Combined operation method of unmanned seeding tractor and supply tractor
By combining unmanned seeding tractors and supply tractors, the problem of low efficiency in multi-machine collaborative operations in large farmlands has been solved, achieving efficient seed and fertilizer supply and path optimization, thereby improving seeding efficiency.
Patent Information
- Application Number
- CN202511212410.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-28
- Publication Date
- 2025-11-04
AI Technical Summary
When multiple unmanned agricultural machines are used for sowing in large farmlands, the lack of dynamic task allocation and collision avoidance mechanisms leads to low sowing efficiency and slow manual replenishment, which affects operational efficiency.
By employing a combined operation method of unmanned seeding tractors and supply tractors, and through real-time communication and collaborative scheduling, a full-coverage path is generated, the supply location is predicted in real time, and the supply task is dynamically scheduled to ensure efficient supply docking.
It improves the efficiency of multi-machine collaborative operation, avoids repeated land compaction and path conflicts, achieves efficient seed and fertilizer replenishment, and improves sowing efficiency.
Smart Images
Figure CN120883802A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of unmanned tractor control technology, specifically a method for the combined operation of an unmanned seeding tractor and a supply tractor. Background Technology
[0002] With the rapid development of intelligent agricultural machinery technology, unmanned agricultural machinery has begun to be widely used in large-scale farms, including in scenarios such as precision seeding, variable-rate fertilization, and autonomous harvesting. Through high-precision navigation, artificial intelligence, and autonomous driving technology, unmanned agricultural machinery can achieve efficient and precise farmland operations, significantly improving agricultural production efficiency and reducing labor costs.
[0003] In practical sowing applications, single-machine unmanned agricultural machinery cannot meet the rapid sowing needs of large fields, and manual replenishment of seeds and fertilizer is too slow. When multiple tractors are sowing simultaneously, the lack of dynamic task allocation and collision avoidance mechanisms, along with overlapping or redundant coverage by multiple machines, severely affects the efficiency of sowing operations. Summary of the Invention
[0004] To address the shortcomings of existing technologies, the present invention aims to provide a method for the joint operation of an unmanned seeding tractor and a supply tractor, in order to solve the problem of efficiently scheduling multiple agricultural machines to work together under the operating conditions of multiple agricultural machines sowing in large farmland.
[0005] To achieve the above objectives, the present invention adopts the following technical solution: a method for joint operation of an unmanned seeding tractor and a supply tractor includes the following steps: S1: Generate operation paths and supply areas based on agricultural machinery parameters, and establish real-time communication between multiple agricultural machines; S2: The seeding tractor predicts the remaining working length of seed and fertilizer available in real time and determines the replenishment information; S3: Coordinate the dispatch of seeding tractors and corresponding supply tractors to the supply location for supply docking.
[0006] The operation path is a full-coverage path. Each straight path in the full-coverage path needs to be calculated based on the model of the seeder and the operation parameters to determine the straight length that the seeder can operate with a full load. This ensures that each path in the full-coverage path is less than this length, thus avoiding replanting and fertilization in the middle of the farmland. The resupply area is the area adjacent to the work area. The minimum width of the resupply area is selected according to whether the resupply tractor is a suspended or towed type. When the supply vehicle is suspended, the minimum width of the supply area is two turning radii; When the supply vehicle is towed, the minimum width of the supply area is three turning radii.
[0007] The replenishment information includes the type of replenishment needed and the replenishment location. The replenishment type is divided into seeds or fertilizer. The replenishment location is predicted in real time based on the position of the sowing tractor and the status of the seeder, indicating the location on the work path when the seeds and fertilizer are about to run out. That is, the location where the last replenishment area is reached on the work path is the replenishment location. The formula for calculating the replenishment location is as follows: ; This indicates the current location of the seeding tractor within the work path; This indicates the remaining capacity of the seed or fertilizer bin that needs replenishment. This indicates the amount of seeds or fertilizer consumed per unit of time. This indicates the distance the seeder travels per unit of time. This represents the shortest distance from the supply area to this path point along the generated work path in the work direction.
[0008] The coordinated scheduling involves two supply vehicles positioned on the same side or opposite sides of the edge of the field. The specific steps of the coordinated scheduling are as follows: (1) If the seeder only needs to replenish seeds or fertilizer, then dispatch the corresponding supply tractor to the supply location; (2) If both replanting and fertilization are required at the same time, the nearest supply tractor should be selected for supply. (3) The first supply tractor arrives at the supply location to resupply and dock, while the second supply tractor is dispatched to wait near the supply location; (4) After the first supply tractor completes the supply docking, stop in a safe area near the predicted next supply location; (5) After the first supply tractor leaves the supply position, dispatch the second supply tractor to resupply. (6) After the second supply tractor completes the supply docking, dispatch the seeding tractor to continue working and stop in a safe area near the predicted next supply location; (7) If two vehicles conflict on the path during operation or due to human intervention, the supply tractor that is about to be resupplyed shall be given priority and its operation path shall remain unchanged. The supply tractor with the second priority shall dynamically change its path to return to its target position.
[0009] The aforementioned resupply docking includes the following: (1) When the supply tractor arrives at the supply position, the two vehicles are in a perpendicular relationship in the direction of travel. Based on the position sensor data on the two vehicles, it is further determined whether the relative position relationship of the two vehicles meets the supply docking requirements, that is, the mechanical arm of the supply vehicle can rotate to the top of the material box opening. (2) When the relative position does not meet the requirements for resupply, the vehicle position is finely adjusted. If adjusting the front and rear position of only one tractor can meet the resupply requirements, then one tractor is adjusted. Otherwise, both tractors are adjusted at the same time until the resupply docking requirements are met. (3) The dispatching supply vehicle's robotic arm rotates to above the seeder. Based on sensor data, it determines the position of the unloading port relative to the designated area and fine-tunes the rotation angle and length of the robotic arm until it reaches directly above the material box. (4) The dispatching and supply vehicle starts unloading. The unloading time is controlled according to the loading information fed back by the seeder. When the loading reaches 95%, the feeding stops and the robotic arm is retracted.
[0010] The beneficial effects of this invention are: by predicting the location of seed and fertilizer replenishment in real time during the operation, dynamically scheduling the replenishment tractor to complete the replenishment task, and efficiently carrying out replenishment docking, the efficiency of sowing operations is effectively improved. Attached Figure Description
[0011] Figure 1 This is a schematic diagram of the structure provided by the present invention; Figure 2 A schematic diagram of the operation process of the seeder provided by the present invention; Figure 3 This is a schematic diagram of the operation process of the supply tractor provided by the present invention. Detailed Implementation
[0012] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0013] Please see Figures 1-3 A method for joint operation of unmanned seeding tractors and supply tractors is proposed. The operation path generated based on agricultural machinery parameters is a full-coverage path. Compared with traditional algorithms, the maximum length of a single path in the operation path is added as a constraint condition.
[0014] The maximum length of a single path is designed to prevent already sown land from being repeatedly trampled by the supply tractor during collaborative operations, which could prevent crop growth. Therefore, throughout the reseeding and fertilization process, a currently unsown area is selected as the supply area for the supply tractor. Thus, the length of a single path must ensure its load capacity is sufficient to complete at least one straight sowing path, guaranteeing that the supply docking process takes place within the supply area.
[0015] The resupply area is set to the area adjacent to the work area, and the minimum width of the resupply area is selected according to whether the resupply tractor is a suspended or towed type. When the supply vehicle is suspended, the minimum width of the supply area is two turning radii; When the supply vehicle is towed, the minimum width of the supply area is three turning radii.
[0016] When farmland needs to be divided into multiple work areas for sowing, the new work path needs to cover the old supply area to ensure that farmland resources are fully utilized.
[0017] Specifically, when planning a full-coverage path for wheat sowing in a field, the specific steps are as follows: First, obtain the shape and size data of the farmland plots, and use the long side as the working direction.
[0018] Based on the actual amount of fertilizer consumed per meter by the seeder (c) and the load capacity (s) of the seeder, the length that the seeder can plant when fully loaded is calculated to be x = s / c. Therefore, the length of each straight path generated should be less than x.
[0019] If the length of the longer side of the plot is greater than x, the area of length x + ad is taken as the supply area according to the turning radius d of the supply tractor, where the size of a is set according to the type of supply vehicle.
[0020] When generating the next seeding area after the current seeding operation is completed, the supply area of length x+ad needs to be included as part of the operation area.
[0021] During unmanned operation, the seeding tractor needs to predict supply information in real time, including the type of supply needed and the supply location.
[0022] In actual operation, the working path consists of a series of coordinate points, and the relative distance between the coordinate points is the same. Therefore, the effective working length of the seeding tractor can be obtained by calculating the number of coordinate points at intervals.
[0023] Every second, the number of coordinate points passed by the seeding tractor is counted, and the current remaining amount of seeds and fertilizer is obtained by the seeder's sensors, so as to calculate the seed and fertilizer consumption of the seeder per unit time. Remove extreme values from the statistical data to determine the average fertilizer and seed consumption per unit time.
[0024] Based on the current location of the seeding tractor and the average seed and fertilizer consumption, predict the coordinates of the work location where the seed and fertilizer will soon be used up. The resupply location is the last point on the operational path where the operator reached the resupply area. The formula for calculating the resupply location is: ; This indicates the current location of the seeding tractor within the work path; This indicates the remaining capacity of the seed or fertilizer bin that needs replenishment. This indicates the amount of seeds or fertilizer consumed per unit of time. This indicates the distance the seeder travels per unit of time. This represents the shortest distance from the supply area to this path point along the generated work path in the work direction.
[0025] Specifically, the scheduling of collaborative tasks needs to be handled according to the real-time status of agricultural machinery. For example, the operation process of the seeder is implemented as follows: Figure 2 As shown, when the seeder malfunctions or fails to connect, manual intervention is required to check the situation in a timely manner. When the seeder encounters dynamic obstacles during operation, manual handling is also required to ensure full coverage of the seeding.
[0026] For vehicles delivering replanting or fertilizer, the implementation of their operating procedures is as follows: Figure 3 As shown, considering that the two supply vehicles may be located on the same side or opposite sides of the field, the steps for their coordinated scheduling are as follows: (1) If the seeder only needs to replenish seeds or fertilizer, the seeder is scheduled to stop at the replenishment position, and the corresponding replenishment tractor is scheduled to drive to the replenishment position; (2) If replanting and fertilization are required at the same time, the system sorts the two supply vehicles in real time according to the Euclidean distance between them and the seeder, and prioritizes the supply tractor that is closest to the supply location for supply. (3) When the first supply tractor arrives at the supply location for resupply docking, the second supply tractor is simultaneously dispatched to stop near the supply location to wait, ensuring that the two supply tractors are at a safe distance from each other, and the straight-line distance is generally set to more than three meters. (4) After the first supply tractor completes the supply docking, stop in a safe area near the predicted next supply location. The safe area is an area that does not affect the turning of the seeder, and is generally set at a position five meters away from the supply point. (5) After the first supply tractor leaves the supply position, the distance is generally set to three meters or more, and the second supply tractor is dispatched to resupply. (6) After the second supply tractor completes the supply docking, dispatch the seeding tractor to continue working and stop in a safe area near the predicted next supply location, while ensuring that the two vehicles are more than three meters apart; (7) If two vehicles conflict on the path during operation or due to human intervention, the supply tractor that is about to be resupplyed shall be given priority and its operation path shall remain unchanged. The supply tractor with the second priority shall dynamically change its path to return to its target position.
[0027] During actual operation, when the two vehicles arrive at the resupply position, there is a certain error compared to the expected relative position. By installing sensors on the two vehicles, the error range can be accurately measured at close range, and the positions of the two vehicles can be adjusted to ensure that the robotic arm of the resupply vehicle can move to any position above the seeder's feed hopper for resupply. The specific steps are as follows: (1) When the supply tractor arrives at the supply position, the two vehicles are in a perpendicular relationship in the direction of travel. Based on the position sensor data on the two vehicles, the relative coordinates of the two vehicles are determined, the reachable range of the robotic arm is calculated, and the relative positional relationship of the two vehicles is further determined to meet the supply docking requirements, that is, the robotic arm of the supply vehicle can rotate to the designated area, that is, above any position of the material box opening. (2) When the relative position does not meet the requirements for resupply, the vehicle position is fine-tuned. If adjusting the front and rear position relationship of only one tractor can meet the resupply requirements, then one tractor is adjusted. Otherwise, both tractors are adjusted at the same time until the resupply docking requirements are met. It is confirmed that the docking requirements are met in three consecutive position samplings. (3) Based on the height and rotation angle of the supply vehicle's robotic arm, determine that it rotates to the top of the seeder. Based on the sensor data, determine the position of the unloading port relative to the designated area, and fine-tune the rotation angle and length of the robotic arm until it reaches the top of the material box. (4) The dispatching and supply vehicle starts unloading. The unloading time is controlled according to the loading information fed back by the seeder. When the loading reaches 95%, the feeding stops and the robotic arm is retracted.
[0028] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
[0029] The parts of this invention not described in detail are prior art.
Claims
1. A method for joint operation of an unmanned seeding tractor and a supply tractor, characterized in that: Includes the following steps: S1: Generate operation paths and supply areas based on agricultural machinery parameters, and establish real-time communication between multiple agricultural machines; S2: The seeding tractor predicts the remaining working length of seed and fertilizer available in real time and determines the replenishment information; S3: Coordinate the dispatch of seeding tractors and corresponding supply tractors to the supply location for supply docking.
2. The method for joint operation of an unmanned seeding tractor and a supply tractor according to claim 1, characterized in that: The operation path is a full-coverage path. Each straight path in the full-coverage path needs to be calculated based on the model of the seeder and the operation parameters to determine the straight length that the seeder can operate with a full load. This ensures that each path in the full-coverage path is less than this length, thus avoiding replanting and fertilization in the middle of the farmland. The resupply area is the area adjacent to the work area. The minimum width of the resupply area is selected according to whether the resupply tractor is a suspended or towed type. When the supply vehicle is suspended, the minimum width of the supply area is two turning radii; When the supply vehicle is towed, the minimum width of the supply area is three turning radii.
3. The method for joint operation of an unmanned seeding tractor and a supply tractor according to claim 1, characterized in that: The replenishment information includes the type of replenishment needed and the replenishment location. The replenishment type is divided into seeds or fertilizer. The replenishment location is predicted in real time based on the position of the sowing tractor and the status of the seeder, indicating the location on the work path when the seeds and fertilizer are about to run out. That is, the location where the last replenishment area is reached on the work path is the replenishment location. The formula for calculating the replenishment location is as follows: ; In the formula: This indicates the current location of the seeding tractor within the work path; This indicates the remaining capacity of the seed or fertilizer bin that needs to be replenished; This indicates the amount of seeds or fertilizer consumed per unit of time. This indicates the distance the seeder travels per unit of time. This represents the shortest distance from the supply area to this path point along the generated work path in the work direction.
4. The method for joint operation of an unmanned seeding tractor and a supply tractor according to claim 1, characterized in that: The coordinated scheduling includes: The two supply vehicles may be located on the same side or opposite sides of the field. The specific steps for their coordinated dispatch are as follows: (1) If the seeder only needs to replenish seeds or fertilizer, then dispatch the corresponding supply tractor to the supply location; (2) If both replanting and fertilization are required at the same time, the nearest supply tractor should be selected for supply. (3) The first supply tractor arrives at the supply location to resupply and dock, while the second supply tractor is dispatched to wait near the supply location; (4) After the first supply tractor completes the supply docking, stop in a safe area near the predicted next supply location; (5) After the first supply tractor leaves the supply position, dispatch the second supply tractor to rendezvous with it; (6) After the second supply tractor completes the supply docking, dispatch the seeding tractor to continue operation and stop in a safe area near the predicted next supply location; (7) If two vehicles conflict on the path during operation or due to human intervention, the supply tractor that is about to be resupplyed shall be given priority and its operation path shall remain unchanged. The supply tractor with the second priority shall dynamically change its path to return to its target position.
5. The method for joint operation of an unmanned seeding tractor and a supply tractor according to claim 1, characterized in that: The supply docking Includes the following: (1) When the supply tractor arrives at the supply position, the two vehicles are in a perpendicular relationship in the direction of travel. Based on the position sensor data on the two vehicles, it is further determined whether the relative position relationship of the two vehicles meets the supply docking requirements, that is, the mechanical arm of the supply vehicle can rotate to the top of the material box opening. (2) When the relative position does not meet the requirements for resupply, the vehicle position is finely adjusted. If adjusting the front and rear position of only one tractor can meet the resupply requirements, then one tractor is adjusted. Otherwise, both tractors are adjusted at the same time until the resupply docking requirements are met. (3) The dispatching supply vehicle's robotic arm rotates to above the seeder. Based on sensor data, it determines the position of the unloading port relative to the designated area and fine-tunes the rotation angle and length of the robotic arm until it reaches directly above the material box. (4) The dispatching and supply vehicle starts unloading. The unloading time is controlled according to the loading information fed back by the seeder. When the loading reaches 95%, the feeding stops and the robotic arm is retracted.