Abstract:In order to solve the problems of difficult on-site planning of the hybrid cotton picker's operation paths in the cotton field environment in Xinjiang, optimize the operation energy consumption of the hybrid cotton picker under different driving angles in each cotton field, as well as the waste of energy consumption caused by the differentiation of their transfer sequences between cotton fields, a method of operation path planning based on energy consumption model and Harris hawks optimization algorithm was investigated. The cotton field model that met the actual operation requirements was constructed and calibrated by combining the easily accessible high-precision electronic map with the harvesting requirements of the cotton picker at the boundary of the cotton field. The dynamic characteristics and machine parameters of the hybrid cotton picker were analyzed, and the quantitative relationship between the turning mode and energy consumption was considered to construct the operation energy consumption of the hybrid cotton picker in the cotton field with the operation direction angle as the only optimization target. The greedy heuristic strategy based on the distance matrix and the nonlinear energy attenuation factor were introduced to solve the original defects of the Harris hawks optimization algorithm in solving the transfer sequence, and the energy waste caused by the redundant paths in the transfer sequence was reasonably eliminated. Experimental results showed that the hybrid cotton picker's operating energy consumption was reduced by 42.80%, the path was reduced by 51.13%, and the production efficiency was increased by 44.02% after the energy consumption model was added;the improved HHO algorithm reduced the path length of the transition sequence by 6.13%, which verified the good effect of the proposed operation path planning method.
