CN203117770U - Control system of multi-machine cooperation wheat harvesting system - Google Patents

Control system of multi-machine cooperation wheat harvesting system Download PDF

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Publication number
CN203117770U
CN203117770U CN2013201102520U CN201320110252U CN203117770U CN 203117770 U CN203117770 U CN 203117770U CN 2013201102520 U CN2013201102520 U CN 2013201102520U CN 201320110252 U CN201320110252 U CN 201320110252U CN 203117770 U CN203117770 U CN 203117770U
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harvester
wheat
module
wireless communication
information
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杨福增
周渝
王涛
田玉凤
王元杰
刘虹玉
张梦芸
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Northwest A&F University
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02PCLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The utility model relates to a control system of a multi-machine cooperation wheat harvesting system. The control system comprises a cooperation control module used for piloting a wheat harvesting machine, a plurality of cooperation control modules following the wheat harvesting machine, a plurality of cooperation control modules of a wheat transporting vehicle, and a wireless communication system. The cooperation control module used for piloting the wheat harvesting machine is used as a main controller and related to controllers of other vehicles through the wireless communication system to form a control network, and combined with environmental messages, system cooperation is realized to achieve wheat harvesting. By means of the control system, automation degree of the multi-machine cooperation wheat harvesting system is improved, prevention of interference and collision is benefited, driving complexity of a multi-robot system is lowered, and the control system has good feasibility with a method of failure warning and repair waiting.

Description

A kind of control system of multimachine device cooperation wheat cropping system
Technical field
The utility model relates to the control system of a grow wheat cropping system, particularly relates to a kind of control system of multimachine device cooperation wheat cropping system.
Background technology
The development of little wheat harvester, the harvester from function is separated arrives united reaper, arrive self-propelled harvester again, the existing people wheat cropping system of multimachine device cooperation that begins one's study till now, this will improve the functioning efficiency of harvester greatly, and the rush-harvest during to the busy farming season has very big meaning.In the wheat cropping system of multimachine device cooperation, the cooperation of each machine, to avoid phase mutual interference and collision be its key problem, and therefore designing a kind of feasible control system is the key that solves the wheat cropping system of multimachine device cooperation.
Summary of the invention
The problem that the wheat cropping system that cooperates at above-mentioned multimachine device faces, the utility model utilizes wireless communication technology, by adopting multiple sensors, a plurality of control module, a plurality of functional module, has designed this control system.
The utility model is achieved by the following scheme, a kind of control system of multimachine device cooperation wheat cropping system comprises: cooperation control module, the some cooperation control module of little wheat harvester, cooperation control module and wireless communication systems of some wheat transport vehicles of following of the little wheat harvester that navigates; The cooperation control module of the little wheat harvester of described navigator is responsible for collecting the little wheat harvester environmental information on every side of navigating, receive the status information of surrounding vehicles, show these information at this car display, for the driver provides reference, be responsible for simultaneously sending control command to other vehicle; Described some cooperation control modules of little wheat harvester of following are controlled this vehicle automatically and are followed the motion of navigator's harvester according to status information, control information and the adjacent machines people's of the pilot robot that receives status information; The described control module of described some wheat transport vehicles is controlled this car near harvester and is mated loading, transportation and unloading wheat according to each harvester wheat harvesting amount; The wireless communication module of each vehicle has been formed the wireless communication system of this system jointly;
The cooperation control module of the little wheat harvester of described navigator, comprise: collaborative controller, display module, wireless communication module, GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor, electromagnet, automatic loading module, fault detect and warning module, wherein, described GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor are measured the quantity of position, speed, wheel steering angle, the distance with adjacent vehicle, harvester harvesting and the storage wheat of navigator's harvester respectively; Described wireless communication module is responsible for sending and receive status information and the control information between vehicle; Described display module with the form of tabulation show to navigate little wheat harvester various status informations, show position and the formation of each vehicle with the form of image, with the driving of driver assistance person to harvester; Described collaborative controller receives the information of each sensor mensuration, other machine that comes is transmitted in reception from wireless communication module status information, carry out information fusion and processing, the position and the status information that show each vehicle on the one hand at display, one side form to the control command of following harvester and transport vehicle and by wireless communication module and send; The adhesive of described electromagnet and disconnection, the automatic Push And Release of loading module are that collaborative controller is according to the wheat charging capacity in the harvester, control with the distance of transport vehicle; Described fault detect and warning module is monitored the state of the little wheat harvester that navigates constantly, judges whether it fault has taken place, and then opens the warning horn warning if having;
Described machine cooperation control module of following the wheat harvesting, comprise: collaborative controller, wireless communication module, GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor, electromagnet, drive module, fault detect and warning module automatically, wherein, described GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor are measured the charging capacity of position, speed, wheel steering angle, the distance with adjacent vehicle, its harvesting and the storage wheat of following harvester respectively; The control information that described wireless communication module is responsible for sending and receive the status information between vehicle and is received navigator's harvester; Described collaborative controller receives the status information of each sensor mensuration, the status information that wireless communication module transmits other machine that comes, carry out information fusion and processing, and send to navigator's harvester by wireless communication module, it is also by the control command of wireless communication module reception from navigator's harvester simultaneously, by controlling automatic driving module, realize the motion control of self; The adhesive of described electromagnet and disconnection, the automatic Push And Release of loading module are that collaborative controller is according to the wheat charging capacity in the harvester, control with the distance of transport vehicle; Described fault detect and warning module is monitored the state of following little wheat harvester constantly, judges whether it fault has taken place, and then opens the warning horn warning if having;
The cooperation control module of described wheat transport vehicle, comprise: collaborative controller, wireless communication module, GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor, drive module, Unload module, fault detect and warning module automatically automatically, wherein, described GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor measure respectively transport vehicle position, speed, wheel steering angle, with the distance of adjacent vehicle, the charging capacity of transport vehicle storage wheat; The control information that described wireless communication module is responsible for sending and receive the status information between vehicle and is received harvester; Described collaborative controller receives status information, other next vehicle state information of wireless communication module transmission that each sensor is measured, carry out information fusion and processing, and send to harvester by wireless communication module, it also by the control command of wireless communication module reception from harvester, realizes the motion control of self simultaneously; Automatically drive module and be responsible for controlling the automatic driving of transport vehicle according to the control command that receives; Automatically Unload module is responsible at appointed place unloading wheat; Described fault detect and warning module is monitored the state of following little wheat harvester constantly, judges whether it fault has taken place, and then opens the warning horn warning if having;
Described status information comprises: the position of harvester and transport vehicle, speed, wheel steering angle, wheat charging capacity information and the harvester adjacent with other or range information, the failure message of transport vehicle;
Described control information comprises: speed control information, corner control information, the information of falling back of advancing, loading and unloading information, formation information.
The beneficial effect that the utlity model has: 1, this control system system applies can be so that many machine collaborative works have improved work efficiency greatly in wheat harvesting multimachine device system.2, this control system system has improved the automaticity of cropping system, and the control mode of formation form is conducive to avoid interference and collide, and reduces the complicacy that multi-robot system is driven greatly.3, consider that automatic maintenance is not easy to realize, adopted fault alarm to wait for that the mode of maintenance has good feasibility.
Description of drawings
Fig. 1 is the control system structural drawing of the wheat cropping system of multimachine device cooperation.
Fig. 2 is the structural representation of navigator's wheat harvester cooperation control module.
Fig. 3 is the structural representation of following wheat harvester cooperation control module.
Fig. 4 is the structural representation of wheat transport vehicle cooperation control module.
Embodiment
Further describe below in conjunction with the drawings and the specific embodiments:
Embodiment one:
As shown in Figure 1, present embodiment comprises: cooperation control module, the some cooperation control module of little wheat harvester, cooperation control module and wireless communication systems of some wheat transport vehicles of following of the little wheat harvester that navigates.The cooperation control module of little wheat harvester of navigating is responsible for collecting the environmental information of navigating around the little wheat harvester, receive the status information of surrounding vehicles, show these information at this car display, for the driver provides reference, be responsible for simultaneously sending control command to other vehicle.Some cooperation control modules of little wheat harvester of following are controlled this vehicle automatically and are followed the motion of navigator's harvester according to status information, control information and the adjacent machines people's of the pilot robot that receives status information.Described some wheat transport vehicle control system are controlled this car near harvester and are mated loading, transportation and unloading wheat according to each harvester wheat harvesting amount.
Embodiment two:
The cooperation control module of the little wheat harvester of navigator as described in Figure 2 comprises: collaborative controller, display module, wireless communication module, GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor, electromagnet, automatic loading module, fault detect and warning module.Wherein, GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor are measured the quantity of position, speed, wheel steering angle, the distance with adjacent vehicle, harvester harvesting and the storage wheat of navigator's harvester respectively; Wireless communication module is responsible for sending and receive status information and the control information between vehicle; Display module show to navigate little wheat harvester various status informations, show position and the formation of each vehicle with the form of image, with the driving of driver assistance person to harvester; Collaborative controller receives the information of each sensor mensuration, other machine that comes is transmitted in reception from wireless communication module status information, carry out information fusion and processing, the position and the status information that show each vehicle on the one hand at display, one side form to the control command of following harvester and transport vehicle and by wireless communication module and send; The adhesive of electromagnet and disconnection, the automatic Push And Release of loading module are that collaborative controller is according to the wheat charging capacity in the harvester, control with the distance of transport vehicle.The fault detect and warning module is monitored the state of the little wheat harvester that navigates constantly, judges whether it fault has taken place, and then opens the warning horn warning if having, and whole formation simultaneously stops operation, and waits for maintenance.Navigate little wheat harvester by pilot steering, the driver is according to landform and the area in wheat plot, navigator's wheat harvester is driven to certain position, described each sensor (GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor) real-time collection information and pass to collaborative controller, pass through wireless communication module simultaneously, by all harvesters, the dynamic radio communications network that transport vehicle is set up will be following harvester, the positional information of transport vehicle and status information transmit the individual navigator's harvester of giving, so on the display screen of navigator's harvester, can show the various status informations of navigator's harvester with the form of tabulation, follow harvester with the form demonstration of figure, the relative position of transport vehicle and navigator's harvester.The needs that the driver gathers in according to wheat are selected the number of following harvester, transport vehicle of work, and set its initial formation (selecting according to optional formation storehouse) at control panel, so each Vehicular automatic driving is adjusted position to reach the setting formation.The formation of harvester is fixing formation, adjusts order next time and will keep initial formation substantially before; The formation of transport vehicle is variable formation then, can change after being set at initial formation.The fault detect and warning module is monitored the state of the little wheat harvester that navigates constantly, judges whether it fault has taken place, and reports to the police if warning horn takes place then to open, and whole formation stops operation, and waits for maintenance.
Embodiment three:
As shown in Figure 3, described cooperation control module of following harvester comprises: collaborative controller, wireless communication module, GPS, speed pickup, angular transducer, 3 range sensors, wheat charging capacity sensor, electromagnet, drive module, loading module, fault detect and warning module automatically automatically.Wherein, GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor are measured the quantity of position, speed, wheel steering angle, the distance with adjacent vehicle, harvester harvesting and the storage wheat of following harvester respectively.The control information that wireless communication module is responsible for sending and receive the status information between vehicle and is received navigator's harvester; Automatically drive module and be responsible for controlling the automatic driving of following harvester.The adhesive of electromagnet and disconnection, the automatic Push And Release of loading module are that collaborative controller is according to the wheat charging capacity in the harvester, control with the distance of transport vehicle.Collaborative controller receives the status information of each sensor mensuration, the status information that wireless communication module transmits other machine that comes, and by wireless communication module this status information is sent to navigator's harvester, it is by the control command of wireless communication module reception from navigator's harvester simultaneously, comprise formation order, the speed of navigator's harvester, corner, positional information, carry out information fusion and processing, plan next walking path, avoided collision, kept formation again on the whole substantially, namely whenever crossed a barrier and follow harvester and will keep rank again.The fault detect and warning module is monitored the state of following little wheat harvester constantly, judges whether it fault has taken place, and reports to the police if warning horn takes place then to open, and simultaneously information is passed to pilot robot, and whole formation stops operation, and waits for maintenance.
Embodiment four:
As described in Figure 4, wheat transport vehicle cooperation control module comprises: collaborative controller, wireless communication module, GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor, drive module, Unload module, fault detect and warning module automatically automatically.Wherein, GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor measure respectively transport vehicle position, speed, wheel steering angle, with the distance of adjacent vehicle, the charging capacity of transport vehicle storage wheat.The control information that wireless communication module is responsible for sending and receive the status information between vehicle and is received harvester.Collaborative controller receives the status information that each sensor is measured on the transport vehicle, other vehicle state information that the wireless communication module transmission comes, carry out information fusion and processing, and send to harvester by wireless communication module, it also by the control command of wireless communication module reception from harvester, realizes the motion control of self simultaneously.Automatically drive module and be responsible for controlling the automatic driving of transport vehicle according to the control command that receives.Automatically Unload module is responsible at appointed place unloading wheat.The process of wheat loading and unloading is: at first set emptying point for the transport vehicle of every work; Find that by wheat charging capacity sensor its wheat harvesting memory space has reached the amount of regulation when a harvester that travels, then its collaborative controller sends to pilot robot by wireless communication module with this instruction.This information shows at navigator's harvester display, and by loudspeaker verbal cue driver, the driver gives an order according to above-mentioned information, makes the wheat charging capacity reach the harvester of value of regulation and near wheat transport vehicle is directly set up wireless link.Then, the harvester that the wheat charging capacity has reached the value of regulation sends control command, this transport vehicle travels from this harvester afterbody of trend (automatic discharge mechanism is installed) with the form of reverse gear, when the transport vehicle afterbody reaches threshold values apart from harvester afterbody distance, the harvester collaborative controller is opened electromagnet transport vehicle is adsorbed on its afterbody, this moment, this transport vehicle and harvester kept being synchronized with the movement, and discharge mechanism is opened automatically subsequently, and wheat is slipped in the transport vehicle.Wheat charging capacity on transport vehicle reaches its struck capacity, and the collaborative controller of wheat transport vehicle sends to this harvester with this information, and this harvester cuts out automatic discharge mechanism, and transport vehicle then sails for emptying point; Transport vehicle drives to install behind the appointed place by setting attitude and opens automatic discharge mechanism and unload wheat.If there is harvester more than three to reach the harvesting amount of regulation simultaneously, then whole harvester is formed into columns and need all be stopped, wait for the transport vehicle complete discharge after, can continue to travel.The fault detect and warning module is monitored the state of wheat transport vehicle constantly, judges whether it fault has taken place, if break down, then opens warning horn and reports to the police, and this transport vehicle stops operation, and waits for maintenance.
According to above-mentioned description, the related work personnel can carry out various change and modification fully in the scope that does not depart from this utility model technological thought.The technical scope of this utility model is not limited to the content on the instructions, all any modifications of making within spirit of the present utility model and principle, is equal to and replaces and improvement etc., all should be included within the protection domain of the present utility model.

Claims (1)

1. the control system of multimachine device cooperation wheat cropping system, it is characterized in that, comprising: cooperation control module, the some cooperation control module of little wheat harvester, cooperation control module and wireless communication systems of some wheat transport vehicles of following of the little wheat harvester that navigates; The cooperation control module of the little wheat harvester of described navigator is responsible for collecting the little wheat harvester environmental information on every side of navigating, receive the status information of surrounding vehicles, show these information at this car display, for the driver provides reference, be responsible for simultaneously sending control command to other vehicle; Described some cooperation control modules of little wheat harvester of following are controlled this vehicle automatically and are followed the motion of navigator's harvester according to status information, control information and the adjacent machines people's of the pilot robot that receives status information; The described control module of described some wheat transport vehicles is controlled this car near harvester and is mated loading, transportation and unloading wheat according to each harvester wheat harvesting amount; The wireless communication module of each vehicle has been formed the wireless communication system of this system jointly;
The cooperation control module of the little wheat harvester of described navigator, comprise: collaborative controller, display module, wireless communication module, GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor, electromagnet, automatic loading module, fault detect and warning module, wherein, described GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor are measured the quantity of position, speed, wheel steering angle, the distance with adjacent vehicle, harvester harvesting and the storage wheat of navigator's harvester respectively; Described wireless communication module is responsible for sending and receive status information and the control information between vehicle; Described display module with the form of tabulation show to navigate little wheat harvester various status informations, show position and the formation of each vehicle with the form of image, with the driving of driver assistance person to harvester; Described collaborative controller receives the information of each sensor mensuration, other machine that comes is transmitted in reception from wireless communication module status information, carry out information fusion and processing, the position and the status information that show each vehicle on the one hand at display, one side form to the control command of following harvester and transport vehicle and by wireless communication module and send; The adhesive of described electromagnet and disconnection, the automatic Push And Release of loading module are that collaborative controller is according to the wheat charging capacity in the harvester, control with the distance of transport vehicle; Described fault detect and warning module is monitored the state of the little wheat harvester that navigates constantly, judges whether it fault has taken place, and then opens the warning horn warning if having;
Described machine cooperation control module of following the wheat harvesting, comprise: collaborative controller, wireless communication module, GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor, electromagnet, drive module, fault detect and warning module automatically, wherein, described GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor are measured the charging capacity of position, speed, wheel steering angle, the distance with adjacent vehicle, its harvesting and the storage wheat of following harvester respectively; The control information that described wireless communication module is responsible for sending and receive the status information between vehicle and is received navigator's harvester; Described collaborative controller receives the status information of each sensor mensuration, the status information that wireless communication module transmits other machine that comes, carry out information fusion and processing, and send to navigator's harvester by wireless communication module, it is also by the control command of wireless communication module reception from navigator's harvester simultaneously, by controlling automatic driving module, realize the motion control of self; The adhesive of described electromagnet and disconnection, the automatic Push And Release of loading module are that collaborative controller is according to the wheat charging capacity in the harvester, control with the distance of transport vehicle; Described fault detect and warning module is monitored the state of following little wheat harvester constantly, judges whether it fault has taken place, and then opens the warning horn warning if having;
The cooperation control module of described wheat transport vehicle, comprise: collaborative controller, wireless communication module, GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor, drive module, Unload module, fault detect and warning module automatically automatically, wherein, described GPS, speed pickup, angular transducer, range sensor, wheat charging capacity sensor measure respectively transport vehicle position, speed, wheel steering angle, with the distance of adjacent vehicle, the charging capacity of transport vehicle storage wheat; The control information that described wireless communication module is responsible for sending and receive the status information between vehicle and is received harvester; Described collaborative controller receives status information, other next vehicle state information of wireless communication module transmission that each sensor is measured, carry out information fusion and processing, and send to harvester by wireless communication module, it also by the control command of wireless communication module reception from harvester, realizes the motion control of self simultaneously; Automatically drive module and be responsible for controlling the automatic driving of transport vehicle according to the control command that receives; Automatically Unload module is responsible at appointed place unloading wheat; Described fault detect and warning module is monitored the state of following little wheat harvester constantly, judges whether it fault has taken place, and then opens the warning horn warning if having;
Described status information comprises: the position of harvester and transport vehicle, speed, wheel steering angle, wheat charging capacity information and the harvester adjacent with other or range information, the failure message of transport vehicle;
Described control information comprises: speed control information, corner control information, the information of falling back of advancing, loading and unloading information, formation information.
CN2013201102520U 2013-03-11 2013-03-11 Control system of multi-machine cooperation wheat harvesting system Expired - Fee Related CN203117770U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103149914A (en) * 2013-03-11 2013-06-12 西北农林科技大学 Control system of multiple-machine cooperation type wheat harvesting system
CN104407583A (en) * 2014-11-07 2015-03-11 惠州市德宝威敏通科技有限公司 Multi-electronic-entity cooperation system
CN105159291A (en) * 2015-07-10 2015-12-16 北京印刷学院 Intelligent fleet obstacle avoiding device based on physical information network and obstacle avoiding method
WO2017045622A1 (en) * 2015-09-18 2017-03-23 深圳前海达闼科技有限公司 Method of requesting help by device and responding to device help request, and device
CN108207268A (en) * 2017-12-26 2018-06-29 干鑫驰 A kind of multi-functional hand-operated garlic harvester
CN110232493A (en) * 2019-04-09 2019-09-13 丰疆智能科技股份有限公司 Harvester and logistic car intelligence coupled system and method

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103149914A (en) * 2013-03-11 2013-06-12 西北农林科技大学 Control system of multiple-machine cooperation type wheat harvesting system
CN103149914B (en) * 2013-03-11 2016-04-06 西北农林科技大学 A kind of control system of multimachine device cooperation wheat cropping system
CN104407583A (en) * 2014-11-07 2015-03-11 惠州市德宝威敏通科技有限公司 Multi-electronic-entity cooperation system
CN105159291A (en) * 2015-07-10 2015-12-16 北京印刷学院 Intelligent fleet obstacle avoiding device based on physical information network and obstacle avoiding method
CN105159291B (en) * 2015-07-10 2018-04-20 北京印刷学院 A kind of fleet's intelligent barrier avoiding device and barrier-avoiding method based on information physical net
WO2017045622A1 (en) * 2015-09-18 2017-03-23 深圳前海达闼科技有限公司 Method of requesting help by device and responding to device help request, and device
CN108207268A (en) * 2017-12-26 2018-06-29 干鑫驰 A kind of multi-functional hand-operated garlic harvester
CN108207268B (en) * 2017-12-26 2020-07-31 赣州市宝阁精密科技有限公司 Multi-functional hand garlic harvester
CN110232493A (en) * 2019-04-09 2019-09-13 丰疆智能科技股份有限公司 Harvester and logistic car intelligence coupled system and method
CN110232493B (en) * 2019-04-09 2021-07-30 丰疆智能科技股份有限公司 Intelligent matching system and method for harvester and logistics vehicle

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