基于BDS和角度检测的不规整田块旋耕作业质量监测与试验  

Quality Monitoring and Experiment of Rotary Tillage in Irregular Fields based on BDS and Angle Detection

作　　者：陈雷 鲁植雄[1] 黄薛凯 陈楠[1] CHEN Lei;LU Zhi-xiong;HUANG Xue-kai;CHEN Nan(College of Engineering,Nanjing Agricultural University,Nanjing 210031,China)

机构地区：[1]南京农业大学工学院,南京210031

出　　处：《沈阳农业大学学报》2022年第2期229-238,共10页Journal of Shenyang Agricultural University

基　　金：国家重点研发计划项目(2016YFD0701100)。

摘　　要：为精准监测不平整田块的旋耕耕深并准确测量不规整田块的作业面积,进而分析旋耕作业质量。在对拖拉机旋耕机组进行运动分析和仿真的基础上,通过线性回归建立基于拖拉机提升臂角度和车身倾角的综合耕深监测模型。基于BDS(BeiDou Navigation Satellite System,北斗卫星导航系统)采集旋耕机组的作业轨迹,将耕深数据和缓冲区算法结合,筛选有效作业轨迹并建立多段缓冲区,通过Vatti算法裁剪合并分段缓冲区,并使用多边形面积公式计算旋耕有效作业面积,进一步分析计算重耕率、漏耕率。为了验证该旋耕作业面积测算方案的精度,通过LabVIEW整合处理BDS和多种传感器的数据,搭建旋耕作业质量监测系统,并进行田间试验。田间试验结果表明:耕深测量系统的最大误差为6.6mm,在最佳耕深区间的平均误差为3.6mm,满足耕深监测需求。对于不规整田块,有效作业面积测量算法的面积相对误差均值为0.27%,优于基于全程作业轨迹和幅宽的传统面积测量算法的相对误差均值7.5%,且不受田块形状和旋耕路线的影响,可对旋耕有效作业面积进行精确计算。经田间试验验证,拖拉机旋耕作业质量监测系统能有效适应不规整田块,精准监测耕深和测算作业面积,分析作业质量,减轻人力负担,研究结果为进一步搭建智能拖拉机作业管理平台提供理论依据和数据参考。For the purpose of accurately monitor the rotary tillage depth of uneven land and accurately measure the operation area of irregular land,and then analyze the rotary tillage quality,according to the motion analysis and simulation of tractor-rotary tiller,a comprehensive depth monitoring model was set up using linear regression based on tractor body inclination angle and lifting arm angle.The operation track of rotary tillage unit is collected based on BDS(Beidou navigation satellite system);combining the tillage depth data with buffer algorithm,the effective operation track is screened and multi-stage buffer is established.The segmented buffer is merged by Vatti algorithm and the effective cultivated area of rotary tillage is calculated with polygon area formula,and then the back set rate and the omitted ploughing rate are calculated.In order to verify the accuracy of the rotary tillage area calculation scheme,a rotary tillage quality monitoring system was built through LabVIEW to integrate and process the data of BDS and various sensors,and field experiments were carried out.The results shows that the maximum error of the tillage depth measurement system is6.6mm,and the average error in the optimal tillage depth range is 3.6mm,which meets the requirement of tillage depth monitoring.For irregular plots,the average relative error of the effective working area measurement algorithm is 0.27%,which is much less than7.5%of the traditional area measurement algorithm based on the whole working track and width,and it is not affected by the shape of the field and the rotary tillage route.Field experiments show that the tractor rotary tillage quality monitoring system can effectively adapt to irregular fields,accurately monitor the tillage depth,calculate the cultivated area,and then analyze the operation quality,reduce the human burden.The research results provide theoretical basis and data reference for further building of intelligent tractor operation management platform.

关 键 词：旋耕 耕深 作业轨迹 缓冲区分析 作业面积 

分 类 号：S222.3[农业科学—农业机械化工程] S233.1[农业科学—农业工程]