long side of the field block, and plans a turning path on the short side of the field block.

[0051] S203: Based on the field block boundary information, take the four vertices of the field block as boundary points; the boundary points include point A, point B, point C, and point D; among them, the connection line between point A and point B and the connection line between point C and point D are the long sides, and the connection line between point B and point C and the connection line between point A and point D are the short sides.

[0052] S204: Take the long side as the straight operation path and the short side as the turning path.

[0053] S205: Taking the field block boundary as the outermost boundary, let the harvester and the grain carrier perform path planning towards the center of the field block according to the straight operation path and the turning path until the entire field block is covered, and determine the path planning.

[0054] As Figure 4 shown, taking the planning of the first straight operation path along the long side AB as an example, plan a turning path on the short side BC, then turn to the long side CD to plan the second straight operation path, plan a turning path on the short side DA, then turn to the long side AB, and plan the third straight operation path inside the first straight operation path. Repeatedly use the turning paths on the short sides BC and DA, and sequentially and circularly plan straight operation paths towards the inside of the field until the entire field block is covered. According to Figure 4 shown, set numbers 1, 2, 3, 4... for each straight operation path, that is, on one side of the field block, number the straight operation paths 1, 3, 5, 7... from the outside to the inside, and on the other side of the field block, number the straight operation paths 2, 4, 6, 8... from the outside to the inside, and the numbers 1, 2, 3, 4 are sequentially numbered for each circle. In the figure, "A(Ax, Ay)" represents the UTM coordinates obtained by converting the longitude and latitude coordinates of point A on the field block boundary according to the publicly available calculation method, and B, C, D are the same as A.

[0055] S206: Use the formula M = W d -W c , to obtain the offset distance of the straight operation path of the grain carrier relative to the straight operation path of the harvester; where W d is the distance from the outlet of the unloading auger of the harvester to the center line of the harvester; W c is the operation width of the harvester; M is the offset distance of the straight operation path of the grain carrier relative to the straight operation path of the harvester.

[0056] S207: When M = 0, it is determined that the straight operation path of the grain carrier coincides with the straight operation path of the harvester without offset.

[0057] S208: When M < 0, it is determined that the straight operation path of the grain carrier is offset towards the center of the field relative to the straight operation path of the harvester, and the offset distance is |M|; |M| is the absolute value of M.

[0058] S209: When M > 0, it is determined that the straight operation path of the grain carrier is offset towards the outermost boundary of the field relative to the straight operation path of the harvester, and the offset distance is |M|.

[0059] The grain carrier adopts the same "compressed row" operation path as the harvester and uses the same path number. However, when planning the straight operation path, the grain carrier needs to be offset according to the working width of the harvester and the length of the unloading auger to ensure that the outlet of the unloading auger of the harvester is located at the center line position of the grain carrier.

[0060] The method for planning the path of the grain carrier is as follows: The satellite navigation system of the grain carrier independently plans the operation path according to the field boundary points, the working width of the harvester, and the offset distance sent by the harvester. Plan the straight operation path along the long side of the field and offset the straight operation path according to the offset distance value. Plan the turning path on the short side of the field. To save space at the field head, the turning path of the grain carrier is kept consistent with the turning path of the harvester.

[0061] The calculation principle of the offset distance of the straight operation path of the grain carrier is as Figure 5 shown. W d represents the distance from the outlet of the unloading auger of the harvester to the center line of the harvester, W c represents the working width of the harvester, and M represents the offset distance of the straight operation path of the grain carrier relative to the straight operation path of the harvester. Its calculation formula is M = W d -W c . When M = 0, the straight operation path of the grain carrier coincides with the straight operation path of the harvester without offset, as Figure 4 shown; when M < 0, the straight operation path of the grain carrier is offset towards the inside of the field relative to the straight operation path of the harvester, and the offset distance is |M|, as shown in Figure 6(a); when M > 0, the straight operation path of the grain carrier is offset towards the outside of the field relative to the straight operation path of the harvester, and the offset distance is |M|, as shown in Figure 6(b). In Figure 6, A(A x , A y ) is the UTM coordinate of the longitude and latitude coordinates of point A on the field boundary; B(B x , B y ) is the UTM coordinate of the longitude and latitude coordinates of point B on the field boundary; C(C x , C y ) is the UTM coordinate of the longitude and latitude coordinates of point C on the field boundary; D(Dx , D y ) is the UTM coordinate of the longitude and latitude coordinates of point B on the field boundary.

[0062] Furthermore, in an exemplary embodiment, step S3 can be replaced by the following steps.

[0063] S301: Draw a perpendicular line DE from point D to the long side AB of the field boundary to obtain the auxiliary line DE. Draw a perpendicular line CF from point C to the long side AB of the field boundary to obtain the auxiliary line CF. At a distance of U CF , draw a parallel line to the auxiliary line CF in the direction of the inside of the field; at a distance of U DE , draw a parallel line to the auxiliary line DE in the direction of the inside of the field.

[0064] The schematic diagram of the calculation of the cooperative unloading control position of the harvester grain carrier is as Figure 7 shown. When the harvester and the grain carrier are in the same cooperative unloading interval and traveling in the same direction, automatic cooperative unloading can be carried out. Figure 7 In, "A(A x , A y )" represents the UTM coordinate obtained by converting the longitude and latitude coordinates of point A on the field boundary according to the publicly known calculation method. The same applies to B, C, and D. The satellite receivers of the satellite navigation systems of the harvester and the grain carrier are respectively installed on the central axis. "H(H x , H y )" represents the UTM coordinate obtained by converting the real-time longitude and latitude coordinates of the harvester according to the publicly known calculation method; "G(G x , G y )" represents the UTM coordinate obtained by converting the real-time longitude and latitude coordinates of the grain carrier according to the publicly known calculation method.

[0065] As Figure 7 shown, draw a perpendicular line DE from point D to the field boundary AB, and draw a perpendicular line CF from point C to the field boundary AB. At a distance of U DE , draw a parallel line to the DE line in the direction of the inside of the field. At a distance of U CF , draw a parallel line to the CF line in the direction of the inside of the field. The straight-line operation area between the two parallel lines is defined as the cooperative unloading interval. Only when both the harvester and the grain carrier are within the cooperative unloading interval, automatic cooperative unloading operations are carried out. When the position of the harvester or the grain carrier exceeds this area, it means approaching the end of the field, and unloading should be stopped immediately. The size of the cooperative unloading interval is controlled by U DE and U CF . The sizes of U DE and U CF can be set according to the shape of the field end. The sizes of U DE and U CF can be set respectively through the human-machine interface. Among them, U DE and UCF Used to control the size of the collaborative grain unloading area, U DE is the distance from the collaborative grain unloading area to the DE line, U CF is the distance from the collaborative grain unloading area to the CF line.

[0066] S302: Define the straight-line operation area between the parallel line of the auxiliary line CF and the parallel line of the auxiliary line DE as the collaborative grain unloading area.

[0067] S303: Based on the collaborative grain unloading area, use the formula to obtain the distance between the harvester and the auxiliary line DE, the distance between the harvester and the auxiliary line CF, the distance between the grain carrier and the auxiliary line DE, and the distance between the grain carrier and the auxiliary line CF.

[0068] S304: When H DE >U DE and G DE >U DE and H CF >U CF and G CF >U CF are satisfied, determine that both the harvester and the grain carrier are within the collaborative grain unloading area, and enable the harvester and the grain carrier to perform automatic collaborative grain unloading operations.

[0069] S305: When H DE >U DE and G DE >U DE and H CF >U CF and G CF >U CF are not satisfied, determine that the harvester and the grain carrier exceed the collaborative grain unloading area, and stop the harvester and the grain carrier from unloading grain; where H DE is the distance between the harvester and the auxiliary line DE; H CF is the distance between the harvester and the auxiliary line CF; G DE is the distance between the grain carrier and the auxiliary line DE; G CF is the distance between the grain carrier and the auxiliary line CF; U DE is the distance from the collaborative grain unloading area to the auxiliary line DE; U CF represents the distance from the collaborative grain unloading area to the auxiliary line CF; H(H x , H y ) is the UTM coordinate of the real-time longitude and latitude coordinates of the harvester; G(G x , G y ) is the UTM coordinate of the real-time longitude and latitude coordinates of the grain carrier; COE ABXThe coefficient of x in the linear equation of the long side AB; COE ABY The coefficient of y in the linear equation of the long side AB; CON DE The constant in the linear equation of the perpendicular line DE; CON CF The constant in the linear equation of the perpendicular line CF; S ABXABY For COE ABX And COE ABY The square root of; A(A x , A y ) are the UTM coordinates of the longitude and latitude coordinates of point A on the field boundary; B(B x , B y ) are the UTM coordinates of the longitude and latitude coordinates of point B on the field boundary; C(C x , C y ) are the UTM coordinates of the longitude and latitude coordinates of point C on the field boundary; D(D x , D y ) are the UTM coordinates of the longitude and latitude coordinates of point B on the field boundary.

[0070] Furthermore, in an exemplary embodiment, step S4 can be replaced by the following steps.

[0071] S401: When the harvester and the grain carrier are traveling along the AB direction of the AB long side, use the formula N HG =H DE -G DE , to determine the navigation position error of the grain carrier; where, N HG is the navigation position difference between the grain carrier and the harvester; H DE is the distance between the harvester and the auxiliary line DE; G DE is the distance between the grain carrier and the auxiliary line DE.

[0072] S402: When the harvester and the grain carrier are traveling along the BA direction of the AB long side, use the formula N HG =H CF -G CF , to determine the navigation position error of the grain carrier; where, N HG is the navigation position difference between the grain carrier and the harvester; H CF is the distance between the harvester and the auxiliary line CF; H CF is the distance between the harvester and the auxiliary line CF.

[0073] Automatic cooperative grain unloading can only be carried out when the harvester and the grain carrier are in the same cooperative grain unloading area and traveling in the same direction. Obtain the harvester heading Y H and the grain carrier heading Y G in real time from the harvester satellite navigation system and the grain carrier satellite navigation system respectively.

[0074] This application uses the long side direction of the field boundary as a reference direction to determine whether the harvester and grain transporter are traveling in the same direction. The specific steps are as follows:

[0075] like Figure 7 As shown in the figure, the AB direction of the field boundary is used as the reference heading. When marking the points, the longitude and latitude coordinates of points A and B have been obtained and converted into UTM coordinates. The AB heading calculation formula and process are as follows: Figure 8 As shown: First, calculate Y based on the UTM coordinates of points A and B AB0 Then, according to the coordinate relationship between points A and B, Y is corrected. AB0 Specifically: if By-Ay<0, that is, the AB vector points to the third or fourth quadrant of the coordinate system with A as the origin, then the output direction of the AB line is Y AB =Y AB0 +180, of which Y AB is the direction of the AB line, Y AB0 is an intermediate variable for calculating the direction of the AB line; if B y -A y >0 and B x -A x <0, that is, the AB vector points to the second quadrant of the coordinate system with A as the origin, then the output AB line direction Y AB =Y AB0 +360; otherwise, the AB straight line direction Y is directly output AB =Y AB0 (That is, the AB vector points to the first quadrant of the coordinate system with A as the origin).

[0076] Then according to the harvester heading Y H , Grain truck heading Y G The relationship between the heading of AB and the harvester determines whether the grain truck is traveling in the same direction. H -Y AB |<Δ yaw And |Y G -Y AB |<Δ yaw , then it is judged that the harvester and the grain truck are traveling in the same direction AB; if |Y H -Y AB |>(180-Δ yaw ) and |Y G -Y AB |>(180-Δ yaw ), then it is judged that the harvester and the grain transporter are traveling in the same direction BA. yaw It is the heading deviation threshold, which can be set to 5-10 according to the accuracy range of the selected agricultural machinery satellite navigation system.

[0077] S403: Based on the navigation position error of the grain transport vehicle, use the formula ΔHG = N HG + B HG , determine the longitudinal position deviation between the harvester and the grain carrier; where N HG is the navigation position difference between the grain carrier and the harvester; B HG is the longitudinal offset distance between the satellite receivers of the harvester and the grain carrier; Δ HG is the longitudinal position deviation between the harvester and the grain carrier.

[0078] Due to the differences in the lengths of the grain bins of different grain carriers, the differences in the longitudinal positions of the unloading chutes of different harvesters, and the differences in the installation positions of the satellite navigation systems of the harvester and the grain carrier, relying solely on the longitudinal position error between the harvester and the grain carrier for collaborative unloading longitudinal position control cannot ensure that the outlet of the harvester's unloading chute is exactly inside the grain bin of the grain carrier at the collaborative steady state. To make this application compatible with different grain carriers and harvesters and reduce the installation requirements for the longitudinal position of the satellite navigation system of the harvester and the grain carrier, the longitudinal offset distance B between the harvester and the grain carrier is introduced HG . Further, B HG represents the longitudinal offset distance from the outlet of the harvester's unloading chute to the satellite receiver of the grain carrier. During the collaborative unloading process, this parameter can be finely adjusted to control the longitudinal position of the outlet of the harvester's unloading chute inside the grain bin of the grain carrier (adjusting this parameter enables the outlet of the harvester's unloading chute to unload at not only a specific position inside the grain bin of the grain carrier). The longitudinal offset distance B between the harvester and the grain carrier can be finely adjusted in real time during the collaborative unloading process through the human-machine interface HG value, thereby finely adjusting the position of the outlet of the harvester's unloading chute inside the grain bin of the grain carrier. HG

[0079] As Figure 7 shown, if the operation plot has not been marked, the harvester will mark it. During the marking process, the crops on the straight operation paths 1, 3 and the turning path will be harvested, thus creating a driving space for the grain carrier; if the operation plot has already been marked, the harvester will first perform "edge-opening" harvesting operations along the straight operation paths 1, 3 and the turning path to create a driving space for the grain carrier.

[0080] During the first row of coordinated grain unloading, the harvester travels on the linear operation path No. 3, and the grain transporter travels on the linear operation path No. 1. In the coordinated grain unloading interval, the harvester maintains a uniform speed (uniform speed is achieved by fixing the harvester throttle size, fixing the harvester gear, and fixing the HST position), and the grain transporter automatically follows the harvester in the coordinated grain unloading position-speed coupling control program, and automatically unloads grain when the unloading conditions are met. When the harvester or the grain transporter exceeds the coordinated grain unloading interval, the coordinated grain unloading stops immediately, the harvester continues to move forward, and enters the field turning path, from the linear operation path No. 3 to the linear operation path No. 4. To ensure safety, when the harvester turns around, the grain transporter stops immediately when it exceeds the coordinated grain unloading interval, and waits for the harvester to complete the turn, and then the grain transporter starts again and enters the field turning path, from the linear operation path No. 1 to the linear operation path No. 2. When the harvester and the grain transport vehicle have all completed the U-turn and entered the coordinated grain unloading area, the coordinated grain unloading position-speed coupling control program is started again to continue the coordinated grain unloading, and the grain harvesting of subsequent straight operation paths such as 5, 6, 7, and 8 is completed in a cycle.

[0081] Obtain the harvester's current straight line operation path number L from the harvester satellite navigation system and the grain transporter satellite navigation system respectively H , the grain transport vehicle's current straight line operation path number L G When the straight line operation path number of the harvester is greater than the straight line operation path number of the grain transporter and the difference between the two is 2, the coordinated grain unloading condition is met, that is, L H >L G And L H -L G =2.

[0082] During the entire coordinated grain unloading process, the harvester and the grain transporter accurately track the planned straight working path and turning path under the control of the satellite navigation system to ensure that the lateral error of the two vehicles meets the safety requirements. When the harvester and the grain transporter are both in the coordinated grain unloading range, the coordinated grain unloading control program is started, the harvester maintains a constant speed (constant speed is achieved by fixing the harvester throttle size, the harvester gear position, and the HST position), and the grain transporter automatically adjusts the throttle under the control of the coordinated grain unloading program, thereby changing the driving speed, and then adjusting the longitudinal position on the straight working path, completing the position-speed coupling tracking of the harvester. When the longitudinal position deviation Δ HG When it is less than the safe unloading threshold Δ, unloading will be carried out automatically.

[0083] The collaborative control process of harvester and grain transporter is as follows: Figure 9 The details are as follows:

[0084] Step 1: Initialize the system, including initializing the satellite navigation system, sensors, the automatic control system of key components, and the collaborative grain unloading control program. After initialization, start the harvester and the grain carrier to drive along the planned path under the control of the satellite navigation system respectively.

[0085] Step 2: Determine whether the harvester and the grain carrier are moving in the same direction. If they are moving in the same direction, go to Step 3; otherwise, the program waits.

[0086] Step 3: Determine whether the harvester and the grain carrier are both within the collaborative grain unloading area. If so, go to Step 4; otherwise, the program returns to Step 2.

[0087] Step 4: Determine whether the path number of the harvester is greater than that of the grain carrier and the difference is 2. If so, go to Step 5; otherwise, the program returns to Step 2.

[0088] Step 5: Conduct longitudinal position coupling control. The grain carrier automatically adjusts the throttle size under the control of the collaborative grain unloading program, thereby changing the driving speed, and then changing the longitudinal position to achieve tracking of the harvester's speed and longitudinal position.

[0089] Step 6: Judge whether the absolute value of the longitudinal position deviation Δ HG of the harvester and the grain carrier is less than the safe grain unloading threshold Δ. The safe grain unloading threshold Δ is usually set to 0.1m - 0.5m. If the absolute value of Δ HG is less than Δ, go to Step 7; otherwise, the program returns to Step 2.

[0090] Step 7: Start grain unloading. The automatic control system of the key components of the harvester automatically controls the unfolding of the grain unloading cylinder of the harvester. After unfolding in place, automatically close the grain unloading clutch, start collaborative grain unloading, and go to Step 8.

[0091] Step 8: Detect whether to stop grain unloading. Stop grain unloading when the following conditions are met: the harvester or the grain carrier exceeds the collaborative grain unloading area, the harvester's grain bin is empty, or the grain carrier's grain bin is full. If the conditions for stopping grain unloading are met, the automatic control system of the key components of the harvester automatically disconnects the grain unloading clutch and controls the retraction of the grain unloading cylinder, and the program ends. Otherwise, continue with collaborative grain unloading.

[0092] The principle block diagram of the collaborative grain unloading position - speed coupling control program is as Figure 10 shown, mainly including a position - loop PID controller and a speed - loop PID controller, both of which adopt incremental PID controllers. When calculating the position error, a specific calculation method is adopted according to different traveling directions. The forward speed of the harvester and the forward speed of the grain carrier are obtained by the satellite navigation system respectively.

[0093] First, the longitudinal offset distance B between the harvester and the grain carrier HG、The longitudinal position of the harvester and the longitudinal position of the grain carrier are input into the position PID controller. After PID calculation, the speed compensation of the grain carrier is output. Then, based on the speed compensation of the grain carrier, the forward speed of the harvester, and the forward speed of the grain carrier, the speed deviation between the harvester and the grain carrier is calculated and input into the speed PID controller to output the throttle size of the grain carrier, thereby changing the engine speed of the grain carrier, that is, automatically controlling the speed of the grain carrier, and finally realizing the coupling of the forward speed and longitudinal position of the grain carrier with the forward speed and longitudinal position of the harvester to meet the condition of the grain carrier following the harvester for coordinated grain unloading.

[0094] The parameters of the position PID controller and the speed PID controller are determined according to the empirical method. For a coordinated grain unloading system composed of a wheeled grain carrier towed by Jingguan 954 and a Lovol GM80 harvester, a set of feasible PID parameters are: position PID: KP1 = 3, KI1 = 5, KD1 = 0; speed PID: KP2 = 10, KI2 = 18, KD2 = 0. When the speed of the harvester is 0.5 m / s, the steady-state error of the longitudinal position of the harvester and the grain carrier can be less than 0.2 m, meeting the requirements of coordinated grain unloading.

[0095] The engine throttle size is calculated by the position-speed coupling control program. According to different engine throttle adjustment forms of the grain carrier, the present application gives the following three examples including but not limited to:

[0096] Example 1: For an engine with electronic throttle adjustment, an analog module is used to convert the calculated engine throttle size into a 0-5V analog voltage and use it as the electronic throttle adjustment signal of the engine to realize the adjustment of the engine throttle.

[0097] Example 2: For an engine with mechanical throttle adjustment, an electronic telescopic cable can be connected to the engine throttle adjustment cable, and a single-chip microcomputer or microcontroller IO is used to linearly adjust the length of the electronic telescopic cable according to the calculated engine throttle size to realize the adjustment of the engine throttle.

[0098] Example 3: For an engine with mechanical throttle adjustment, an electric push rod can be connected to the engine throttle adjustment cable, and a single-chip microcomputer or microcontroller IO is used to linearly adjust the telescopic length of the electric push rod according to the calculated engine throttle size to realize the adjustment of the engine throttle.

[0099] The embodiment of the present application provides a control device for coordinated grain unloading of a harvester and a grain carrier, specifically including:

[0100] A data transmission module, which is used to enable the harvester to send path planning data, position-speed coupling data, and coordinated grain unloading data to the grain carrier through a data transmission terminal.

[0101] A path planning module, configured to perform collaborative path planning on the harvester and the grain carrier based on the path planning data according to the field boundary information, so as to obtain a path plan; the field boundary information is obtained by the harvester making points in the field; the path plan includes the path plan of the harvester and the path plan of the grain carrier; the path plans of the harvester and the grain carrier are the same.

[0102] A state determination module for the harvester and the grain carrier, configured to determine a collaborative grain unloading section based on the path plan, determine whether the harvester and the grain carrier are in the collaborative grain unloading section, determine a determination result, and determine the states of the harvester and the grain unloading vehicle according to the determination result.

[0103] A collaborative grain unloading module, configured to automatically control the longitudinal position deviation between the harvester and the grain carrier according to the states of the harvester and the grain carrier, and perform collaborative grain unloading.

[0104] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal, and its internal structure diagram may be as Figure 11 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store video tag processing data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. The computer program, when executed by the processor, implements a video tag processing method.

[0105] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, which, when executed by a processor, implements the steps in the above method embodiments.

[0106] In an exemplary embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps in the above method embodiments.

[0107] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0108] Specific examples are used in this article to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A method for controlling the coordinated unloading of grain by a harvester and a grain transporter, characterized in that: The method for controlling the coordinated grain unloading of a harvester and a grain transporter comprises: The harvester is instructed to send path planning data, position-speed coupling data and coordinated grain unloading data to the grain transport vehicle through the data transmission terminal; Based on the path planning data, the harvester and the grain transport vehicle are collaboratively planned according to the field boundary information to obtain a path planning; the field boundary information is obtained by the harvester marking the field; the path planning includes the path planning of the harvester and the path planning of the grain transport vehicle; the path planning of the harvester and the path planning of the grain transport vehicle are the same; Determine a coordinated grain unloading interval based on the path planning, judge whether the harvester and the grain transport vehicle are in the coordinated grain unloading interval, determine a judgment result, and determine the status of the harvester and the grain unloading vehicle according to the judgment result; According to the status of the harvester and the grain transport vehicle, the longitudinal position deviation of the harvester and the grain transport vehicle is automatically controlled to carry out coordinated grain unloading.

2. The method for controlling the coordinated unloading of grain by a harvester and a grain transporter according to claim 1, characterized in that: Based on the path planning data, the harvester and the grain transport vehicle are collaboratively planned according to the field boundary information to obtain a path planning, which specifically includes: The harvester is ordered to perform marking in the field to obtain four boundary points of the field, and obtain the boundary information of the field; Based on the field boundary information, a straight line operation path is planned along the long side of the field, and a U-turn path is planned along the short side of the field, so as to obtain the path planning of the grain transport vehicle.

3. The method for controlling the coordinated unloading of grain by a harvester and a grain transporter according to claim 2, characterized in that: Based on the field boundary information, a straight line operation path is planned along the long side of the field, and a U-turn path is planned along the short side of the field, so as to obtain the path planning of the grain transport vehicle, which specifically includes: Based on the field boundary information, four vertices of the field are used as boundary points; the boundary points include point A, point B, point C and point D; wherein the line between point A and point B and the line between point C and point D are long sides, and the line between point B and point C and the line between point A and point D are short sides; The long side is used as a straight working path, and the short side is used as a turning path; Taking the field boundary as the outermost boundary, the harvester and the grain transport vehicle are instructed to plan paths toward the field center according to the straight working path and the turning path until the field is fully covered, and the path planning is determined.

4. The method for controlling the coordinated unloading of grain by a harvester and a grain transporter according to claim 2, characterized in that: After planning a straight working path along the long side of the field, it also includes: The straight line operation path is offset according to the offset distance value of the grain transport vehicle, specifically including: Using the formula M = W d -W c , to obtain the offset distance of the straight working path of the grain transport vehicle relative to the straight working path of the harvester; wherein, W d W is the distance from the grain unloading drum outlet of the harvester to the center line of the harvester; c is the operating width of the harvester; M is the offset distance of the straight operating path of the grain transport vehicle relative to the straight operating path of the harvester; When M=0, it is determined that the linear operation path of the grain transport vehicle coincides with the linear operation path of the harvester, and no offset is performed; When M<0, it is determined that the straight line operation path of the grain transport vehicle is offset toward the center of the field relative to the straight line operation path of the harvester, and the offset distance is |M|; |M| is the absolute value of M; When M>0, it is determined that the straight operating path of the grain transport vehicle is offset toward the outermost boundary of the field relative to the straight operating path of the harvester, and the offset distance is |M|.

5. The method for controlling the coordinated unloading of grain by a harvester and a grain transporter according to claim 2, characterized in that: Determining a coordinated grain unloading interval based on the path planning, judging whether the harvester and the grain transport vehicle are in the coordinated grain unloading interval, determining a judgment result, and determining the states of the harvester and the grain unloading vehicle according to the judgment result, specifically includes: Draw a perpendicular line DE to the long side AB of the field boundary through point D to obtain the auxiliary line DE. Draw a perpendicular line CF to the long side AB of the field boundary through point C to obtain the auxiliary line CF. CF , the direction is to draw a line parallel to the auxiliary line CF on the inner side of the field; at a distance of U DE , the direction is a line parallel to the auxiliary line DE drawn inside the field; The straight line operation area between the parallel line of the auxiliary line CF and the parallel line of the auxiliary line DE is defined as the coordinated grain unloading area; Based on the coordinated unloading interval, using the formula to the distance between the harvester and the auxiliary line DE, the distance between the harvester and the auxiliary line CF, the distance between the grain transport vehicle and the auxiliary line DE, and the distance between the grain transport vehicle and the auxiliary line CF; When H is satisfied DE >U DE And G DE >U DE And H CF >U CF And G CF >U CF When the harvester and the grain transport vehicle are both within the coordinated grain unloading zone, the harvester and the grain transport vehicle are automatically coordinated to unload grain; When H is not satisfied DE >U DE And G DE >U DE And H CF >U CF And G CF >U CF , it is determined that the harvester and the grain transport vehicle are beyond the coordinated grain unloading area, and the harvester and the grain transport vehicle are ordered to stop unloading grain; wherein, H DE H is the distance between the harvester and the auxiliary line DE; CF G is the distance between the harvester and the auxiliary line CF; DE G is the distance between the grain truck and the auxiliary line DE; CF is the distance between the grain truck and the auxiliary line CF; U DE U is the distance between the coordinated unloading section and the auxiliary line DE; CF Indicates the distance between the coordinated unloading section and the auxiliary line CF; H(H x , H y ) is the UTM coordinate of the real-time longitude and latitude coordinates of the harvester; G(G x , G y ) is the UTM coordinate of the real-time latitude and longitude coordinates of the grain transport truck; COE ABX is the coefficient x of the equation of the line with the long side AB; COE ABY is the coefficient of the straight line equation y of the long side AB; CON DE is the constant in the equation of the perpendicular line DE; CON CF is the constant in the equation of the perpendicular line CF; S ABXABY For COE ABX and COE ABY The square root of A(A x , A y ) is the UTM coordinate of the longitude and latitude of point A at the boundary of the field; B(B x , B y ) is the UTM coordinate of the latitude and longitude of point B at the field boundary; C(C x , C y ) is the UTM coordinate of the latitude and longitude coordinates of point C at the boundary of the field; D(D x , D y ) are the UTM coordinates of the longitude and latitude coordinates of point B on the field boundary.

6. The method for controlling the coordinated unloading of grain by a harvester and a grain transporter according to claim 5, characterized in that: According to the states of the harvester and the grain transport vehicle, the longitudinal position deviation of the harvester and the grain transport vehicle is automatically controlled to coordinate grain unloading, specifically including: When the harvester and the grain transport vehicle travel along the AB direction of the long side AB, the formula N HG =H DE -G DE , determine the navigation position error of the grain transport vehicle; where N HG is the navigation position difference between the grain transport vehicle and the harvester; H DE G is the distance between the harvester and the auxiliary line DE; DE is the distance between the grain truck and the auxiliary line DE; When the harvester and the grain transport vehicle travel along the BA direction of the long side AB, the formula N HG =H CF -G CF , determine the navigation position error of the grain transport vehicle; where N HG is the navigation position difference between the grain transport vehicle and the harvester; H CF H is the distance between the harvester and the auxiliary line CF; CF is the distance between the harvester and the auxiliary line CF; Based on the navigation position error of the grain transport vehicle, the formula Δ HG =N HG +B HG , determine the longitudinal position deviation of the harvester and the grain transport vehicle; where N HG is the navigation position difference between the grain transporter and the harvester; B HG is the longitudinal offset distance between the harvester and the grain transport vehicle satellite receiver; Δ HG It is the longitudinal position deviation between the harvester and the grain transport vehicle.

7. A harvester grain transporter coordinated grain unloading control device, characterized in that: The harvester grain transport vehicle cooperative grain unloading control device comprises: A data transmission module, used to enable the harvester to send path planning data, position-speed coupling data and coordinated grain unloading data to the grain transport vehicle through the data transmission terminal; A path planning module is used to perform collaborative path planning for the harvester and the grain transport vehicle based on the path planning data and field boundary information to obtain a path planning; the field boundary information is obtained by the harvester marking the field; the path planning includes the path planning of the harvester and the path planning of the grain transport vehicle; the path planning of the harvester and the path planning of the grain transport vehicle are the same; A state determination module for a harvester and a grain transport vehicle, for determining a coordinated grain unloading interval based on the path planning, determining whether the harvester and the grain transport vehicle are in the coordinated grain unloading interval, determining a determination result, and determining the state of the harvester and the grain unloading vehicle according to the determination result; The collaborative grain unloading module is used to automatically control the longitudinal position deviation of the harvester and the grain transport vehicle according to the status of the harvester and the grain transport vehicle to perform collaborative grain unloading.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for controlling the coordinated unloading of grain by a harvester and a grain transporter as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for controlling the coordinated unloading of grain by a harvester and a grain transporter as described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for controlling the coordinated unloading of grain by a harvester and a grain transporter as described in any one of claims 1 to 6 is implemented.

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