基于GNSS农田平整全局路径规划方法与试验

Global Path Planning Algorithm and Experiment Based on GNSS-controlled Precise Land Leveling System

针对全球导航卫星系统(Global navigation satellite system,GNSS)农田平整系统缺少作业指导且效率低等问题,提出了一种基于GNSS农田平整全局路径规划方法。分析农田实际平整条件,创建适用于土地平整的农田地形环境模型,生成农田地势信息图,研究整块农田地势高程分布特征,以平地作业中空载、满载的无效作业状态最少,转向操作与重复行走最少为条件,生成遍历整个农田的土地平整路径,并通过拉力传感器实时监测铲车载荷。仿真试验结果表明,相对于常规平整方法,所提方法空载、满载率显著减小,达到目标平整度时间节省50%以上。该方法可以规划有效路径,减少无效作业时间,平地效率提高30%以上。

GNSS controlled land leveling technology can improve farmland flatness effectively. To achieve saving the water and fertilizer,increase the effect of income so as to solve the problem on the lack of operation guidance and low efficiency in GNSS controlled land leveling system,a method of global path planning was proposed based on GNSS land leveling system. The theory of farmland leveling system was combined,and the conditions of farmland actual leveling were analyzed. Firstly,the actual condition of farmland was analyzed,and the farmland terrain environment model which was suitable for land-leveling was created,and then the farmland terrain information map was generated,from which the characteristics of farmland terrain distribution can be obtained. Under the condition of the least amount of invalid work about loaded and unloaded,and the condition of the least amount of steering and repetitive work,the traversal of the entire farmland land formation path was generated. The tension sensor was used to monitor the real time load of forklift. Then the simulated experiments were done and the data were analyzed,and the simulation results showed that compared with the conventional leveling method,in the method,the time of loaded and unloaded was significantly reduced,and the time of work was saved by more than50%. The method can plan effective paths,reduce inefficient operating time,and increase the efficiency of land-leveling by more than 30%.