农场道路图层构建和农机转移路径规划方法与试验  

Methods and experiments of farm road layer construction and farm machinery transfer path planning

作　　者：高锐涛[1] 资乐 胡炼[1] 何杰[1] 汪沛[1] 黄培奎 谢佳生 刘善琪 GAO Ruitao;ZI Le;HU Lian;HE Jie;WANG Pei;HUANG Peikui;XIE Jiasheng;LIU Shanqi(College of Engineering,South China Agricultural University,Guangzhou 510642,China)

机构地区：[1]华南农业大学工程学院,广东广州510642

出　　处：《华南农业大学学报》2025年第2期256-264,共9页Journal of South China Agricultural University

基　　金：广东省科技计划(2023B0202010023);井冈山农高区省级科技专项“揭榜挂帅”项目(20222-051252)。

摘　　要：【目的】针对农场内农机转移依赖人工驾驶或人工打点及规划耗时费力且不满足无人化应用需求等问题,提出一种无人农场农机转移路径规划方法。【方法】利用ArcGIS构建农场道路图层和路网,进行仿真试验;开发基于图论的Dijkstra双向搜索的转移路径规划算法,利用Python进行单、双向搜索仿真;搭建基于web平台的转移路径规划系统。【结果】在路网的仿真中,农机在0.7 m/s的速度下从机库到田块、田块到田块、田块到机库的行驶距离分别为241.57、74.46和75.66 m,对应时间分别为345.10、106.37和108.09 s。Dijkstra算法的单、双向搜索用时分别为0.632和0.216 s,在运算效率上双向搜索较单向搜索提升了65.82%。基于web平台的转移路径规划系统的农机以0.7 m/s的速度从机库到田块、田块到田块和田块到机库进行了实车道路试验,路径与农机实际路径采样点的算术平均值差值绝对值小于0.1 m,可以满足无人农场农机的转移要求。相对于人工打点,转移路径规划系统的路径规划效率更高。【结论】构建的农场道路图层、路网和转移路径规划系统,满足无人农场农机的道路转移需求。研究结果可为无人农场的农机转移路径提供技术支持。【Objetive】A path planning method for unmanned farm machinery transfer is proposed to address the problems of relying on manual driving or manual management and planning,which are time-consuming,labor-intensive,and do not meet the requirements of unmanned applications.【Method】ArcGIS was used to construct farm road layers and networks,and simulation experiments were conducted.A Dijkstra bidirectional search transfer path planning algorithm based on graph theory was developed,single and bidirectional searches were simulated using Python.A transfer path planning system based on a web platform was built.【Result】In the simulation of the road network,the distances traveled by agricultural machinery from the hangar to the field,from the field to the field,and from the field to the hangar at a speed of 0.7 m/s were 241.57,74.46 and 75.66 m respectively,with corresponding time of 345.10,106.37 and 108.09 s.The single and bidirectional search time of Dijkstra’s algorithm were 0.632 and 0.216 s respectively,and the computational efficiency of bidirectional search was improved by 65.82%compared to unidirectional search.The transfer path planning system for agricultural machinery based on the web platform conducted real vehicle road tests at a speed of 0.7 m/s from the hangar to the field,from the field to the field,and from the field to the hangar.The absolute arithmetic mean difference between the sampling points of the path and the actual path of the agricultural machinery was less than 0.1 m,which met the transfer requirements of unmanned farm agricultural machinery.Compared to manual marking,the path planning efficiency of the transfer path planning system was higher.【Conclusion】The constructed farm road layer,road network and transfer path planning system meet the road transfer needs of unmanned farm machinery.The research results can provide the technical support for the transfer path of agricultural machinery in unmanned farms.

关 键 词：无人农场 农场道路图层 路网 转移路径规划系统 

分 类 号：S220.2[农业科学—农业机械化工程] TP391.41[农业科学—农业工程]