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Computer modelling of the movement of agricultural machinery during field
FILIP, Martin
This dissertation deals with the problem of optimizing the number of hauling trailers and loaders in the handling, collection and transport of bales of fodder or straw from the land to the storage site in order to achieve the lowest possible consumption of human labour. The automated decision-making process allows the optimum number of removal trailers and loaders to be selected s that there is no unnecessary downtime for the handling equipment while waiting for the transport equipment or, conversely, no lost time for the removal trailers due to insufficient loader capacity. The basic function of the optimization program is to process a Google Maps image of a real plot of land, detect its boundaries and, on the basis of estimates of forage or straw yields, estimate the approximate distribution of predefined bale sizes and determine the centroids, i.e. the locations where the hauler should be positioned when loading.The centroid is also the point from which the shortest travel distances for the loader are obtained. The centroids are assigned successively to the packages with the lowest distance until the group is full. This is the condition where the number of bales in the group corresponds to the transport capacity of the conveyor. Another function of the optimization algorithm is to schedule the travel routes in the centroid and based on the input value of the average speed of the loader, the time required for the travel of this machine is calculated. To the total working time of the loader is added the time required for driving from the storage area of the machine to the plot, as well as the time required for driving from the point of entry to the working area to the centroid, and the driving time from the processed centroid to the other centroids, including the driving time from the harvested areas back to the place where the loader will be parked. In addition, the value of the time required to lift all bales in the centroids and place them on the conveyor and the downtime of the manipulator are added to the loader's travel time to obtain the loader's total time. The working time of the removal trains is calculated from the distance of the route (multiplied by the average speed of these machines) from the storage location of the machines to the centroid, the loading time and the time required to travel to the storage location of the bales, including the time required to remove the bales from the removal trains. The time of the loaders and the removal trains is evaluated simultaneously, in synchronisation, and it is calculated whether there are any lost times, which are added successively to the working times. The optimization program sequentially calculates the different variants for (n) loaders, (n) transfer sets, evaluates which variant consumes the least time and is therefore optimal in terms of the lowest time consumption.
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