农田耕后地表微地貌自走遥控测量装置设计与试验

针对油菜精量联合直播机作业后,田间作业厢面微地貌形状特征参数测量困难、传统测量方法存在测量效率和误差难以兼顾、现有测量装置操作便捷性不够的问题,设计了一种自走遥控地表微地貌测量装置。该装置主要由行走部件和微地貌测量系统组成,装置可以通过遥控操作到达指定测量区域并通过手机APP控制激光雷达扫描作业高度和扫描作业速度及实时显示测量装置测量状态信息,实现农田耕后地表微地貌特征高效测量。对装置行走部件悬挂避振机构和驱动机构行走驱动力进行了设计和分析,确定了弹簧避振器中圆柱螺旋压缩弹簧参数和驱动机构驱动电机参数;对微地貌测量系统控制单元硬件和软件进行了设计,确定了控制单元硬件电路和软件工作流程;对装置倾斜误差和系统误差进行了分析,消除了装置倾斜误差和系统误差。开展了装置田间测量试验,对地表厢面微地貌特征及畦沟沟型进行了测量,结果表明：相较于传统针板法测量方式,所开发的微地貌测量装置测量油菜直播机作业后的地表微地貌特征,获得的厢面平整度特征参数高度均方根、表面相关长度、畦沟平均沟宽、沟宽稳定性系数、平均沟深和沟深稳定性系数误差分别为4.01%、4.81%、3.70%、1.34%、2.09%和2.8...

Design and Experiment of Farmland Surface Micro-landform Measuring Device after Rapeseed Planter Seeding

Aiming at the problems that the characteristic parameters'' measurement of the micro-landform shape of the working surface is difficult, the measuring efficiency and error by the traditional measurement method are difficult to balance, and the operation convenience of the existing measurement device is not enough after the operation of the rapeseed combined direct seeder, and a self-propelled remote control farmland surface micro-geomorphology measuring device was designed. The device was mainly composed of a moving unit and a micro-geomorphology measurement system. The device can reach the designated measurement area by remote control operation, control the laser radar to scan height and speed by the mobile phone APP, and display the measurement status information in real time to realize the efficient measurement of the shape characteristics of the farmland surface micro-geomorphology. The driving force of the suspension vibration avoidance mechanism and the driving mechanism of the moving unit of the device was designed and analyzed, and the parameters of the cylindrical spiral compression spring and the driving motor of the moving unit were determined. The hardware and software of the control unit of the micro-landform measurement system were designed, and the hardware circuit and software workflow of the control unit were determined. The tilt error and system error of the device were analyzed, and the correction method of eliminating tilt error and system error was determined. The field measurement test of the device was carried out to measure the micro-geomorphologic characteristics of the surface and the furrow type. The results showed that the developed farmland surface micro-geomorphologic measuring device measured the surface micro-geomorphologic shape characteristics after the operation of the rapeseed combined direct seeder and the rape micro-ridge direct seeding machine. The root mean square height, surface correlation length, average furrow width, furrow width stability coefficient, average furrow depth and furrow depth stability coefficient were 4.01%, 4.81%, 3.70%, 1.34%, 2.09% and 2.89%, respectively.