联合收割机多机协同作业路径优化  

Optimization of cooperative operation path for multiple combine harvesters without conflict

作　　者：姚竟发 滕桂法[2,4] 霍利民 苑迎春[3] 张璠[3] Yao Jingfa;Teng Guifa;Huo Limin;Yuan yingchun;Zhang Fan(School of Mechanical and Electrical Engineering,Hebei Agricultural University,Baoding 071000,China;Graduate School,Hebei Agricultural University,Baoding 071000,China;School of Information Science and Technology,Hebei Agricultural University,Baoding 071000,China;Institute for Smart Farm Machines of Hebei,Baoding 071000,China)

机构地区：[1]河北农业大学机电工程学院,保定071000 [2]河北农业大学研究生学院,保定071000 [3]河北农业大学信息科学与技术学院,保定071000 [4]河北省农业智能装备技术研究院,保定071000

出　　处：《农业工程学报》2019年第17期12-18,共7页Transactions of the Chinese Society of Agricultural Engineering

基　　金：河北省自然科学基金项目(G2018204093);河北省高等学校科学技术研究项目(BJ2018012)

摘　　要：随着我国土地流转政策的不断推进,种植实现规模化生产和管理,采用多台联合收割机同时进行收获作业,可不仅提高效率,而且对抢种抢收,减少自然灾害的风险,实现颗粒归仓意义重大。但是由于作业路径规划不当,常常发生作业冲突、反而效率降低,成本增加等问题,因此,研究如何规划和优化联合收割机多机无冲突协同作业具有十分重要的理论意义和实用价值。本文以总作业时间和作业时长为综合优化目标,综合考虑联合收割机转弯和作业冲突的情况,提出了联合收割机多机无冲突协同作业路径优化算法(improved genetic algorithm,IGA)。结果表明,与遗传算法(geneticalgorithm,GA)相比,IGA优化的矩形农田作业路径总作业时间和作业时长平均分别下降了33.72%、34.00%,IGA优化的梯形农田作业路径总作业时间和作业时长分别下降了29.93%、30.00%,与并排作业相比,IGA优化的矩形农田作业路径总作业时间和作业时长平均分别下降了2.45%、2.29%,IGA优化的梯形农田作业路径总作业时间和作业时长分别下降了2.42%、2.02%。研究结果表明采用IGA进行多联合收割机作业路径优化是可行的,可为联合收割机多机无冲突协同作业路径规划提供参考。With the continuous advancement of land transfer policy in China,large-scale production and management of planting has been realized.The simultaneous harvesting of multiple combine harvesters not only improves the efficiency,but also has great significance for completing planting and harvesting ahead of schedule,reducing the risk of natural disasters and realizing grain storage.However,due to improper operation path planning,there are some problems such as operation conflict,lower efficiency and higher cost.Therefore,it is of great theoretical significance and practical value to study how to plan and optimize the conflict-free cooperative operation of multiple combine harvesters.Farmers are more concerned about when to finish their homework,while combine harvester operators are more concerned about the operation efficiency and the cost of combine harvesters.How to effectively organize multiple combine harvesters to cooperate in operation and how to save operation cost and shorten completion time is the key problem in combine harvester operation to meet the needs of farmers and operators to a greater extent.When multiple combine harvesters turn at the same headland and at the same time window,two combine harvesters may have the same or the opposite direction conflict,if the operation path planning is improper.To ensure that multiple combine harvesters could complete the harvest tasks of crop in a specified time with no conflicts and low operation cost in the process of cooperative operation,a conflict-free path optimization algorithm(IGA)for cooperative operation of multiple combine harvesters is proposed in the paper.IGA take the shortest total operation time and completion time as the optimization objective(the weights of total operation time and completion time are 0.4 and 0.6 respectively).The results showed that the total operation time and the completion time of the operation path optimized by traditional genetic algorithm(GA)in rectangular farmland are 33.72%and 34.00%lower than that of the operation path o

关 键 词：农业机械 优化 算法 多机协同作业 无冲突路径规划 

分 类 号：S24[农业科学—农业电气化与自动化]