Real-time perception and control system and method for collaborative operation scene of silage harvester and transport vehicle

Abstract

The invention relates to a real-time perception and control system and method for a collaborative operation scene of a silage harvester and a transport vehicle, and the method comprises the steps: enabling a rule processing engine to receive data according to the high-precision data of the harvester, the high-precision data of the transport vehicle, land parcel data, vehicle data and rule parameters; rule calculation is carried out to judge whether the harvester and the transport vehicle are in a collaborative operation scene in which harvesting and loading are synchronously carried out or not; if not, an operation suggestion of the harvester and the transport vehicle is given; the rule processing engine also uploads the received data, the judgment result and the operation suggestion to a data monitoring server; according to the technology, whether the harvester and the transport vehicle are in a collaborative operation scene where harvesting and loading are synchronously carried out or not can be sensed in real time, operation suggestions are given in time, a user can remotely monitor the silage harvesting and loading process in real time through terminal equipment such as a computer and a mobile phone, and operation is carried out according to the operation suggestions; and the agricultural production efficiency and the intelligent level are greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of Internet of Things (IoT) technology, specifically relating to a real-time perception and control system and method for a silage harvester and transport vehicle working collaboratively in agricultural production harvesting and transportation scenarios. Background Art

[0002] With the in-depth development of smart agriculture, the intelligentization of harvesting and transportation processes is becoming increasingly important. In agricultural production harvesting and transportation scenarios, harvesters and transport vehicles work side by side in the field to harvest crops. Taking silage corn as an example, the harvester is used to harvest silage corn, and the transport vehicle is used to transport silage corn.

[0003] Most existing methods employ manual operation via software. The specific steps are as follows: 1. After the harvester enters the field and the transport vehicle is in position, the harvester driver opens a mobile app and sets the harvester to "start harvesting," at which point the harvester's current status is "harvesting in progress." The transport vehicle driver opens a mobile app and sets the transport vehicle to "start loading," at which point the transport vehicle's status is "loading in progress." 2. When the transport vehicle is fully loaded and ready to leave the harvester, the transport vehicle driver opens a mobile app and sets the transport vehicle to "en route," at which point the transport vehicle's status is "en route." 3. When harvesting is complete, the harvester driver opens a mobile app and sets the harvester to "idle," at which point the harvester's current status is "idle."

[0004] Existing technologies mostly rely on manual operation of software, which has the following shortcomings: 1. Cumbersome operation: Starting and ending harvesting, starting loading, and starting en route all require manual operation of the app; 2. Prone to omissions: Harvester and transport vehicle drivers can easily forget to operate the app during operation; 3. Low efficiency: Frequent app operation by drivers during busy agricultural operations affects work efficiency; 4. Low accuracy: There are discrepancies between the actual time the harvester enters and exits the field, the matching time between the transport vehicle and the harvester, and the driver's manual operation time, resulting in low accuracy of loading records and transfer slips; 5. Non-automated: Existing technologies have too high a degree of human intervention and low automation. Summary of the Invention

[0005] In view of this, in order to effectively solve the problems existing in the prior art, the present invention provides a real-time perception and control system and method for the collaborative operation scenario of silage harvesters and transport vehicles. The technical solution provided by the present invention can perceive in real time whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously and provide operation suggestions in a timely manner. Users can remotely monitor the silage harvesting and loading process in real time through terminal devices such as computers and mobile phones, and operate according to the operation suggestions, which will greatly improve agricultural production efficiency and intelligence level.

[0006] To achieve the above objectives, the first aspect of the present invention provides a real-time perception and control system for a collaborative operation scenario of a silage harvester and a transport vehicle, characterized in that: it includes at least a harvester gateway, a transport vehicle gateway, a data acquisition server, a rule processing engine, and a data monitoring server;

[0007] The data acquisition server is responsible for receiving high-precision position data, speed data, and direction data of the harvester, as well as the harvester's working data, collected by the harvester gateway. It is also responsible for receiving high-precision position data, speed data, and direction data of the transport vehicle collected by the transport vehicle gateway. After receiving the data, it stores the data and forwards it to the rule processing engine.

[0008] After receiving the data from the data acquisition server, the rule processing engine uses high-precision location, speed, and direction data of the harvester and the transport vehicle, as well as the harvester's working data, plot data, vehicle data, and rule parameters to perform rule calculations and determine whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously. If they are not in a collaborative operation scenario, the engine provides operational suggestions for the harvester and transport vehicle. The rule processing engine also uploads the received data, the above-mentioned judgment results, and operational suggestions to the data monitoring server.

[0009] Furthermore, the harvester gateway is used to collect high-precision position data, speed data, and direction data of the harvester, as well as the harvester's working data. The harvester gateway can automatically connect to the data acquisition server and send the collected data to the data acquisition server.

[0010] The transport vehicle gateway is used to collect high-precision location data, speed data, and direction data of the transport vehicle. The transport vehicle gateway can automatically connect to the data acquisition server and send the collected data to the data acquisition server.

[0011] Furthermore, it also includes a configuration manager, which is used for managing land parcel data, vehicle data, and dynamically setting rule parameters; at the same time, it forwards the set data to the rule processing engine.

[0012] Furthermore, the data monitoring server is responsible for receiving data from the rule processing engine and displaying the data to the user through the user terminal. This allows the user to remotely monitor the high-precision position, speed, and direction of the harvester and transport vehicle, as well as the harvester's working data in real time. The user can remotely know in real time whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously. If they are not in a collaborative operation scenario, the user can also remotely know the operation suggestions provided by the system in real time. In addition, the driver user can also operate according to the operation suggestions to better implement the collaborative operation of harvesting and loading simultaneously.

[0013] A second aspect of this invention provides a real-time perception and control method for a collaborative operation scenario involving a silage harvester and a transport vehicle. This method, implemented using the aforementioned system, includes at least the following steps:

[0014] S1. Configure the land parcel data, vehicle data, and rule parameters;

[0015] S2. Start the harvester gateway and transport vehicle gateway. Both the harvester gateway and the transport vehicle gateway are equipped with high-precision positioning modules and communication modules. After starting, they will automatically connect to the data acquisition server.

[0016] S3. During the forward movement of the harvester and transport vehicle, the harvester gateway collects high-precision position data, speed data, and direction data of the harvester, as well as the harvester's working data in real time, and sends the collected data to the data acquisition server.

[0017] The transport vehicle gateway collects high-precision location, speed, and direction data of the transport vehicle in real time and sends the collected data to the data acquisition server.

[0018] S4. After receiving the data, the data acquisition server will store the data and forward it to the rule processing engine.

[0019] After receiving the data, the S5 rule processing engine will perform rule calculations and determine whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously, based on the high-precision position, speed, and direction data of the harvester and the transport vehicle, the harvester's working data, as well as the plot data, vehicle data, and rule parameters. If they are not in a collaborative operation scenario, the engine will provide operation suggestions for the harvester and transport vehicle. The rule processing engine will also upload the received data, the above judgment results, and operation suggestions to the data monitoring server.

[0020] Furthermore, based on data from multiple elements and various rules, rule calculations are performed to determine whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously; if they are not in a collaborative operation scenario, operational suggestions for the harvester and transport vehicle are also provided.

[0021] The data for the multiple elements include high-precision location, speed, and orientation data of the harvester, high-precision location, speed, and orientation data of the transport vehicle, working data of the harvester, as well as plot data, vehicle data, and rule parameters.

[0022] Furthermore, it also includes the following steps: rules for determining whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously, and rules for providing operational suggestions for the harvester and transport vehicle:

[0023] The following rules can be used to determine whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously:

[0024] a. The harvester and transport vehicle are valid and located in the currently configured harvesting area;

[0025] b. The position, speed, and direction data of the harvester and transport vehicle are reasonable, and the position data is variable;

[0026] c. The harvester's operating data indicates that the harvester's discharge device is working effectively;

[0027] d. The transport vehicle is in the effective loading position of the harvester;

[0028] Based on the following rules, operational suggestions for harvesters and transport vehicles can be given:

[0029] a. The harvester and transport vehicle are valid and located in the currently configured harvesting area;

[0030] b. The harvester and transport vehicle are not currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously;

[0031] c. If the position, speed, and direction data of the harvester and the transport vehicle are reasonable, the position data is changing, and the transport vehicle is in the effective loading position of the harvester, but the harvester's discharge device is not working effectively, it is recommended that the harvester driver operate it in time to make the discharge device work effectively.

[0032] d. If the position, speed, and direction data of the harvester and the transport vehicle are reasonable, the position data is changing, and the harvester's discharge device is working effectively, but the transport vehicle is not in the harvester's effective loading position, then based on the dynamic difference between the transport vehicle's current position and the effective loading position, the driver will be continuously given real-time suggestions for adjusting the transport vehicle's position.

[0033] Furthermore, the steps include: using the configuration manager for managing land parcel data, vehicle data, and dynamically setting rule parameters; and forwarding the set data to the rule processing engine.

[0034] Furthermore, the process includes the following steps: the data monitoring server receives the result data processed by the rule processing engine and displays the data to the user through the user terminal (including but not limited to mobile phones, tablets, computers, etc.); the user can remotely monitor the high-precision position, speed, and direction of the harvester and transport vehicle, as well as the harvester's working data in real time, and can remotely know in real time whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously; if they are not in a collaborative operation scenario, the user can also remotely know the operation suggestions given by the system in real time; in addition, the driver user can also operate according to the operation suggestions to better implement the collaborative operation of harvesting and loading simultaneously.

[0035] The present invention has at least the following beneficial effects:

[0036] 1. The technical solution provided by this invention can sense in real time whether the harvester and transport vehicle are in a collaborative operation scenario where harvesting and loading are carried out simultaneously and provide operation suggestions in a timely manner. Users can remotely monitor the silage harvesting and loading process in real time through terminal devices such as computers and mobile phones, and operate according to the operation suggestions, reducing manual intervention and omissions, which will greatly improve agricultural production efficiency and intelligence level.

[0037] 2. The collaborative operation scenario real-time perception and control method provided by the present invention improves work efficiency, eliminates the need for manual operation of the APP, and enables automatic judgment; the entire process achieves automated control, and the matching of harvesters and transport vehicles as well as the determination of the status of harvesters and transport vehicles are fully automated without human intervention.

[0038] 3. When harvesters and transport vehicles frequently enter and exit the plot, the method provided by this invention can accurately record all data without any omissions.

[0039] 4. High accuracy: The actual time of the harvester entering and leaving the plot, as well as the matching time between the transport vehicle and the harvester, are consistent with the actual time of occurrence. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the real-time perception system for the collaborative operation of harvesters and transport vehicles according to the present invention;

[0042] Figure 2 This is a schematic diagram of the harvester and transport vehicle of the present invention working together in a plot of land;

[0043] Figure 3 This is a flowchart of the real-time perception and control process for the collaborative operation scenario of harvesters and transport vehicles according to the present invention;

[0044] Figure 4 This is a schematic diagram illustrating the rules for determining whether harvesting and loading are occurring simultaneously according to the present invention.

[0045] Figure 5 This is a schematic diagram illustrating the rules for providing operational suggestions for harvesters and transport vehicles according to this invention. Detailed Implementation

[0046] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses consistent with some aspects of the invention as detailed in the appended claims.

[0047] like Figure 1 and Figure 2 As shown, the first aspect of this embodiment provides a real-time perception and control system for a collaborative operation scenario of a silage harvester and a transport vehicle, which includes at least a harvester gateway, a transport vehicle gateway, a data acquisition server, a rule processing engine, and a data monitoring server.

[0048] The data acquisition server is responsible for receiving high-precision position data, speed data, and direction data of the harvester, as well as the harvester's working data, collected by the harvester gateway. It is also responsible for receiving high-precision position data, speed data, and direction data of the transport vehicle collected by the transport vehicle gateway. After receiving the data, it stores the data and forwards it to the rule processing engine.

[0049] After receiving the data from the data acquisition server, the rule processing engine uses high-precision location, speed, and direction data of the harvester and the transport vehicle, as well as the harvester's working data, plot data, vehicle data, and rule parameters to perform rule calculations and determine whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously. If they are not in a collaborative operation scenario, the engine provides operational suggestions for the harvester and transport vehicle. The rule processing engine also uploads the received data, the above-mentioned judgment results, and operational suggestions to the data monitoring server.

[0050] In a preferred embodiment, the harvester gateway described in this example is used to collect high-precision position data, speed data, and direction data of the harvester, as well as the harvester's working data. The harvester gateway can automatically connect to the data acquisition server and send the collected data to the data acquisition server.

[0051] The transport vehicle gateway is used to collect high-precision location data, speed data, and direction data of the transport vehicle. The transport vehicle gateway can automatically connect to the data acquisition server and send the collected data to the data acquisition server.

[0052] like Figure 2 As shown, this is a scenario where a harvester and a transport vehicle work together in a field. The rule processing engine performs rule calculations to determine whether the harvester and the transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously. If they are not in a collaborative operation scenario, the engine provides operation suggestions for the harvester and the transport vehicle. The rule processing engine also uploads the received data, the above determination results, and operation suggestions to the data monitoring server.

[0053] As a preferred implementation, this embodiment also includes a configuration manager, which is used for managing land parcel data, managing vehicle data, and dynamically setting rule parameters; at the same time, it forwards the set data to the rule processing engine.

[0054] In a preferred embodiment, the data monitoring server in this example is responsible for receiving data from the rule processing engine and displaying the data to the user through the user terminal. This allows the user to remotely monitor the high-precision position, speed, and direction of the harvester and transport vehicle, as well as the harvester's working data in real time. The user can remotely know in real time whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously. If they are not in a collaborative operation scenario, the user can also remotely know the operation suggestions provided by the system in real time. In addition, the driver can also operate according to the operation suggestions to better implement the collaborative operation of harvesting and loading simultaneously.

[0055] This invention can sense in real time whether the harvester and transport vehicle are in a collaborative operation scenario where harvesting and loading are carried out simultaneously, and provide operation suggestions in a timely manner. Users can remotely monitor the silage harvesting and loading process in real time through terminal devices such as computers and mobile phones, and operate according to the operation suggestions, which will greatly improve agricultural production efficiency and intelligence level.

[0056] like Figure 1 and Figure 3 As shown, a second aspect of the present invention provides a real-time perception and control method for a collaborative operation scenario of a silage harvester and a transport vehicle. This method employs the aforementioned system and includes at least the following steps:

[0057] S1. Configure the plot data, vehicle data, and rule parameters; the vehicle data should include at least the effective loading position of the harvester; the rule parameters should include at least the basic parameters of the rules for determining whether the harvester and the transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously.

[0058] S2. Start the harvester gateway and transport vehicle gateway. Both the harvester gateway and the transport vehicle gateway are equipped with high-precision positioning modules and communication modules. After starting, they will automatically connect to the data acquisition server.

[0059] S3. During the forward movement of the harvester and transport vehicle, the harvester gateway collects high-precision position data, speed data, and direction data of the harvester, as well as the harvester's working data in real time, and sends the collected data to the data acquisition server.

[0060] The transport vehicle gateway collects high-precision location, speed, and direction data of the transport vehicle in real time and sends the collected data to the data acquisition server.

[0061] S4. After receiving the data, the data acquisition server will store the data and forward it to the rule processing engine.

[0062] After receiving the data, the S5 rule processing engine will perform rule calculations and determine whether the harvester and the transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously, based on the high-precision position data, speed data, and direction data of the harvester, the high-precision position data, speed data, and direction data of the transport vehicle, the working data of the harvester, as well as the plot data, vehicle data, and rule parameters.

[0063] The data monitoring server forwards the working status of the harvester and the transport vehicle to the front-end user terminal. The user terminal mainly includes the following types: mobile terminals (such as smartphones / tablets that receive data through a dedicated APP or WeChat mini program, and vehicle-mounted touch screens with integrated Beidou modules); fixed terminals (such as the monitoring center's large screen and the PC-based Web management platform).

[0064] If the operation is not in a collaborative scenario, the system will provide operational suggestions for the harvester and transport vehicle. The rule processing engine will also upload the received data, the above judgment results, and operational suggestions to the data monitoring server.

[0065] It should be added that, based on data from multiple elements and various rules, this embodiment performs rule calculations to determine whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously; if they are not in a collaborative operation scenario, it also provides operation suggestions for the harvester and transport vehicle.

[0066] The data for the multiple elements include high-precision location, speed, and orientation data of the harvester, high-precision location, speed, and orientation data of the transport vehicle, working data of the harvester, as well as plot data, vehicle data, and rule parameters.

[0067] As a preferred implementation, this embodiment also includes the steps of: determining whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously, and providing operational suggestions for the harvester and transport vehicle.

[0068] like Figure 4 As shown, in this embodiment, the following rules can be used to determine whether the harvester and the transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously:

[0069] a. The harvester and transport vehicle are valid and located in the currently configured harvesting area;

[0070] b. The position, speed, and direction data of the harvester and transport vehicle are reasonable, and the position data is variable;

[0071] c. The harvester's operating data indicates that the harvester's discharge device is working effectively;

[0072] d. The transport vehicle is in the effective loading position of the harvester;

[0073] like Figure 5 As shown, the following rules can be used to provide operational suggestions for harvesters and transport vehicles in this embodiment:

[0074] a. The harvester and transport vehicle are valid and located in the currently configured harvesting area;

[0075] b. The harvester and transport vehicle are not currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously;

[0076] c. If the position, speed, and direction data of the harvester and the transport vehicle are reasonable, the position data is changing, and the transport vehicle is in the effective loading position of the harvester, but the harvester's discharge device is not working effectively, it is recommended that the harvester driver operate it in time to make the discharge device work effectively.

[0077] d. If the position, speed, and direction data of the harvester and the transport vehicle are reasonable, the position data is changing, and the harvester's discharge device is working effectively, but the transport vehicle is not in the harvester's effective loading position, then based on the dynamic difference between the transport vehicle's current position and the effective loading position, the driver will be continuously given real-time suggestions for adjusting the transport vehicle's position.

[0078] In a preferred implementation, the configuration manager in this embodiment is used for managing land parcel data, vehicle data, and dynamically setting rule parameters; at the same time, it forwards the set data to the rule processing engine.

[0079] In a preferred implementation, the data monitoring server in this embodiment receives the result data processed by the rule processing engine and displays the data to the user through the user terminal. The user can remotely monitor the high-precision position, speed, and direction of the harvester and transport vehicle, as well as the harvester's working data in real time. The user can remotely know in real time whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously. If they are not in a collaborative operation scenario, the user can also remotely know the operation suggestions given by the system in real time. In addition, the driver can also operate according to the operation suggestions to better implement the collaborative operation of harvesting and loading simultaneously.

[0080] This invention uses high-precision position, speed, and direction data from both the harvester and transport vehicle, along with the harvester's operational data and land parcel data, to calculate and determine the harvester's operational status using multiple data elements and rules. It also uses these same high-precision position, speed, and direction data from both the harvester and transport vehicle, along with the harvester's operational data and land parcel data, to determine the matching status between the transport vehicle and the harvester, as well as the transport vehicle's operational status. The solution provided by this invention can automatically determine when the harvester and transport vehicle begin and end matching, and can automatically determine their current operational status.

[0081] This invention can sense in real time whether the harvester and transport vehicle are in a collaborative operation scenario where harvesting and loading are carried out simultaneously, and provide timely operation suggestions. Users can remotely monitor the silage harvesting and loading process in real time through terminal devices such as computers and mobile phones, and operate according to the operation suggestions. With less human intervention and fewer omissions, it will greatly improve agricultural production efficiency and intelligence level.

[0082] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A real-time perception and control system for collaborative operation scenarios of silage harvesters and transport vehicles, characterized in that: It includes at least a harvester gateway, a transport vehicle gateway, a data acquisition server, a rule processing engine, and a data monitoring server; The data acquisition server is responsible for receiving high-precision position data, speed data, and direction data of the harvester, as well as the harvester's working data, collected by the harvester gateway. It is also responsible for receiving high-precision position data, speed data, and direction data of the transport vehicle collected by the transport vehicle gateway. After receiving the data, it stores the data and forwards it to the rule processing engine. After receiving the data sent by the data acquisition server, the rule processing engine will perform rule calculations and determine whether the harvester and the transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously, based on the high-precision position data, speed data, and direction data of the harvester, the high-precision position data, speed data, and direction data of the transport vehicle, the working data of the harvester, as well as the plot data, vehicle data, and rule parameters. If the operation is not in a collaborative scenario, operational suggestions for the harvester and transport vehicle will be provided. The rule processing engine also uploads the received data, along with the aforementioned judgment results and operation suggestions, to the data monitoring server.

2. The system according to claim 1, characterized in that: The harvester gateway is used to collect high-precision position data, speed data, and direction data of the harvester, as well as the harvester's working data. The harvester gateway can automatically connect to the data acquisition server and send the collected data to the data acquisition server. The transport vehicle gateway is used to collect high-precision location data, speed data, and direction data of the transport vehicle. The transport vehicle gateway can automatically connect to the data acquisition server and send the collected data to the data acquisition server.

3. The system according to claim 2, characterized in that: It also includes a configuration manager, which is used for managing land parcel data, vehicle data, and dynamically setting rule parameters; at the same time, it forwards the set data to the rule processing engine.

4. The system according to claim 3, characterized in that: The data monitoring server is responsible for receiving data from the rule processing engine and displaying the data to the user through the user terminal, allowing the user to remotely monitor the high-precision position, speed and direction of the harvester and transport vehicle, as well as the harvester's working data in real time. The user can also remotely know in real time whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously. If not in a collaborative work scenario, users can remotely receive operational suggestions from the system in real time. In addition, drivers can also operate according to the suggestions to better implement collaborative operations that combine harvesting and loading simultaneously.

5. A method for real-time perception and control of silage harvester and transport vehicle collaborative operation scenarios. Its features include: The method employs the system described in any one of claims 1 to 4, and the method includes at least the following steps: S1. Configure the land parcel data, vehicle data, and rule parameters; S2. Start the harvester gateway and transport vehicle gateway. Both the harvester gateway and the transport vehicle gateway are equipped with high-precision positioning modules and communication modules. After starting, they will automatically connect to the data acquisition server. S3. During the forward movement of the harvester and transport vehicle, the harvester gateway collects high-precision position data, speed data, and direction data of the harvester, as well as the harvester's working data in real time, and sends the collected data to the data acquisition server. The transport vehicle gateway collects high-precision location, speed, and direction data of the transport vehicle in real time and sends the collected data to the data acquisition server. S4. After receiving the data, the data acquisition server will store the data and forward it to the rule processing engine. After receiving the data, the S5 rule processing engine will perform rule calculations and determine whether the harvester and the transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously, based on the high-precision position data, speed data, and direction data of the harvester, the high-precision position data, speed data, and direction data of the transport vehicle, the working data of the harvester, as well as the plot data, vehicle data, and rule parameters. If the operation is not in a collaborative scenario, operational suggestions for the harvester and transport vehicle will be provided. The rule processing engine also uploads the received data, along with the aforementioned judgment results and operational suggestions, to the data monitoring server.

6. The method according to claim 5, characterized in that: Based on data from multiple elements and various rules, rule calculations are performed to determine whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously. If the operation is not in a collaborative work scenario, operational suggestions for the harvester and transport vehicle are also provided. The data for the multiple elements include high-precision location, speed, and orientation data of the harvester, high-precision location, speed, and orientation data of the transport vehicle, working data of the harvester, as well as plot data, vehicle data, and rule parameters.

7. The method according to claim 6, characterized in that: It also includes the following steps: rules for determining whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously, and rules for providing operational suggestions for the harvester and transport vehicle: The following rules can be used to determine whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously: a. The harvester and transport vehicle are valid and located in the currently configured harvesting area; b. The position, speed, and direction data of the harvester and transport vehicle are reasonable, and the position data is variable; c. The harvester's operating data indicates that the harvester's discharge device is working effectively; d. The transport vehicle is in the effective loading position of the harvester; Based on the following rules, operational suggestions for harvesters and transport vehicles can be given: a. The harvester and transport vehicle are valid and located in the currently configured harvesting area; b. The harvester and transport vehicle are not currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously; c. If the position, speed, and direction data of the harvester and the transport vehicle are reasonable, the position data is changing, and the transport vehicle is in the effective loading position of the harvester, but the harvester's discharge device is not working effectively, it is recommended that the harvester driver operate it in time to make the discharge device work effectively. d. If the position, speed, and direction data of the harvester and the transport vehicle are reasonable, the position data is changing, and the harvester's discharge device is working effectively, but the transport vehicle is not in the harvester's effective loading position, then based on the dynamic difference between the transport vehicle's current position and the effective loading position, the driver will be continuously given real-time suggestions for adjusting the transport vehicle's position.

8. The method according to claim 7, characterized in that: It also includes the following steps: The configuration manager is used for managing land parcel data, vehicle data, and dynamically setting rule parameters; at the same time, it forwards the set data to the rule processing engine.

9. The method according to claim 8, characterized in that: It also includes the following steps: The data monitoring server receives the result data processed by the rule processing engine and displays the data to the user through the user terminal; Users can remotely monitor the high-precision position, speed, and direction of harvesters and transport vehicles, as well as the harvester's working data in real time. They can also remotely know in real time whether the harvester and transport vehicle are currently in a collaborative operation scenario where harvesting and loading are carried out simultaneously. Even when not in a collaborative work scenario, users can remotely receive operational suggestions from the system in real time. In addition, drivers can follow the operating suggestions to better coordinate harvesting and loading operations.

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