Method, system and equipment for sensing collection and transportation collaborative operation and medium

Abstract

The invention discloses a method, a system, equipment and a medium for sensing collection and transportation collaborative operation, and relates to the technical field of agricultural machinery, and the method comprises the steps: calling a slave machine based on the grain state of a granary on a host; acquiring position information of the host and the slave by using a navigation receiver, determining an accurate position of the grain unloading port through coordinate transformation, and calculating a longitudinal distance error and a transverse distance error between the grain unloading port and the slave; comparing the longitudinal distance error and the transverse distance error with a preset threshold value to obtain a comparison result; and judging whether the grain unloading port is located in an executable grain unloading area of the slave according to a comparison result, and controlling a grain unloading execution mechanism to unload grains or not. According to the invention, granary state automatic sensing and slave calling can be realized, and the working efficiency is improved; the grain unloading accuracy is improved, and grain scattering is avoided; automatic control over the grain unloading process is achieved, operation complexity is reduced, labor intensity is relieved, and the intelligent level is improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, and in particular to a sensing method, system, device and medium for collaborative harvesting and transportation operations. Background Technology

[0002] With the modernization and intelligentization of agricultural equipment, the traditional single-machine operation of harvesters can no longer meet the demands of high-efficiency production. In collaborative operation scenarios involving harvesters and grain transport vehicles, achieving automated and accurate coordination between the two has become an urgent technical problem to be solved. Specifically, existing operating methods are highly dependent on the operator's skill level, limiting operational efficiency, and making it difficult to ensure precise and controllable unloading processes in complex farmland environments.

[0003] Currently, the industry mainly uses two technical solutions to achieve coordinated harvesting and transportation operations. The first solution involves manual communication via walkie-talkie. The harvester operator uses voice to inform the grain transport vehicle of its current location and status, thus summoning the vehicle, and relies on image recognition to determine the unloading location. The second solution uses assisted driving path tracking technology, where the harvester and the grain transport vehicle each perform lateral path control, while longitudinal control is still manually performed by the driver, thereby achieving coordination between the harvester and the grain transport vehicle.

[0004] The aforementioned existing technologies have the following drawbacks: First, the efficiency of manual collaborative operations is limited. Harvester operators need to constantly monitor the grain bin status and judge the timing of calling based on experience, resulting in time-consuming, labor-intensive, and inefficient operations. Second, the accuracy of unloading is insufficient. The manual unloading process is easily affected by human factors. The video image-based recognition method is easily affected by lighting conditions, and the control of the unloading distance mainly relies on personal experience, frequently leading to grain spillage problems in complex field operations. Third, the unloading action is complex to execute. In manual operation, it is easy for the action to be incomplete, making it difficult to automate and simplify the entire unloading process.

[0005] In summary, existing technologies have failed to effectively address core issues such as low automation, poor unloading accuracy, and complex operation in the collaborative operation of harvesters and grain transport vehicles. Therefore, there is an urgent need to develop a sensing method for collaborative harvesting operations that enables real-time perception of grain silo status, precise vehicle location, and automated collaborative decision-making control, in order to improve operational efficiency, reduce labor intensity, and enhance the level of intelligence. Summary of the Invention

[0006] The technical problem to be solved by this invention is to address the shortcomings of existing technologies, specifically the problems of low efficiency in manual monitoring and calling during the coordinated unloading of harvesters and grain transport vehicles, inaccurate judgment of unloading location, and complex operation that easily leads to grain spillage. Specifically, this invention provides a sensing method, system, equipment, and medium for coordinated harvesting and transport operations, as detailed below: 1) In a first aspect, the present invention provides a sensing method for collaborative collection and transportation operations, the specific technical solution of which is as follows: S1, summon the slave machine based on the grain status of the grain warehouse on the host machine; S2, acquire the first position information of the host and the second position information of the slave; determine the third position information of the unloading port on the host based on the first position information; determine the longitudinal distance error and the lateral distance error between the unloading port and the slave based on the second position information and the third position information; S3, compare the longitudinal distance error with a preset longitudinal threshold to obtain a first comparison result; compare the lateral distance error with a preset lateral threshold to obtain a second comparison result; S4. When both the first comparison result and the second comparison result meet the preset conditions, it is determined that the unloading port is located within the executable unloading area of ​​the slave machine, and the unloading execution mechanism is controlled to unload grain; otherwise, the unloading execution mechanism is controlled to stop unloading grain.

[0007] The beneficial effects of the sensing method for collaborative collection and transportation operations provided by this invention are as follows: The automatic sensing of the grain silo status triggers the slave machine to call, replacing manual monitoring and judgment, reducing labor intensity and improving operation efficiency; by using the position information of the master and slave machines and performing coordinate transformation, the horizontal and vertical distance error between the unloading port and the grain transport vehicle is accurately calculated, and compared with the preset threshold, the unloading execution mechanism is automatically controlled to start and stop, realizing accurate determination of the unloading position, avoiding grain spillage caused by human experience error, simplifying the operation process and improving the accuracy of unloading.

[0008] Based on the above solution, the present invention can be further improved as follows.

[0009] Furthermore, the method of summoning the slave device based on the grain status of the grain warehouse on the host includes: Real-time monitoring of the grain status in the grain silo on the host computer; When the grain status reaches a preset grain position threshold, the host computer sends a summoning command to the slave computer.

[0010] Furthermore, determining the third location information of the grain unloading port on the host machine based on the first location information includes: By utilizing the rigid connection between the unloading port and the host machine, a fixed offset of the unloading port relative to the host machine is obtained; The third position information is obtained based on the first position information and the fixed offset.

[0011] Furthermore, the grain unloading control actuator also includes: When the unloading actuator is in the process of unloading grain, the longitudinal distance error and the lateral distance error are continuously calculated and the first comparison result and the second comparison result are re-determined. When the first comparison result or the second comparison result does not meet the preset conditions, the unloading actuator is controlled to stop unloading grain. When both the first comparison result and the second comparison result meet the preset conditions, the unloading actuator is controlled to resume unloading.

[0012] 2) In a second aspect, the present invention also provides a sensing system for collaborative collection and transportation operations, the specific technical solution of which is as follows: a grain warehouse detection module, a positioning calculation module, a threshold comparison module, and an execution control module; The grain storage detection module is used to summon the slave device based on the grain status of the grain storage on the host machine; The positioning calculation module is used to acquire the first position information of the host and the second position information of the slave; determine the third position information of the unloading port on the host based on the first position information; and determine the longitudinal distance error and the lateral distance error between the unloading port and the slave based on the second position information and the third position information. The threshold comparison module is used to compare the longitudinal distance error with a preset longitudinal threshold to obtain a first comparison result; and to compare the lateral distance error with a preset lateral threshold to obtain a second comparison result. The execution control module is used to determine that the unloading port is located within the executable unloading area of ​​the slave machine when both the first comparison result and the second comparison result meet the preset conditions, and to control the unloading execution mechanism to unload grain; otherwise, it controls the unloading execution mechanism to stop unloading grain.

[0013] Based on the above solution, the present invention can be further improved as follows.

[0014] Furthermore, the method of summoning the slave device based on the grain status of the grain warehouse on the host includes: Real-time monitoring of the grain status in the grain silo on the host computer; When the grain status reaches a preset grain position threshold, the host computer sends a summoning command to the slave computer.

[0015] Furthermore, determining the third location information of the grain unloading port on the host machine based on the first location information includes: By utilizing the rigid connection between the unloading port and the host machine, a fixed offset of the unloading port relative to the host machine is obtained; The third position information is obtained based on the first position information and the fixed offset.

[0016] Furthermore, the grain unloading control actuator also includes: When the unloading actuator is in the process of unloading grain, the longitudinal distance error and the lateral distance error are continuously calculated and the first comparison result and the second comparison result are re-determined. When the first comparison result or the second comparison result does not meet the preset conditions, the unloading actuator is controlled to stop unloading grain. When both the first comparison result and the second comparison result meet the preset conditions, the unloading actuator is controlled to resume unloading.

[0017] 3) In a third aspect, the present invention also provides a computer device, the computer device including a processor coupled to a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the computer device to implement any of the above methods.

[0018] 4) In a fourth aspect, the present invention also provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to enable a computer to implement any of the above methods.

[0019] It should be noted that the beneficial effects of the technical solutions of the second to fourth aspects of the present invention and their corresponding possible implementations can be found in the above description of the technical effects of the first aspect and its corresponding possible implementations, and will not be repeated here. Attached Figure Description

[0020] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a flowchart illustrating the steps of a sensing method for collaborative collection and transportation operations according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the error rectangular coordinate system for a sensing method of a collection and transportation collaborative operation according to an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the distance error calculation of a sensing method for collaborative collection and transportation operations according to an embodiment of the present invention. Figure 4 This is a structural block diagram of a computer device according to an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0022] like Figure 1As shown in the figure, a sensing method for collaborative collection and transportation operations according to an embodiment of the present invention includes the following steps: S1, summon the slave machine based on the grain status of the grain warehouse on the host machine; S2, acquire the first position information of the host and the second position information of the slave; determine the third position information of the unloading port on the host based on the first position information; determine the longitudinal distance error and the lateral distance error between the unloading port and the slave based on the second position information and the third position information; S3, compare the longitudinal distance error with a preset longitudinal threshold to obtain a first comparison result; compare the lateral distance error with a preset lateral threshold to obtain a second comparison result; S4. When both the first comparison result and the second comparison result meet the preset conditions, it is determined that the unloading port is located within the executable unloading area of ​​the slave machine, and the unloading execution mechanism is controlled to unload grain; otherwise, the unloading execution mechanism is controlled to stop unloading grain.

[0023] The beneficial effects of the sensing method for collaborative collection and transportation operations provided by this invention are as follows: The automatic sensing of the grain silo status triggers the slave machine to call, replacing manual monitoring and judgment, reducing labor intensity and improving operation efficiency; by using the position information of the master and slave machines and performing coordinate transformation, the horizontal and vertical distance error between the unloading port and the grain transport vehicle is accurately calculated, and compared with the preset threshold, the unloading execution mechanism is automatically controlled to start and stop, realizing accurate determination of the unloading position, avoiding grain spillage caused by human experience error, simplifying the operation process and improving the accuracy of unloading.

[0024] It should be noted that, for ease of understanding, the technical terms used in this solution will be explained one by one, and will not be repeated hereafter: The main unit refers to the harvester and all operating devices installed on it, including the grain bin, unloading hopper, unloading port, navigation receiver, controller, grain bin sensors, and data transmission radio. The main unit is responsible for the core functions of crop harvesting, temporary storage, and unloading in the field. The controller's hardware uses the STM32H743 chip as its MCU, which has rich peripheral interfaces. The controller's functional modules can be divided into CAN module units, GPIO (input / output interface) module units, and UART module units.

[0025] The CAN module unit is responsible for initializing the CAN interface, receiving data frames from the CAN network, and safely placing them into a preset message queue for processing by other tasks. Through interrupt-driven operation, it ensures the real-time performance and accuracy of data reception, such as communicating with the host to obtain grain silo status and controlling the unloading of grain canisters. The UART module unit is used to connect to the radio module, sending host information and receiving slave information.

[0026] The data parsing task periodically reads CAN data frames from the message queue and parses them according to a preset protocol specification. The parsing results will serve as the basis for subsequent operations, such as grain warehouse status information.

[0027] The UART module unit is used to periodically detect the information received and transmitted by the radio, such as vehicle position, speed, heading, and heartbeat. The detection results are then communicated to other relevant tasks through an internal mechanism.

[0028] It should be noted that in this solution, the first location information, the second location information, the longitudinal distance error, and the lateral distance error are continuously acquired and updated in real time through a multi-task scheduling execution environment built by a timer, and are communicated efficiently through synchronization mechanisms such as message queues. This will not be elaborated further.

[0029] "Slave vehicle" refers to the grain transport vehicle and its onboard equipment, such as the cargo compartment for transporting grain. The grain transport vehicle is a transport vehicle without a grain silo structure, which travels to a cooperative position next to the main unit to perform the task of receiving grain.

[0030] Grain silo: refers to the cabin structure on the main unit used for temporary storage of harvested crops. Sensors are installed inside the grain silo to monitor the height of the grain pile in real time.

[0031] Grain status: refers to the fullness of grain in the grain silo. The position signal of grain is detected by sensors installed inside the grain silo and quantified. When the grain reaches the preset grain position threshold, it is determined that the grain needs to be unloaded to the slave machine.

[0032] Call: This refers to the communication process where the master unit sends a collaborative operation command to the slave unit. When the grain status in the grain bin on the master unit reaches a preset grain position threshold, the master unit sends a call command to the slave unit via a data transmission radio. The call command includes the master unit's current position information and operation status information.

[0033] First position information: refers to the real-time positioning coordinates of the main unit in the global coordinate system, obtained through the navigation receiver (i.e., the main unit navigation receiver) installed on the top of the main unit's cab. The main unit navigation receiver supports multiple navigation systems such as GPS, GLONASS, Galileo, and BDS, as well as multiple frequency signal processing such as L1, L2, and L5, and uses RTK network differential technology to improve positioning accuracy to the centimeter level.

[0034] Second position information: refers to the real-time positioning coordinates of the slave unit in the global coordinate system, obtained with centimeter-level accuracy by a navigation receiver installed on the top of the slave unit's cab (i.e., the slave navigation receiver). It should be noted that the slave navigation receiver has the same function as the master navigation receiver, and the first and second position information obtained by the master and slave navigation receivers respectively are both in the same coordinate system.

[0035] Unloading port: refers to the grain outlet position at the end of the unloading hopper of the main unit. The unloading port is rigidly connected to the main unit through a rigid support structure. The main unit navigation receiver is installed on the top of the main unit cab. Therefore, the relative position between the main unit navigation receiver and the unloading port remains constant.

[0036] The third position information refers to the real-time coordinates of the unloading port in the global coordinate system. It is obtained by combining the first position information with the projection of the vehicle coordinate system and the inverse coordinate transformation. During the calculation, the fixed offset of the unloading port relative to the host navigation receiver is used for vector superposition.

[0037] Longitudinal distance error: refers to the distance deviation between the unloading port and the center of the slave machine in the direction of travel.

[0038] Lateral distance error: refers to the distance deviation between the unloading port and the center of the machine in the direction perpendicular to the travel direction.

[0039] It should be noted that the slave center refers to the center of the slave cargo compartment, which can be obtained by calibrating the slave cargo compartment dimensions and the slave positioning point (i.e., the second position information) before use.

[0040] The process for obtaining longitudinal and lateral distance errors is as follows: An error rectangular coordinate system is established with the unloading port as the origin, the main engine's travel direction as the L-axis, and the axis perpendicular to the main engine's travel direction as the M-axis. Figure 2 This is a schematic diagram of the error rectangular coordinate system, as shown below. Figure 2 As shown, Z is the slave center, o is the longitudinal distance error, and p is the lateral distance error. Figure 2 It can be seen that the longitudinal distance error o is the vertical distance from the machine center Z point to the M axis, and the lateral distance error p is the vertical distance from the machine center Z point to the L axis. The longitudinal distance error and the lateral distance error are independent of each other.

[0041] The calculation methods for longitudinal and lateral distance errors are as follows. For longitudinal distance error, it is calculated based on the longitudinal distance between the main machine's positioning point and the slave machine's positioning point, the slave machine's wheelbase, the distance from the slave machine's center to its rear axle, the longitudinal distance between the unloading hopper and the main machine's front axle, and the main machine's wheelbase. Specifically, the longitudinal distance error equals the longitudinal distance between the main machine's positioning point and the slave machine's positioning point minus 0.5 times the slave machine's wheelbase, then minus the distance from the slave machine's center to its rear axle, then minus the longitudinal distance between the unloading hopper and the main machine's front axle, and finally adding 0.5 times the main machine's wheelbase. For lateral distance error, it is calculated based on the lateral distance between the main machine's positioning point and the slave machine's positioning point, the length of the unloading hopper, and the main machine's wheelbase. Specifically, the lateral distance error equals the lateral distance between the main machine's positioning point and the slave machine's positioning point minus the length of the unloading hopper, then minus 0.5 times the main machine's wheelbase.

[0042] Expansion technology, in the field of agricultural machinery, refers to the operational method of adding a safety margin zone around the theoretical unloading point to compensate for deviations in the parabolic trajectory of grain during its flight after leaving the unloading port due to gravity, wind speed, and inertia. Specifically, this can be achieved by adding a fixed length or proportional coefficient of expansion value both longitudinally and laterally to the unloading port. This expansion value can be set to 5% to 10% of the theoretically calculated distance, or set to a fixed value such as 0.2 meters.

[0043] Preset longitudinal threshold: This refers to the longitudinal distance judgment standard for the unloading area, used to determine the maximum distance range within which unloading operations are allowed to be performed at the unloading port in the direction of travel. In this scheme, the preset longitudinal threshold is determined by a dynamic unloading boundary. The dynamic unloading boundary includes the allowable unloading range of the slave engine cargo box and the safe range obtained after expanding the unloading port. The allowable unloading range of the slave engine cargo box is determined by actually measuring the dimensions of the slave engine cargo box, and the safe range obtained after expanding the unloading port is determined by setting a preset expansion value. Therefore, the preset longitudinal threshold is calculated by adding the dimension of the slave engine cargo box in the direction of travel (i.e., the length of the slave engine cargo box) to the preset expansion value. The preset expansion value can be set according to the terrain and vehicle speed. In this scheme, the preset longitudinal threshold is specifically set to 0.2 times the length of the slave engine cargo box (the dimension of the slave engine cargo box in the direction of travel) (including the allowable unloading range of the slave engine cargo box and the safe range obtained after expanding the unloading port), defining the safe range of the unloading port's forward and backward offset relative to the slave engine's center point.

[0044] Preset lateral threshold: This refers to the lateral distance judgment standard of the unloading area, used to determine the maximum distance range of the unloading port that is allowed to perform unloading operations perpendicular to the travel direction. In this scheme, the preset lateral threshold is determined through dynamic unloading boundaries. Similar to the process of determining the preset longitudinal threshold, the preset lateral threshold is determined by the allowable unloading range of the slave engine cargo box and the safe range obtained after expanding the unloading port. In this scheme, the preset lateral threshold is specifically set to 0.2 times the width of the slave engine cargo box (the dimension of the slave engine cargo box perpendicular to the travel direction) (including the allowable unloading range of the slave engine cargo box and the safe range obtained after expanding the unloading port), defining the safe range of the unloading port's left and right offset relative to the slave engine's center point.

[0045] Executable unloading area: refers to the operating range with the center point of the slave machine as the reference point. The longitudinal distance error does not exceed the preset longitudinal threshold, and the lateral distance error does not exceed the preset lateral threshold. When the unloading port is located in this area, it is determined to be a safe unloading position.

[0046] Grain unloading actuator: refers to the electromechanical device that controls the unloading of grain, including the grain unloading hopper actuator and the grain unloading clutch actuator. The grain unloading hopper actuator is responsible for unfolding and retracting the grain unloading hopper, and the grain unloading clutch actuator is responsible for engaging and disengaging the power transmission for conveying grain.

[0047] Rigid connection: refers to the metal bracket connection between the unloading port and the main unit body, which is fixed by bolts. During the movement of the main unit, the two do not produce relative displacement, and the relative distance and relative azimuth angle remain constant.

[0048] Fixed offset: This refers to the difference in three-dimensional coordinates between the unloading port and the main navigation receiver in the vehicle coordinate system. It is determined by the installation structure and calibrated and stored during initialization. The vehicle coordinate system refers to a relative coordinate system with the main unit as the origin. The coordinate axes are aligned with the main unit's heading angle, and this system simplifies the calculation of the relative position of the unloading port.

[0049] Positioning point: refers to the coordinate position of the antenna phase center in the global coordinate system calculated by the host / slave navigation receiver after receiving satellite signals, with an accuracy of centimeters.

[0050] Before implementing the steps in this solution, hardware equipment needs to be deployed to support its functionality, including navigation hardware, grain silo hardware, and unloading hardware. Navigation hardware deployment: By installing integrated data transmission radios on the top of the harvester (master) and grain transport vehicle (slave) cabs, navigation receivers are installed. These receivers support multi-system, multi-frequency signal processing from GPS, GLONASS, Galileo, and BDS, utilizing differential networks to achieve centimeter-level positioning accuracy and enabling real-time acquisition and interaction of vehicle position and speed information. Grain silo hardware deployment: Sensors are installed at different heights inside the harvester's grain silo to monitor the grain accumulation height in real time and determine the grain status. When the grain status reaches a preset grain position threshold, the master controller sends a call command to the slave. Unloading hardware deployment: The master controller outputs commands for unloading hopper deployment and unloading clutch engagement / disengagement to automate the harvesting and transport process.

[0051] In another embodiment of this solution, S1 is specifically implemented as follows: The system cyclically reads the output signals of the grain silo sensors at fixed intervals to obtain the grain status. A threshold judgment is then made based on the grain status. When the grain status reaches a preset grain position threshold, the silo status is sent to the navigation receiver unit of the host computer via the CAN network, controlling the host computer to send a call command to the slave unit. The preset grain position threshold is expressed as a percentage of the total silo height and can be set to 90% of the silo capacity. When the grain status exceeds the preset grain position threshold, the silo is considered full.

[0052] After receiving the call command, the slave device extracts the first location information of the host and plans a navigation path based on the first location information of the host and the current second location information of the slave device, so that the slave device can travel to the collaborative position on the side of the host.

[0053] In another embodiment of this solution, S2 is specifically implemented as follows: The main navigation receiver receives signals from the satellite navigation system and uses differential network information to improve positioning accuracy to the centimeter level. It then calculates the first position information of the main positioning point in the global coordinate system, which includes longitude, latitude, and elevation components. The slave navigation receiver uses the same receiving and processing mechanism as the main receiver to calculate the second position information of the slave positioning point in the global coordinate system.

[0054] After obtaining the first position information, the host positioning point is projected onto the vehicle coordinate system based on the host's heading angle. The unloading port and the host navigation receiver are connected by a rigid support structure, maintaining a constant relative position. A fixed offset of the unloading port relative to the host navigation receiver is obtained, and this fixed offset is superimposed on the host positioning point. The third position information of the unloading port in the global coordinate system is then calculated through inverse coordinate transformation. Inverse coordinate transformation refers to the mathematical operation process of remapping coordinate points in the vehicle coordinate system back to the global coordinate system. This corresponds to the process of projecting the host positioning point into the vehicle coordinate system. Inverse coordinate transformation is a current technology and will not be elaborated further.

[0055] The longitudinal and lateral distance errors between the unloading port and the slave machine are determined based on the second position information of the slave machine and the third position information of the unloading port. Figure 3 This is a schematic diagram for distance error calculation, combined with... Figure 2 Error Cartesian coordinate system and Figure 3 As shown, the formulas for calculating longitudinal distance error and lateral distance error can be derived as follows: Longitudinal distance error Where L is the longitudinal distance between the master machine positioning point and the slave machine positioning point, L1 is the slave machine wheelbase, d1 is the distance from the slave machine center to the slave machine rear axle, d2 is the longitudinal distance between the unloading hopper and the master machine front axle, and L2 is the master machine wheelbase. In calculating the longitudinal distance error, L is calculated using the longitudinal coordinate difference between the first and second position information. In this scheme, after deducing the third position information of the unloading port from the first position information, the longitudinal distance error can be directly calculated using the longitudinal coordinate difference between the third position information and the slave machine center. This embodiment provides the calculation process and one possible implementation method, which can be selected according to actual production needs.

[0056] Lateral distance error Where, dist is the lateral distance between the host machine's positioning point and the slave machine's positioning point, R is the length of the unloading hopper, and b is the wheelbase of the host machine. In calculating the lateral distance error, dist is obtained by calculating the lateral coordinate difference between the first and second position information. In this scheme, after deducing the third position information of the unloading port from the first position information, the lateral distance error can be directly calculated by the lateral coordinate difference between the third position information and the slave machine's center. This embodiment provides the calculation process and one possible implementation method, which can be selected according to actual production needs.

[0057] The longitudinal and lateral distance errors are continuously acquired and updated in real time, keeping pace with the update cycles of the first and second location information to ensure data real-time performance.

[0058] In another embodiment of this solution, S3 is specifically implemented as follows: The allowable unloading range of the slave engine's cargo box is determined by actual measurement of its dimensions, resulting in a preliminary range threshold. Based on this threshold, a dynamic unloading boundary is introduced. The dynamic unloading boundary refers to the fluctuating area of ​​the unloading port, obtained by applying an expansion technique to the unloading port based on the preliminary range threshold. In this scheme, the executable unloading area, obtained after measuring the slave engine's cargo box dimensions and applying the expansion technique, is 0.2 times the length and 0.2 times the width of the slave engine's cargo box. In other words, with the slave engine center as a reference point, the executable unloading area is defined as the range where the longitudinal error relative to the unloading port is less than 0.2 times the length of the slave engine's cargo box, and the lateral error is less than 0.2 times the width of the slave engine's cargo box. Unloading operations within this range improve unloading efficiency and prevent spillage. Therefore, the preset longitudinal threshold is set to 0.2 times the length of the slave engine's cargo box, and the preset lateral threshold is set to 0.2 times the width of the slave engine's cargo box.

[0059] The first comparison result is determined by comparing the longitudinal distance error with a preset longitudinal threshold. If the longitudinal distance error is less than or equal to the preset longitudinal threshold, it is considered to be compliant; otherwise, it is considered to be non-compliant.

[0060] The second comparison result is determined by comparing the lateral distance error with a preset lateral threshold. If the lateral distance error is less than or equal to the preset lateral threshold, it is considered to be compliant; otherwise, it is considered to be non-compliant.

[0061] In another embodiment of this solution, S4 is specifically implemented as follows: When both the first and second comparison results are met, it is determined that the unloading port is within the unloading area that the slave machine can execute, and an unloading control command is generated. The unloading control command includes an unloading hopper deployment command and an unloading clutch engagement command. When the master machine determines that the longitudinal distance from the slave machine is less than or equal to 1.5 meters, it executes the unloading hopper deployment action. After receiving the unloading hopper deployment command, the unloading hopper actuator drives the unloading hopper to deploy and monitors the angle in real time. When the unloading hopper reaches the preset working angle, it is determined that the unloading hopper is deployed in place, and the unloading clutch engagement command is sent, allowing the grain to flow out from the unloading port through the unloading hopper.

[0062] If the first comparison result or the second comparison result does not match, it is determined that the unloading port exceeds the unloading area that the slave machine can execute, and an unloading interruption command is generated. The unloading interruption command includes the unloading clutch disengagement command.

[0063] During the unloading process, the unloading actuator continuously calculates the longitudinal and lateral distance errors, updating the first and second comparison results. If both the first and second comparison results are correct, and the unloading hopper is already in the deployed position, only the unloading clutch engagement command is sent to resume unloading; if the unloading hopper has been retracted, the unloading hopper deployment command and the unloading clutch engagement command are resent. If either the first or second comparison result is incorrect, an unloading interruption command is sent to stop the unloading actuator from unloading.

[0064] Furthermore, based on the grain status of the grain silo on the host machine, the slave machine is summoned, including: Real-time monitoring of grain status in the grain silo on the main unit; When the grain status reaches the preset grain position threshold, the control host sends a summoning command to the slave device.

[0065] Furthermore, based on the first location information, the third location information of the grain unloading port on the main unit is determined, including: By utilizing the rigid connection between the unloading port and the main unit, the fixed offset of the unloading port relative to the main unit can be obtained; The third position information is obtained based on the first position information and a fixed offset.

[0066] Furthermore, controlling the unloading of grain by the unloading execution agency also includes: When the unloading actuator is in the process of unloading grain, the longitudinal distance error and the lateral distance error are continuously calculated and the first comparison result and the second comparison result are re-determined. When the first comparison result or the second comparison result does not meet the preset conditions, the unloading actuator is controlled to stop unloading grain. When both the first comparison result and the second comparison result meet the preset conditions, the unloading actuator is controlled to resume unloading.

[0067] The beneficial effects are as follows: The system automatically detects the grain status in the main unit's grain silo using sensors. When the grain reaches a preset position threshold, it automatically generates a call command and sends it to the slave unit, replacing manual monitoring of the grain silo and walkie-talkie calls. This reduces the labor intensity of operators and improves operational efficiency. Utilizing the first and second position information obtained from the main and slave unit navigation receivers, the system accurately calculates the longitudinal and lateral distance errors between the unloading port and the center of the grain transport vehicle through coordinate transformation. These errors are compared in real-time with preset longitudinal and lateral thresholds to automatically determine whether the unloading port is within the slave unit's executable unloading area. This improves the accuracy of unloading position determination and avoids grain spillage problems caused by light interference from manual judgment and image recognition. When the determination result meets preset conditions, the system automatically controls the unloading actuator to unfold the unloading cylinder and engage the unloading clutch to unload the grain. When the determination result does not meet preset conditions, the system automatically controls the unloading clutch to disengage and stop unloading, achieving fully automated control of the unloading process and simplifying the complexity of unloading operations. By integrating and coordinating the navigation receiver, data transmission radio, and vehicle controller, a closed-loop automated process is achieved, encompassing grain warehouse status perception, vehicle positioning, error calculation, threshold comparison, and instruction generation, thereby enhancing the intelligence level of collaborative operations between harvesters and grain transport vehicles.

[0068] In the above embodiments, although the steps are numbered S1, S2, etc., they are only specific embodiments given by the present invention. Those skilled in the art can adjust the execution order of S1, S2, etc. according to the actual situation, and these situations are also within the protection scope of the present invention. It can be understood that in some embodiments, some or all of the above embodiments may be included.

[0069] Furthermore, the acquisition process of the data involved in this application follows the principles of legality, legitimacy, and necessity. Based on obtaining the explicit authorization and consent of the user, only the minimum necessary information required to achieve the purpose is collected, and data security protection obligations are fulfilled in accordance with the law.

[0070] The present invention also provides a sensing system for collaborative collection and transportation operations, the specific technical solution of which is as follows: a grain warehouse detection module, a positioning calculation module, a threshold comparison module, and an execution control module; The grain storage detection module is used to summon slave devices based on the grain status of the grain storage on the host machine; The positioning calculation module is used to acquire the first position information of the host and the second position information of the slave; determine the third position information of the unloading port on the host based on the first position information; and determine the longitudinal distance error and the lateral distance error between the unloading port and the slave based on the second and third position information. The threshold comparison module is used to compare the longitudinal distance error with a preset longitudinal threshold to obtain a first comparison result; and to compare the lateral distance error with a preset lateral threshold to obtain a second comparison result. The execution control module is used to determine that the unloading port is located within the executable unloading area of ​​the slave machine when both the first comparison result and the second comparison result meet the preset conditions, and to control the unloading execution mechanism to unload grain; otherwise, it controls the unloading execution mechanism to stop unloading grain.

[0071] It should be noted that the beneficial effects of the sensing system for coordinated collection and transportation operations provided in the above embodiments are the same as those of the sensing method for coordinated collection and transportation operations 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 can 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.

[0072] like Figure 4 As shown, an embodiment of the present invention provides a computer device 300, which includes a processor 320 coupled to a memory 310. The memory 310 stores at least one computer program 330, which is loaded and executed by the processor 320 to enable the computer device 300 to implement any of the above-described methods. Specifically: The computer device 300 can vary considerably due to differences in configuration or performance. It may include one or more processors 320 (Central Processing Units, CPUs) and one or more memories 310. The one or more memories 310 store at least one computer program 330, which is loaded and executed by the one or more processors 320 to enable the computer device 300 to implement the sensing method for collaborative collection and transportation operations provided in the above embodiments. Of course, the computer device 300 may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The computer device 300 may also include other components for implementing device functions, which will not be elaborated upon here.

[0073] An embodiment of the present invention provides a computer-readable storage medium storing at least one computer program, which is loaded and executed by a processor to enable a computer to implement any of the above-described methods.

[0074] 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.

[0075] 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 a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the aforementioned sensing methods for coordinated collection and transportation operations.

[0076] 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 represent a limitation on a specific order or sequence. Where appropriate, the order of use for similar objects can be interchanged so that the embodiments of this application described herein can be implemented in an order other than that shown or described.

[0077] Those skilled in the art will recognize that this invention can be implemented as a system, method, or computer program product. Therefore, this disclosure 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, the invention can also be implemented as a computer program product contained in one or more computer-readable media, which includes computer-readable program code.

[0078] Any combination of one or more computer-readable media may be used. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, 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 device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus, or device.

[0079] 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 sensing method for collaborative collection and transportation operations, characterized in that, include: S1, summon the slave machine based on the grain status of the grain warehouse on the host machine; S2, obtain the first location information of the host and the second location information of the slave; The third location information of the unloading port on the host is determined based on the first location information; The longitudinal distance error and the lateral distance error between the unloading port and the slave machine are determined based on the second position information and the third position information. S3, compare the longitudinal distance error with a preset longitudinal threshold to obtain a first comparison result; compare the lateral distance error with a preset lateral threshold to obtain a second comparison result; S4. When both the first comparison result and the second comparison result meet the preset conditions, it is determined that the unloading port is located within the executable unloading area of ​​the slave machine, and the unloading execution mechanism is controlled to unload grain; otherwise, the unloading execution mechanism is controlled to stop unloading grain.

2. The sensing method for collaborative collection and transportation operations according to claim 1, characterized in that, The method of summoning slave devices based on the grain status of the grain warehouse on the host includes: Real-time monitoring of the grain status in the grain silo on the host computer; When the grain status reaches a preset grain position threshold, the host computer sends a summoning command to the slave computer.

3. The sensing method for collaborative collection and transportation operations according to claim 1, characterized in that, The step of determining the third location information of the grain unloading port on the host machine based on the first location information includes: By utilizing the rigid connection between the unloading port and the host machine, a fixed offset of the unloading port relative to the host machine is obtained; The third position information is obtained based on the first position information and the fixed offset.

4. The sensing method for collaborative collection and transportation operations according to claim 1, characterized in that, The grain unloading control actuator also includes: When the unloading actuator is in the process of unloading grain, the longitudinal distance error and the lateral distance error are continuously calculated and the first comparison result and the second comparison result are re-determined. When the first comparison result or the second comparison result does not meet the preset conditions, the unloading actuator is controlled to stop unloading grain. When both the first comparison result and the second comparison result meet the preset conditions, the unloading actuator is controlled to resume unloading.

5. A sensing system for collaborative collection and transportation operations, characterized in that, include: Grain storage detection module, positioning calculation module, threshold comparison module, and execution control module; The grain storage detection module is used to summon the slave device based on the grain status of the grain storage on the host machine; The positioning calculation module is used to obtain the first location information of the host and the second location information of the slave. The third location information of the unloading port on the host is determined based on the first location information; The longitudinal distance error and the lateral distance error between the unloading port and the slave machine are determined based on the second position information and the third position information. The threshold comparison module is used to compare the longitudinal distance error with a preset longitudinal threshold to obtain a first comparison result; and to compare the lateral distance error with a preset lateral threshold to obtain a second comparison result. The execution control module is used to determine that the unloading port is located within the executable unloading area of ​​the slave machine when both the first comparison result and the second comparison result meet the preset conditions, and to control the unloading execution mechanism to unload grain; otherwise, it controls the unloading execution mechanism to stop unloading grain.

6. The sensing system for collaborative collection and transportation operations according to claim 5, characterized in that, The method of summoning slave devices based on the grain status of the grain warehouse on the host includes: Real-time monitoring of the grain status in the grain silo on the host computer; When the grain status reaches a preset grain position threshold, the host computer sends a summoning command to the slave computer.

7. The sensing system for collaborative collection and transportation operations according to claim 5, characterized in that, The step of determining the third location information of the grain unloading port on the host machine based on the first location information includes: By utilizing the rigid connection between the unloading port and the host machine, a fixed offset of the unloading port relative to the host machine is obtained; The third position information is obtained based on the first position information and the fixed offset.

8. The sensing system for collaborative collection and transportation operations according to claim 5, characterized in that, The grain unloading control actuator also includes: When the unloading actuator is in the process of unloading grain, the longitudinal distance error and the lateral distance error are continuously calculated and the first comparison result and the second comparison result are re-determined. When the first comparison result or the second comparison result does not meet the preset conditions, the unloading actuator is controlled to stop unloading grain. When both the first comparison result and the second comparison result meet the preset conditions, the unloading actuator is controlled to resume unloading.

9. A computer device, characterized in that, The computer device includes a processor coupled to a memory storing at least one computer program, which is loaded and executed by the processor to enable the computer device to implement a sensing method for a collection and transportation collaborative operation as described in any one of claims 1 to 4.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer to implement a sensing method for a collection and transportation collaborative operation as described in any one of claims 1 to 4.

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