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| 施肥开沟机作业信息远程监测方法与试验 |
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王新1, 许苗1, 禹振军2, 张少宏3, 邢博4, 王书茂1
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| (1.中国农业大学 工学院, 北京 100083;2.北京市农业机械试验鉴定推广站, 北京 100078;3.龙岩经济技术开发区(龙岩高新区)管委会, 福建 龙岩 364000;4.中国汽车技术研究中心, 北京 100070) |
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| 摘要: |
| 针对目前施肥开沟机缺少作业信息检测装置及其远程监测的需要，基于惯性传感器技术、数据处理技术及网络通讯技术，开发施肥开沟机作业信息远程监测系统。所检测施肥开沟机作业信息包括开沟深度、油耗、作业时间、作业轨迹和作业距离，其中，油耗采用超声波油位传感器检测，作业时间通过设定界限值判断是否为作业段来检测，作业距离和作业轨迹则依赖于GPS定位。由于开沟深度和农作物产量相关，作业信息检测方法重点围绕开沟深度进行研究。采用2个惯性传感器分别检测开沟机和车身的俯仰角，相减得到的倾角差值结合开沟机相关尺寸计算可得开沟深度。基于卡尔曼滤波算法对倾角差值进行滤波以减小机具振动等产生的检测误差。在MATLAB中建立倾角差滤波模型进行仿真，仿真发现：Q/R比值不变，Q、R值变化时，滤波效果基本相同；Q/R比值不同时，随Q/R减小，滤波后倾角差的方差越小，但滞后效果越明显。倾角差滤波试验分为2部分：1）滤波验证试验以模型车为载体，利用不同Q、R参数进行试验，结果与仿真结论一致；2）土槽试验中固定Q、R参数，倾角差经滤波，其方差由4.07减小为0.47，表明滤波有效。田间试验对作业信息进行检测，结果表明：1）开沟深度检测误差在5%以内，结果精确；2）其他作业信息检测准确，检测方法可靠，远程监测系统具有实用价值。 |
| 关键词: 开沟机 作业信息 开沟深度 滤波 远程监测 |
| DOI：10.11841/j.issn.1007-4333.2018.06.16 |
| 投稿时间：2017-08-12 |
| 基金项目:国家重点研发计划重点专项（2017YFD0700603） |
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| Study on remote-monitoring for the operation information of fertilization trencher |
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WANG Xin1, XU Miao1, YU Zhenjun2, ZHANG Shaohong3, XING Bo4, WANG Shumao1
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| (1.College of Engineering, China Agricultural University, Beijing 100083, China;2.Agriculture Machinery Testing Appraisal and Extension Station of Beijing, Beijing 100078, China;3.Administrative Committee, National Longyan Economic and Technological Development Zone(Longyan Hi-Tech Industrial Zone), Longyan 364000, China;4.China Automotive Technology and Research Center, Beijing 100070, China) |
| Abstract: |
| During the operation process of the fertilization trencher, the operation information detection plays an important role in production.An operation information remote monitoring system of orchard fertilization trencher is developed to detect trench depth, fuel consumption, operation time and operation distance.The system is based on inertial sensor technology, data processing technology, network communication technology and consists of two parts including operation information detection device and remote monitoring network platform.The operation information detection device possesses sensors, data acquisition module and wireless transmission module.Microcontroller, the core of data acquisition module, is used to detect and process data from sensors and send the data to wireless transmission module.Then wireless transmission module transfers data to remote monitoring network platform by GPRS.The remote monitoring network platform provides operation information of trenchers to realize remote-monitor.Among operation information mentioned above, this paper focuses on detection of trench depth.Two inertial sensors are utilized to detect pitching angles of trencher and tractor with respect to horizontal plane.Then trench depth can be obtained with angle difference of two pitching angles and relative structure sizes of trencher.Because of the machine vibration, filtering model is built to diminish detect error of trench depth and simulation is carried out to find effect of filtering parameter Q/R rate by means of MATLAB.In field test, filtering effect is validated firstly and detection error of trench depth is with 5%.Besides, the system realizes remote-monitor of trench operation information, which verifies the capability of the system. |
| Key words: trencher operation information trench depth filtering remote-monitor |
