基于小麦收割机作业路线行走方向的调度优化研究  

Research on scheduling path optimization of wheat harvester based on working direction

作　　者：南风 曹光乔 李亦白 陈聪 刘东 Nan Feng;Cao Guangqiao;Li Yibai;Chen Cong;Liu Dong(Nanjing Institute of Agricultural Mechanization,Ministry of Agriculture and Rural Sciences,Nanjing,210014,China)

机构地区：[1]农业农村部南京农业机械化研究所,南京市210014

出　　处：《中国农机化学报》2022年第4期98-105,共8页Journal of Chinese Agricultural Mechanization

基　　金：国家重点研发计划子课题(2017YFD0700601—2);中国农业科学院科技创新工程(农科院办(2014)216号)。

摘　　要：农业机械的作业路径很大程度上决定作业环节的质量、效率和成本,因此针对小麦收割机复杂边界的作业路径规划问题,建立基于行走方向的收割机调度规划模型,并针对凸、凹多边形边界农田提出具有最少转弯次数的混合求解算法:该算法包含扫描线算法并通过假想区域填补方式求解凸、凹多边形转弯次数,最后利用旋转法求解最少转弯次数对应的最优行走方向,获得收割机的优化路径轨迹。仿真田块区域的求解结果表明,该优化算法能够有效获取转弯次数最少的行走方向及路径轨迹:凸边形农田仿真案例中,最优行走方向与沿长边方向的路径相比优化程度能达到11.32%;凹边形农田仿真案例中,最优行走方向比沿长边行走方向的路径优化程度达到5.66%。基于最少转弯次数的混合求解算法能够为实际复杂边界环境的收割机收获作业提供一定的决策依据。For wheat harvester working path planning under complicated boundary problems,because the agricultural machinery operation paths largely determine the operation quality,efficiency,and cost,the cutter path planning model based on operation direction was set up,and an algorithm was presented in view of the convex and concave side boundary farmland with the least number of turns.The algorithm included the scan-line method to calculate the number of turns with convex edges and the imaginary-region-filling method to calculate the number of turns with concave edges.The rotation step method is used to calculate the optimal working direction corresponding to the minimum number of turns,and the optimal path trajectory of the harvester is obtained.The results of the simulation field boundary show that the optimization algorithm can effectively obtain the operation direction and path trajectory with the least number of turns.In the simulation case of the convex edge field,the optimization degree of the optimal operation direction can reach 11.32%compared with the path along the long side direction.In the field simulation case with concave edges,the optimization degree of the optimal operation direction is 5.66%compared with the path along the long side.The path planning model and algorithm can provide a certain decision basis for harvester harvesting in an actual complex boundary environment.

关 键 词：小麦收割机 复杂边界 路径规划 行走方向 转弯次数 

分 类 号：S225.3[农业科学—农业机械化工程]