摘要
为提升机具作业效率和质量、减少土壤碾压等,该研究提出一种同时考虑作物倒伏状态、碾压面积和收获机粮仓容积的路径规划算法(harvester grain bin capacitated arc routing problem,HGBCARP)。该算法由作业信息处理模块和作业路径规划模块组成,作业信息处理模块将农田边界、卸粮点位置、作物倒伏方向及面积、位置等信息转化成可处理的数据形式并传输给路径规划模块,然后由路径规划模块进行作业行方向划分、作业行遍历顺序寻优、转弯方式生成、碾压面积计算等,最终得到最优路径规划结果。采用改进遗传算法,分别以3种再生稻收获机、2种传统水稻收获机和3种不同田块为对象,以行驶路径长度、碾压面积、收获粮食量为评价指标,采用回转式收获路径和HGBCARP式收获路径规划开展对比试验。结果表明,HGBCARP式比回转式收获路径碾压面积每公顷减少11.79%~27.20%,可使倒伏的机收头季稻增收1.64%~1.95%;同时在3种不同田块条件下进行仿真试验,HGBCARP式比回转式收获路径可使碾压面积每公顷减少7.25%~20.09%。使用电动无人履带式底盘对不同收获路径进行田间模拟收获试验,HGBCARP式收获路径与传统牛耕往复式及回转式收获路径相比,碾压面积减少约11.21%~28.03%,在路径长度减少约6.81%~23.46%,验证了HGBCARP式路径规划方法的有效性,研究结果可为智能化作业路径规划研究提供参考。
Ratoon rice is a typical cultivation to allow for the growth of another crop of rice using dormant seedlings from the previous harvest.Seedling,raising,and transplanting of double-season rice can be removed to reduce the harm from pesticide residues.Cultivated land quality can also be protected at a low cost.Additionally,the quality and fullness of the second crop of ratoon rice are superior to that of double-season rice.The planting area of machine-harvested ratoon rice has increased rapidly in recent years.Therefore,most research has been focused on the harvest technology and equipment of ratoon rice.Particularly,ratoon rice harvesting is required for the low rolling and high stubble retention for optimal agronomic conditions.The rolling of rice stubble during harvest in the main season can significantly reduce the yield of ratoon rice in the ratoon season.Once the lodging occurs at the mature stage of crop growth,it is detrimental to the harvesting yield and quality.Therefore,the optimal path of harvesting is crucial to improve the efficiency of grain production for better harvesting with minimal loss.Concurrently,the volume limit of the grain bin in the harvesters and the location of the unloading points also exert a significant impact on the loss of harvesting and low rolling of the ratoon rice.Therefore,it is necessary to design the harvest path of the ratoon rice harvesters for the maximum yield in the main season.The optimal path for high-quality agricultural machinery is crucial to saving time and energy,particularly for better operation efficiency and quality with less soil rolling.In this study,a path planning was proposed,called the harvester grain bin capacitated arc routing(HGBCARP).Two modules consisted of information processing and path planning.The information processing module was used to convert the operation information(such as farmland boundaries,unloading point positions,crop lodging directions,and area positions)into a processable data form,and then transmit it to the path planning module.T
作者
张国忠
凌高旻
季超
吴擎
康启新
唐楠锐
赵状状
ZHANG Guozhong;LING Gaomin;JI Chao;WU Qing;KANG Qixin;TANG Nanrui;ZHAO Zhuangzhuang(College of Engineering,Huazhong Agricultural University,Wuhan 430070,China;Key Laboratory of Agricultural Equipment in Mid-lower Yangtze River,Ministry of Agriculture and Rural Affairs,Wuhan 430070,China;Research Institute of Agricultural Machinery,Chinese Academy of Tropical Agricultural Sciences,Zhanjiang 524013,China)
出处
《农业工程学报》
EI
CAS
CSCD
北大核心
2024年第12期33-45,共13页
Transactions of the Chinese Society of Agricultural Engineering
基金
国家重点研发计划项目(2022YFD2301003-04,2017YFD0301404-05)
中央高校基本科研业务费专项基金资助项目(2662018PY038)
湖北省高等学校优秀中青年科技创新团队计划项目(T201934)。
关键词
作物
倒伏
低碾压
轨迹规划
弧路径规划问题
crops
lodging
low rolling
trajectory planning
capacitated arc path planning
