Harvesting-unloading-transferring method based on double-unloading mode

The invention discloses a harvesting-unloading-transferring method based on a double-unloading mode, and relates to the field of agricultural machinery cooperative control, and the method comprises the steps: defining a'waiting unloading 'mode and a'following unloading' mode, and designing a whole-process autonomous harvesting-unloading-transferring scheme; based on the concept and method of a finite state automaton, through decomposition of main links of collaborative operation and design of a module state machine, a state transfer chain is constructed to model the harvesting-unloading-transferring process; a harvesting-unloading-transferring collaborative operation logic framework suitable for an embedded navigation controller is designed, links such as path planning, path tracking, inter-machine communication, relative longitudinal position control and operation machine control are effectively combined, and full-process autonomous harvesting, unloading and transferring are achieved. The method can cope wit