耕作土壤沟形测量系统设计与试验
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摘要
针对耕作部件作业后土壤表面沟形特征参数测量困难,以及传统测量方法存在测量效率、误差难以兼顾的问题,设计了一种基于激光三角法的耕作土壤沟形测量系统。该系统包括便携式硬件结构和交互式软件系统,硬件结构主要由X/Y轴电动导轨、激光测距传感器、旋转编码器、便携式计算机、水平仪和型材支架组成;基于LabView构建的交互式软件可根据运动控制器和旋转编码器信号对X/Y轴电动导轨实现高精度扫描定位,交互式界面实时显示沟宽、沟深及沟形断面轮廓曲线,获取的点云数据通过空间插值和曲面拟合算法得到沟形三维数字化模型。精度测量试验和田间应用试验结果表明:直径方向测量的平均绝对误差为0. 59 mm,厚度方向测量的平均绝对误差为0. 02 mm;与图像检测法对比,系统测量误差最大降低2. 1%,同时随着沟形断面采样次数增加测量值趋于稳定,测量误差呈指数函数下降;与田间人工测量相比,该系统测量相对误差最大为5. 86%,平均相对误差为3. 37%,能够满足农田土壤耕后沟形自动化测量的需要。
In order to solve the problem that the characteristic parameters of soil surface groove are difficult to be measured after the operation of soil tillage parts,the traditional measurement methods have problems in measurement efficiency and error. A tillage soil groove measurement system based on laser triangulation was designed,the system included portable hardware structure and an interactive software system. The hardware structure was mainly composed of X/Y axis electric guides,laser range finder,rotary encoders,portable computer,level and aluminium profile. The interactive software based on LabView can realize high-precision scanning and positioning of X/Y electric guides based on motion controller and rotary encoder signals,the interactive interface displayed the groove width,groove depth,real-time plotting of soil disturbance and groove contour curve. The acquired points cloud was obtained by a spatial interpolation and the surface fitting algorithm to obtain a grooved 3-dimensional digital model.The field experiments and precision,method comparison experiments were conducted. The results showed that the measurement errors of horizontal direction and vertical direction were 0. 59 mm and 0. 02 mm,respectively. Compared with image detection method,the average relative errors of RMSH and CL were reduced by 2. 1% and 1. 1%,respectively. The measured value tended to be stable with the increase of sampling times,which can be used as the true value of measurement,and the measurement error was decreased exponentially. The average measuring time and relative error of the system measurement were 3. 37% and 0. 72 m~2,respectively. The measuring system had measuring accuracy and reliability,which can satisfy automatic measurement of furrow type after farmland soil tillage. The requirement of chemical measurement provided a new idea for the quality analysis of soil tillage components and evaluation of tillage machinery and equipment.
In order to solve the problem that the characteristic parameters of soil surface groove are difficult to be measured after the operation of soil tillage parts,the traditional measurement methods have problems in measurement efficiency and error. A tillage soil groove measurement system based on laser triangulation was designed,the system included portable hardware structure and an interactive software system. The hardware structure was mainly composed of X/Y axis electric guides,laser range finder,rotary encoders,portable computer,level and aluminium profile. The interactive software based on LabView can realize high-precision scanning and positioning of X/Y electric guides based on motion controller and rotary encoder signals,the interactive interface displayed the groove width,groove depth,real-time plotting of soil disturbance and groove contour curve. The acquired points cloud was obtained by a spatial interpolation and the surface fitting algorithm to obtain a grooved 3-dimensional digital model.The field experiments and precision,method comparison experiments were conducted. The results showed that the measurement errors of horizontal direction and vertical direction were 0. 59 mm and 0. 02 mm,respectively. Compared with image detection method,the average relative errors of RMSH and CL were reduced by 2. 1% and 1. 1%,respectively. The measured value tended to be stable with the increase of sampling times,which can be used as the true value of measurement,and the measurement error was decreased exponentially. The average measuring time and relative error of the system measurement were 3. 37% and 0. 72 m~2,respectively. The measuring system had measuring accuracy and reliability,which can satisfy automatic measurement of furrow type after farmland soil tillage. The requirement of chemical measurement provided a new idea for the quality analysis of soil tillage components and evaluation of tillage machinery and equipment.
引文
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[2]王晓燕,高焕文,李洪文,等.保护性耕作对农田地表径流与土壤水蚀影响的试验研究[J].农业工程学报,2000,16(3):66-69.WANG Xiaoyan,GAO Huanwen,LI Hongwen,et al. Experimental study on runoff and erosion under conservative tillage[J].Transactions of the CSAE,2000,16(3):66-69.(in Chinese)
[3]刘晓鹏,肖文立,刘立超,等.油菜联合直播机组合式船形开沟器设计与开沟质量试验[J/OL].农业机械学报,2017,48(11):79-87.LIU Xiaopeng,XIAO Wenli,LIU Lichao,et al. Design and ditching quality experiment on combined ship type opener of direct rapeseed seeder[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(11):79-87. http:∥www.j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20171110&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2017. 11.010.(in Chinese)
[4]郑侃,何进,李洪文,等.基于离散元深松土壤模型的折线破土刃深松铲研究[J/OL].农业机械学报,2016,47(9):62-72.ZHENG Kan,HE Jin,LI Hongwen,et al. Research on polyline poil-breaking blade subsoiler based on subsoiling soil model using discrete element method[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(9):62-72. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20160910&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2016.09. 010.(in Chinese)
[5]秦宽,丁为民,方志超,等.复式耕整机耕深与耕宽稳定性分析与试验[J].农业工程学报,2016,32(9):1-8.QIN Kuan,DING Weiming,FANG Zhichao,et al. Analysis and experiment of tillage depth and width stability for plowing and rotary tillage combined machine[J]. Transactions of the CSAE,2016,32(9):1-8.(in Chinese)
[6]黄玉祥,杭程光,苑梦婵,等.深松土壤扰动行为的离散元仿真与试验[J/OL].农业机械学报,2016,47(7):80-88.HUANG Yuxiang,HANG Chengguang,YUAN Mengchan,et al. Discrete element simulation and experiment on disturbance behavior of subsoiling[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2016,47(7):80-88. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20160712&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2016.07. 012.(in Chinese)
[7]赵金辉,杨学军,刘立晶,等.基于PLC的播种机开沟器力学性能测试装置[J/OL].农业机械学报,2014,45(增刊):29-34.ZHAO Jinhui,YANG Xuejun,LIU Lijin,et al. Mechanical performance testing device for planter openers based on PLC[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2014,45(Supp.):29-34. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=2014s105&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2014. S0. 005.(in Chinese)
[8]王超,刘从京,李洪文,等.非对称式大小圆盘开沟器装置设计与试验[J].农业工程学报,2018,34(18):28-36.WANG Chao,LIU Congjing,LI Hongwen,et al. Design and experiment of asymmetric large-small double discs ditching device[J]. Transactions of the CSAE,2018,34(18):28-36.(in Chinese)
[9] BARBER M E,GRINGS F M,ALVAREZ-MOZOS J,et al. Effects of spatial sampling interval on roughness parameters and microwave backscatter over agricultural soil surfaces[J]. Remote Sensing,2016,8(6):42-58.
[10]李晓洁,赵凯,郑兴明.基于激光三角法的地表粗糙度测试仪的研制[J].农业工程学报,2012,28(8):116-121.LI Xiaojie,ZHAO Kai,ZHENG Xingming. Development of surface roughness tester based on laser triangulation method[J].Transactions of the CSAE,2012,28(8):116-121.(in Chinese)
[11] BOGEL T,OSINENKO P,HERLITZIUS T H. Assessment of soil roughness after tillage using spectral analysis[J]. Soil&Tillage Research,2016,159:73-82.
[12] THOMSEN L M,BAARTMAN J E M,BARNEVELD R J,et al. Soil surface roughness:comparing old and new measuring methods and application in a soil erosion model[J]. Soil,2015,1(1):399-410.
[13] ZHENG Xingming,ZHAO Kai,LI Xiaojie,et al. Improvements in farmland surface roughness measurement by employing a new laser scanner[J]. Soil&Tillage Research,2014,143:137-144.
[14]郑兴明,赵凯,李晓洁.农田表面粗糙度参数的测量与精度分析[J].地球信息科学学报,2013,15(5):752-760.ZHENG Xingming,ZHAO Kai,LI Xiaojie. Accuracy analysis of agriculture soil surface roughness parameter[J]. Journal of Geo-Information Science,2013,15(5):752-760.(in Chinese)
[15] MARTINEZ-AGIRRE A,ALVAREZ-MOZOS J,GIMENEZ R. Evaluation of surface roughness parameters in agricultural soils with different tillage conditions using a laser profile meter[J]. Soil&Tillage Research,2016,161:19-30.
[16] MARZAHN P,RIEKE-ZAPP D,LUDWIG R. Assessment of soil surface roughness statistics for microwave remote sending application using a simple photo grammetric acquisition system[J]. ISPRS Journal of Photogrammetry and Remote Sensing,2012,72:80-89.
[17] MILENKOVIC M,PFEIFER N,GLIRA P. Applying terrestrial laser scanning for soil surface roughness assessment[J]. Remote Sensing,2015,7(2):2007-2045.
[18]杨洋,苗伟,张铁,等.基于图像自适应分类算法的花生出苗质量评价方法[J/OL].农业机械学报,2018,49(3):28-35.YANG Yang,MIAO Wei,ZHANG Tie,et al. Quality evaluation method of peanut seeding based on image adaptive classification algorithm[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(3):28-35. http:∥www.j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20180303&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2018. 03.003.(in Chinese)
[19]陶浩然,陈权,李震,等.近景摄影测量提高裸露地表粗糙度测量精度[J].农业工程学报,2017,33(15):162-167.TAO Haoran,CHEN Quan,LI Zhen,et al. Improvement of soil surface roughness measurement accuracy by close-range photogrammetry[J]. Transactions of the CSAE,2017,33(15):162-167.(in Chinese)
[20]孙诚达,邱威,丁为民,等.农作物几何特征量测量系统设计与试验[J/OL].农业机械学报,2015,46(12):1-10.SUN Chengda,QIU Wei,DING Weimin,et al. Design and experiment for grops geometrical feature measuring system[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2015,46(12):1-10. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20151201&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2015. 12. 001.(in Chinese)
[21]李宗南,陈仲新,王利民,等.基于红外结构光三维技术的土壤表面粗糙度测量[J].农业工程学报,2013,29(21):137-142.LI Zongnan,CHEN Zhongxin,WANG Limin,et al. A measuring method of soil surface roughness using infrared structured light3D technology[J]. Transactions of the CSAE,2013,29(21):137-142.(in Chinese)
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