关键词: 小麦收割机, 复杂边界, 路径规划, 行走方向, 转弯次数

Abstract: For wheat harvester working path planning under complicated boundary problems, because the agricultural machinery operation paths largely determine the operation quality, efficiency, and cost, the cutter path planning model based on operation direction was set up, and an algorithm was presented in view of the convex and concave side boundary farmland with the least number of turns. The algorithm included the scanline method to calculate the number of turns with convex edges and the imaginaryregionfilling method to calculate the number of turns with concave edges. The rotation step method is used to calculate the optimal working direction corresponding to the minimum number of turns, and the optimal path trajectory of the harvester is obtained. The results of the simulation field boundary show that the optimization algorithm can effectively obtain the operation direction and path trajectory with the least number of turns. In the simulation case of the convex edge field, the optimization degree of the optimal operation direction can reach 11.32% compared with the path along the long side direction. In the field simulation case with concave edges, the optimization degree of the optimal operation direction is 5.66% compared with the path along the long side. The path planning model and algorithm can provide a certain decision basis for harvester harvesting in an actual complex boundary environment.

Key words: wheat harvester, complex boundary, path planning, direction of operation, optimization algorithm