Study On Path Optimization Technology Of Intelligent Agricultural Machinery Cooperative Operation

With the gradual advancement of land transfer policy in China,farmland has achieved centralized and large-scale management,and various measures such as agronomy,crop cultivation and agricultural machinery operation have been further optimized and allocated,greatly improving the scientific and technological content of agricultural production.At present,modern intelligent agricultural machinery has been gradually applied to all aspects of agricultural production,but the optimization of the operation path of multiple agricultural machinery in the farmland has not been improved.In the operation of multiple agricultural machinery,according to farmers'experience in mechanized operation,round trip operation mode,centripetal operation or centrifugal operation are generally adopted.The turning distance of agricultural machinery is too small or too large,which not only has high operation cost,but also is difficult to operate.Moreover,when a single agricultural machine is engaged in large-scale farm operations,it is necessary to suspend farm operations when the agricultural machinery broke down,which greatly affects the progress of operations;due to improper manipulation of the manipulator and other reasons,the operation status of the agricultural machinery often changes in the process of operation,which can not be carried out strictly according to the pre-planned path;If different types of multiple machinery are used,the width and speed of agricultural machinery are different.When parallel operation is adopted,problems such as conflict and inconsistency of the time to finish work often occur.Therefore,studying how to rationally and effectively optimize the operation path of agricultural machinery can not only improve the operation efficiency,but also reduce the operation cost.It has great practical value for farmers and operators,at the same time,the optimization technology of operation path serves the field of unmanned driving,which has important theoretical significance for the realization of unmanned driving of agricultural machinery.In this paper,the agricultural machinery operation path optimization is taken as the research object,and four kinds of agricultural machinery operation path optimization algorithms are proposed according to different situations by using vehicle routing problem model and modern heuristic optimization algorithm.The main research conclusions are as follows:(1)The problems of single agricultural machinery in large-scale farm operation are analyzed.For this problem,a single agricultural machinery operation path planning model is constructed with the shortest total turning distance as the planning objective,and a single agricultural machinery operation path planning algorithm is proposed.Compared with other optimization algorithms,the optimization algorithm proposed in this paper has higher optimization efficiency and performance.(2)For the problem of cluster operation conflict,a path planning model for cooperative operations of multiple agricultural machinery is constructed.Taking operation completion time and total operation time as planning objectives,and considering the operation conflict,a path planning algorithm for cooperative operations of multiple agricultural machinery is proposed.Experiments are carried out on the optimization efficiency,operation completion time,total operation time and effective field capacity of the algorithm.Compared with parallel operation and other optimization algorithms,the optimization algorithm proposed in this paper has higher optimization efficiency and better optimization performance.(3)For the problem that the working state of multiple agricultural machinery often changes,the characteristics of real-time optimization of cooperative operation paths of multiple agricultural machinery are analyzed.A real-time optimization model of cooperative operation paths of multiple agricultural machinery is constructed.Taking the operation time and total operation time as optimization objectives,three real-time optimization algorithms for cooperative operation path of multiple agricultural machinery are proposed.Experiments are carried out in three stages:no failure,failure and repair.The experimental results show that the three algorithms can adjust the operation paths of multiple agricultural machines in real time and effectively when the operation status of agricultural machinery changes.By comparing the algorithms,the optimal algorithm is finally determined from the three optimization algorithms.(4)For the problem of inconsistent operation parameters and conflict among different types of agricultural machinery,this paper divides the operation of different types of agricultural machinery into two stages:side-by-side operation and surplus farmland operation.A real-time optimization model of cooperative operation path of different types of agricultural machinery is constructed.A real-time optimization algorithm for cooperative operation path of different types of agricultural machinery is proposed in the parallel operation stage,which aimed to optimize the sequential operation of agricultural machinery from fast to slow,and to avoid operation conflict and minimize operation cost in the surplus farmland operation stage.The experimental results show that the optimization algorithm can effectively adjust the cluster operation path in real time and avoid operation conflicts in parallel operation stage.In the remaining farmland operation stage,the optimization algorithm can find the optimal farm unit combination and achieve the objective of the lowest activity cost.In summary,this paper systematically studies the intelligent agricultural machinery operation path optimization problem,which effectively improves the efficiency of farmland operation and reduces the cost of agricultural machinery operation.It has a certain degree of innovation,and has important theoretical significance and practical value for the research of intelligent agricultural machinery operation and unmanned driving of agricultural machinery.