Multi-agricultural machinery collaborative operation method and system, electronic equipment and storage medium

Abstract

The invention discloses a multi-agricultural machinery collaborative operation method and system, electronic equipment and a storage medium, and the method comprises the steps: building a field operation model of a target farmland based on the boundary information and geographic information of the target farmland; dividing the field operation model into a plurality of operation sub-regions according to the operation capability parameters of each agricultural machine participating in the collaborative operation, allocating at least one operation sub-region to each agricultural machine, and generating an initial operation path covering all the corresponding operation sub-regions for each agricultural machine; and establishing communication connection among a plurality of agricultural machines participating in collaborative operation, and dynamically scheduling operation sub-region distribution and an initial operation path corresponding to each agricultural machine based on real-time position information and operation state information, shared in real time, of each agricultural machine. According to the method, the problems of unreasonable scheduling, frequent conflict of operation paths and insufficient dynamic adjustment capability in collaborative operation of the multiple agricultural machines are solved, and the collaborative operation efficiency and overall robustness of the multiple agricultural machines are greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent agricultural machinery and precision agriculture, and in particular to a multi-agricultural machinery cooperative operation method and system, an electronic device and a storage medium. BACKGROUND

[0002] In recent years, with the in-depth application of new generation information technologies such as Beidou satellite navigation, 5G communication, artificial intelligence and automatic driving control in the field of agriculture, the automation and intelligence level of agricultural equipment has been significantly improved. The automatic navigation system based on Beidou high-precision positioning has been widely used in intelligent field operation of agricultural equipment such as tractors, transplanter and harvester, achieving centimeter-level positioning accuracy and high path tracking accuracy, significantly reducing the intensity of manual operation and improving the operation quality and consistency. At present, some researches and products have been able to realize single-machine automatic navigation operation, or basic cooperative operation between combine harvester and grain transport vehicle, thereby improving the operation continuity and transportation efficiency to a certain extent.

[0003] However, in a large-scale field environment, agricultural production tasks usually require multiple agricultural machines to work simultaneously, such as multiple transplanter working in parallel, multiple tractors working cooperatively, multiple harvesters working jointly, etc. At this time, how to realize efficient scheduling and cooperative control among multiple agricultural machines becomes a key problem restricting the development of intelligent agriculture. The existing technologies mostly focus on single-machine path planning or double-machine cooperative control, and lack of unified scheduling and cooperative operation mechanism for multi-machine cluster, which cannot effectively solve the problems of unreasonable task division, frequent path conflicts and excessive empty running distance in multi-machine operation process.

[0004] In addition, in the case of complex field topography, intermittent communication or agricultural machine state change, the existing systems generally lack the ability of dynamic task adjustment, breakpoint continuation and real-time sharing of operation information, resulting in low operation efficiency and poor system robustness, which is difficult to cope with the frequently changing operation environment and unexpected situations in actual agricultural production.

[0005] Therefore, it is urgent to provide a technical solution to solve the above problems. SUMMARY

[0006] To solve the above technical problems, the present application provides a multi-agricultural machinery cooperative operation method, system, electronic device and storage medium.

[0007] In a first aspect, the present application provides a multi-agricultural machinery cooperative operation method, and the technical scheme of the method is as follows: establishing a field plot operation model of the target farmland based on boundary information and geographic information of the target farmland; According to the work ability parameters of each agricultural machine participating in collaborative work, the field work model is divided into multiple work sub-areas, each agricultural machine is allocated at least one work sub-area, and an initial work path covering all corresponding work sub-areas is generated for each agricultural machine; A communication connection between the multiple agricultural machines participating in collaborative work is established, and based on the real-time position information and work state information of each agricultural machine shared in real time, the dynamic scheduling of the work sub-area allocation and the initial work path corresponding to each agricultural machine is carried out; The dynamic scheduling process includes: Adjust the allocation of all work sub-areas among the multiple agricultural machines to make the work load among the multiple agricultural machines tend to be balanced; According to the real-time distance between any two agricultural machines and the preset safety threshold, the initial work paths corresponding to the any two agricultural machines are respectively adjusted to avoid obstacles; When the work of any agricultural machine is interrupted, the work sub-area allocated to the any agricultural machine is re-allocated to other available agricultural machines, and the initial work path of the other available agricultural machines is updated.

[0008] The beneficial effects of the multi-agricultural machine collaborative work method of the application are as follows: The method of the application solves the problems of unreasonable scheduling, frequent work path conflicts and insufficient dynamic adjustment capability in multi-agricultural machine collaborative work by constructing a field work model and dividing sub-areas, allocating an initial path according to the work ability of the agricultural machine, establishing real-time communication and sharing position state information between agricultural machines, dynamically adjusting the area allocation to balance the load, avoiding obstacles according to the real-time distance, and re-allocating tasks when the work is interrupted, and greatly improves the efficiency and overall robustness of multi-agricultural machine collaborative work.

[0009] On the basis of the above-mentioned scheme, the multi-agricultural machine collaborative work method of the application can be further improved as follows.

[0010] In an optional manner, the step of establishing the field work model of the target farmland based on the boundary information and geographic information of the target farmland includes: A plurality of position points of the boundary of the target farmland are collected by a positioning collection device, and the boundary information of the target farmland is determined based on the plurality of position points; Remote sensing data containing the topographic features of the target farmland are obtained as the geographic information of the target farmland; Based on the boundary information and the geographic information, the target farmland is polygonally modeled to generate the field work model.

[0011] The beneficial effect of the above optional mode is that the boundary position points of the farmland are collected by the positioning collection device, and the remote sensing topographic data are combined to realize accurate polygon modeling, thereby providing accurate basic data for subsequent path planning and dynamic scheduling.

[0012] In an optional mode, the operation capability parameters include an operation width parameter and an operation speed parameter; and the step of dividing the field operation model into a plurality of operation sub-regions according to the operation capability parameters of each agricultural machine participating in collaborative operation includes: obtaining the operation width parameter and the operation speed parameter of each agricultural machine participating in collaborative operation; calculating an area allocation scheme of the field operation model by a load balancing algorithm based on the total area of the field operation model, the total number of agricultural machines, the operation width parameter and the operation speed parameter of each agricultural machine; dividing the field operation model into regions according to the area allocation scheme to generate the plurality of operation sub-regions.

[0013] The beneficial effect of the above optional mode is that the area allocation scheme is calculated according to the operation width and speed parameters of the agricultural machine and the load balancing algorithm, so that agricultural machines with different operation capabilities obtain adaptive task quantities, and the rationality and efficiency of operation allocation are improved.

[0014] In an optional mode, the step of assigning at least one operation sub-region to each agricultural machine and generating an initial operation path covering all corresponding operation sub-regions for each agricultural machine includes: allocating the plurality of operation sub-regions to each agricultural machine participating in collaborative operation based on the area allocation scheme; generating corresponding operation paths in each operation sub-region allocated to any agricultural machine according to the boundary information of each operation sub-region allocated to the agricultural machine and the operation width parameter of the agricultural machine, and determining the sequence of connecting the operation paths in all corresponding operation sub-regions of the agricultural machine to form an initial operation path of the agricultural machine with the optimization objective of minimizing the total operation time difference among all agricultural machines, until the initial operation path of each agricultural machine is obtained.

[0015] The beneficial effect of the above optional mode is that the paths are generated based on the sub-region boundaries and the operation width of the agricultural machine, and the operation sequence is determined with the objective of minimizing the total operation time difference, so that the operation time of each agricultural machine tends to be consistent, the waiting time is reduced, and the collaborative operation efficiency is improved.

[0016] In an optional mode, the step of adjusting the allocation of all operation sub-regions among the plurality of agricultural machines to make the operation load among the plurality of agricultural machines tend to be balanced includes: Based on the real-time position information of each agricultural machine, the completed work area of each agricultural machine in the allocated work sub-area is determined respectively; Based on the completed work area, work state information, work width parameter and work speed parameter of each agricultural machine, the expected remaining work time of each agricultural machine is calculated respectively; According to the expected remaining work time of each agricultural machine, the allocation relationship of all work sub-areas among the plurality of agricultural machines is adjusted through a load balancing algorithm.

[0017] The beneficial effects of the above optional mode are: further based on the real-time position to determine the completed work area, combined with the work state and capacity parameters to calculate the remaining work time, and dynamically adjust the sub-area allocation through the load balancing algorithm, so that the load of each agricultural machine is balanced, and overloading or idling is avoided.

[0018] In an optional mode, the step of adjusting the initial work path of the two arbitrary agricultural machines according to the real-time distance between the two arbitrary agricultural machines and the preset safety threshold, comprises: Based on the real-time position information of the two arbitrary agricultural machines, the real-time distance between the two arbitrary agricultural machines is calculated; When the real-time distance is less than the preset safety threshold, based on the real-time position information, heading information of the two arbitrary agricultural machines and the preset safety threshold, a temporary driving path that does not conflict with each other is planned for the two arbitrary agricultural machines respectively, and the temporary driving path corresponding to the two arbitrary agricultural machines is used to replace the path segment that may cause conflict in the corresponding initial work path.

[0019] The beneficial effects of the above optional mode are: further by real-time calculation of the distance between agricultural machines and comparison with the safety threshold, temporary driving paths are planned to replace the conflict path segment when the distance is too close, to realize the dynamic obstacle avoidance function and ensure the safety of the work process.

[0020] In an optional mode, when the work of any agricultural machine is interrupted, the work sub-area allocated to the any agricultural machine is re-allocated to other available agricultural machines, and the initial work path of the other available agricultural machines is updated, comprising: When it is detected that any agricultural machine has work interruption, the completed work area of the any agricultural machine in the allocated work sub-area is determined; Based on the completed work area of the any agricultural machine, the real-time work state information, work width parameter and work speed parameter of the other available agricultural machines, the task re-distribution algorithm is used to re-allocate the uncompleted work sub-area of the any agricultural machine to the other available agricultural machines; According to the re-allocation result, the initial work path covering the newly allocated work sub-area is updated for each re-allocated agricultural machine.

[0021] The beneficial effect of the above optional mode is that: further after detecting the work interruption, according to the interrupted agricultural machine completed work area and other agricultural machine state parameters, the remaining area is quickly redistributed and the path is updated through the task redistribution algorithm, the breakpoint is continued, and the ability to deal with unexpected situations is enhanced.

[0022] In a second aspect, the present application provides a multi-agricultural machine cooperative work system, and the technical scheme of the system is as follows: A construction module is configured to establish a field work model of the target farmland based on boundary information and geographic information of the target farmland; A generation module is configured to divide the field work model into a plurality of work sub-areas according to work capacity parameters of each agricultural machine participating in cooperative work, assign at least one work sub-area to each agricultural machine, and generate an initial work path for each agricultural machine covering all corresponding work sub-areas; A scheduling module is configured to establish a communication connection between the plurality of agricultural machines participating in cooperative work, and dynamically schedule the work sub-area assignment and the initial work path corresponding to each agricultural machine based on real-time shared real-time position information and work state information of each agricultural machine; The dynamic scheduling process includes: Adjusting the assignment of all work sub-areas among the plurality of agricultural machines to make the work load among the plurality of agricultural machines tend to be balanced; According to the real-time distance between any two agricultural machines and the preset safety threshold, the initial work paths corresponding to the any two agricultural machines are adjusted to avoid obstacles; When any agricultural machine is interrupted, the work sub-area assigned to the any agricultural machine is reassigned to other available agricultural machines, and the initial work path of the other available agricultural machines is updated.

[0023] The beneficial effects of the multi-agricultural machine cooperative work system of the present application are as follows: The system of the present application solves the problems of unreasonable scheduling, frequent work path conflicts and insufficient dynamic adjustment capability in multi-agricultural machine cooperative work by constructing a field work model and dividing sub-areas, assigning initial paths according to work capacity of agricultural machines, establishing real-time communication and sharing position state information among agricultural machines, dynamically adjusting area assignment to balance the load, and reassigning tasks according to real-time distance to avoid obstacles and in case of work interruption, and greatly improves the efficiency and overall robustness of multi-agricultural machine cooperative work.

[0024] In a third aspect, the technical scheme of an electronic device of the present application is as follows: It includes a memory, a processor, and a program stored on the memory and running on the processor, and the processor implements the steps of the multi-agricultural machine cooperative work method of the present application when executing the program.

[0025] In a fourth aspect, the present application provides a computer readable storage medium comprising instructions, which when read by the computer readable storage medium, cause the computer readable storage medium to perform the steps of the method for cooperative operation of multiple agricultural machines. The computer readable storage medium stores instructions, which when read by the computer readable storage medium, cause the computer readable storage medium to perform the steps of the method for cooperative operation of multiple agricultural machines.

[0026] The above description is only a summary of the technical solutions of the present application. In order to enable one skilled in the art to better understand the technical means of the present application and implement the same according to the contents of the specification, and in order to enable the above and other purposes, features and advantages of the present application to be more apparent, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings are included to provide a further understanding of the application, and are incorporated herein and constitute a part of the detailed description. The drawings illustrate embodiments of the application and, together with the description, serve to explain the principles of the application. In the drawings: Figure 1 Flowchart of an embodiment of the method for cooperative operation of multiple agricultural machines of the present application; Figure 2 Overall architecture diagram; Figure 3 Overall flowchart; Figure 4 Multi-mode execution flowchart; Figure 5 Schematic diagram of cooperative operation of similar multiple agricultural machines; Figure 6 Schematic diagram of cooperative operation of dissimilar multiple agricultural machines; Figure 7 Flowchart of conflict detection and processing for cooperative operation of multiple agricultural machines; Figure 8 Flowchart of breakpoint continuation and task reassignment for cooperative operation of multiple agricultural machines; Figure 9 Structure schematic diagram of an embodiment of the system for cooperative operation of multiple agricultural machines of the present application; Figure 10 Structure schematic diagram of an embodiment of the electronic device of the present application. DETAILED DESCRIPTION

[0028] Exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein.

[0029] Figure 1A flowchart of an embodiment of a multi-tractor cooperative working method provided by the present application is shown, which can be executed by electronic devices such as terminal devices or servers. Among them, the terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can realize the multi-tractor cooperative working method by calling computer readable instructions stored in the memory through the processor. As shown in Figure 1 the following steps are included: S1, based on the boundary information and geographic information of the target farmland, a field working model of the target farmland is established.

[0030] Among them, the target farmland refers to a specific soil area planned to be mechanized and cooperatively worked, for example, a piece of about 500 mu of contiguous winter wheat field in "Demonstration Farm-North Area" in a certain county of a certain province. The boundary information refers to a series of geographic position coordinate data used to define the range of the target farmland, for example, 80 high-precision longitude and latitude coordinate points measured and recorded along the edge of the wheat field in "Demonstration Farm-North Area" using a real-time kinematic differential global navigation satellite system receiver. The geographic information refers to data describing the characteristics of the target farmland and its surrounding natural environment, including terrain undulation, slope, and ground cover type, for example, the digital elevation model and multispectral image of "Demonstration Farm-North Area" obtained by aerial photography of a drone, which shows the 0.3-meter height difference and soil moisture distribution within the field. The field working model refers to a three-dimensional model constructed by computer digitization based on boundary information and geographic information, which is used to represent the spatial form and attributes of the workable area of the target farmland, for example, combining the above 80 boundary points with the digital elevation model to generate a triangular mesh surface model that accurately describes the range, shape and internal terrain of the 500 mu wheat field.

[0031] S2, according to the working capacity parameters of each tractor participating in cooperative work, the field working model is divided into multiple working sub-areas, each tractor is assigned at least one working sub-area, and an initial working path covering all working sub-areas corresponding to each tractor is generated.

[0032] Each agricultural machine participating in the cooperative operation refers to each agricultural machine that accepts unified scheduling and executes operation instructions in a specific cooperative operation task. For example, in the current wheat field fertilization operation, three automatic navigation fertilizers numbered Fertilizer-01, Fertilizer-02, and Fertilizer-03. The operation capability parameter refers to a technical index quantitatively representing the core operation performance of the agricultural machine. For example, the operation capability parameters of the fertilizer Fertilizer-01 include an operation width of 6 meters and an operation speed of 1.2 meters per second. The operation sub-area refers to a smaller area allocated to a single agricultural machine for independent operation after the field operation model of the target farmland is divided according to the optimization algorithm. For example, the algorithm divides the 500 mu wheat field model into three strips, which are marked as sub-area A (180 mu), sub-area B (160 mu), and sub-area C (160 mu). The initial operation path refers to the expected travel trajectory planned for each agricultural machine in its allocated operation sub-area before the operation starts, which is used to guide it to complete full coverage operation. For example, a set of parallel straight paths with an east-west orientation is planned for the fertilizer Fertilizer-01 allocated to the sub-area A, and the path spacing is equal to the operation width of 6 meters.

[0033] S3, a communication connection between multiple agricultural machines participating in cooperative operation is established, and each agricultural machine is allocated and dynamically scheduled with an initial operation path based on real-time shared real-time position information and operation state information of each agricultural machine.

[0034] The communication connection refers to a stable communication link established between multiple agricultural machines and between the agricultural machine and the master control device for bidirectional transmission of data and instructions. For example, based on the fifth generation mobile communication technology network, a data connection is established between the three fertilizers Fertilizer-01, Fertilizer-02, and Fertilizer-03 and the field control station. The real-time position information refers to the accurate geographic position data with a time stamp continuously obtained and reported by the positioning system during the operation of the agricultural machine; for example, the fertilizer Fertilizer-01 reports the longitude, latitude, and elevation with centimeter-level accuracy every 0.5 seconds through the vehicle-mounted positioning module. The operation state information refers to dynamic data reflecting the current running condition and task execution progress of the agricultural machine; for example, the data packet reported by the fertilizer Fertilizer-01 contains the current driving speed, the remaining percentage of the fertilizer tank, the hydraulic system pressure, and the completed operation area. Dynamic scheduling refers to the process of online adjustment and re-planning of task allocation and travel path between agricultural machines by the master terminal or cooperative operation controller according to real-time information during cooperative operation; for example, according to the real-time progress of the three fertilizers, a small unoperated area at the end of sub-area B is allocated to Fertilizer-01 with faster progress.

[0035] The dynamic scheduling process comprises: Adjusting the distribution of all work sub-regions among the plurality of agricultural machines to make the work load among the plurality of agricultural machines tend to be balanced.

[0036] The work load refers to an index for measuring the current work load and the remaining work load of the agricultural machine, which can usually be represented by the remaining work time; for example, the remaining work time of the fertilizer machine Fertilizer-02 is estimated to be 2 hours, and the remaining work time of the fertilizer machine Fertilizer-03 is estimated to be 1.5 hours, and there is a load difference between them.

[0037] According to the real-time distance between any two agricultural machines and the preset safety threshold, the initial work path corresponding to the any two agricultural machines is adjusted to avoid obstacles.

[0038] The real-time distance refers to the spatial interval between the real-time position coordinates reported by any two agricultural machines at any time, which is obtained by calculating the Euclidean distance between the real-time position coordinates; for example, according to the latest coordinates, the straight-line distance between the fertilizer machines Fertilizer-01 and Fertilizer-02 is 25 meters. The preset safety threshold refers to the minimum allowed interval distance preset to prevent collision or interference between agricultural machines; for example, the safety distance threshold between agricultural machines in the cooperative work rule is set to 15 meters. The obstacle avoidance adjustment refers to the instant modification of the planned path of the related agricultural machine when the real-time distance between the agricultural machines is detected to be less than the safety threshold, so as to generate a safe interval operation; for example, Fertilizer-01 and Fertilizer-03 which are too close are respectively planned to have a short deceleration waiting or a small-arc turning path.

[0039] When any agricultural machine is interrupted, the work sub-region allocated to the any agricultural machine is re-allocated to other available agricultural machines, and the initial work path of the other available agricultural machines is updated.

[0040] The work interruption refers to the state that the agricultural machine stops executing the current work instruction due to reasons such as failure, energy depletion, material replenishment, manual intervention, or communication loss; for example, the fertilizer machine Fertilizer-02 stops automatically due to depletion of fertilizer and sends a "need to add fertilizer" state signal. The other available agricultural machine refers to the agricultural machine that is currently in a normal working state and can undertake additional work tasks except for the interrupted agricultural machine; for example, when Fertilizer-02 is interrupted, Fertilizer-01 and Fertilizer-03 are other available agricultural machines.

[0041] The technical scheme of the embodiment solves the problems of unreasonable scheduling, frequent operation path conflicts and insufficient dynamic adjustment capability in the multi-agricultural machine cooperative operation, and greatly improves the multi-agricultural machine cooperative operation efficiency and overall robustness.

[0042] In an optional manner, S1 specifically comprises: The positioning acquisition device is used for accurately measuring the coordinates of a geographical space point.

[0043] The positioning acquisition device is a measuring instrument used for accurately measuring the coordinates of a geographical space point, such as a real-time kinematic differential global navigation satellite system mobile station held by a surveyor, which is used to acquire the boundary points of the wheat field. The plurality of position points refer to a series of discrete and high-precision geographical coordinates sequentially acquired by the positioning acquisition device on the boundary of the target farmland, such as acquiring a point every 5 meters along the ridge of the "demonstration farm-northern area", and obtaining 80 boundary position points.

[0044] The remote sensing data containing the topographic features of the target farmland are obtained as the geographical information of the target farmland.

[0045] The topographic features refer to the specific morphological conditions of the earth's surface, such as elevation, slope, slope direction, etc. For example, the "demonstration farm-northern area" wheat field has a gentle slope of about 0.3 meters from west to east. The remote sensing data refer to the information data about the surface conditions obtained by the sensor carried by the aerial or space remote sensing platform in a non-contact manner, such as the multi-temporal remote sensing images of the "demonstration farm-northern area" taken by a satellite, which are used to analyze the crop growth and identify abnormal areas within the field.

[0046] Based on the boundary information and the geographical information, the target farmland is polygonally modeled to generate the field operation model.

[0047] The polygonal modeling refers to the process of constructing a closed polygonal surface domain using a series of ordered vertex coordinates in computer-aided design or geographic information system software. For example, the 80 boundary point coordinates are sequentially connected and closed to generate a two-dimensional polygon representing the range of the wheat field in the software.

[0048] In the above optional manner, the positioning acquisition device is further used to acquire the farmland boundary position points, and the remote sensing topographic data are combined to realize accurate polygonal modeling, thereby providing accurate basic data for subsequent path planning and dynamic scheduling.

[0049] In an alternative manner, the work capacity parameters include a work width parameter and a work speed parameter; and the step of dividing the field work model into a plurality of work sub-areas according to the work capacity parameters of each agricultural machine participating in collaborative work includes: Obtaining the work width parameter and the work speed parameter of each agricultural machine participating in collaborative work.

[0050] The work width parameter refers to the width of the field work strip that can be covered by a single effective work trip of the agricultural machine; for example, the fertilizer box spray rod mechanism of the fertilizer machine Fertilizer-01 can uniformly cover a 6-meter-wide strip. The work speed parameter refers to the typical advancing speed of the agricultural machine when performing field work under the premise of ensuring work quality; for example, the advancing speed of the fertilizer machine Fertilizer-01 during normal operation is 1.2 meters per second.

[0051] Based on the total area of the field work model, the total number of agricultural machines, the work width parameter and the work speed parameter of each agricultural machine, the area allocation scheme of the field work model is calculated by a load balancing algorithm.

[0052] The total area refers to the surface area of the entire region represented by the target farmland field work model; for example, the total area calculated by the wheat field model of “Demonstration Farm-North Area” is 500 mu. The area allocation scheme refers to the specific area value result of splitting and allocating the total farmland area to each agricultural machine according to the load balancing principle; for example, the allocation scheme output by the algorithm is: Fertilizer-01 is responsible for 180 mu, Fertilizer-02 is responsible for 160 mu, and Fertilizer-03 is responsible for 160 mu.

[0053] According to the area allocation scheme, the field work model is regionally divided to generate the plurality of work sub-areas.

[0054] The regionally dividing refers to a graphical processing step of performing a segmentation operation on the digital map of the field work model according to the area allocation scheme to generate a plurality of independent work sub-areas; for example, on the digital map of the wheat field, a segmentation line is automatically drawn according to the allocation scheme to form three corresponding polygonal sub-areas.

[0055] In the above alternative manner, the area allocation scheme is further calculated according to the work width and speed parameters of the agricultural machine in combination with the load balancing algorithm, so that agricultural machines with different work capacities can obtain adaptive task quantities, and the rationality and efficiency of work allocation are improved.

[0056] In an alternative manner, the step of assigning at least one work sub-area to each agricultural machine and generating an initial work path covering all corresponding work sub-areas for each agricultural machine includes: According to the area allocation scheme, the multiple work sub-regions are allocated to each agricultural machine participating in the collaborative work.

[0057] According to the boundary information of each work sub-region allocated to any agricultural machine and the work width parameter of the agricultural machine, a corresponding work path is respectively generated in each work sub-region allocated to the agricultural machine, and an order of connecting the work paths of the agricultural machine in all corresponding work sub-regions is determined as an optimization target of minimizing the total work time difference among all agricultural machines, to form an initial work path of the agricultural machine, until the initial work path of each agricultural machine is obtained.

[0058] The optimization target refers to a specific performance index pursued by a mathematical model to be minimized or maximized in a path planning or task allocation algorithm. For example, a path generation algorithm takes the maximum time difference of three fertilizer machines to complete all work as an optimization target.

[0059] In the optional manner described above, the path is further generated based on the sub-region boundary and the work width of the agricultural machine, and the work order is determined based on the target of minimizing the total work time difference, so that the work time of each agricultural machine tends to be consistent, the waiting time is reduced, and the collaborative work efficiency is improved.

[0060] In an optional manner, the step of adjusting the allocation of all work sub-regions among the multiple agricultural machines to make the work load among the multiple agricultural machines tend to be balanced comprises: Based on the real-time position information of each agricultural machine, the completed work area of each agricultural machine in the allocated work sub-region is determined.

[0061] The completed work area refers to the land area actually executed and completed by a certain agricultural machine in the sub-region allocated to it from the start of work to the current time. For example, after 3 hours of work, the fertilizer machine Fertilizer-01 has completed 120 mu of fertilization work in sub-region A.

[0062] Based on the completed work area, work state information, work width parameter and work speed parameter of each agricultural machine, the estimated remaining work time of each agricultural machine is calculated.

[0063] The estimated remaining work time refers to the time required to complete all remaining work estimated based on the completed work area, work capacity parameter and total allocated area of the agricultural machine. For example, Fertilizer-01 has completed 120 mu, and the remaining 60 mu is estimated to take about 1 hour according to its work capacity.

[0064] According to the estimated remaining work time of each agricultural machine, the load balancing algorithm is used to adjust the allocation relationship of all work sub-regions among the multiple agricultural machines.

[0065] In the above optional manner, the completed work area is further determined based on the real-time position, the remaining work time is calculated by combining the work status and the capacity parameter, and the sub-area allocation is dynamically adjusted by the load balancing algorithm to keep the load of each agricultural machine balanced and avoid overload or idling.

[0066] In an optional manner, the step of adjusting the initial work paths of the two arbitrary agricultural machines respectively to avoid obstacles, based on the real-time distance between the two arbitrary agricultural machines and the preset safety threshold, comprises: Based on the real-time position information of the two arbitrary agricultural machines, the real-time distance between the two arbitrary agricultural machines is calculated.

[0067] When the real-time distance is less than the preset safety threshold, temporary driving paths of the two arbitrary agricultural machines that do not conflict with each other are planned based on the real-time position information, the heading information of the two arbitrary agricultural machines and the preset safety threshold, and the path segments of the initial work paths of the two arbitrary agricultural machines that may cause conflicts are replaced by the temporary driving paths of the two arbitrary agricultural machines respectively.

[0068] Wherein, the heading information refers to the angle data describing the direction of the longitudinal axis of the agricultural machine body, which is usually expressed as the azimuth angle relative to the geographical north; for example, the current heading angle of the fertilizer machine Fertilizer-01 is 90 degrees, indicating that it is driving east. The temporary driving path refers to a new trajectory generated temporarily to replace a segment of the original initial work path to deal with sudden situations such as path conflict; for example, a semicircular trajectory of about 15 meters long for Fertilizer-01 to bypass south to avoid Fertilizer-03. The path segment that may cause conflict refers to the planned driving path that will enter the safety distance range of other agricultural machines within a certain period of time in the future based on the current position, heading and speed of the agricultural machine; for example, it is predicted that if the fertilizer machine Fertilizer-01 continues to drive according to the original path for 40 meters in the future, it will intersect with the path of Fertilizer-02.

[0069] In the above optional manner, the distance between agricultural machines is further calculated in real time and compared with the safety threshold, and temporary driving paths are planned to replace the conflict path segments when the distance is too close, to realize the dynamic obstacle avoidance function and ensure the safety of the work process.

[0070] In an optional manner, when any agricultural machine is interrupted, the work sub-area allocated to the any agricultural machine is re-allocated to other available agricultural machines, and the initial work path of the other available agricultural machines is updated. When it is detected that any agricultural machine is interrupted, the completed work area of the any agricultural machine in the allocated work sub-area is determined.

[0071] Based on the completed work area of ​​any one of the agricultural machines, the real-time work status information of the other available agricultural machines, the work width parameters and work speed parameters, the unfinished work sub-areas of any one agricultural machine are reallocated to the other available agricultural machines through a task redistribution algorithm.

[0072] Among them, the task redistribution algorithm refers to a mathematical optimization algorithm used to re-optimize the allocation scheme of the remaining unoperated area among the available agricultural machines when agricultural machinery operations are interrupted. For example, a genetic algorithm is used to calculate the optimal allocation scheme of the remaining 80 mu of the interrupted agricultural machine Fertilizer-02 to Fertilizer-01 (50 mu) and Fertilizer-03 (30 mu) with the goal of minimizing the overall operation completion time.

[0073] Based on the reassignment results, update the initial operation path for each reassigned agricultural machine to cover the newly assigned operation sub-region.

[0074] In the above-mentioned optional methods, after detecting an interruption in operations, the remaining area is quickly reallocated and the path is updated through a task redistribution algorithm based on the area already completed by the interrupted agricultural machinery and other agricultural machinery status parameters, so as to realize the continuation of operations from the breakpoint and enhance the ability to deal with emergencies.

[0075] To better illustrate the technical solution of this embodiment, specifically: 1) Based on the boundary and geographic information of the target farmland, a field operation model is established. Boundary information is determined by collecting multiple location points along the target farmland boundary using a real-time dynamic differential GPS tracking device. Geographic information is obtained by acquiring UAV remote sensing data containing the terrain features of the target farmland. Based on the boundary and geographic information, a polygon model is created for the target farmland to generate the field operation model. The total area of ​​the field corresponding to the field operation model in the projected coordinate system is... Equal to the area of ​​all its internal subregions The sum is calculated using the following formula: ; The number of sub-regions divided into a field.

[0076] 2) Based on the number of agricultural machines participating in the collaborative operation, the working width and speed of each machine, and other operational capabilities, a task allocation algorithm is used to divide the field operation model into multiple sub-regions, and an initial operation path covering its assigned sub-region is generated for each machine. The task allocation process employs a load balancing algorithm, with the optimization objective of minimizing the time difference between the operations of each machine. The estimated operation time for each machine is [determined]. Satisfying the formula: ;in, For the first The time required for Taiwanese agricultural machinery to complete the task. To be assigned to the The operating area of ​​Taiwanese agricultural machinery. For the first The operating speed of Taiwanese agricultural machinery For the first The operating width of Taiwanese agricultural machinery This represents the total number of agricultural machines. For the first The number of turns of the Taiwanese agricultural machinery. Time for a single turn, number of turns It can be approximated as ,in To be assigned to the The sub-region length of each agricultural machine. The objective function of the load balancing algorithm is to minimize the difference between the maximum and minimum operating times of each agricultural machine, i.e.: .

[0077] 3) During operation, each agricultural machine maintains a connection with the main control terminal through a vehicle-to-vehicle communication network or 5G communication technology, and uploads real-time location information and operation status information such as location, speed, task progress, and remaining fuel or load.

[0078] 4) Dynamic scheduling and conflict handling based on real-time shared information. When path intersection risks, uneven work progress, or interruption of operation of a certain agricultural machine are detected, the main control terminal dynamically adjusts task allocation and generates obstacle avoidance paths. The main control terminal obtains the current position coordinates of each agricultural machine in real time and calculates the real-time distance between any two agricultural machines. The calculation formula is: ;in, , The first Taiwan and the The current location coordinates of the agricultural machinery. This is a preset safe distance threshold. If the real-time distance... Less than the preset safe distance threshold If this occurs, obstacle avoidance path planning will be triggered.

[0079] 5) If a certain agricultural machine stops working due to unloading grain, resupply, or malfunction, the main control terminal will reallocate the remaining tasks according to the current work progress, the remaining work area, and the available time of each agricultural machine in a usable state, so as to ensure that the overall operation is continuous and uninterrupted.

[0080] 6) Agricultural machinery performs operations based on the path information sent by the main control terminal, combined with lateral deviation. and heading deviation Calculate the desired steering angle Lateral deviation For reference path horizontal position Compared with the actual lateral position The difference, heading deviation For reference heading angle Compared with the actual heading angle The difference, that is: Desired steering angle Calculated using the formula: ;in and This represents the control parameters. The calculated desired steering angle is executed by the agricultural machinery's traverse controller to achieve high-precision path tracking.

[0081] 7) Overall operational efficiency of multi-machine collaborative operation in this embodiment It can be represented as: ;in, Represents overall operational efficiency. Representing the The area of ​​work completed by Taiwanese agricultural machinery. Representing the The actual operating time of agricultural machinery in Taiwan. Representing the Taiwanese agricultural machinery running empty or waiting time This represents the total number of agricultural machines.

[0082] The technical solution of this embodiment involves an overall architecture consisting of a main control terminal, a communication module, a task management module, and multiple agricultural machinery terminals. For example... Figure 2 As shown, the main control terminal undertakes the core functions of field modeling, task allocation, path planning, dynamic scheduling, and conflict resolution. The communication module uses BeiDou short message communication technology to establish and maintain stable real-time information exchange between the main control terminal and each agricultural machinery terminal, as well as between different agricultural machinery terminals. Each agricultural machinery terminal is deployed on each machine and integrates a global navigation satellite system positioning unit, navigation computing unit, and vehicle controller to jointly achieve precise path tracking and control. The task management module uses a genetic algorithm to dynamically adjust and redistribute tasks based on real-time operation progress and agricultural machinery status information, thereby achieving load balancing and overall efficiency optimization among multiple agricultural machines.

[0083] like Figure 3As shown, the method in this embodiment first obtains the boundary positions of the plots using a real-time dynamic differential global navigation satellite system (GNSS) point-tracking device, or acquires farmland boundaries and geographic information using UAV remote sensing data, thereby constructing a field operation area model. The main control terminal performs polygon modeling on the collected boundary points to accurately define the operation range, laying the foundation for subsequent steps. Next, multi-machine task division and path pre-planning are performed. Based on the number of agricultural machines, operation width, and operation speed parameters, the main control terminal applies a load-balancing algorithm to divide the field into multiple sub-regions and generates a corresponding operation path for each agricultural machine. This process is achieved through formulas. The operation time of each agricultural machine is estimated, and the initial balanced allocation is achieved with the goal of minimizing the difference in operation time among the agricultural machines.

[0084] During the real-time communication and status sharing phase, each agricultural machine maintains a connection with the main control terminal via the BeiDou short message link, continuously uploading its location, speed, progress, and fuel consumption status. The main control terminal integrates this information to achieve real-time status sharing and visualization, forming a dynamic operation map. For example... Figure 4 As shown, the main control terminal can automatically select the operating mode according to the type of agricultural machinery. Figure 5 The demonstration showcased a similar collaborative mode, which mainly involves task and path planning for multiple agricultural machines with the same functions. Through regional allocation, row spacing, and progress coordination, it achieves task balance and path non-overlap. Figure 6 This demonstrates a heterogeneous collaboration mode, which breaks down the work process into multiple time-series stages and sets priorities and safety strategies for various types of agricultural machinery to ensure seamless operation and safety.

[0085] Dynamic scheduling and conflict detection processes, such as Figure 7 As shown, when a risk of intersection is detected between the paths of any two agricultural machines, the real-time distance is calculated. If it is less than a preset safety threshold, obstacle avoidance and path replanning are triggered, generating a temporary path or adjusting the work sequence based on the current location to maintain continuity. Figure 8 As shown, when agricultural machinery stops due to malfunction, supply interruption, or communication interruption, the task management module starts a genetic algorithm to optimize task redistribution based on real-time progress, remaining area, and the status of other available agricultural machinery. With operation time and fuel consumption as optimization objectives, a new allocation scheme is obtained through iterative calculation, and the main control terminal issues new instructions to realize breakpoint continuation.

[0086] The agricultural machinery terminal calculates the target steering angle based on the path issued by the main control terminal and the real-time lateral and heading deviations. This is then executed by the tractor controller to complete high-precision path tracking and operation. Finally, the overall efficiency index is calculated based on the actual operating area, operating time, and waiting time of each agricultural machine. This is used to evaluate the effectiveness and provide a basis for subsequent scheduling. In summary, by achieving real-time sharing of status and location through BeiDou short message communication and optimizing task allocation using a genetic algorithm, the technical solution of this embodiment can achieve efficient collaboration among multiple agricultural machines in complex farmland environments. It features a clear structure, practical algorithms, and strong adaptability.

[0087] The present invention also provides a schematic diagram of an embodiment of a multi-farm machinery cooperative operation system 200. (See diagram below.) Figure 9 As shown, the multi-farm machinery cooperative operation system 200 includes: The construction module 201 is used to establish a field operation model for the target farmland based on the boundary information and geographical information of the target farmland. The generation module 202 is used to divide the field operation model into multiple operation sub-regions according to the operation capability parameters of each agricultural machine participating in the collaborative operation, assign at least one operation sub-region to each agricultural machine, and generate an initial operation path for each agricultural machine that covers all corresponding operation sub-regions. The scheduling module 203 is used to establish communication connections between multiple agricultural machines participating in collaborative operations. Based on the real-time location information and operation status information of each agricultural machine shared in real time, it dynamically schedules the operation sub-area allocation and initial operation path of each agricultural machine. The dynamic scheduling process includes: Adjust the distribution of all work sub-areas among the multiple agricultural machines to make the work load among the multiple agricultural machines more balanced; Based on the real-time distance between any two agricultural machines and a preset safety threshold, the initial operating paths corresponding to the two agricultural machines are adjusted for obstacle avoidance. When any agricultural machinery operation is interrupted, the operation sub-area assigned to that agricultural machinery is reassigned to other available agricultural machinery, and the initial operation path of the other available agricultural machinery is updated.

[0088] In an alternative embodiment, the building module 201 is specifically used for: Multiple location points of the target farmland boundary are collected by a positioning and acquisition device, and the boundary information of the target farmland is determined based on the multiple location points; Remote sensing data containing the topographic features of the target farmland is acquired as the geographic information of the target farmland; Based on the boundary information and the geographical information, polygon modeling is performed on the target farmland to generate the field operation model.

[0089] In one optional embodiment, the operational capability parameters include: operational width parameters and operational speed parameters; the generation module 202 is specifically used for: Obtain the working width and working speed parameters of each agricultural machine participating in the collaborative operation; Based on the total area of ​​the field operation model, the total number of agricultural machines, the operating width parameters and operating speed parameters of each agricultural machine, the area allocation scheme of the field operation model is calculated through a load balancing algorithm. The field operation model is divided into regions according to the area allocation scheme to generate the multiple operation sub-regions.

[0090] In an alternative embodiment, the generation module 202 is specifically used for: Based on the area allocation scheme, the multiple work sub-areas are allocated to each agricultural machine participating in the collaborative operation; Based on the boundary information of each work sub-region assigned to any agricultural machine and the work width parameter of the agricultural machine, a corresponding work path is generated in each work sub-region assigned to the agricultural machine. With the optimization objective of minimizing the total work time difference among all agricultural machines, the order of the work paths connecting the agricultural machine in all corresponding work sub-regions is determined to form the initial work path of the agricultural machine, until the initial work path of each agricultural machine is obtained.

[0091] In an alternative embodiment, the scheduling module 203 is specifically used for: Based on the real-time location information of each agricultural machine, the completed work area of ​​each agricultural machine in the assigned work sub-area is determined. Based on the completed work area, work status information, work width parameters and work speed parameters of each agricultural machine, the estimated remaining work time of each agricultural machine is calculated. Based on the estimated remaining working time of each agricultural machine, the allocation relationship of all working sub-regions among the multiple agricultural machines is adjusted through a load balancing algorithm.

[0092] In an alternative embodiment, the scheduling module 203 is specifically used for: Calculate the real-time distance between any two agricultural machines based on their real-time location information. When the real-time distance is less than the preset safety threshold, based on the real-time location information, heading information and the preset safety threshold of any two agricultural machines, a non-conflicting temporary driving path is planned for each of the two agricultural machines, and the temporary driving path corresponding to each of the two agricultural machines is used to replace the path segments in the corresponding initial working path that may cause conflict.

[0093] In an alternative embodiment, the scheduling module 203 is specifically used for: When an interruption of operation is detected in any agricultural machinery, the completed operation area of ​​that agricultural machinery within the assigned operation sub-area is determined; Based on the completed work area of ​​any one of the agricultural machines, the real-time work status information of the other available agricultural machines, the work width parameters and work speed parameters, the unfinished work sub-area of ​​any one agricultural machine is reallocated to the other available agricultural machines through a task redistribution algorithm; Based on the reassignment results, update the initial operation path for each reassigned agricultural machine to cover the newly assigned operation sub-region.

[0094] It should be noted that the beneficial effects of the multi-machine cooperative operation system 200 provided in the above embodiments are the same as those of the multi-machine cooperative operation method described above, and will not be repeated here. Furthermore, the system provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed; that is, the system will be divided into different functional modules according to the actual situation to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process is detailed in the method embodiments, and will not be repeated here.

[0095] The multi-farm machinery collaborative operation system 200 of the present invention can be a computer program (including program code) running on a computer device. For example, the multi-farm machinery collaborative operation system 200 of the present invention is an application software that can be used to execute the corresponding steps in the multi-farm machinery collaborative operation method of the present invention.

[0096] In some embodiments, the multi-farm machinery cooperative operation system 200 of the present invention can be implemented in a combination of hardware and software. As an example, the multi-farm machinery cooperative operation system 200 of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the multi-farm machinery cooperative operation method of the present invention. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0097] The modules described in the embodiments of this invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0098] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements any of the above-mentioned multi-agricultural machinery cooperative operation methods. That is, an electronic device according to an embodiment of the present invention may include, but is not limited to: a processor and a memory; the memory is used to store the computer program; the processor is used to execute the multi-agricultural machinery cooperative operation method shown in any embodiment of the present invention by calling the computer program.

[0099] In one alternative embodiment, an electronic device is provided, such as Figure 10 As shown, the electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0100] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0101] Bus 4002 may include a path for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 10 The bus 4002 is represented by only one thick line, but this does not mean that there is only one bus or one type of bus.

[0102] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0103] The memory 4003 stores application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0104] Among them, electronic devices can also be terminal devices. A terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, smart TVs, and smart in-vehicle devices.

[0105] It should be noted that, Figure 10 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0106] An embodiment of the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements any of the above-described methods for multi-agricultural machinery cooperative operation.

[0107] Alternatively, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, a floppy disk, and an optical data storage device, etc.

[0108] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the aforementioned multi-farm machinery cooperative operation method.

[0109] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0110] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and flowcharts, and combinations of blocks in the block diagrams and flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0111] The computer-readable storage medium provided in this invention can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0112] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0113] The above description is merely an embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

[0114] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and are not intended to limit a specific order or sequence. Where appropriate, the order of use of similar objects may be interchanged so that the embodiments of this application described herein can be implemented in an order other than that shown or described.

[0115] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this invention can be specifically implemented in the following forms: it can be entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, this invention can also be embodied as a computer program product contained in one or more computer-readable media.

[0116] 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 method for multi-machine cooperative operation, characterized in that, include: Based on the boundary and geographic information of the target farmland, a field operation model for the target farmland is established; Based on the operational capability parameters of each agricultural machine participating in the collaborative operation, the field operation model is divided into multiple operational sub-regions. At least one operational sub-region is assigned to each agricultural machine, and an initial operational path covering all corresponding operational sub-regions is generated for each agricultural machine. Establish communication connections between multiple agricultural machines participating in collaborative operations, and dynamically schedule the allocation of the corresponding sub-area and the initial operation path of each agricultural machine based on the real-time location information and operation status information of each agricultural machine that are shared in real time. The dynamic scheduling process includes: Adjust the distribution of all work sub-areas among the multiple agricultural machines to make the work load among the multiple agricultural machines more balanced; Based on the real-time distance between any two agricultural machines and a preset safety threshold, the initial operating paths corresponding to the two agricultural machines are adjusted for obstacle avoidance. When any agricultural machinery operation is interrupted, the operation sub-area assigned to that agricultural machinery is reassigned to other available agricultural machinery, and the initial operation path of the other available agricultural machinery is updated.

2. The method for multi-machine cooperative operation according to claim 1, characterized in that, The step of establishing a field operation model for the target farmland based on its boundary and geographic information includes: Multiple location points of the target farmland boundary are collected by a positioning and acquisition device, and the boundary information of the target farmland is determined based on the multiple location points; Remote sensing data containing the topographic features of the target farmland is acquired as the geographic information of the target farmland; Based on the boundary information and the geographical information, polygon modeling is performed on the target farmland to generate the field operation model.

3. The method for multi-machine cooperative operation according to claim 1, characterized in that, The operational capability parameters include: operational width parameters and operational speed parameters; the step of dividing the field operation model into multiple operational sub-regions based on the operational capability parameters of each agricultural machine participating in the collaborative operation includes: Obtain the working width and working speed parameters of each agricultural machine participating in the collaborative operation; Based on the total area of ​​the field operation model, the total number of agricultural machines, the operating width parameters and operating speed parameters of each agricultural machine, the area allocation scheme of the field operation model is calculated through a load balancing algorithm. The field operation model is divided into regions according to the area allocation scheme to generate the multiple operation sub-regions.

4. The method for multi-machine cooperative operation according to claim 3, characterized in that, The steps of assigning at least one operating sub-region to each agricultural machine and generating an initial operating path for each agricultural machine covering all corresponding operating sub-regions include: Based on the area allocation scheme, the multiple work sub-areas are allocated to each agricultural machine participating in the collaborative operation; Based on the boundary information of each work sub-region assigned to any agricultural machine and the work width parameter of the agricultural machine, a corresponding work path is generated in each work sub-region assigned to the agricultural machine. With the optimization objective of minimizing the total work time difference among all agricultural machines, the order of the work paths connecting the agricultural machine in all corresponding work sub-regions is determined to form the initial work path of the agricultural machine, until the initial work path of each agricultural machine is obtained.

5. The method for multi-machine cooperative operation according to claim 4, characterized in that, The step of adjusting the distribution of all work sub-areas among the multiple agricultural machines to balance the workload among the multiple agricultural machines includes: Based on the real-time location information of each agricultural machine, the completed work area of ​​each agricultural machine in the assigned work sub-area is determined. Based on the completed work area, work status information, work width parameters and work speed parameters of each agricultural machine, the estimated remaining work time of each agricultural machine is calculated. Based on the estimated remaining working time of each agricultural machine, the allocation relationship of all working sub-regions among the multiple agricultural machines is adjusted through a load balancing algorithm.

6. The method for multi-machine cooperative operation according to claim 4, characterized in that, The step of adjusting the initial working path of any two agricultural machines based on the real-time distance between them and a preset safety threshold includes: Calculate the real-time distance between any two agricultural machines based on their real-time location information. When the real-time distance is less than the preset safety threshold, based on the real-time location information, heading information and the preset safety threshold of any two agricultural machines, a non-conflicting temporary driving path is planned for each of the two agricultural machines, and the temporary driving path corresponding to each of the two agricultural machines is used to replace the path segments in the corresponding initial working path that may cause conflict.

7. The method for multi-machine cooperative operation according to claim 4, characterized in that, The step of reassigning the assigned sub-area of ​​any agricultural machinery to other available agricultural machinery and updating the initial operation paths of the other available agricultural machinery when any agricultural machinery operation is interrupted includes: When an interruption of operation is detected in any agricultural machinery, the completed operation area of ​​that agricultural machinery within the assigned operation sub-area is determined; Based on the completed work area of ​​any one of the agricultural machines, the real-time work status information of the other available agricultural machines, the work width parameters and work speed parameters, the unfinished work sub-area of ​​any one agricultural machine is reallocated to the other available agricultural machines through a task redistribution algorithm; Based on the reassignment results, update the initial operation path for each reassigned agricultural machine to cover the newly assigned operation sub-region.

8. A multi-machine cooperative operation system, characterized in that, include: The construction module is used to establish a field operation model for the target farmland based on the boundary information and geographical information of the target farmland; The generation module is used to divide the field operation model into multiple operation sub-regions according to the operation capability parameters of each agricultural machine participating in the collaborative operation, assign at least one operation sub-region to each agricultural machine, and generate an initial operation path for each agricultural machine that covers all corresponding operation sub-regions. The scheduling module is used to establish communication connections between multiple agricultural machines participating in collaborative operations. Based on the real-time location information and operation status information of each agricultural machine, it dynamically schedules the operation sub-area allocation and initial operation path of each agricultural machine. The dynamic scheduling process includes: Adjust the distribution of all work sub-areas among the multiple agricultural machines to make the work load among the multiple agricultural machines more balanced; Based on the real-time distance between any two agricultural machines and a preset safety threshold, the initial operating paths corresponding to the two agricultural machines are adjusted for obstacle avoidance. When any agricultural machinery operation is interrupted, the operation sub-area assigned to that agricultural machinery is reassigned to other available agricultural machinery, and the initial operation path of the other available agricultural machinery is updated.

9. An electronic device, characterized in that, The electronic device includes a processor coupled to a memory, the memory storing at least one computer program, which is loaded and executed by the processor to enable the electronic device to implement the multi-farm machinery cooperative operation method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which, when executed by a processor, implements the multi-farm machinery cooperative operation method as described in any one of claims 1 to 7.

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