CN108958240B - Harvesting method - Google Patents

Harvesting method Download PDF

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CN108958240B
CN108958240B CN201810585293.2A CN201810585293A CN108958240B CN 108958240 B CN108958240 B CN 108958240B CN 201810585293 A CN201810585293 A CN 201810585293A CN 108958240 B CN108958240 B CN 108958240B
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harvesting
stroke
rectangular frame
time
harvester
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CN108958240A (en
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张凯
白美健
李益农
何胜男
章少辉
史源
吴彩丽
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China Institute of Water Resources and Hydropower Research
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China Institute of Water Resources and Hydropower Research
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    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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Abstract

The invention provides a harvesting method, which belongs to the field of agricultural machinery production, and is characterized in that a harvester is preset for rectangular plots to be harvested to firstly perform rectangular frame harvesting strokes of rectangular frames from large to small, and then perform linear harvesting strokes in the smallest rectangular frame; obtaining the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke according to the shape parameters of the rectangular plot to be harvested and the operation parameters of the harvester; according to the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke, obtaining a first stroke number of the rectangular frame harvesting stroke corresponding to the minimum total harvesting time, and obtaining a second stroke number of the linear harvesting stroke according to the first stroke number; on a rectangular land to be harvested, a harvester is adopted to firstly carry out a rectangular frame harvesting stroke with a first stroke number and then carry out a linear harvesting stroke with a second stroke number. Combine two kinds of routes of reaping of rectangular frame reaping and straight line reaping, improved the harvesting efficiency of harvester.

Description

Harvesting method
Technical Field
The invention relates to the field of agricultural machinery production, in particular to a harvesting method.
Background
Agricultural mechanization is an important component of agricultural modernization. Agricultural mechanization can not only reduce the burden of farmers, improve production efficiency, increase the income of farmers, but also promote the development of agriculture to standardization, scale and industrialization and promote the transformation of traditional agriculture to modern agriculture.
The crop harvesting mechanization is an important link of agricultural mechanization, and the harvesting efficiency of the harvester is related to the performance of the harvester, a planting area, farmland system layout, a harvester operation route and the like.
The inventor finds that at least the following problems exist in the prior art:
the harvesting efficiency of the harvester operation route generally adopted in the prior art is not high, and the referential achievement in the prior art is few in the aspect of improving the harvesting efficiency of the harvester by optimizing the harvester operation route.
Disclosure of Invention
In view of this, the present invention provides a harvesting method, which can adopt a harvesting path combining rectangular frame harvesting and linear harvesting to improve the harvesting efficiency of the harvester.
Specifically, the method comprises the following technical scheme:
the present invention provides a harvesting method comprising:
presetting a rectangular frame harvesting stroke of a rectangular frame from large to small for a rectangular land to be harvested by adopting a harvester, and then performing a linear harvesting stroke in the smallest rectangular frame;
obtaining the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke according to the shape parameters of the rectangular plot to be harvested and the operation parameters of the harvester;
according to the relation between the total time for harvesting and the stroke number of the rectangular frame harvesting stroke, obtaining a first stroke number of the rectangular frame harvesting stroke corresponding to the minimum total time, and obtaining a second stroke number of the linear harvesting stroke according to the first stroke number;
and adopting the harvester to firstly carry out the rectangular frame harvesting stroke of the first stroke number on the rectangular land to be harvested, and then carrying out the linear harvesting stroke of the second stroke number.
Optionally, the operating parameters of the harvester include the operating width BpAcceleration and deceleration time t1Acceleration/deceleration distance l1Stable operation speed V and 180 deg operation turning time t290 DEG operation turning time t3180 idle time t4And a turning distance l of 180 DEG4The shape parameters of the rectangular land to be harvested comprise the length L of the rectangular land to be harvested and the width W of the rectangular land to be harvested, and the total harvesting time and the rectangular frame harvesting time are obtained according to the shape parameters of the rectangular land to be harvested and the operation parameters of the harvesterThe relation of the stroke number of the cutting stroke comprises the following steps:
calculating to obtain the stable operation time t for harvesting the ith rectangular frame when the harvester harvests the rectangular framesziThe stable working time t of the ith rectangular frameziThe calculation was performed using the following formula:
Figure BDA0001689337400000021
optionally, the obtaining a relationship between a total time for harvesting and the number of the rectangular frame harvesting strokes according to the shape parameter of the rectangular plot to be harvested and the operation parameter of the harvester further includes:
calculating to obtain the total harvesting time T of the rectangular frame1The total harvesting time T of the rectangular frame1The calculation was performed using the following formula:
Figure BDA0001689337400000022
in the above formula, n1The number of strokes for harvesting the rectangular frame for the harvester.
Optionally, the obtaining a relationship between a total time for harvesting and the number of the rectangular frame harvesting strokes according to the shape parameter of the rectangular plot to be harvested and the operation parameter of the harvester further includes:
calculating the turning time T of straight line harvesting2The straight line harvesting turning time T2The calculation was performed using the following formula:
T2＝n2·t4，
in the above formula, n2The number of strokes for performing linear harvesting for the harvester, the number of strokes for performing linear harvesting n2And the number of strokes n for rectangular frame harvesting1The relationship between is
Figure BDA0001689337400000023
Calculating the stable operation time T of linear harvesting3The linear harvesting stable operation time is calculated by adopting the following formula:
Figure BDA0001689337400000024
optionally, the obtaining a relationship between a total time for harvesting and the number of the rectangular frame harvesting strokes according to the shape parameter of the rectangular plot to be harvested and the operation parameter of the harvester further includes:
harvesting the total time T according to the rectangular frame1Turning time T for straight line harvesting2And straight line harvesting stable operation time T3Obtaining the total time T used for harvesting and the stroke number n of the harvesting stroke of the rectangular frame1In relation to (2)
Figure BDA0001689337400000025
The total time T for harvesting and the stroke number n of the rectangular frame harvesting stroke1In relation to (2)
Figure BDA0001689337400000026
The calculation was performed using the following formula:
Figure BDA0001689337400000031
optionally, the number of harvesting strokes n of the rectangular frame1Has a value range of
Figure BDA0001689337400000032
The obtaining a first stroke number of the rectangular frame harvesting stroke corresponding to the minimum total time according to the relationship between the total time for harvesting and the stroke number of the rectangular frame harvesting stroke comprises:
according to the total time T used for harvesting and the stroke number n of the rectangular frame harvesting stroke1In relation to (2)
Figure BDA0001689337400000033
And the number n of harvesting strokes of the rectangular frame1Value range of
Figure BDA0001689337400000034
Obtaining the number n of strokes of the rectangular frame harvesting stroke1Value range of
Figure BDA0001689337400000035
The first stroke number N of the rectangular frame harvesting stroke corresponding to the minimum total time T1。
Optionally, the deriving a second number of straight harvesting strokes from the first number of strokes comprises:
the first stroke number N of the rectangular frame harvesting stroke corresponding to the minimum total time T1As the number of strokes n for rectangular frame harvesting1Substituting into the number n of strokes for linear harvesting2And the number of strokes n for rectangular frame harvesting1The relationship between
Figure BDA0001689337400000036
The obtained stroke number n for linear harvesting2Second number of strokes N as straight harvesting strokes2。
Optionally, the number of strokes n for harvesting in rectangular frame1The number of strokes n for performing linear harvesting2The first stroke number N1And the second number of strokes N2The whole is obtained.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
according to the harvesting method provided by the embodiment of the invention, the rectangular frame harvesting stroke of the rectangular frame from large to small is preset for the rectangular land to be harvested by adopting the harvester, then the linear harvesting stroke is carried out in the smallest rectangular frame, namely two harvesting routes are combined, the harvesting is carried out by adopting a mode of firstly harvesting the rectangular frame and then carrying out linear harvesting, and the operation route of the harvester is optimized; obtaining the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke according to the shape parameters of the rectangular plot to be harvested and the operation parameters of the harvester, and taking the stroke number of the rectangular frame harvesting stroke as a single independent variable, thereby being beneficial to accelerating the operation speed; according to the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke, obtaining a first stroke number of the rectangular frame harvesting stroke corresponding to the minimum total harvesting time, obtaining a second stroke number of the linear harvesting stroke according to the first stroke number, taking the stroke number of the rectangular frame harvesting stroke as a single independent variable, calculating the first stroke number, and then calculating the second stroke number by using the first stroke number, so that the operation speed is accelerated; and firstly carrying out the rectangular frame harvesting stroke of the first stroke number and then carrying out the linear harvesting stroke of the second stroke number on the rectangular land to be harvested by adopting a harvester, thereby optimizing the harvesting route. Because the rectangular frame is harvested firstly, the edge of the land has a space enough for supporting the harvester to idle for 180 degrees, and the 180-degree idle running of the harvester turns faster than the 180-degree operation, thereby reducing the total time for harvesting the land with the same size by the harvester and improving the harvesting efficiency of the harvester.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a harvesting method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a harvesting method according to a second embodiment of the present invention;
FIG. 3 is a path planning diagram of a harvesting method according to a second embodiment of the present invention;
fig. 4 is a graph showing the comparison between the harvesting efficiency of the harvesting method according to the second embodiment of the present invention and the harvesting efficiency of the conventional method.
Detailed Description
In order to make the technical solutions and advantages of the present invention clearer, the following will describe embodiments of the present invention in further detail with reference to the accompanying drawings.
Example one
An embodiment of the present invention provides a harvesting method, as shown in fig. 1, including steps S101, S102, S103 and S104, which will be described in detail below.
In step S101, a rectangular frame harvesting stroke of a rectangular frame from large to small is performed on a rectangular land to be harvested by a harvester, and then a linear harvesting stroke is performed in the smallest rectangular frame;
in step S102, obtaining the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke according to the shape parameters of the rectangular plot to be harvested and the operation parameters of the harvester;
in step S103, according to the relation between the total time used for harvesting and the stroke number of the rectangular frame harvesting stroke, obtaining a first stroke number of the corresponding rectangular frame harvesting stroke when the total time is minimum, and obtaining a second stroke number of the linear harvesting stroke according to the first stroke number;
in step S104, a rectangular frame harvesting stroke of a first stroke number and then a linear harvesting stroke of a second stroke number are performed on the rectangular plot to be harvested by using the harvester.
In some embodiments of the present invention, the operating parameter of the harvester includes a work width BpAcceleration and deceleration time t1Acceleration/deceleration distance l1Stable operation speed V and 180 deg operation turning time t290 DEG operation turning time t3180 idle time t4And a turning distance l of 180 DEG4The shape parameter that the parcel was waited to reap to the rectangle includes the rectangle length L that waits to reap the parcel and the rectangle width W that waits to reap the parcel, according to the shape parameter that the parcel was waited to reap to the rectangle and the operating parameter of harvester, obtains reaping the relation of used total time and the stroke number of rectangle frame harvesting stroke, includes:
calculating to obtain the stable operation time t for harvesting the ith rectangular frame when the harvester harvests the rectangular framesziHarvest the ith rectangleStable operation time t of frameziThe calculation was performed using the following formula:
Figure BDA0001689337400000051
in this embodiment, the method for harvesting the plot of the rectangular frame according to the shape parameter of the rectangular plot to be harvested and the operation parameter of the harvester further comprises the following steps:
calculating to obtain the total harvesting time T of the rectangular frame1Total harvesting time T in rectangular frame1The calculation was performed using the following formula:
Figure BDA0001689337400000052
in the above formula, n1The number of strokes for harvesting the rectangular frame for the harvester.
In this embodiment, the method for harvesting the plot of the rectangular frame according to the shape parameter of the rectangular plot to be harvested and the operation parameter of the harvester further comprises the following steps:
calculating the turning time T of straight line harvesting2Turning time T of straight line harvesting2The calculation was performed using the following formula:
T2＝n2·t4，
in the above formula, n2The number of strokes for linear harvesting of the harvester, the number of strokes for linear harvesting n2And the number of strokes n for rectangular frame harvesting1The relationship between is
Figure BDA0001689337400000053
Calculating the stable operation time T of linear harvesting3The linear harvesting stable operation time is calculated by adopting the following formula:
Figure BDA0001689337400000054
in this embodiment, the method for harvesting the plot of the rectangular frame according to the shape parameter of the rectangular plot to be harvested and the operation parameter of the harvester further comprises the following steps:
reaping the total time T according to the rectangular frame1Turning time T for straight line harvesting2And straight line harvesting stable operation time T3Obtaining the total time T used for harvesting and the stroke number n of the harvesting stroke of the rectangular frame1In relation to (2)
Figure BDA0001689337400000055
The total time T used for harvesting and the number n of strokes of the rectangular frame harvesting stroke1In relation to (2)
Figure BDA0001689337400000061
The calculation was performed using the following formula:
Figure BDA0001689337400000062
in this embodiment, the number of strokes n of the rectangular frame harvesting stroke1Has a value range of
Figure BDA0001689337400000063
According to the relation between the total time for harvesting and the stroke number of the rectangular frame harvesting stroke, obtaining the first stroke number of the rectangular frame harvesting stroke corresponding to the minimum total time, and the method comprises the following steps:
according to the total time T used for harvesting and the stroke number n of the rectangular frame harvesting stroke1In relation to (2)
Figure BDA0001689337400000064
And the number n of strokes of the rectangular frame harvesting stroke1Value range of
Figure BDA0001689337400000065
Obtaining the number n of strokes of harvesting in a rectangular frame1Value range of
Figure BDA0001689337400000066
Total time of internal and externalThe first stroke number N of the corresponding rectangular frame harvesting stroke when T is minimum1。
In this embodiment, obtaining the second number of straight harvesting strokes from the first number of strokes comprises:
the first stroke number N of the corresponding rectangular frame harvesting stroke when the total time T is minimum1As the number of strokes n for rectangular frame harvesting1Substituting into the number of strokes n for linear harvesting2And the number of strokes n for rectangular frame harvesting1The relationship between
Figure BDA0001689337400000067
The obtained stroke number n for linear harvesting2Second number of strokes N as straight harvesting strokes2。
In this embodiment, the number of strokes n for rectangular frame harvesting1The number of strokes n for performing linear harvesting2First stroke number N1And a second number of strokes N2The whole is obtained.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
according to the harvesting method provided by the embodiment of the invention, the rectangular frame harvesting stroke of the rectangular frame from large to small is preset for the rectangular land to be harvested by adopting the harvester, then the linear harvesting stroke is carried out in the smallest rectangular frame, namely two harvesting routes are combined, the harvesting is carried out by adopting a mode of firstly harvesting the rectangular frame and then carrying out linear harvesting, and the operation route of the harvester is optimized; obtaining the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke according to the shape parameters of the rectangular plot to be harvested and the operation parameters of the harvester, and taking the stroke number of the rectangular frame harvesting stroke as a single independent variable, which is beneficial to accelerating the operation speed; according to the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke, the first stroke number of the rectangular frame harvesting stroke corresponding to the minimum total harvesting time is obtained, the second stroke number of the linear harvesting stroke is obtained according to the first stroke number, the stroke number of the rectangular frame harvesting stroke is used as a single independent variable, the first stroke number is calculated, then the second stroke number is calculated by utilizing the first stroke number, and the operation speed is accelerated; a harvester is adopted to firstly carry out rectangular frame harvesting strokes of a first stroke number and then carry out linear harvesting strokes of a second stroke number on a rectangular land to be harvested, so that a harvesting route is optimized. Because the rectangular frame is harvested firstly, the edge of the land has a space enough for supporting the harvester to idle for 180 degrees, and the 180-degree idle running of the harvester turns faster than the 180-degree operation, thereby reducing the total time for harvesting the land with the same size by the harvester and improving the harvesting efficiency of the harvester.
Example two
The present embodiment provides a harvesting method, as shown in fig. 2, including steps S201, S202, S203 and S204, which will be described in detail below.
In step S201, it is predetermined that for a rectangular plot to be harvested, a rectangular frame harvesting stroke of a rectangular frame from large to small is performed first by a harvester, and then a straight harvesting stroke is performed in the smallest rectangular frame.
It can be understood that, as shown in fig. 3, the harvesting method provided by the embodiment plans to first harvest rectangular blocks to be harvested in an annular rectangular frame from outside to inside by using the harvester, and then to harvest linearly in a reciprocating manner in the smallest rectangular frame.
In order to respectively determine strokes for rectangular harvesting and linear harvesting, the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke is obtained according to the shape parameters of the rectangular land to be harvested and the operation parameters of the harvester;
in this embodiment, the operating parameters of the harvester include the operating width BpAcceleration and deceleration time t1Acceleration/deceleration distance l1Stable operation speed V and 180 deg operation turning time t290 DEG operation turning time t3180 idle time t4And a turning distance l of 180 DEG4The shape parameters of the rectangular land to be harvested comprise the length L of the rectangular land to be harvested and the width W of the rectangular land to be harvested. And the harvesting is obtained according to the shape parameters of the rectangular land to be harvested and the operation parameters of the harvesterThe relation between the total cutting time and the stroke number of the rectangular frame harvesting stroke specifically comprises the following steps:
in step S202, the stable working time t for harvesting the ith rectangular frame when the harvester performs rectangular frame harvesting is calculatedzi。
Stable working time t for harvesting ith rectangular frameziThe calculation was performed using the following formula:
Figure BDA0001689337400000071
in particular, the operation parameter of the harvester is the operation width BpThe width that the header in the front of the harvester can harvest when the harvester runs forwards, the stable operation speed V refers to the maximum constant speed that the harvester can achieve when stably operating, and the acceleration and deceleration time t1The time required for the harvester to uniformly decelerate from a stable operation speed V to a static state or uniformly accelerate from the static state to the stable operation speed and the acceleration and deceleration distance l1The total distance required by the harvester for uniformly decelerating from a stable operation speed V to a static state or uniformly accelerating from the static state to the stable operation speed V and the operation turning time t of 180 DEG2When the harvester is used for cutting and turning, the time required for the harvester body to rotate 180 degrees is the turning time t of 90-degree operation3When the harvester turns while harvesting, the time required for the harvester body to rotate by 90 degrees is defined as the idle time t of 180 degrees4The time required for the harvester to rotate 180 degrees is the 180-degree turning distance l when the harvester is not harvesting and only turns a corner4The reserved distance required in the advancing direction of the harvester when the harvester turns 180 degrees is shown.
When the harvester carries out the rectangle frame and reaps, along the rectangle frame, by outer and interior carrying out the winding and reaping, the size of the rectangle frame of reaping diminishes along with the number of turns of reaping increases, and the first circle is outer circle most, and rectangle frame size is the biggest, and the third circle of second circle to ith circle, rectangle frame size diminishes gradually, carries out the analysis to the actual operation characteristic that the rectangle frame reaped, can obtain the big winding of rectangle frameThe small change rule is: when the first circle is harvested, the length and the width of the first rectangular frame are equal to the length L and the width W of the original rectangular land to be harvested; when the field is harvested to the second circle, the length and the width of the second rectangular frame are respectively reduced by an operation width B compared with the length L and the width W of the original rectangular field to be harvestedp(ii) a When the field is harvested to the third circle, the length and the width of the third rectangular frame are respectively reduced by two working widths B compared with the length L and the width W of the original rectangular field to be harvestedp(ii) a Summarizing the summary, it can be found that the perimeter of the ith rectangular frame is 2(L + W-2(i-1) B) when the ith round is harvestedp)。
The actual operation characteristics of the rectangular frame harvest are analyzed continuously to obtain: when a long edge and a short edge of a circle of rectangular frame are harvested, a 90-degree turn needs to be carried out, each turn needs to be uniformly decelerated to a static state from a stable operation speed V once, and then is uniformly accelerated to the stable operation speed V from the static state, so that 2 acceleration and deceleration distances l exist in each turn1In the starting stage of the harvester in the harvesting process of adding one long side and one short side, the harvester also needs to be uniformly accelerated from the static state to the stable operation speed V, and in the finishing stage of the harvester in the harvesting process of adding one long side and one short side, the harvester also needs to be uniformly decelerated from the stable operation speed V to the static state, so that 2 acceleration and deceleration distances l exist1That is to say, every time the harvester harvests a long side and a short side, namely, half of a circle of rectangular frame harvests, the harvester needs to pass through 4 acceleration and deceleration distances l1Since the 4 acceleration/deceleration distances l1In the above-mentioned method, the operation speed of the harvester is not a stable operation speed, so that the time of the stable operation stage and the time of the acceleration/deceleration stage need to be calculated separately, and the stable operation distance for harvesting the ith rectangular frame is 2(L + W-2(i-1) Bp-4l1)，
The stable operation speed of the harvester is V, so the stable operation time t of the ith rectangular frame is harvestedziComprises the following steps:
Figure BDA0001689337400000081
in step S203, the rectangular frame total harvesting time T is calculated1。
Total harvesting time T with rectangular frame1The calculation was performed using the following formula:
Figure BDA0001689337400000091
in the above formula, n1The number of strokes for harvesting the rectangular frame for the harvester.
Specifically, in rectangular frame harvesting, the stroke number of the harvester is recorded by the number of turns, and when the harvester finishes one circle of rectangular frame harvesting, the stroke number is recorded as one stroke number;
Figure BDA0001689337400000092
the total time of stable operation is 8n from the harvesting of the first circle of rectangular frame to the harvesting of the ith circle of rectangular frame of the harvester1·t1The total acceleration and deceleration time required by the harvester to harvest in a circle of rectangular frame is 4n1·t3The total turning time required by the harvester for harvesting the round of the rectangular frame is defined as the total turning time (the starting stage is that the harvester rotates by 45 degrees, the ending stage is that the harvester also rotates by 45 degrees, the two phases are 90 degrees, in addition, the harvester also needs to turn by three 90 degrees, namely, the round of the rectangular frame is harvested by 4 90 degrees, and when the harvester turns while harvesting, the harvester body rotates by 90 degrees and needs t3)。
In step S204, a straight reaping turning time T is calculated2。
Turning time T for straight line harvesting2The calculation was performed using the following formula:
T2＝n2·t4，
in the above formula, n2The number of strokes for linear harvesting of the harvester, the number of strokes for linear harvesting n2And the number of strokes n for rectangular frame harvesting1The relationship between is
Figure BDA0001689337400000093
When the harvester is used for linear harvesting, the harvester can do a motion similar to a linear return motion, and in the linear harvesting, the harvester does a motion along the long edge of a rectangular land to be harvested, and then the motion is recorded as a stroke.
Specifically, the actual operation characteristics of the rectangular frame harvest can be obtained by continuously analyzing, wherein the number of the strokes is n1After the rectangular frame is harvested, W-2n is remained in the width of the rectangular field to be harvested1·BpTherefore, the working width is BpWhen the rest field is harvested, the number of the strokes is n2In straight line harvesting of (1), wherein
Figure BDA0001689337400000094
In step S205, the straight harvest stabilizing work time T is calculated3。
The linear harvesting stable operation time is calculated by adopting the following formula:
Figure BDA0001689337400000095
specifically, the actual operation characteristics of the rectangular frame harvest can be obtained by continuously analyzing, wherein the number of the strokes is n1After the rectangular frame is harvested, L-2n is remained for the length of the rectangular field to be harvested1·BpAnd n is the number of strokes performed before the straight line harvest1The rectangular frame is harvested, an area without crops enough for supporting the harvester to turn 180 degrees is harvested at the position close to the edge of the field in the rectangular field to be harvested, and therefore the number of strokes of the harvester is n2When the straight line reaps, the area without crops close to the edge of the field block in the rectangular field block to be reaped can be idle for 180 degrees, and the reaping machine can rotate a larger turning radius in the area without crops by idle rotation for 180 degrees because the reaping and turning are not needed, so that the reaping machine can reap in the turning process through the larger turning radiusThe harvester can also keep a certain speed, when the harvester enters a region to be harvested after turning around, the harvester can directly harvest at the stable operation speed V, so that in the linear harvesting process, the harvester can keep the stable operation speed V in the whole process of harvesting, and the distance between every two strokes of the harvester and the stable operation speed V is L-2n1·BpThus the straight line harvesting stable operation time is
Figure BDA0001689337400000101
Since the number of the strokes is n1The rectangular frame is harvested, an area without crops enough for supporting the harvester to turn 180 degrees is harvested at the position close to the edge of the field in the rectangular field to be harvested, and therefore the number of strokes of the harvester is n2When the straight line is reaped, the area without the crops close to the edge of the field block in the rectangular field block to be reaped can be idled for 180 degrees, the time required for idling for 180 degrees is less than the time for turning the operation for 180 degrees, and the reaping machine can keep a certain speed when idling for 180 degrees, so that the reaping machine does not need to reap while accelerating, can directly reap at a stable operation speed V, and the reaping time required by straight line reaping is saved.
In step S206, the total time T is harvested according to the rectangular frame1Turning time T for straight line harvesting2And straight line harvesting stable operation time T3Obtaining the total time T used for harvesting and the stroke number n of the harvesting stroke of the rectangular frame1In relation to (2)
Figure BDA0001689337400000102
The total time T used for harvesting and the number n of strokes of the rectangular frame harvesting stroke1In relation to (2)
Figure BDA0001689337400000103
The calculation was performed using the following formula:
Figure BDA0001689337400000104
obtaining the total time T used for harvesting and the stroke number n of the rectangular frame harvesting stroke1In relation to (2)
Figure BDA0001689337400000105
And then, according to the relation between the total time used for harvesting and the stroke number of the rectangular frame harvesting stroke, obtaining the first stroke number of the corresponding rectangular frame harvesting stroke when the total time is minimum, and obtaining the second stroke number of the linear harvesting stroke according to the first stroke number.
In this embodiment, the number of strokes n of the rectangular frame harvesting stroke1Has a value range of
Figure BDA0001689337400000106
The above-mentioned relation with the stroke number of rectangle frame harvesting stroke according to the total time used of reaping obtains the first stroke number of rectangle frame harvesting stroke that corresponds when total time is minimum to obtain the second stroke number of straight line harvesting stroke according to first stroke number, specifically includes the following step:
in step S207, the total time T for harvesting and the number n of strokes of the rectangular frame harvesting stroke are counted1In relation to (2)
Figure BDA0001689337400000111
And the number n of strokes of the rectangular frame harvesting stroke1Value range of
Figure BDA0001689337400000112
Obtaining the number n of strokes of harvesting in a rectangular frame1Value range of
Figure BDA0001689337400000113
The first stroke number N of the corresponding rectangular frame harvesting stroke when the total time T is minimum1。
It can be understood that due to the mechanical characteristics of the harvester, when the harvester makes a 180-degree turn, a 180-degree turning distance l needs to be reserved in the traveling direction4And the operation width of the harvester is BpSo that the harvester needs to perform the least number of strokes
Figure BDA0001689337400000114
The rectangular frame harvesting can be realized by harvesting an area without crops which is enough to support the harvester to turn 180 degrees at a position close to the edge of the field in the field to be harvested, so that the stroke number n of the rectangular frame harvesting stroke1The lower limit of the value range is
Figure BDA0001689337400000115
Because the embodiment of the invention adopts the harvesting mode of combining rectangular frame harvesting and linear harvesting, if the number of strokes of the harvester is equal to that of the first stroke
Figure BDA0001689337400000116
When the rectangular frame is harvested, the rectangular frame is equivalently completely utilized to harvest the rectangular field to be harvested, and the actual planning of the invention is not met, so the stroke number n of the rectangular frame harvesting stroke is1Has an upper limit of the value range of
Figure BDA0001689337400000117
In this embodiment, the number of strokes n for rectangular frame harvesting1The number of strokes n for performing linear harvesting2The whole is obtained.
Number of strokes n of harvesting stroke in rectangular frame1Value range of
Figure BDA0001689337400000118
In the interior when
Figure BDA0001689337400000119
When the number is an integer, the number n of strokes of the rectangular frame harvesting stroke1Can get to
Figure BDA00016893374000001110
The number of strokes is n1The rectangular frame can be used for harvesting a crop-free area which is just enough to support a harvester to enter the field to be harvested and is close to the edge of the field in the field to be harvestedMake a 180 DEG turn if
Figure BDA00016893374000001111
If the number of harvesting strokes is not an integer, e.g., 3.5, then rounding up is required to put the number of harvesting strokes n in a rectangular frame1Is determined to be 4, so as to reserve enough distance for the harvester to idle at 180 degrees.
Number of strokes n of harvesting stroke in rectangular frame1Value range of
Figure BDA00016893374000001112
In the interior when
Figure BDA00016893374000001113
When the number is an integer, the number n of strokes of the rectangular frame harvesting stroke1Can not get to
Figure BDA00016893374000001114
Because the number of the harvesting strokes n is the number of the harvesting strokes of the rectangular frame1Get to
Figure BDA00016893374000001115
The rectangular field to be harvested is regarded as being harvested by completely utilizing the rectangular frame harvest, which is not in accordance with the actual plan of the invention, and if the rectangular frame harvest is adopted, the rectangular field to be harvested is harvested
Figure BDA00016893374000001116
When the number is not an integer, the number n of strokes of the rectangular frame harvesting stroke1Rounding down is required.
It will be understood that the harvesting efficiency of a harvester refers to the time required to harvest a block of field per unit area, i.e. the harvesting efficiency
Figure BDA00016893374000001117
For rectangular plots to be harvested for which the shape parameters have been determined, a smaller total time T means a higher harvesting efficiency.
Obtained by the method in step S206
Figure BDA0001689337400000121
Then, tools can be adoptedComputer software with simulation function, such as MATLAB, etc., obtaining the stroke number n of harvesting stroke in rectangular frame1Value range of
Figure BDA0001689337400000122
The minimum value of the total time T can be obtained, and the stroke number n of the rectangular frame harvesting stroke corresponding to the minimum value of the total time T is obtained1And n obtained1Determining a first number of harvesting strokes N as a rectangular frame1。
The first stroke number N is different due to different operating parameters of the harvester1It will also vary, but generally, when the rectangular frame has a number of harvesting strokes n1Get to
Figure BDA0001689337400000123
When the minimum value is within the range, the total time T is minimum, namely the determined first stroke number N1Is generally an interval
Figure BDA0001689337400000124
Minimum value of (1).
In step S208, the first stroke number N of the rectangular frame harvesting stroke corresponding to the minimum total time T is calculated1As the number of strokes n for rectangular frame harvesting1Substituting into the number of strokes n for linear harvesting2And the number of strokes n for rectangular frame harvesting1The relationship between
Figure BDA0001689337400000125
The obtained stroke number n for linear harvesting2Second number of strokes N as straight harvesting strokes2。
In this embodiment, the first number of strokes N1And a second number of strokes N2The whole is obtained.
Determining a first number of strokes N for harvesting in a rectangular frame1And a second number of straight harvesting passes N2Then, the following steps are carried out:
in step S209, a rectangular frame harvesting stroke of a first stroke number and then a straight harvesting stroke of a second stroke number are performed on the rectangular plot to be harvested using the harvester.
I.e. a first number of strokes N harvested using the determined rectangular frame1And a second number of straight harvesting passes N2Firstly, a first stroke number N is carried out on a rectangular land to be harvested by adopting a harvester1The rectangular frame harvesting stroke is then carried out for a second stroke number N2The linear harvesting stroke.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
according to the harvesting method provided by the embodiment of the invention, the rectangular frame harvesting stroke of the rectangular frame from large to small is preset for the rectangular land to be harvested by adopting the harvester, then the linear harvesting stroke is carried out in the smallest rectangular frame, namely two harvesting routes are combined, the harvesting is carried out by adopting a mode of firstly harvesting the rectangular frame and then carrying out linear harvesting, and the operation route of the harvester is optimized; calculating to obtain the stable operation time for harvesting the ith rectangular frame when the harvester harvests the rectangular frames; calculating to obtain the total harvesting time of the rectangular frame; calculating the turning time of straight line harvesting; calculating the stable operation time of linear harvesting, namely performing segmentation analysis on the two harvesting modes, so that the accuracy of the calculated harvesting time is improved; obtaining the relation between the total harvesting time T and the stroke number of the harvesting stroke of the rectangular frame according to the total harvesting time of the rectangular frame, the turning time of the linear harvesting and the stable operation time of the linear harvesting, and taking the stroke number of the harvesting stroke of the rectangular frame as a single independent variable, thereby being beneficial to accelerating the operation speed; according to the relation between the total time T used for harvesting and the stroke number of the rectangular frame harvesting stroke and the value range of the stroke number of the rectangular frame harvesting stroke, obtaining a first stroke number of the corresponding rectangular frame harvesting stroke when the total time T is minimum in the value range of the stroke number of the rectangular frame harvesting stroke; taking the first stroke number of the corresponding rectangular frame harvesting stroke when the total time T is minimum as the stroke number of rectangular frame harvesting, substituting the relationship between the stroke number of linear harvesting and the stroke number of rectangular frame harvesting, taking the obtained stroke number of linear harvesting as the second stroke number of linear harvesting stroke, taking the stroke number of rectangular frame harvesting stroke as a single independent variable, calculating the first stroke number, and then calculating the second stroke number by using the first stroke number, which is beneficial to accelerating the operation speed; a harvester is adopted to firstly carry out rectangular frame harvesting strokes of a first stroke number and then carry out linear harvesting strokes of a second stroke number on a rectangular land to be harvested, so that a harvesting route is optimized. The rectangular frame is harvested firstly, so that the edge of the land has a space enough for supporting the harvester to idle for 180 degrees, the harvester can idle for 180 degrees and turn faster than the harvester during operation for 180 degrees, a certain turning speed can be kept, the harvester can recover the stable operation speed V after turning, the total time for harvesting the land with the same size by the harvester is reduced, and the harvesting efficiency of the harvester is improved.
After simulating the harvesting method that this embodiment provided in the computer, can discover, the rectangle frame that adopts this embodiment to provide reaps when waiting to reap the parcel with the straight line and reap the harvesting mode that combines together to the rectangle, and the harvesting mode that only utilizes the rectangle frame to reap the parcel that waits to reap to the rectangle, and the harvesting mode that only utilizes the straight line to reap waits to reap the parcel to the rectangle and reap and compare, no matter to the harvester of what kind of model and what kind of area, the rectangle that what kind of length-width ratio waits to reap the parcel, all can have the improvement of the efficiency of reaping of different degrees.
Programming an existing mathematical model (which is based on all the formulas mentioned above for analyzing the harvesting method provided in the present embodiment) with the correspondence between the aspect ratio of the field to be harvested and the productivity of the harvester (i.e., the harvesting efficiency of the harvester) as an objective function, setting the harvester type, the field area as influencing factors, and setting 3 types of levels (jubayan PRO488 type, frequent CF805N type, and thunderwot valley GF40 type), 2 types of levels of area (0.3hm ^2 (hectare), and 1hm ^2 (hectare)), respectively. A productivity (i.e., harvesting efficiency) curve obtained by the harvesting method provided in this embodiment, a productivity (i.e., harvesting efficiency) curve obtained by the conventional harvesting method that only performs rectangular frame harvesting, and a productivity (i.e., harvesting efficiency) curve obtained by the conventional harvesting method that only performs straight line harvesting are respectively plotted, so that fig. 4 is obtained (in fig. 4, the harvesting method that only performs rectangular frame harvesting is used as mode i, the harvesting method that only performs straight line harvesting is used as mode ii, and the harvesting method provided in this embodiment is used as mode iii).
As can be seen from fig. 4, regardless of the type of harvester, the area and the aspect ratio of the rectangular field to be harvested, the harvesting efficiency obtained by harvesting with the harvesting method provided by the embodiment is higher than that obtained by harvesting with the conventional method, so that the harvesting method provided by the embodiment can bring significant beneficial effects.
In the present application, it is to be understood that the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated.
The above description is only for facilitating the understanding of the technical solutions of the present invention by those skilled in the art, and is not intended to limit the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (2)

1. A harvesting method, characterized in that it comprises:
presetting a rectangular frame harvesting stroke of a rectangular frame from large to small for a rectangular land to be harvested by adopting a harvester, and then performing a linear harvesting stroke in the smallest rectangular frame;
obtaining the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke according to the shape parameters of the rectangular plot to be harvested and the operation parameters of the harvester;
according to the relation between the total time for harvesting and the stroke number of the rectangular frame harvesting stroke, obtaining a first stroke number of the rectangular frame harvesting stroke corresponding to the minimum total time, and obtaining a second stroke number of the linear harvesting stroke according to the first stroke number;
the harvester is adopted to firstly carry out the rectangular frame harvesting stroke with the first stroke number on the rectangular land to be harvested, and then carry out the linear harvesting stroke with the second stroke number,
the operating parameters of the harvester comprise an operating width BpAcceleration and deceleration time t1Acceleration/deceleration distance l1Stable operation speed V and 180 deg operation turning time t290 DEG operation turning time t3180 idle time t4And a turning distance l of 180 DEG4The shape parameters of the rectangular land to be harvested comprise the length L of the rectangular land to be harvested and the width W of the rectangular land to be harvested, and the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke is obtained according to the shape parameters of the rectangular land to be harvested and the operation parameters of the harvester, and the relation comprises the following steps:
calculating to obtain the stable operation time t for harvesting the ith rectangular frame when the harvester harvests the rectangular framesziThe stable working time t of the ith rectangular frameziThe calculation was performed using the following formula:
Figure FDA0002324862000000011
the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke is obtained according to the shape parameters of the rectangular plot to be harvested and the operation parameters of the harvester, and the method further comprises the following steps:
calculating to obtain the total harvesting time T of the rectangular frame1The total harvesting time T of the rectangular frame1The calculation was performed using the following formula:
Figure FDA0002324862000000012
in the above formula, n1The number of strokes for harvesting the rectangular frame for the harvester,
the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke is obtained according to the shape parameters of the rectangular plot to be harvested and the operation parameters of the harvester, and the method further comprises the following steps:
calculating the turning time T of straight line harvesting2The straight line harvesting turning time T2The calculation was performed using the following formula:
T2＝n2·t4，
in the above formula, n2The number of strokes for performing linear harvesting for the harvester, the number of strokes for performing linear harvesting n2And the number of strokes n for rectangular frame harvesting1The relationship between is
Figure FDA0002324862000000021
Calculating the stable operation time T of linear harvesting3The linear harvesting stable operation time is calculated by adopting the following formula:
Figure FDA0002324862000000022
the relation between the total harvesting time and the stroke number of the rectangular frame harvesting stroke is obtained according to the shape parameters of the rectangular plot to be harvested and the operation parameters of the harvester, and the method further comprises the following steps:
harvesting the total time T according to the rectangular frame1Turning time T for straight line harvesting2And straight line harvesting stable operation time T3Obtaining the total time T used for harvesting and the stroke number n of the harvesting stroke of the rectangular frame1In relation to (2)
Figure FDA0002324862000000023
The total time T for harvesting and the stroke number n of the rectangular frame harvesting stroke1In relation to (2)
Figure FDA0002324862000000024
The calculation was performed using the following formula:
Figure FDA0002324862000000025
the stroke number n of the rectangular frame harvesting stroke1Has a value range of
Figure FDA0002324862000000026
The obtaining a first stroke number of the rectangular frame harvesting stroke corresponding to the minimum total time according to the relationship between the total time for harvesting and the stroke number of the rectangular frame harvesting stroke comprises:
according to the total time T used for harvesting and the stroke number n of the rectangular frame harvesting stroke1In relation to (2)
Figure FDA0002324862000000027
And the number n of harvesting strokes of the rectangular frame1Value range of
Figure FDA0002324862000000028
Obtaining the number n of strokes of the rectangular frame harvesting stroke1Value range of
Figure FDA0002324862000000029
The first stroke number N of the rectangular frame harvesting stroke corresponding to the minimum total time T1，
The obtaining of the second stroke number of the linear harvesting stroke according to the first stroke number comprises:
the first stroke number N of the rectangular frame harvesting stroke corresponding to the minimum total time T1As the number of strokes n for rectangular frame harvesting1Substituting into the number n of strokes for linear harvesting2And the number of strokes n for rectangular frame harvesting1The relationship between
Figure FDA00023248620000000210
The obtained stroke number n for linear harvesting2Second number of strokes N as straight harvesting strokes2。
2. The method of claim 1,
the number n of strokes for harvesting the rectangular frame1The number of strokes n for performing linear harvesting2The first stroke number N1And the second number of strokes N2The whole is obtained.
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