CN108958240A - A kind of harvesting method - Google Patents
A kind of harvesting method Download PDFInfo
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- CN108958240A CN108958240A CN201810585293.2A CN201810585293A CN108958240A CN 108958240 A CN108958240 A CN 108958240A CN 201810585293 A CN201810585293 A CN 201810585293A CN 108958240 A CN108958240 A CN 108958240A
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- 238000003306 harvesting Methods 0.000 title claims abstract description 343
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000007514 turning Methods 0.000 claims description 39
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- 238000005520 cutting process Methods 0.000 description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The present invention provides a kind of harvesting methods, belong to agricultural machinery production field, and predetermined plot to be gathered in for rectangle first carries out the rectangle frame harvesting stroke of rectangle frame from big to small using harvester, then carry out straight line in the smallest rectangle frame and gather in stroke；According to the operating parameter of the form parameter in rectangle plot to be gathered in and harvester, the relationship for gathering in the number of strokes of total time and rectangle frame harvesting stroke used is obtained；It according to the relationship with the number of strokes of rectangle frame harvesting stroke of harvesting total time used, obtains gathering in the first row number of passes of corresponding rectangle frame harvesting stroke when total time minimum used, and the second stroke number of straight line harvesting stroke is obtained according to the first row number of passes；The rectangle frame harvesting stroke of first stroke number is first carried out using harvester on rectangle plot to be gathered in, the straight line for then carrying out second stroke number gathers in stroke.It combines rectangle frame harvesting and straight line gathers in two kinds of harvesting routes, improve the harvesting efficiency of harvester.
Description
Technical field
The present invention relates to agricultural machinery production field, in particular to a kind of harvesting method.
Background technique
Mechanization of agriculture is the important component of agricultural modernization.Mechanization of agriculture can not only reduce farmer's burdens, and mention
High efficiency increases peasant income, can more push agricultural to standardization, scale and industrialized development, promote traditional agriculture
Change to modern agriculture.
Crop harvesting machinery is the important link of mechanization of agriculture, harvester harvesting efficiency and harvester performance, plantation
Region, farmland sysrem layout, harvester operation route etc. are all related.
Inventor discovery in the prior art the prior art has at least the following problems:
The harvesting efficiency of the harvester operation route generallyd use in the prior art is not high, and how to pass through optimization receipts
Cutting mill work route is come in terms of improving harvester harvesting efficiency, referential achievement is seldom in the prior art.
Summary of the invention
In view of this, the present invention provides a kind of harvesting method, can be combined using rectangle frame harvesting and straight line harvesting
Route is gathered in, the harvesting efficiency of harvester is improved.
Specifically, including technical solution below:
The present invention provides a kind of harvesting method, which comprises
Predetermined plot to be gathered in for rectangle first carries out the rectangle frame harvesting stroke of rectangle frame from big to small using harvester,
Then straight line is carried out in the smallest rectangle frame gather in stroke；
According to the operating parameter of the form parameter in rectangle plot to be gathered in and the harvester, obtain gathering in used
The relationship of the number of strokes of total time and rectangle frame harvesting stroke；
According to the relationship with the number of strokes of rectangle frame harvesting stroke of total time used in the harvesting, obtain described
The first row number of passes of corresponding rectangle frame harvesting stroke when total time minimum, and obtained according to the first row number of passes described
The second stroke number of straight line harvesting stroke；
The rectangle frame harvesting of the first row number of passes is first carried out using the harvester on rectangle plot to be gathered in
Then stroke carries out the straight line harvesting stroke of the second stroke number.
Selectively, the operating parameter of the harvester includes working width Bp, Acceleration and deceleration time t1, acceleration and deceleration distance l1、
Stablize operating speed V, 180 ° of operation turning time t2, 90 ° of operation turning time t3, 180 ° of idle period t4With half-turn away from
From l4, the form parameter in the rectangle plot to be gathered in includes length L and the rectangle plot to be gathered in rectangle plot to be gathered in
Width W, it is described according to the form parameter in rectangle plot to be gathered in and the operating parameter of the harvester, it obtains used in harvesting
Total time and the rectangle frame harvesting stroke number of strokes relationship, comprising:
The stabilization activity duration t of i-th of rectangle frame of harvesting when the harvester progress rectangle frame harvesting is calculatedzi,
The stabilization activity duration t of i-th of rectangle frame of the harvestingziIt is calculated using following formula:
It is selectively, described according to the form parameter in rectangle plot to be gathered in and the operating parameter of the harvester,
Obtain gathering in the relationship of the number of strokes of total time and rectangle frame harvesting stroke used, further includes:
Rectangle frame harvesting total time T is calculated1, the rectangle frame harvesting total time T1It is calculated using following formula:
In above formula, n1The number of strokes of rectangle frame harvesting is carried out for the harvester.
It is selectively, described according to the form parameter in rectangle plot to be gathered in and the operating parameter of the harvester,
Obtain gathering in the relationship of the number of strokes of total time and rectangle frame harvesting stroke used, further includes:
It calculates straight line and gathers in turning time T2, the straight line harvesting turning time T2It is calculated using following formula:
T2=n2·t4,
In above formula, n2The number of strokes of straight line harvesting, the number of strokes n for carrying out straight line harvesting are carried out for the harvester2
With the number of strokes n for carrying out rectangle frame harvesting1Between relationship be
It calculates straight line and gathers in and stablize activity duration T3, the straight line, which gathers in, to be stablized the activity duration and is calculated using following formula:
。
It is selectively, described according to the form parameter in rectangle plot to be gathered in and the operating parameter of the harvester,
Obtain gathering in the relationship of the number of strokes of total time and rectangle frame harvesting stroke used, further includes:
Total time T is gathered according to the rectangle frame1, straight line gather in turning time T2It is gathered in straight line and stablizes activity duration T3,
Obtain gathering in the number of strokes n of total time T and rectangle frame harvesting stroke used1RelationshipUsed in the harvesting
Total time T and the rectangle frame harvesting stroke number of strokes n1RelationshipIt is calculated using following formula:
Selectively, the number of strokes n of the rectangle frame harvesting stroke1Value range beIt is described according to institute
The relationship with the number of strokes of rectangle frame harvesting stroke for stating harvesting total time used, when obtaining the total time minimum pair
The first row number of passes for the rectangle frame harvesting stroke answered, comprising:
According to the number of strokes n of harvesting total time T used and rectangle frame harvesting stroke1RelationshipAnd the square
The number of strokes n of shape frame harvesting stroke1Value rangeIt obtains gathering in the number of strokes n of stroke in the rectangle frame1's
Value rangeIt is interior, when total time T minimum the corresponding rectangle frame harvesting stroke the first row number of passes N1。
It is selectively, described that the second stroke number of the straight line harvesting stroke is obtained according to the first row number of passes, comprising:
The first row number of passes N of corresponding rectangle frame harvesting stroke when by the total time T minimum1As progress rectangle
The number of strokes n of frame harvesting1, substitute into the number of strokes n for carrying out straight line harvesting2With the number of strokes n for carrying out rectangle frame harvesting1Between
RelationshipBy the number of strokes n of obtained progress straight line harvesting2Second stroke as straight line harvesting stroke
Number N2。
Selectively, the number of strokes n for carrying out rectangle frame harvesting1, it is described carry out straight line harvesting number of strokes n2, it is described
The first row number of passes N1And the second stroke number N2It is rounded.
The beneficial effect of technical solution provided in an embodiment of the present invention includes at least:
Harvesting method provided in an embodiment of the present invention, predetermined plot to be gathered in for rectangle first carry out rectangle using harvester
The rectangle frame of frame from big to small gathers in stroke, then carries out straight line in the smallest rectangle frame and gathers in stroke, that is, combines two kinds
Route is gathered in, carries out being gathered in by the way of straight line harvesting after first carrying out rectangle frame harvesting, to harvester operation route
It is optimized；According to the operating parameter of the form parameter in rectangle plot to be gathered in and the harvester, harvesting institute is obtained
The relationship of the number of strokes of total time and rectangle frame harvesting stroke, using the number of strokes of rectangle frame harvesting stroke as single
Independent variable is conducive to accelerate arithmetic speed；According to the row with rectangle frame harvesting stroke of total time used in the harvesting
The relationship of number of passes obtains the first stroke of corresponding rectangle frame harvesting stroke when total time minimum used in the harvesting
Number, and the second stroke number of the straight line harvesting stroke is obtained according to the first row number of passes, by the row of rectangle frame harvesting stroke
Number of passes recycles the first row number of passes to calculate second stroke number, is conducive to as single independent variable after calculating the first row number of passes
Accelerate arithmetic speed；The rectangle frame harvesting of the first row number of passes is first carried out using harvester on rectangle plot to be gathered in
Then stroke carries out the straight line harvesting stroke of the second stroke number, so that harvesting route be optimized.Due to first carrying out
Rectangle frame harvesting, so that ground block edge has one to be enough the spaces for supporting harvester to carry out 180 ° of idle running, and harvester carries out
180 ° of idle running than 180 ° operations turning is fast, thus when reducing harvester and gather in used total to an equal amount of plot
Between, improve the harvesting efficiency of harvester.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Attached drawing 1 is the flow chart for the harvesting method that the embodiment of the present invention one provides；
Attached drawing 2 is the flow chart of harvesting method provided by Embodiment 2 of the present invention；
Attached drawing 3 is the route planning figure of harvesting method provided by Embodiment 2 of the present invention；
Attached drawing 4 is between the harvesting efficiency of harvesting method provided by Embodiment 2 of the present invention and the harvesting efficiency of conventional method
Comparison diagram.
Specific embodiment
To keep technical solution of the present invention and advantage clearer, below in conjunction with attached drawing to embodiment of the present invention make into
One step it is described in detail.
Embodiment one
The embodiment of the invention provides a kind of harvesting methods, as shown in Figure 1, include step S101, S102, S103 and
S104 below will be specifically introduced each step.
In step s101, make a reservation for plot to be gathered in for rectangle and the square of rectangle frame from big to small is first carried out using harvester
Shape frame gathers in stroke, then carries out straight line in the smallest rectangle frame and gathers in stroke；
In step s 102, it according to the operating parameter of the form parameter in rectangle plot to be gathered in and harvester, is gathered in
The relationship of the number of strokes of total time used and rectangle frame harvesting stroke；
In step s 103, it according to the relationship with the number of strokes of rectangle frame harvesting stroke of harvesting total time used, obtains
The first row number of passes of corresponding rectangle frame harvesting stroke when to total time minimum, and straight line harvesting row is obtained according to the first row number of passes
The second stroke number of journey；
In step S104, the rectangle frame harvesting of first stroke number is first carried out using harvester on rectangle plot to be gathered in
Stroke, the straight line for then carrying out second stroke number gather in stroke.
In some embodiments in the present embodiment, the operating parameter of harvester includes working width Bp, Acceleration and deceleration time
t1, acceleration and deceleration distance l1, stablize operating speed V, 180 ° of operation turning time t2, 90 ° of operation turning time t3, 180 ° of idle running when
Between t4With half-turn distance l4, the form parameter in rectangle plot to be gathered in includes that the length L in rectangle plot to be gathered in and rectangle wait for
The width W in harvesting plot obtains gathering in used according to the operating parameter of the form parameter in rectangle plot to be gathered in and harvester
The relationship of the number of strokes of total time and rectangle frame harvesting stroke, comprising:
The stabilization activity duration t of i-th of rectangle frame of harvesting when harvester progress rectangle frame harvesting is calculatedzi, harvesting
The stabilization activity duration t of i-th of rectangle frameziIt is calculated using following formula:
In the present embodiment, it according to the operating parameter of the form parameter in rectangle plot to be gathered in and harvester, is gathered in
The relationship of the number of strokes of total time used and rectangle frame harvesting stroke, further includes:
Rectangle frame harvesting total time T is calculated1, rectangle frame harvesting total time T1It is calculated using following formula:
In above formula, n1The number of strokes of rectangle frame harvesting is carried out for harvester.
In the present embodiment, it according to the operating parameter of the form parameter in rectangle plot to be gathered in and harvester, is gathered in
The relationship of the number of strokes of total time used and rectangle frame harvesting stroke, further includes:
It calculates straight line and gathers in turning time T2, straight line harvesting turning time T2It is calculated using following formula:
T2=n2·t4,
In above formula, n2The number of strokes of straight line harvesting is carried out for harvester, carries out the number of strokes n of straight line harvesting2With progress square
The number of strokes n of shape frame harvesting1Between relationship be
It calculates straight line and gathers in and stablize activity duration T3, straight line, which gathers in, to be stablized the activity duration and is calculated using following formula:
In the present embodiment, it according to the operating parameter of the form parameter in rectangle plot to be gathered in and harvester, is gathered in
The relationship of the number of strokes of total time used and rectangle frame harvesting stroke, further includes:
Total time T is gathered according to rectangle frame1, straight line gather in turning time T2It is gathered in straight line and stablizes activity duration T3, obtain
The number of strokes n of harvesting total time T used and rectangle frame harvesting stroke1RelationshipHarvesting total time T used and square
The number of strokes n of shape frame harvesting stroke1RelationshipIt is calculated using following formula:
In the present embodiment, the number of strokes n of rectangle frame harvesting stroke1Value range beAccording to harvesting institute
The relationship with the number of strokes of rectangle frame harvesting stroke of total time obtains corresponding rectangle frame harvesting row when total time minimum
The first row number of passes of journey, comprising:
According to the number of strokes n of harvesting total time T used and rectangle frame harvesting stroke1RelationshipAnd rectangle frame
Gather in the number of strokes n of stroke1Value rangeIt obtains gathering in the number of strokes n of stroke in rectangle frame1Value model
It enclosesIt is interior, when total time T minimum corresponding rectangle frame harvesting stroke the first row number of passes N1。
In the present embodiment, the second stroke number of straight line harvesting stroke is obtained according to the first row number of passes, comprising:
The first row number of passes N of corresponding rectangle frame harvesting stroke when by total time T minimum1As progress rectangle frame harvesting
Number of strokes n1, substitute into the number of strokes n for carrying out straight line harvesting2With the number of strokes n for carrying out rectangle frame harvesting1Between relationshipBy the number of strokes n of obtained progress straight line harvesting2Second stroke number N as straight line harvesting stroke2。
In the present embodiment, the number of strokes n of rectangle frame harvesting is carried out1, carry out straight line harvesting number of strokes n2, first stroke
Number N1And second stroke number N2It is rounded.
The beneficial effect of technical solution provided in an embodiment of the present invention includes at least:
Harvesting method provided in an embodiment of the present invention, predetermined plot to be gathered in for rectangle first carry out rectangle using harvester
The rectangle frame of frame from big to small gathers in stroke, then carries out straight line in the smallest rectangle frame and gathers in stroke, that is, combines two kinds
Route is gathered in, carries out being gathered in by the way of straight line harvesting after first carrying out rectangle frame harvesting, to harvester operation route
It is optimized；According to the operating parameter of the form parameter in rectangle plot to be gathered in and harvester, when obtaining gathering in used total
Between with rectangle frame harvesting stroke number of strokes relationship, using rectangle frame harvesting stroke number of strokes as single independent variable, favorably
In quickening arithmetic speed；According to the relationship with the number of strokes of rectangle frame harvesting stroke of harvesting total time used, gathered in
The first row number of passes of corresponding rectangle frame harvesting stroke when total time minimum used, and straight line is obtained according to the first row number of passes and is received
The second stroke number for cutting stroke, using the number of strokes of rectangle frame harvesting stroke as single independent variable, after calculating the first row number of passes
It recycles the first row number of passes to calculate second stroke number, is conducive to accelerate arithmetic speed；Using receipts on rectangle plot to be gathered in
Cutting mill first carries out the rectangle frame harvesting stroke of first stroke number, and the straight line for then carrying out second stroke number gathers in stroke, thus right
Harvesting route is optimized.Due to first having carried out rectangle frame harvesting so that ground block edge have one be enough to support harvester into
The space of 180 ° of row idle running, and harvester carries out than 180 ° operation turnings of 180 ° of idle running fastly, to reduce harvester to same
The plot of sample size carries out gathering in total time used, improves the harvesting efficiency of harvester.
Embodiment two
A kind of harvesting method is present embodiments provided, as shown in Fig. 2, including step S201, S202, S203 and S204, under
Each step will be specifically introduced in face.
In step s 201, make a reservation for plot to be gathered in for rectangle and the square of rectangle frame from big to small is first carried out using harvester
Shape frame gathers in stroke, then carries out straight line in the smallest rectangle frame and gathers in stroke.
It is understood that as shown in figure 3, plan utilization harvester is to rectangle in harvesting method provided in this embodiment
Plot to be gathered in first carries out the harvesting of annular rectangle frame from outside to inside, then carries out in the smallest rectangle frame again shuttle straight
Line harvesting.
In order to determine to carry out rectangle harvesting respectively and carry out the stroke of straight line harvesting, need according to rectangle plot to be gathered in
Form parameter and harvester operating parameter, obtain gathering in the pass of the number of strokes of total time and rectangle frame harvesting stroke used
System；
In the present embodiment, the operating parameter of harvester includes working width Bp, Acceleration and deceleration time t1, acceleration and deceleration distance l1、
Stablize operating speed V, 180 ° of operation turning time t2, 90 ° of operation turning time t3, 180 ° of idle period t4With half-turn away from
From l4, the form parameter in rectangle plot to be gathered in includes the length L in rectangle plot to be gathered in and the width in rectangle plot to be gathered in
W.And it is above-mentioned according to the form parameter in rectangle plot to be gathered in and the operating parameter of harvester, obtain gathering in total time used with
Rectangle frame gathers in the relationship of the number of strokes of stroke, specifically includes the following steps:
In step S202, the stablizing for i-th of rectangle frame of harvesting when harvester carries out rectangle frame harvesting is calculated and makees
Industry time tzi。
Gather in the stabilization activity duration t of i-th of rectangle frameziIt is calculated using following formula:
Specifically, in the operating parameter of harvester, working width BpWhen referring to that harvester moves forward, harvester front
The width that the ceding of Taiwan can gather in stablizes operating speed V and refers to institute's attainable maximum constant speed when harvester stablizes operation,
Acceleration and deceleration time t1Refer to that operating speed V is even to be decelerated to stationary state to harvester from stablizing, or by stationary state it is even accelerate to it is steady
Determine the time required for operating speed, acceleration and deceleration distance l1Refer to that operating speed V is even to be decelerated to stationary state to harvester from stablizing,
Or total distance required for stable operating speed V, 180 ° of operation turning time t are accelerated to as stationary state is even2Refer to harvester
When being turned when carrying out harvesting, the time required for harvester fuselage turns over 180 °, 90 ° of operation turning time t3Refer to receipts
When cutting mill is turned when carrying out harvesting, the time required for harvester fuselage turns over 90 °, 180 ° of idle period t4Refer to receipts
Cutting mill is without harvesting, when only being turned, the time required for harvester fuselage turns over 180 °, and half-turn distance l4Refer to
When harvester carries out half-turn, the required preset space on harvester direction of travel.
It is to carry out pitch of the laps harvesting, the rectangle frame of harvesting from outside to inside along rectangle frame when harvester carries out rectangle frame harvesting
Size become smaller as the circle number of harvesting increases, first lap is outmost turns, and rectangle frame size is maximum, the second circle third circle to the
I circle, rectangle frame size gradually become smaller, and analyze the actual job feature of rectangle frame harvesting, available rectangle frame size
Changing rule are as follows: when harvesting first lap, the length and width of first rectangle frame be equal to the long L in original rectangle plot gather in
Wide W；When harvesting to the second circle, the long L and width W phase of the length of second rectangle frame and wide and original rectangle plot to be gathered in
Than respectively reducing a working width Bp；When harvesting to third circle, the length of third rectangle frame and wide and original rectangle
The long L in plot to be gathered in is compared with width W, respectively reduces two working width Bp；It is available to carry out induction and conclusion, works as harvesting
When being enclosed to i-th, (L+W-2 (i-1) B of Zhou Changwei 2 of i-th of rectangle framep)。
The actual job feature of rectangle frame harvesting is continued to analyze available: be carried out in a circle rectangle frame harvesting
When one long side adds the harvesting of a short side, need to carry out 90 ° of turnings, turning is required by once from stabilization every time
Operating speed V is even to be decelerated to stationary state, then by the even process for accelerating to stable operating speed V of stationary state, therefore each time
All there are 2 acceleration and deceleration distance l in turning1, and carry out playing step in harvesting of the long side plus a short side in harvester
Section, harvester are also required to accelerate to stable operating speed V by stationary state is even, carry out a long side plus one short in harvester
Ending phase in the harvesting on side, harvester are also required to from stablizing that operating speed V is even to be decelerated to stationary state, therefore there is also 2
A acceleration and deceleration distance l1, that is to say, that the every harvesting for carrying out a long side and adding a short side of harvester carries out a circle rectangle
Half in frame harvesting, needs by 4 acceleration and deceleration distance l1, due in this 4 acceleration and deceleration distance l1In, the operation of harvester
Speed is not to stablize operating speed, it is therefore desirable to distinguish the time of the time for stablizing sessions and acceleration and deceleration stage
It calculates, and according to above-mentioned to available after analysis, the stabilization operation distance for gathering in i-th of rectangle frame is 2 (L+W-2 (i-1)
Bp-4l1),
Stablizing operating speed due to harvester is V, gathers in the stabilization activity duration t of i-th of rectangle frameziAre as follows:
In step S203, rectangle frame harvesting total time T is calculated1。
Rectangle frame gathers in total time T1It is calculated using following formula:
In above formula, n1The number of strokes of rectangle frame harvesting is carried out for harvester.
Specifically, in rectangle frame harvesting, the number of strokes of harvester is remembered with enclosing number, and harvester completes a circle rectangle
Frame harvesting, then be denoted as a line number of passes；Refer to that harvester is gathered in from first lap rectangle frame into the i-th circle rectangle frame harvesting,
Stablize the total time of operation, 8n1·t1Refer to that harvester carries out acceleration and deceleration total time required for a circle rectangle frame gathers in, 4n1·
t3Refer to that (starting stage regarded harvester as and turned over one turning total time required for one circle rectangle frame harvesting of harvester progress
45 °, ending phase regards harvester as and has also turned over one 45 °, and the two addition is one 90 °, and another harvester also needs to carry out three
A 90 ° of turnings carry out a circle rectangle frame harvesting and need to turn over 4 90 °, and when harvester is turned when carrying out harvesting,
Harvester fuselage turns over 90 ° and needs t3)。
In step S204, calculates straight line and gather in turning time T2。
Straight line gathers in turning time T2It is calculated using following formula:
T2=n2·t4,
In above formula, n2The number of strokes of straight line harvesting is carried out for harvester, carries out the number of strokes n of straight line harvesting2With progress square
The number of strokes n of shape frame harvesting1Between relationship be
When harvester carries out straight line harvesting, it can do a kind of similar to straight line fold return motion, in straight line harvesting, harvester edge
The long side in rectangle plot to be gathered in do primary movement, then be denoted as one stroke.
Specifically, continue to analyze available to the actual job feature of rectangle frame harvesting, carrying out number of strokes
For n1Rectangle frame harvesting after, the width of rectangle field to be gathered in then there remains W-2n1·Bp, therefore be B using working widthp
When gathering in remaining field, then also need to carry out number of strokes to be n2Straight line harvesting, wherein
In step S205, calculates straight line and gather in and stablize activity duration T3。
The straight line harvesting stable activity duration is calculated using following formula:
Specifically, continue to analyze available to the actual job feature of rectangle frame harvesting, carrying out number of strokes
For n1Rectangle frame harvesting after, the length of rectangle field to be gathered in then there remains L-2n1·Bp, and due to carrying out straight line harvesting
Having carried out number of strokes before is n1Rectangle frame harvesting, gathered in out in rectangle field gather in close to the local of field edge
It is a piece of be enough to support harvester carry out half-turn without crop area, therefore harvester is n carrying out number of strokes2It is straight
When line gathers in, 180 ° of idle running, Er Qieyou can be carried out without crop area close to field edge in rectangle field to be gathered in
It turns while not needing in harvesting, harvester, which carries out 180 ° of idle running, can turn over a biggish turning half in no crop area
Diameter, thus by biggish turning radius so that harvester is also able to maintain certain speed when turning, enter after the completion of turning around to
When gathering in region, harvester can directly stablize operating speed V and be gathered in, therefore in straight line harvesting process, harvester
It whole process can keep stablizing operating speed V in harvesting, therefore can be gathered in each stroke with stablizing operating speed V
Distance has L-2n1·Bp, therefore straight line gather in stablize the activity duration be
It is n due to having carried out number of strokes1Rectangle frame harvesting, the place at close field edge in rectangle field gather in
Gathered in out it is a piece of be enough to support harvester carry out half-turn without crop area, therefore harvester is carrying out number of strokes
For n2Straight line harvesting when, can in rectangle field gather in close to field edge without 180 ° of skies of crop area progress
Turn, carries out being less than the time for carrying out carrying out 180 ° of operations turning the time required to 180 ° of idle running, and carry out harvester when 180 ° of idle running
Certain speed can be kept, so that harvester does not need to accelerate in harvesting, can directly stablize operating speed V and be received
It cuts, the harvesting time needed for saving straight line harvesting.
In step S206, total time T is gathered according to rectangle frame1, straight line gather in turning time T2It gathers in stablize with straight line and make
Industry time T3, obtain the number of strokes n for gathering in total time T and rectangle frame harvesting stroke used1Relationship
The number of strokes n of harvesting total time T used and rectangle frame harvesting stroke1RelationshipIt is counted using following formula
It calculates:
In the number of strokes n for obtaining gathering in total time T and rectangle frame harvesting stroke used1RelationshipAfterwards, then root
According to the relationship with the number of strokes of rectangle frame harvesting stroke of harvesting total time used, corresponding rectangle when total time minimum is obtained
Frame gathers in the first row number of passes of stroke, and obtains the second stroke number of straight line harvesting stroke according to the first row number of passes.
In the present embodiment, the number of strokes n of rectangle frame harvesting stroke1Value range beIt is above-mentioned according to receipts
The relationship with the number of strokes of rectangle frame harvesting stroke for cutting total time used, obtains corresponding rectangle frame when total time minimum and receives
The first row number of passes of stroke is cut, and the second stroke number of straight line harvesting stroke is obtained according to the first row number of passes, is specifically included as follows
Step:
In step S207, according to the number of strokes n of harvesting total time T used and rectangle frame harvesting stroke1RelationshipAnd rectangle frame
Gather in the number of strokes n of stroke1Value rangeIt obtains gathering in the number of strokes n of stroke in rectangle frame1Value rangeIt is interior, when total time T minimum corresponding rectangle frame harvesting stroke the first row number of passes N1。
It is understood that harvester is when carrying out half-turn, in the direction of travel due to the mechanical property of harvester
It needs to reserve a half-turn distance l4, and the working width of harvester is Bp, therefore harvester at least needs to carry out number of strokes
ForRectangle frame harvesting, just a piece of can be enough to support to gather in wait gather in the position in field close to field edge and gather in out
Machine carry out half-turn without crop area, therefore the number of strokes n of rectangle frame harvesting stroke1Value range lower limit be
And due to it is used in the embodiment of the present invention be that rectangle frame harvesting and straight line gather in the harvesting mode that combines, if harvesting
Machine initially carry out number of strokes be forRectangle frame harvesting when, then be equivalent to full utilization rectangle frame harvesting rectangle is waited for
Harvesting field is gathered in, and physical planning of the invention, therefore the number of strokes n of rectangle frame harvesting stroke are not met1Value model
Placing limit is
In the present embodiment, the number of strokes n of rectangle frame harvesting is carried out1, carry out straight line harvesting number of strokes n2It is rounded.
In the number of strokes n of rectangle frame harvesting stroke1Value rangeIt is interior, whenWhen for integer, rectangle frame is received
Cut the number of strokes n of stroke1It can getIt is considered as at this time and carries out number of strokes as n1Rectangle frame harvesting can make due-in to cut field
In close to a piece of no crop area gathered in out of position at field edge be just enough that harvester is supported to carry out half-turn, ifIt is not integer, when for example, 3.5, then rounds up, by the number of strokes n of rectangle frame harvesting stroke1It is determined as 4,
180 ° of idle running are carried out to reserve enough distances for harvester.
In the number of strokes n of rectangle frame harvesting stroke1Value rangeIt is interior, whenWhen for integer, rectangle frame
Gather in the number of strokes n of stroke1It can not getBecause if the number of strokes n of rectangle frame harvesting stroke1It getsThen it has been considered as
Rectangle field to be gathered in is gathered in the harvesting of complete utilization rectangle frame, does not meet physical planning of the invention, and ifIt is not
When integer, rectangle frame gathers in the number of strokes n of stroke1It need to be rounded downwards.
It is understood that the harvesting efficiency of harvester refers to the time required for the field of harvesting unit area, that is, receive
Cut efficiencyRectangle plot to be gathered in for having determined form parameter, total time T is smaller to mean that harvesting efficiency
It is higher.
It is obtained using the method in step S206It afterwards, can be using the computer software with analog functuion, such as
MATLAB etc. obtains gathering in the number of strokes n of stroke in rectangle frame1Value rangeIt is interior, what total time T can obtain
Minimum value, and the number of strokes n for the corresponding rectangle frame harvesting stroke of minimum value for finding out total time T1, and the n that will be obtained1It is determined as
The first row number of passes N of rectangle frame harvesting stroke1。
Since the operating parameter of harvester is different, the first row number of passes N1It would also vary from, but generally, when rectangle frame is received
Cut the number of strokes n of stroke1It getsWhen interior minimum value, total time T is minimum, that is, the first row number of passes N determined1
Generally sectionIn minimum value.
In step S208, the first row number of passes N of corresponding rectangle frame harvesting stroke when by total time T minimum1As into
The number of strokes n of row rectangle frame harvesting1, substitute into the number of strokes n for carrying out straight line harvesting2With the number of strokes n for carrying out rectangle frame harvesting1It
Between relationshipBy the number of strokes n of obtained progress straight line harvesting2The second row as straight line harvesting stroke
Number of passes N2。
In the present embodiment, the first row number of passes N1And second stroke number N2It is rounded.
In the first row number of passes N for determining rectangle frame harvesting1And the second stroke number N of straight line harvesting stroke2Afterwards, then into
Row following steps:
In step S209, the rectangle frame harvesting of first stroke number is first carried out using harvester on rectangle plot to be gathered in
Stroke, the straight line for then carrying out second stroke number gather in stroke.
Utilize the first row number of passes N for the rectangle frame harvesting determined1And the second stroke number N of straight line harvesting stroke2,
First stroke number N is first carried out using harvester on rectangle plot to be gathered in1Rectangle frame gather in stroke, then carry out the second row
Number of passes N2Straight line gather in stroke.
The beneficial effect of technical solution provided in an embodiment of the present invention includes at least:
Harvesting method provided in an embodiment of the present invention, predetermined plot to be gathered in for rectangle first carry out rectangle using harvester
The rectangle frame of frame from big to small gathers in stroke, then carries out straight line in the smallest rectangle frame and gathers in stroke, that is, combines two kinds
Route is gathered in, carries out being gathered in by the way of straight line harvesting after first carrying out rectangle frame harvesting, to harvester operation route
It is optimized；The stabilization activity duration of i-th of rectangle frame of harvesting when harvester progress rectangle frame harvesting is calculated；It calculates
Obtain rectangle frame harvesting total time；It calculates straight line and gathers in turning time；It calculates straight line and gathers in and stablize the activity duration, i.e., receive two kinds
It cuts mode and all carries out piecewise analysis, improve the accuracy of calculated harvesting time；Total time, straight line are gathered according to rectangle frame
It gathers in turning time and straight line gathers in and stablizes the activity duration, obtain the row for gathering in total time T and rectangle frame harvesting stroke used
The relationship of number of passes is conducive to accelerate arithmetic speed using the number of strokes of rectangle frame harvesting stroke as single independent variable；According to harvesting
The value of the number of strokes of the relationship and rectangle frame harvesting stroke of the number of strokes of total time T used and rectangle frame harvesting stroke
Range obtains in the value range that rectangle frame gathers in the number of strokes of stroke, when total time T minimum corresponding rectangle frame harvesting row
The first row number of passes of journey；The first row number of passes of corresponding rectangle frame harvesting stroke is as progress rectangle frame when using total time T minimum
The number of strokes of harvesting substitutes into the relationship between the number of strokes for carrying out straight line harvesting and the number of strokes for carrying out rectangle frame harvesting, will
Second stroke number of the number of strokes for the progress straight line harvesting arrived as straight line harvesting stroke, by the number of strokes of rectangle frame harvesting stroke
As single independent variable, recycles the first row number of passes to calculate second stroke number after calculating the first row number of passes, be conducive to accelerate
Arithmetic speed；On rectangle plot to be gathered in using harvester first carry out first stroke number rectangle frame harvesting stroke, then into
The straight line of row second stroke number gathers in stroke, so that harvesting route be optimized.Due to first having carried out rectangle frame harvesting, make
Obtaining ground block edge has to be enough the spaces for supporting harvester to carry out 180 ° of idle running, and harvester carries out 180 ° and dallies than 180 °
Operation turning is fast, and is able to maintain certain turning speed, and harvester can be made to more quickly restore stable operation speed after turning
V is spent, an equal amount of plot is carried out to gather in total time used to reduce harvester, improves the harvesting effect of harvester
Rate.
After harvesting method provided in this embodiment is simulated in a computer it can be found that using the present embodiment provides
Rectangle frame harvesting and the straight line harvesting mode that combines of harvesting to rectangle when gathering in plot and gathering in, and only utilize rectangle
The harvesting mode plot to be gathered in rectangle of frame harvesting is gathered in, and is only waited in the way of the harvesting of straight line harvesting rectangle
Harvesting plot carries out harvesting and compares, and no matter the harvester of which kind of model and the rectangle of which kind of area, which kind of length-width ratio is waited for
It gathers in for field, can there is the raising of different degrees of harvesting efficiency.
Existing mathematical model is programmed (mathematical model based on all formula mentioned hereinabove, for analyzing
Harvesting method provided in this embodiment), with productivity (the i.e. harvesting effect of harvester of the length-width ratio of field to be gathered in and harvester
Rate) between corresponding relationship be objective function, setting harvesting type, field area are influence factor, and 3 kinds of types are respectively set
Horizontal (Kubo field PRO488 type, often hair CF805N type and thunder irrigate mental faculties in quescent slate GF40 type), 2 kinds of area levels (0.3hm^2 (hectare)
With 1hm^2 (hectare)).The obtained productivity of harvesting method provided in this embodiment (i.e. harvesting efficiency) curve, biography will be used
The use of system only carries out the obtained productivity of harvesting method (i.e. harvesting efficiency) curve of rectangle frame harvesting and traditional adopts
It is drawn respectively with the obtained productivity of harvesting method (i.e. harvesting efficiency) curve for only carrying out straight line harvesting, to obtain
Fig. 4 (used in Fig. 4 only carry out rectangle frame harvesting harvesting method for modes I, use only progress straight line harvesting harvesting method for
Mode II uses harvesting method provided in this embodiment for mode III).
From fig. 4, it can be seen that no matter waiting gathering in for the rectangle of the harvester of which kind of model, which kind of area and which kind of length-width ratio
For field, gather in obtained harvesting efficiency using harvesting method provided by the present embodiment and be all higher than using tradition side
Method carries out gathering in obtained harvesting efficiency, therefore harvesting method provided in this embodiment can bring significant beneficial effect.
In this application, it should be understood that term " first ", " second " etc. are used for description purposes only, and should not be understood as
Indication or suggestion relative importance or the quantity for implicitly indicating indicated technical characteristic.
The above is merely for convenience of it will be understood by those skilled in the art that technical solution of the present invention, not to limit
The present invention.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
The protection scope of invention.
Claims (8)
1. a kind of harvesting method, which is characterized in that the described method includes:
Predetermined plot to be gathered in for rectangle first carries out the rectangle frame harvesting stroke of rectangle frame from big to small using harvester, then
Straight line is carried out in the smallest rectangle frame gathers in stroke；
According to the operating parameter of the form parameter in rectangle plot to be gathered in and the harvester, when obtaining gathering in used total
Between with the rectangle frame harvesting stroke number of strokes relationship；
According to the relationship with the number of strokes of rectangle frame harvesting stroke of total time used in the harvesting, when obtaining described total
Between it is minimum when the corresponding rectangle frame harvesting stroke the first row number of passes, and the straight line is obtained according to the first row number of passes
Gather in the second stroke number of stroke；
The rectangle frame harvesting stroke of the first row number of passes is first carried out using the harvester on rectangle plot to be gathered in,
Then the straight line harvesting stroke of the second stroke number is carried out.
2. method according to claim 1, which is characterized in that the operating parameter of the harvester includes working width Bp, plus-minus
Fast time t1, acceleration and deceleration distance l1, stablize operating speed V, 180 ° of operation turning time t2, 90 ° of operation turning time t3、180°
Idle period t4With half-turn distance l4, the form parameter in the rectangle plot to be gathered in includes the length in rectangle plot to be gathered in
Spend the width W in L and rectangle plot to be gathered in, the form parameter according to rectangle plot to be gathered in and the harvester
Operating parameter obtains the relationship for gathering in the number of strokes of total time and rectangle frame harvesting stroke used, comprising:
The stabilization activity duration t of i-th of rectangle frame of harvesting when the harvester progress rectangle frame harvesting is calculatedzi, described
Gather in the stabilization activity duration t of i-th of rectangle frameziIt is calculated using following formula:
3. method according to claim 2, which is characterized in that the form parameter according to rectangle plot to be gathered in and
The operating parameter of the harvester obtains the relationship for gathering in the number of strokes of total time and rectangle frame harvesting stroke used,
Further include:
Rectangle frame harvesting total time T is calculated1, the rectangle frame harvesting total time T1It is calculated using following formula:
In above formula, n1The number of strokes of rectangle frame harvesting is carried out for the harvester.
4. method according to claim 3, which is characterized in that the form parameter according to rectangle plot to be gathered in and
The operating parameter of the harvester obtains the relationship for gathering in the number of strokes of total time and rectangle frame harvesting stroke used,
Further include:
It calculates straight line and gathers in turning time T2, the straight line harvesting turning time T2It is calculated using following formula:
T2=n2·t4,
In above formula, n2The number of strokes of straight line harvesting, the number of strokes n for carrying out straight line harvesting are carried out for the harvester2With into
The number of strokes n of row rectangle frame harvesting1Between relationship be
It calculates straight line and gathers in and stablize activity duration T3, the straight line, which gathers in, to be stablized the activity duration and is calculated using following formula:
5. method according to claim 4, which is characterized in that the form parameter according to rectangle plot to be gathered in and
The operating parameter of the harvester obtains the relationship for gathering in the number of strokes of total time and rectangle frame harvesting stroke used,
Further include:
Total time T is gathered according to the rectangle frame1, straight line gather in turning time T2It is gathered in straight line and stablizes activity duration T3, obtain
The number of strokes n of harvesting total time T used and rectangle frame harvesting stroke1RelationshipIt is total used in the harvesting
The number of strokes n of time T and rectangle frame harvesting stroke1RelationshipIt is calculated using following formula:
6. method according to claim 5, which is characterized in that the number of strokes n of the rectangle frame harvesting stroke1Value range
ForThe relationship with the number of strokes of rectangle frame harvesting stroke of the total time according to used in the harvesting,
Obtain the first row number of passes of the corresponding rectangle frame harvesting stroke when total time minimum, comprising:
According to the number of strokes n of harvesting total time T used and rectangle frame harvesting stroke1RelationshipAnd the square
The number of strokes n of shape frame harvesting stroke1Value rangeIt obtains gathering in the number of strokes n of stroke in the rectangle frame1's
Value rangeIt is interior, when total time T minimum the corresponding rectangle frame harvesting stroke the first row number of passes N1。
7. method according to claim 6, which is characterized in that described to obtain the straight line harvesting according to the first row number of passes
The second stroke number of stroke, comprising:
The first row number of passes N of corresponding rectangle frame harvesting stroke when by the total time T minimum1As progress rectangle frame receipts
The number of strokes n cut1, substitute into the number of strokes n for carrying out straight line harvesting2With the number of strokes n for carrying out rectangle frame harvesting1Between pass
SystemBy the number of strokes n of obtained progress straight line harvesting2Second stroke number N as straight line harvesting stroke2。
8. -7 any the method according to claim 1, which is characterized in that
The number of strokes n for carrying out rectangle frame harvesting1, it is described carry out straight line harvesting number of strokes n2, the first row number of passes N1With
And the second stroke number N2It is rounded.
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