| The rotation planting of rice and rapeseed water and drought anniversary,because it can increase the production index and land output per unit area,increase farmers’ income,and reasonably use the winter idle farmland.It can also improve soil,inhibit diseases and insect pests,increase fertility,and cost savings increase efficiency.It has become the most important planting model of rice and rape crops in the middle and lower reaches of the Yangtze River.With the rapid development of unmanned farm related technologies,rice-oil rape rotary unmanned farm model will become an important development direction for rapeseed and rice planting in the region.The operating path is comparable to the " Lead rope" of the "iron cow" of the agricultural machinery.It is the tracking target of automatic navigation and driving control of intelligent agricultural machinery,and "enables and optimizes" the whole field covering operation process of intelligent agricultural machinery.This study is aimed at the problem of path planning in the unmanned farm of rice-oil rape rotation.On the basis of the work group,the research and development of a set of intelligent agricultural machine path planning algorithms and software based on the Android platform is for rice-oil rape rotation unmanned farm.Laying a certain theoretical and technical foundation for the construction of rice-oil rape rotation unmanned farms.The main research content is as follows:(1)On the basis of proposing a set of rice-oil rape rotary unmanned farm production models,by analyzing the characteristics of field blocks in the middle and lower reaches of the Yangtze River,the typical operational links and agricultural machinery work characteristics of rice-oil rape rotary in the middle and lower reaches of the Yangtze River,draw the functional and technical needs of rice-oil rape rotary unmanned farm agricultural machinery operating path planning software.According to the working principles of rice harvesting operations,rapeseed sowing operations,and cultivating land operations,determine the specific requirements of the path planning that did not involve the operation link in the early stage of rice harvesting and oil rape sowing simultaneous and cultivating land.(2)For rice harvesting and oil rape sowing simultaneous session and tillage session,the corresponding path planning algorithm is designed respectively.For the integrated operation of simultaneous rice harvesting and oil rape sowing,because the machine needs to complete the operation of rice harvest,rapeseed,and digging drainage canal,the overall operation path is split into three parts: rice harvest parallel path,rice harvest,rapeseed sowing fertilization and trench direction parallel paths,rapeseed sowing fertilization and trench contour parallel path;Generate initial paths of parallel contours based on polygon boundary equidistant offset algorithm,based on the scan line algorithm and the minimum span method to generate the initial path of parallel.Using polygonal non-equivalent offset algorithm to achieve the fast searches of the machine operation status switching position on the path,based on commonly used ground turning strategies and geometric principles to implement paths to connect and smooth excessive treatment.For tillage operation,the connecting path between multiple tillage operations was designed to meet the demand of multiple tillage planned at one time.(3)Based on the operation process animation simulation and polygon Boolean operation,a set of numerical statistical evaluation methods for the quality of agricultural machinery operation paths are designed.Focusing on rice harvesting and oil rape sowing simultaneous operations,indicators such as the proportion of effective operating paths,the coverage area of the harvest area,and the coverage of the seeding area are proposed.Focusing on cultivating land operations,two indicators of the proportion of effective operation paths and the coverage rate of effective operating area for farming are proposed.Through the typical example test,the following conclusions are obtained: For rice harvesting and oil rape sowing simultaneous operations,the proportion of effective working path ranges from 80.71% to 85.95%,the coverage area of the harvest area ranges from96.32% to 98.26%.the coverage area of the repeated seeding area ranges from 1.12% to1.85%;for cultivating land operations,the effective working path accounted from 70.45%to 75.67% when performing two times the rotary farming operation,and the coverage rate of the effective operating area ranges from 96.59% to 99.22%.(4)Based on the Android application framework and agricultural machinery operating path planning related series algorithms,it has been designed and integrated to develop a set of supporting software for agricultural machinery operation path planning for rice oil rape rotary unmanned farms.Written by Java language,including modules such as plots,machinery management and operation path planning.The software can realize the reading and generation of KML,JSON,and CSV format files;the path planning algorithm written by Python language in the research group was integrated and applied through mixed programming;design the machine operation simulation module by creating a sub-thread method to realize the path assessment before the job task is issued;The cloud data management module based on the Alibaba Cloud server is designed to realize user data sharing and machine connection functions.(5)The path planning algorithm and its supporting software are tested and evaluated in multiple scenarios.It can be seen through the test of 4 different configurations of Android terminal devices that the modules of the software can work stably.The integrated and newly designed path planning algorithm can solve the corresponding path for different fields and machinery parameters,the time to obtain the working path of a single plot is between 29 to1898ms;when the network connection is smooth,the user can save the data to database and load the data that has been saved after logging in.The software can communicate with the operating machine,the path is issued and the operation process is detected. |
PDF Full Text Request