超声波传感器评定水田激光平地机水平控制系统性

为了评定水田激光平地机平地铲水平控制系统性能,采用2个SensComp 600超声波传感器测量平地铲两端与参考水平面的距离,然后利用三角关系计算得到平地铲倾斜角度.对超声波测距、传感器与反射面成一定夹角的影响以及运动对测量的影响因素进行了分析,并与姿态航向参考系统AHRS500GA-226提供的参考倾角进行了对比,结果表明2个超声波传感器在静态和动态条件下均能较准确地测量出平地铲倾斜角度,最大静止误差和最大动态误差分别为0.08°和1.00°.在平整的水泥地面上对平地铲水平系统性能进行了测试,实验结果表明,水田激光平地机水平控制系统倾斜角度测量准确,误差不超过1.00°,整个系统能较好地实现平地铲水平控制,满足水田平整作业需要.

of Leveling Performance for Laser-controlled Leveling Machine in Paddy Field Based on Ultrasonic Sensors

In order to evaluate the leveling performance of the paddy field leveling machine,the inclination of the harrow was measured using two SensComp 600 ultrasonic sensors.The ultrasonic sensors were fixed on the harrow's end,and distances of each harrow's end to referenced horizontal were measured to calculate the gradient angle of the harrow.Some factors having effect on the measurement of the gradient angle were analyzed,such as the distance measured by the ultrasonic sensors,the measuring angles of the senso...