RU2651420C1 - Monitoring system of routes of agricultural machines movement during field works - Google Patents

Abstract

FIELD: monitoring systems.

SUBSTANCE: system for monitoring routes of movement of agricultural machines during field work includes a unit for receiving transactions from the sensors of agricultural machines geographical position, block for identifying sensors for the agricultural machines geographical position, a block for issuing addresses for recording the routes of agricultural machines movement, block for receiving data of the details of the routes of agricultural machines movement from the database of the system server, the first unit identifying the coordinates of the geographical position of agricultural machines, second unit identifying the coordinates of the geographical location of agricultural machines, the unit for switching and data output to information inputs of agricultural machines connected in a certain manner.

EFFECT: increased speed of tracking the routes of agricultural machines movement is provided.

1 cl, 4 dwg

Description

The invention relates to the field of control of agricultural machines, in particular to a system for monitoring the routes of movement of agricultural machines when performing field work.

In recent years, following the constant increase in the productivity of agricultural machinery systems, such as combine harvesters or field shredders, tractors with various attachments, fertilizer spreaders, seeders, sprayers, tedders, etc., workflow planning is becoming increasingly important.

To achieve this goal and the optimal conduct of the work process, so-called routing systems and methods have been developed, with which the optimal route is determined for the corresponding machine system when processing a certain territory, for example, a certain plot or area.

A particular system of machines, depending on its equipment, can be guided along this route either with automatic control, that is, with the help of an automatic steering system, or with semi-automatic or simply manual control with the support of an appropriate indicator device, while the operator must try to maintain the position of the machine on a virtual lines of motion.

Typically, such routing systems or automatic steering systems work with satellite navigation systems, for example, using GPS receivers (Global Positioning System - a global navigation and positioning system).

As a rule, any planned route contains not only the planned walkways inside the area to be treated, that is, separate “working walkways” on the field, but also turning passes to perform turning maneuvers in the turning areas at the edge of the field, performed to move from one working pass to to another.

These situations impose specific requirements on the operators of agricultural machines when several agricultural machines perform work on the same field at the same time, moving along the field along their planned route.

The task of the system for monitoring the routes of movement of agricultural machines during field work is to track the routes of movement of agricultural machines and prevent their possible violations.

Known technical solutions to the problem.

The first known technical solution comprises a location unit for automatically determining the actual location of the machine system, a routing system for generating a route for the machine system containing work passages along which the machine system passes during processing of the territory, and u-turn passages along which the machine system passes from one work pass to the next work pass to be completed, a headland turn control system that controls the machine in such a way that at the end of one working passage and / or during movement along the next turn passage and / or at the beginning of the next working passage, the system of machines automatically performs a sequence of technological steps during a turn, and the turn control system at the edge of the field is made with the possibility dynamic updating of the sequence of technological steps during a turn and the execution of this sequence depending on the actual location of the machine system and depending on the working th passage to be performed (1).

The disadvantage of this technical solution is the low speed of the system, since the data for decision making is issued only after the collection and processing of all input information is completed.

Another technical solution is known, comprising a central server having a communication module for receiving control input data and transmitting control output data, and a database for storing control input data, a first control device of a first agricultural machine having a communication module for wireless input data transmission control to a central server, while the control input contains data about the site processed by the first agricultural machine, the second control device a second agricultural machine having a communication module for wirelessly receiving control output from the central server, the central server being configured to generate control output, and at least a portion of the control output transmitted to the second control device of the second agricultural machine, data generated by the central server using at least a portion of the control input received from the first an agricultural machine containing data about a site processed by the first agricultural machine and stored in the database of the central server, while the central server is also configured to receive commands for the first control device of the first agricultural machine or the second control device of the second agricultural machine, and transmitting said commands as control output data to said first control device or second control device (2 )

The disadvantage of this technical solution also lies in its low speed, due to the large time spent on solving design problems.

The purpose of the invention is to eliminate this drawback, i.e. to increase the system’s speed by eliminating the time spent on identifying extreme situations associated with violation of traffic routes that require an immediate response.

This goal is achieved by the fact that in a system containing a block for receiving transactions from sensors of the geographical position of agricultural machines, the information and synchronizing inputs of which are information and synchronizing inputs of the system, respectively, while the information input of the system is designed to receive transactions from sensors of the geographical position of agricultural machines, synchronizing the input of the system is designed to receive synchronizing signals for entering transactions from geography sensors position of agricultural machines to the unit for receiving transactions from sensors of the geographical position of agricultural machines, the unit for identifying sensors for the geographical location of agricultural machines, the address input of which is connected to the address output of the unit for receiving transactions from sensors for the geographical location of agricultural machines, the synchronizing input of the unit for identifying sensors for the geographical location of agricultural machines is connected to the synchronizing input of the system, the block issuing addresses this route of movement of agricultural machines, the information input of which is connected to the information output of the unit for identifying sensors of the geographical position of agricultural machines, the synchronizing input is connected to the first synchronizing output of the unit for identifying sensors of the geographical position of agricultural machines, and the information output of the unit for issuing addresses of records of routes of movement of agricultural machines is an address output systems designed to issue march address addresses the movement of agricultural machines to the address input of the database server of the system, while the second synchronizing output of the identification unit of the sensors for the geographical position of agricultural machines is the synchronizing output of the system, intended for issuing control signals to the input of the first channel of interruption of the database server, the unit for receiving data of the details of agricultural movement routes machines from the system server database, the information input of which is the second information input of the system For the purpose of receiving the data of the details of the routes of movement of agricultural machines from the system server database, the synchronizing input of the data reception unit of the details of the routes of movement of agricultural machines from the database of the server of the system is the second synchronizing input of the system designed to receive the synchronizing signals of entering the details of the routes of movement of agricultural machines from system server database to the unit for receiving the data of the agricultural agricultural traffic routes Ashin from the system server database, the first unit for identifying the coordinates of the geographical location of agricultural machines is introduced, one information input of which is connected to the first information output of the unit for receiving transactions from sensors of the geographical location of agricultural machines, the other information input of the first unit for identifying the coordinates of the agricultural machines is connected to the first the information output of the unit for receiving data of the movement route details is agricultural x machines from the database of the server of the system, and the synchronizing input of the first comparator is connected to the second synchronizing input of the system, the second block identifies the coordinates of the geographical position of agricultural machines, one information input of which is connected to the second information output of the block receiving transactions from sensors of the geographical position of agricultural machines, another information the input of the second block identifying the coordinates of the geographical position of agricultural machines is connected to the second and the information output of the unit for receiving data of the details of the routes of movement of agricultural machines from the database of the server system, the switching and data output unit for the information inputs of the agricultural machines, the address input of which is connected to the address output of the unit for receiving data of details of the routes of movement of agricultural machines from the database of the server of the system, the first and the second information outputs of which are connected to the first and second information inputs of the switching unit and outputting data to the information inputs of agricultural machines, one output of the first unit for identifying the coordinates of the geographical position of agricultural machines is connected to the first signal input of the unit for switching and outputting data to the information inputs of the agricultural machines, the other output of the first unit for identifying the coordinates of the geographical position of agricultural machines is connected to the synchronizing input of the second unit for identifying the coordinates of the agricultural machines machines, one output of which is connected to the second signal the input of the switching unit and outputting data to the information inputs of agricultural machines, and the other output of the unit for identifying the coordinates of the geographical position of agricultural machines is the first signal output of the system, while the information outputs of the first and second groups of outputs are information outputs of the system, and the signal output of the switching unit and issuing data to the information inputs of agricultural machines is the second signal output of the system.

The invention is illustrated by drawings, where in FIG. 1 is a structural diagram of a system; FIG. 2 is a structural diagram of a sensor identification unit for the geographical position of agricultural machines, FIG. 3 is a structural diagram of a first unit for identifying coordinates of the geographical position of agricultural machines, FIG. 4 is a block diagram of a switching unit and outputting data to the information inputs of agricultural machines.

The system (Fig. 1) contains a block 1 for receiving transactions from sensors of the geographical position of agricultural machines, a block 2 for identifying sensors of the geographical location of agricultural machines, a block 3 for issuing addresses of records of routes of movement of agricultural machines, the first 4 and second 5 blocks for identifying coordinates of the geographical position of agricultural machines, block 6 for receiving data of the details of the routes of movement of agricultural machines from the database of the server of the system, block 7 for switching and issuing data to the information th inputs of agricultural machinery.

In FIG. 1 shows the first 10 and second 11 information, the first 12 and second 13 synchronizing inputs of the system, as well as the information 14 system output, synchronizing 15, the first 16 and second 17 synchronizing outputs of the system, the first 18-20 and second 21-23 information groups of system outputs .

Block 1 (Fig. 1) of receiving transactions from sensors of the geographical position of agricultural machines is made in the form of a register having information 10 and synchronizing 12 inputs, as well as address 26, first 27 and second 28 information outputs.

Block 2 (Fig. 2) of the identification of sensors of the geographical position of agricultural machines includes a decoder 60, read-only memory 61 with inputs 88, 89 and 90, elements 62-64 AND, elements 65, 66 and 67 of the delay. The drawing shows the address 31, synchronizing 33 inputs, as well as information 40, the first 41 and second 42 synchronizing outputs.

Block 3 (Fig. 1) of the issuance of addresses of records of routes of movement of agricultural machines is made in the form of a register having information 52 and synchronizing 53 inputs, and address output 14.

The first unit 4 (Fig. 3) for identifying the coordinates of the geographical position of agricultural machines contains a comparator 70 and a delay element 71. The drawing also shows the first 34 and second 35 information and synchronizing 36 inputs, as well as the first 43 and second 44 outputs.

The second block 5 (Fig. 2) of identifying the coordinates of the geographical position of agricultural machines is made in the form of a comparator 70, having the first 37 and second 38 information and synchronizing 39 inputs, as well as the first 45 and second 46 outputs.

Block 6 (Fig. 1) of receiving the details of the agricultural machinery movement routes from the system server database is made in the form of a register having information 11 and synchronizing 13 inputs, as well as the first 29, second 30 information and address 31 outputs.

Block 7 (Fig. 4) of switching and data output to the information inputs of agricultural machines contains a decoder 80, the first 81-83 group of AND elements, the second 84-86 group of AND elements, OR element 87. The drawing shows the address 49 input, the first 50 and second 51 information inputs, the first 47 and second 48 clock inputs, as well as the first 18-20 and second 21-23 groups of information outputs.

All nodes and elements of the system are made on standard potential-impulse elements.

The system operates as follows.

For definiteness, let us consider the operation of the system as an example of the use of combine harvesters equipped with so-called GPS sensors installed on the roof of cabs as agricultural machines for field work, which generate sensor signals about the geographical position of combines based on GPS from signals received from a GPS satellite system. These sensor signals about the position of the combine are used in a known manner for the working route traveled by the combine.

Data from sensors installed on combines, in the form of transactions, is transmitted to the controller - a device that converts signals for transmission over the GSM channel through the navigation terminal. Then, transactions via the Internet go to the information input 10 of the monitoring system.

The structure of the transaction codogram arriving at the information input 10 of the system (Fig. 1) has the following form:

The synchronizing signal received at the synchronizing input 12 of the system, the transaction codogram is entered in the register of block 1.

The code of the sensor identifier from which this transaction was received is sent from the output 26 of block 1 to the information 32 input of block 2 and then to the input of the decoder 60, and the synchronizing pulse from input 12 through the input 33 of block 2 is delayed by the delay element 65 for the time of entering the sensor identifier code in register 1 and the operation of the decoder 60, and then goes to the inputs of elements 62-64 I. The decoder 60 decodes the incoming code and prepares the signal path from the output of the delay element 65, opening one of the elements 62-64 I. con- cern assume that entered the high potential to one input element 63 I.

Considering the fact that only the And element 63 will be open at one input, then passing through this And element, the clock pulse arrives, firstly, at the read input 89 of the fixed memory cell of the permanent storage device 61, which stores the address code of the data record of the movement route data harvester with a given identifier of the position sensor at a given time in the system server database (not shown).

The address code of the specified record from the ROM 61 is read through the information 40 output of block 2 to the information 52 input of the register of module 3.

In parallel with the described process, the same read pulse from the output of element 65 is delayed by the delay element 66 for the duration of reading the contents of the fixed cell ROM 61 and from the output 41 of module 2 is fed to the synchronizing 53 input of the register of module 3, fixing in it the address code of the memory cell of the database server system.

At the same time, the synchronizing pulse from the output of the delay element 66 is delayed by the element 67 for the duration of entering the address code into block 3 and then, through the output 42 of module 2 and then from the output 15 of the system, it enters the input of the first interrupt channel of the system database server.

With the arrival of this signal, the database server of the system switches to a subroutine for reading the contents of the server’s memory cell, the address of which is generated at the output of the system 14, and issuing a read record to the information input 11 of the system, from where it arrives at the information input of module 6, into which it is entered by a synchronizing pulse server entering input 13 of the system.

As a result, at the output of the register of module 6, a codogram will be generated having the following structure:

The code of the value of the coordinate X of the current position of the combine located in block 1, from the output 27 goes to the information input 34 of module 4, and the code of the set value of the coordinate X of the position of the combine located in block 6, from the output 29 goes to another information input 35 of block 4.

In parallel with this process, the synchronizing pulse from input 13 enters the synchronizing input 36 of module 4, where it is delayed by element 71 for the time the code is entered in the register of block 6 and then goes to the synchronizing input of the comparator 70 of block 4.

According to this clock pulse, the comparator 70 compares the input codes, and if the code of the coordinate value X of the current position of the combine located in block 1 coincides with the code of the set value of the coordinate X of the position of the combine located in block 6, a signal arriving at the output 44 of module 4 clock input 39 of the comparator unit 5.

At this point in time, one information 37 input of the comparator of block 5 from the output 28 of block 1 receives the code value of the Y coordinate of the current position of the combine, and another information 38 input of the comparator of block 5 from the output 30 of block 6 receives the code of the set value of the coordinate of the Y position of the combine.

By the synchronizing pulse supplied to input 39, the comparator of unit 5 compares the input codes, and if the input codes turn out to be equal, then a signal is generated at the output 46 of the comparator of unit 5, confirming the fact that this combine follows exactly the planned route. This signal through the output 16 of the system is issued on the display panel.

If, when comparing the input codes, the comparators of blocks 4 or 5 will show a mismatch between the values of the current coordinates X or Y of the position of the combine with their given values at a given time, then signals of mismatch of coordinates will be generated at the output 43 of the comparator of block 4 or at the output 45 of the comparator of block 5 , which respectively enter the inputs 47 and 48 of block 7.

In addition, the combine identifier code from the output 31 of block 6 is received at the address 49 of block 7, the code of the set value of the X coordinate is received at one information 50 input of the block 7, and the code of the set value of the Y coordinate from the information outputs 29 and 30 block 6, respectively.

The decoder 80 decrypts the code of the identifier of the harvester and gives a high potential at one of its outputs, for example, at the output connected to elements 81 and 84 of the first and second groups, opening them at one input, the other inputs of which are connected to information inputs 50 and 51, respectively.

With the arrival of any of the codes mismatch signals to one of the inputs 47 or 48 of block 7, the received signal passes through the OR element 87, and then through the elements 81 and 84 AND gives the specified coordinate values to the information inputs of the control system of the corresponding combine.

In addition, from the exit 17 of the system on the display panel receives a signal confirming the issuance of the clarifying coordinates.

Thus, the introduction of new nodes and blocks has significantly improved the system’s speed by eliminating the time spent on identifying extreme situations that require an immediate reaction to clarify the route of movement of the corresponding agricultural machines.

Information sources

1. RF patent No. 2424642 (04.19.2007).

2. RF patent No. 2517384 (12/21/2010) (prototype).

Claims (1)

A system for monitoring the movement routes of agricultural machines during field work, containing a block for receiving transactions from sensors of the geographical position of agricultural machines, the information and synchronizing inputs of which are information and synchronizing inputs of the system, respectively, while the information input of the system is designed to receive transactions from sensors of the geographical location of agricultural machines The synchronizing input of the system is designed to receive synchronizing si signals for entering transactions from sensors of the geographical position of agricultural machines into a block for receiving transactions from sensors of the geographical position of agricultural machines, an identification block for sensors of the geographical location of agricultural machines, the address input of which is connected to the address output of a block for receiving transactions from the sensors of the geographical location of agricultural machines, synchronizing the input of the block for identifying sensors the geographical location of agricultural machines connected to synchronization the system input, the unit for issuing the addresses of the records of the routes of movement of agricultural machines, the information input of which is connected to the information output of the unit for identifying the sensors of the geographical position of the agricultural machines, the synchronizing input is connected to the first synchronizing output of the unit for identifying the sensors for the geographical position of agricultural machines, and the information output of the unit for issuing the addresses of the records routes of movement of agricultural machines is the address output of the system, designed to provide addresses of the records of the routes of movement of agricultural machines to the address input of the system database server, the second synchronizing output of the identification unit of the sensors of the geographical position of agricultural machines is the synchronizing output of the system, designed to issue control signals to the input of the first channel of the database server interrupt, receiving unit details of agricultural machinery movement routes from the system server database, cat input Horn is the second information input of the system designed to receive data of the details of agricultural machinery movement routes from the database of the system server, the synchronizing input of the data reception unit of the details of agricultural machinery movement routes from the database of the system server is the second synchronization input of the system designed to receive synchronization signals of entering details routes of movement of agricultural machines from the system server database to the requiem data receiving unit zit of agricultural machinery movement routes from the system server database, characterized in that the system comprises a first unit for identifying the coordinates of the geographical location of agricultural machines, one information input of which is connected to the first information output of a transaction receiving unit from sensors of the geographical location of agricultural machines, another information input of the first block identification of the coordinates of the geographical position of agricultural machines connected to the first information the output of the unit for receiving data of the details of the routes of movement of agricultural machines from the database of the server of the system, and the synchronizing input of the first comparator is connected to the second synchronizing input of the system, the second unit for identifying the coordinates of the geographical position of agricultural machines, one information input of which is connected to the second information output of the block for receiving transactions from sensors geographical location of agricultural machinery, another information input of the second coordinate identification unit t of the geographical location of agricultural machines is connected to the second information output of the unit for receiving data of the details of the routes of movement of agricultural machines from the database of the server of the system, the unit for switching and outputting data to the information inputs of the agricultural machines, the address input of which is connected to the address output of the unit for receiving data of details of the routes of the movement of agricultural machines from the database of the system server, the first and second information outputs of which are connected to the first and second inf to the input inputs of the switching unit and issuing data to the information inputs of agricultural machines, one output of the first unit for identifying the coordinates of the geographical position of agricultural machines is connected to the first signal input of the switching unit and issuing data to the information inputs of agricultural machines, the other output of the first unit for identifying the coordinates of the agricultural machines to the synchronizing input of the second block identifying the coordinates of the geographical position I agricultural machines, one output of which is connected to the second signal input of the switching unit and outputting data to the information inputs of agricultural machines, and the other output of the coordinate identification unit of the geographical position of agricultural machines is the first signal output of the system, while the information outputs of the first and second groups of outputs are information system outputs, and the signal output of the switching unit and data output to the information inputs of agricultural machines is WTO th signal output system.

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