CN-121986648-A - Method, system, equipment and medium for sensing collection and transportation collaborative operation

CN121986648ACN 121986648 ACN121986648 ACN 121986648ACN-121986648-A

Abstract

The invention discloses a perception method, a system, equipment and a medium for receiving and transporting collaborative operation, which relate to the technical field of agricultural machinery, and the method comprises the steps of calling a slave machine based on the grain state of a granary on a host machine; the method comprises the steps of obtaining position information of a host machine and a slave machine by using a navigation receiver, determining the accurate position of a grain discharging port through coordinate conversion, calculating a longitudinal distance error and a transverse distance error between the grain discharging port and the slave machine, comparing the longitudinal distance error and the transverse distance error with a preset threshold value to obtain a comparison result, judging whether the grain discharging port is positioned in an executable grain discharging area of the slave machine according to the comparison result, and controlling a grain discharging executing mechanism to discharge grains. The invention can realize automatic sensing and calling of the granary state, improve the working efficiency, improve the grain unloading accuracy, avoid grain scattering, realize automatic control of grain unloading process, reduce the operation complexity, lighten the labor intensity and improve the intelligent level.

Inventors

ZHANG GUODONG
WANG HUI
XU WANLI
LI DEFANG
ZHANG MENG
LI GUOQIANG
WANG YALIN

Assignees

潍柴雷沃智慧农业科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260127

Claims (10)

1. The method for sensing the receiving and transporting collaborative operation is characterized by comprising the following steps of: s1, calling a slave machine based on grain states of granary on a host machine; S2, acquiring first position information of the host machine and second position information of the slave machine, determining third position information of a grain discharging port on the host machine based on the first position information, and determining longitudinal distance errors and transverse distance errors between the grain discharging port and the slave machine according to the second position information and the third position information; s3, comparing the longitudinal distance error with a preset longitudinal threshold value to obtain a first comparison result; comparing the transverse distance error with a preset transverse threshold value to obtain a second comparison result; s4, when the first comparison result and the second comparison result meet preset conditions, judging that the grain unloading port is positioned in an executable grain unloading area of the slave machine, controlling a grain unloading executing mechanism to unload grains, and otherwise, controlling the grain unloading executing mechanism to stop unloading grains.
2. The method for sensing a ship-to-ship collaborative operation according to claim 1, wherein the host-based grain status calling slave for a grain bin comprises: Detecting grain states of granary on the host in real time; when the grain state reaches a preset grain position threshold value, the host computer is controlled to send a calling instruction to the slave computer.
3. The method of claim 1, wherein determining third location information of a grain discharge port on the host based on the first location information, comprises: acquiring a fixed offset of the grain discharging port relative to the host by utilizing a rigid connection relation between the grain discharging port and the host; And obtaining the third position information according to the first position information and the fixed offset.
4. The method for sensing a cooperative job according to claim 1, wherein the controlling the grain unloading actuator to unload grains further comprises: continuously calculating the longitudinal distance error and the transverse distance error and redetermining the first comparison result and the second comparison result when the grain unloading executing mechanism is in the grain unloading process; when the first comparison result or the second comparison result does not accord with a preset condition, controlling a grain unloading executing mechanism to stop grain unloading; and when the first comparison result and the second comparison result both accord with preset conditions, controlling the grain unloading executing mechanism to recover grain unloading.
5. The sensing system for the collection and transportation collaborative operation is characterized by comprising a granary detection module, a positioning calculation module, a threshold comparison module and an execution control module; The granary detection module is used for calling the slave machine based on the grain state of the granary on the host machine; The positioning calculation module is used for acquiring first position information of the host machine and second position information of the slave machine, determining third position information of a grain discharging port on the host machine based on the first position information, and determining longitudinal distance errors and transverse distance errors between the grain discharging port and the slave machine according to the second position information and the third position information; The threshold value comparison module is used for comparing the longitudinal distance error with a preset longitudinal threshold value to obtain a first comparison result; The execution control module is used for judging that the grain unloading port is positioned in the executable grain unloading area of the slave machine when the first comparison result and the second comparison result meet preset conditions, and controlling the grain unloading executing mechanism to unload grains, otherwise, controlling the grain unloading executing mechanism to stop unloading grains.
6. The system of claim 5, wherein the host-based grain status summoning slave for the grain bin comprises: Detecting grain states of granary on the host in real time; when the grain state reaches a preset grain position threshold value, the host computer is controlled to send a calling instruction to the slave computer.
7. The system of claim 5, wherein determining third location information for a grain discharge port on the host based on the first location information comprises: acquiring a fixed offset of the grain discharging port relative to the host by utilizing a rigid connection relation between the grain discharging port and the host; And obtaining the third position information according to the first position information and the fixed offset.
8. The system of claim 5, wherein the means for controlling the discharge actuator to discharge the grain further comprises: continuously calculating the longitudinal distance error and the transverse distance error and redetermining the first comparison result and the second comparison result when the grain unloading executing mechanism is in the grain unloading process; when the first comparison result or the second comparison result does not accord with a preset condition, controlling a grain unloading executing mechanism to stop grain unloading; and when the first comparison result and the second comparison result both accord with preset conditions, controlling the grain unloading executing mechanism to recover grain unloading.
9. A computer device comprising a processor coupled to a memory, the memory having stored therein at least one computer program, the at least one computer program being loaded and executed by the processor to cause the computer device to implement a method of perception of a shipping cooperation as claimed in any one of claims 1 to 4.
10. A computer readable storage medium, wherein at least one computer program is stored in the computer readable storage medium, and the at least one computer program is loaded and executed by a processor, so that the computer implements a method for sensing a shipping cooperation according to any one of claims 1 to 4.

Description

Method, system, equipment and medium for sensing collection and transportation collaborative operation Technical Field The invention relates to the field of agricultural machinery, in particular to a perception method, a system, equipment and a medium for a collection and transportation collaborative operation. Background Along with the modern and intelligent development of agricultural equipment, the single-machine operation mode of the traditional harvester can not meet the high-efficiency production requirement. In the cooperative operation scene of the harvester and the grain transport vehicle, how to realize the automation and the accurate cooperation between the harvester and the grain transport vehicle becomes a technical problem to be solved urgently. Specifically, the existing operation mode has high degree of dependence on the proficiency of operators, the operation efficiency is limited, and the grain unloading process is difficult to guarantee to be accurately controlled in a complex farmland environment. At present, two technical schemes are mainly adopted in the industry to realize the operation of collection and transportation. The first scheme is that the interphone is used for carrying out manual communication, the operator of the harvester informs the current position and state of the grain conveying vehicle through voice, the calling of the grain conveying vehicle is realized, and the grain unloading position point is judged according to the image. The second scheme adopts an auxiliary driving path tracking technology, the harvester and the grain transporting vehicle respectively carry out transverse path control, and the longitudinal control is still manually completed by a driver, so that the cooperation of the harvester and the grain transporting vehicle is realized. The prior art has the defects that firstly, manual collaborative operation efficiency is limited, harvester operators need to monitor the state of a granary at any time, the calling time is judged according to experience, time and labor are consumed in the operation process, efficiency is low, secondly, the grain unloading accuracy is insufficient, the manual grain unloading process is easily interfered by human factors, the identification mode based on video images is easily affected by light conditions, grain unloading distance control mainly depends on personal experience, the grain scattering problem frequently occurs during complex field operation, thirdly, grain unloading operation is complex, action failure condition easily occurs in the manual operation process, and automation and simplification of the whole grain unloading process are difficult to realize. In summary, the prior art fails to effectively solve the core problems of low automation degree, poor grain unloading precision, complex operation and the like in the cooperative operation of the harvester and the grain conveying vehicle. Therefore, development of a receiving and transporting collaborative operation sensing method capable of realizing real-time sensing of the granary state, accurate positioning of the vehicle position and automatic control of collaborative decision-making is urgently needed, so that the operation efficiency is improved, the labor intensity is reduced, and the intelligent level is improved. Disclosure of Invention The invention aims to solve the technical problems of low efficiency of manual monitoring and calling, inaccurate judgment of grain unloading positions, complex operation, easy grain scattering and the like in the process of unloading grains cooperatively of a harvester and a grain transport vehicle, and particularly provides a perception method, a system, equipment and a medium for the operation of the harvest and the transportation cooperatively, which are as follows: 1) In a first aspect, the present invention provides a method for sensing a shipping cooperation, which specifically includes the following technical schemes: s1, calling a slave machine based on grain states of granary on a host machine; S2, acquiring first position information of the host machine and second position information of the slave machine, determining third position information of a grain discharging port on the host machine based on the first position information, and determining longitudinal distance errors and transverse distance errors between the grain discharging port and the slave machine according to the second position information and the third position information; s3, comparing the longitudinal distance error with a preset longitudinal threshold value to obtain a first comparison result; comparing the transverse distance error with a preset transverse threshold value to obtain a second comparison result; s4, when the first comparison result and the second comparison result meet preset conditions, judging that the grain unloading port is positioned in an executable grain unloading area of the slave machine, controlling a grain unloa