| 摘要: |
| 针对适度规模的农业收获场景下收割机与运粮车协同调度大多依赖人工经验，运粮车缺乏精确、合理规划的问题，为优化协同响应过程，获得多运粮车多路径的优化调度方案，将满足一定条件的农田区域定义为任务单元，探究收割机与运粮车的响应模式，利用动态规划思想划分任务单元的时间状态，建立调度响应模型和设计动态时间槽算法。根据收割机等待时间与运粮车转移距离的先后决策顺序，采用不同策略设计算法A与算法B。利用仿真案例对算法结果进行对比测试，探究数量配比与收割效率对调度方案的影响。结果表明:1)基于收割机等待时间为优先决策的算法A要优于以运粮车转移距离为优先决策的算法B；2)在运粮车资源不足场景下，当任务单元与运粮车数量相近时，提高运粮车数量带来的增益减少；当两者数量相差显著时，会造成运粮车转移距离和收割机等待时间显著增加；3)收、运数量比为3∶2 时，应保持收割效率 0.40 hm2/h，获得该配置下最优作业效率，使等待时间和转移距离最小，非生产性成本最低。因此在缺少运输设备的实际收获环境中，服务组织应合理选择收割效率同时避免收割机与运粮车数量差距过大，更好地解决多机协同响应的调度优化问题。 |
| 关键词: 任务单元 动态规划 运粮车 时间槽 收割效率 调度优化 |
| DOI：10.11841/j.issn.1007-4333.2020.11.14 |
| 投稿时间：2020-02-18 |
| 基金项目:国家重点研发计划子课题(2017YFD0700601-2)；中国农业科学院科技创新工程(农科院办(2014)216号) |
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| Research on response scheduling optimization of harvesters and grain trucks based on work units |
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CAO Guangqiao1,NAN Feng1,2,CHEN Cong1,ZHANG Qingkai3
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| (1.Nanjing Research Institute for Agricultural Mechanization, Ministry of Agriculture and Rural Affairs, Nanjing 210014, China;2.Graduate school of Chinese Academy of Agricultural Sciences, Beijing 463000, China;3.College of Mechanical and Electronic Engineering, Northwest A & F University, Yangling 712100, China) |
| Abstract: |
| Aiming at the problem that the harvesters and grain trucks operation scheduling mostly relies on manual experience and lacks reasonable planning in the current agricultural production, a mathematical model of cooperative response scheduling was established. The response mechanism of harvester and grain truck and the optimal solution with the least waiting time of the harvesters and the minimum transfer distance of the grain trucks were introduced. This study defined the work unit, divided the time slot according to the harvesting frequency by the harvesting times and designed the dynamic programming algorithm. Algorithm A and B were proposed based on different strategies. The results of the two algorithms were compared and the influence of quantity ratio and harvesting efficiency was explored by means of simulation case analysis. The results show that: 1)The total cost of non-productive activities of generating scheme of algorithm A was superior to that of B; 2)When the number of grain transport vehicles was insufficient and there was a significant difference from the number of task units, the transfer distance of grain transport vehicles and the waiting time of harvesters were significantly increase; 3)When the quantity of collection and transportation is 3∶2, the harvesting efficiency maintained at 0. 40 hm2/h to obtain the optimal response operation efficiency, minimum waiting time and transfer distance, and minimum non-production cost under this configuration. The model and algorithm solved the accurate path planning of multi-path for multi-grain vehicles. In actual production scheduling, the harvesting efficiency should be selected reasonably and the quantity gap between harvesters and grain carriers should be narrowed so as to solve the scheduling optimization problem better under the situation of insufficient grain carriers. |
| Key words: work unit scheduling model time division gain trucks operation efficiency objective optimization |
