To achieve an unmanned rice farm,in this study,a cotransporter system was developed using a tracked rice harvester and transporter for autonomous harvesting,unloading,and transportation.Additionally,two unloading and ...To achieve an unmanned rice farm,in this study,a cotransporter system was developed using a tracked rice harvester and transporter for autonomous harvesting,unloading,and transportation.Additionally,two unloading and transportation modes—harvester waiting for unloading(HWU)and transporter fol-lowing for unloading(TFU)—were proposed,and a harvesting-unloading-transportation(HUT)strategy was defined.By breaking down the main stages of the collaborative operation,designing module-state machines(MSMs),and constructing state-transition chains,a HUT collaborative operation logic frame-work suitable for the embedded navigation controller was designed using the concept and method of the finite-state machine(FSM).This method addresses the multiple-stage,nonsequential,and complex processes in HUT collaborative operations.Simulations and field-harvesting experiments were performed to evaluate the applicability of this proposed strategy and system.The experimental results showed that the HUT collaborative operation strategy effectively integrated path planning,path-tracking control,inter-vehicle communication,collaborative operation control,and implementation control.The cotrans-porter system completed the entire process of harvesting,unloading,and transportation.The field-harvesting experiment revealed that a harvest efficiency of 0.42 hm^(2)·h^(−1) was achieved.This study can provide insight into collaborative harvesting and solutions for the harvesting process of unmanned farms.展开更多
基金the National Key Research and Development Program of China(2021YFD2000600)the National Natural Science Foundation of China(32071914)+1 种基金the Modern Agricultural Industry Technology System of China(CARS-170405)the Key Research and Development Program(Science and Technology Demonstration Project)project of Shandong Province(2022SFGC0202).
文摘To achieve an unmanned rice farm,in this study,a cotransporter system was developed using a tracked rice harvester and transporter for autonomous harvesting,unloading,and transportation.Additionally,two unloading and transportation modes—harvester waiting for unloading(HWU)and transporter fol-lowing for unloading(TFU)—were proposed,and a harvesting-unloading-transportation(HUT)strategy was defined.By breaking down the main stages of the collaborative operation,designing module-state machines(MSMs),and constructing state-transition chains,a HUT collaborative operation logic frame-work suitable for the embedded navigation controller was designed using the concept and method of the finite-state machine(FSM).This method addresses the multiple-stage,nonsequential,and complex processes in HUT collaborative operations.Simulations and field-harvesting experiments were performed to evaluate the applicability of this proposed strategy and system.The experimental results showed that the HUT collaborative operation strategy effectively integrated path planning,path-tracking control,inter-vehicle communication,collaborative operation control,and implementation control.The cotrans-porter system completed the entire process of harvesting,unloading,and transportation.The field-harvesting experiment revealed that a harvest efficiency of 0.42 hm^(2)·h^(−1) was achieved.This study can provide insight into collaborative harvesting and solutions for the harvesting process of unmanned farms.
