悬挂式深松机耕整地耕深检测方法研究

摘要

耕深作为深松作业质量的重要指标,长期以来无法实现在线评估,目前以人工抽测为主,误差大,效率低.以提高农机深松耕整地作业质量为目标,提出一种基于深松机组姿态估测的耕深检测方法及系统.首先分析了牵引拖拉机以及悬挂式深松机在作业过程中的运动轨迹,建立了拖拉机与深松机作业耕深检测模型.该模型通过检测安装在拖拉机后悬挂杆和悬挂式深松机上的姿态传感器输出角度,实时计算深松机耕深.为验证该检测模型的精度,设计了基于嵌入式ARM内核的耕深检测传感器和深松作业检测系统,该系统集卫星定位系统(GPS)、移动网络传输(GPRS)、数据存储(SD卡)等于一体,能实时采集深松机作业耕深、作业位置、作业速度及航向信息,数据存储在检测系统的终端设备中,并通过移动网络传送至远程数据中心做进一步融合处理,以对深松作业质量进行综合评价.将耕深检测传感器进行静态标定,耕深检测标定误差小于0.88 cm,平均误差小于0.21 cm,均方根误差小于0.66 cm.利用标定后的传感器及深松作业检测系统在田间开展多组试验,试验结果显示该系统耕深检测最大误差为1.18cm,多组试验数据的平均误差小于0.45 cm,均方根误差小于0.64 cm,表明该系统耕深检测精度和稳定性较高.%Tilling depth was usually detected manually with a ruler in many cultivation areas in China,which was inefficient and the result had a high uncertainty,which made subsoiling monitoring difficult.A depth algorithmic model was studied on basis of the attitude of tractor's three-point hitch for measuring tilling depth and based on which a subsoiling management system was developed and implemented.For establishing the measurement model,the movement path of the tractor and subsoiler was analyzed,and by studying the dynamical equation,the tilling depth measurement model was proposed.Tilling depth was calculated in the model by detecting the attitude of the tractor and subsoiler.In order to verify the accuracy of the measurement method,an ARM kernel based tilling depth measurement sensor and a monitoring system were developed.The system integrated GPS,GPRS and SD card together,which had ability of tilling depth measuring,working speed measuring,working position measuring and heading measuring.The working data was stored in SD card of the system,and was transmitted to the data center by GPRS at the same time for further process.The system calibration test showed that the maximum error was 0.88 cm,the average error was less than 0.21 cm,the root mean square error (RMSE) was less than 0.66 cm.Using the calibrated system to take several tests in field,the result showed that the maximum error was 1.18 cm,the average error was less than 0.45 cm and the RMSE was less than 0.64 cm,which indicated that the system had a high accuracy and stability.The system supplied an information-based method for monitoring the operation quality of subsoiling,and solved the problems caused by manual measuring.The system was useful in farming industry.