CN106352818A - Soft farmland ground unevenness testing device - Google Patents
Soft farmland ground unevenness testing device Download PDFInfo
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- CN106352818A CN106352818A CN201610842586.5A CN201610842586A CN106352818A CN 106352818 A CN106352818 A CN 106352818A CN 201610842586 A CN201610842586 A CN 201610842586A CN 106352818 A CN106352818 A CN 106352818A
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- guide rod
- sleeve
- articulated slab
- land wheel
- testing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/28—Measuring arrangements characterised by the use of mechanical techniques for measuring roughness or irregularity of surfaces
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Road Repair (AREA)
- Agricultural Machines (AREA)
Abstract
The invention relates to a soft farmland ground unevenness testing device. The soft farmland ground unevenness testing device comprises a testing mechanism and a data collection terminal, wherein the testing mechanism is positioned in front of a tractor, and the data collection terminal is used for processing and analyzing testing data of the testing mechanism. The soft farmland ground unevenness testing device has the advantages that the testing device is simple in structure and convenient to adjust; both a gap between ground wheels and the relative height of a parallelogram guide mechanism and traction crossbeams can be adjusted, so that the testing device can be suitably attached to different models of tractors; after testing, the testing device can be adjusted to a position 30 cm away from the ground, so that normal driving of the tractor is not affected.
Description
Technical field
The present invention provides a kind of farmland being made up of mechanism for testing and test system soft random road roughness test device, can
Realize the dynamic test of soft random road roughness, be primarily adapted for use in the original injustice in soft ground such as no-tillage stubble ground, meadow, field dirt road
Degree and the test of effective roughness, and dynamic response data when can achieve soft random road roughness test data and agricultural mechanical operation
Real-time correspondence, be easy to study the influence to agricultural machinery for the field level feature.
Background technology
1. ground injustice causes vibration restriction and the working performance of impact tractor and agricultural machinery and implement, lead to agricultural machinery
Parts bear very big dynamic loading, and serious harm driver's is healthy.Measure field soft random road roughness data
It is the important content of research agricultural machinery vibration characteristics, reliability design and Comfort Evaluation.
2. the method that the domestic at present measurement to Terrain roughness spectrum there is no maturation, continues to use survey hard pavement uneven mostly
The method of degree.The test device of exploitation is also mostly to be the soft random road roughness of static test, is unfavorable for setting up the original injustice in soft ground
Degree and the relation between causing the effective roughness of dilatory machine vibration, the method testing efficiency is low and can not run with tractor
Dynamic response data is associated.
3. existing soft random road roughness dynamic checkout unit all attaches after agricultural vehicle substantially although energy is complete
Become the dynamic test of the soft ground in field original unevenness, but measured uneven degrees of data is not wheel roll on path before
Original unevenness, it is thus impossible to solve soft random road roughness data and the tractor dynamic response number being caused by this unevenness
According to corresponding problem in good time, it is unfavorable for accurately studying the coupling mechanism of agricultural machinery and field level.
Content of the invention
It is an object of the invention to provide a kind of test device of the soft random road roughness in farmland is it is adaptable to no-tillage stubble ground, grass
The original unevenness in soft ground such as ground, field dirt road and the test of effective roughness, and binding test system, can achieve soft ground not
Dynamic response data (as acceleration of vibration, side tilt angle, rate of pitch etc.) when Pingdu test data and agricultural mechanical operation
Real-time correspondence.
The technical scheme is that
Farmland soft random road roughness test device, including mechanism for testing data acquisition terminal, this mechanism for testing is located at tractor
Front, described data collection station is used for the test data of mechanism for testing being processed and analyzing.
Described mechanism for testing includes tractor connecting seat, traction crossbeam, sensor beam, land wheel, parallelogram are led
Draw mechanism and unevenness sensing chip, described tractor connecting seat includes platform, mounting seat and connecting rod, the upper surface of mounting seat
Platform is installed, lower surface is provided with connecting rod, traction crossbeam is arranged in mounting seat by what bearing pin rotated, sensor beam
It is arranged on platform by bolt, the two ends of described traction crossbeam are mounted on parallelogram guide mechanism, each parallel
The bottom of tetragon guide mechanism is provided with a ground wheel seat, and land wheel is arranged on ground wheel seat；It is provided with the top of this ground wheel seat
Unevenness sensing chip.
Described parallelogram guide mechanism includes articulated slab, lower articulated slab, land wheel guide rod and sleeve guide rod, upper hinge
Fishplate bar and lower articulated slab be arranged in parallel, and land wheel guide rod and sleeve guide rod be arranged in parallel, and the two ends of upper articulated slab are respectively articulated with one end
Portion's regulating sleeve, two end regulating sleeves are all positioned by bolt, and wherein one end regulating sleeve is enclosed within land wheel guide rod
Top, the other end regulating sleeve is enclosed within the top of described sleeve guide rod；The hinged end plate in one end of lower articulated slab, sleeve
The bottom of guide rod is arranged on this end plate, and the other end is hinged on ground wheel seat, and the bottom of described land wheel guide rod is arranged on land wheel
On seat, described upper articulated slab, lower articulated slab, land wheel guide rod and sleeve guide rod surround a parallelogram.
Each sleeve guide rod is all cased with regulating sleeve in the middle part of in the of, in the middle part of this side of regulating sleeve be provided with square
Sleeve pipe, the end of traction crossbeam is respectively protruding in the square casing of corresponding end, and is positioned by regulating bolt.
Described traction crossbeam is two, arranged in parallel.
Between described lower articulated slab and sleeve guide rod, threaded rod is installed, one end of this threaded rod is welded in lower articulated slab
On, other end insertion is welded in the picking up the ears of sleeve guide rod, and this threaded rod is welded on one end of lower articulated slab close to described ground
Wheel；Land wheel spring is set with described threaded rod, this land wheel spring adjusts pretension by the nut being arranged on threaded rod
Degree.
Described data collection station includes laser sensor, acceleration transducer, tachogenerator, signal condition list
Unit, analog multichannel switch, hardware integrator, high-speed data collecting and processing device, rs232 communication interface, rs232 communication interface,
Pc machine and power management module, described laser sensor is used for testing soft ground original unevenness information, is arranged on sensor
The both sides of crossbeam, and corresponding with unevenness sensing chip；Described acceleration transducer is used for testing tractor wheels exciting
Effective roughness, be installed in the vehicle bridge of tractor wheels center；Tachogenerator is gps tachogenerator, absorption
On the roof of tractor, for testing the speed of service of tractor；Laser sensor passes through signal condition unit and high speed number
Connect according to Acquisition Processor, acceleration transducer passes sequentially through at analog multichannel switch, hardware integrator and high-speed data acquisition
Reason device connects, and high-speed data collecting and processing device drives Multipexer to open according to the data acquisition time data drainage pattern of setting
Close and hardware integrator, gps tachogenerator is connected to high-speed data collecting and processing device, high speed number by rs232 communication interface
Connected to pc machine by rs232 communication interface according to Acquisition Processor；Described pc machine passes through rs232 communication interface to high speed number
Send corresponding acquisition controlling instruction according to Acquisition Processor, received at high-speed data acquisition by rs232 communication interface simultaneously
The data of each sensor measurement of reason device return simultaneously carries out preliminary treatment and shows in real time；Power management module is used for outside input
The voltage conversion of power supply and filtering, be converted into be suitable for each sensor running voltage, simultaneously for pc machine and high-speed data acquisition at
Reason device is powered.
The invention has the advantage that the present invention ensure that unevenness sensing chip in test by parallelogram guide mechanism
All the time parallel to ground level move, laser sensor test unevenness sensing chip vertical displacement come to determine soft ground original not
Pingdu, it is to avoid field level has the impact that plant or crop root residue are tested to unevenness, therefore, is especially suitable for meadow, no-tillage
The test of the soft random road roughness such as stubble-field.By synchronously transporting subsidiary for mechanism for testing before tractor and with tractor
It is ensured that soft ground original injustice degrees of data is with excitation tractor wheels, the effective roughness data beated and tractor run row
In dynamic response data real-time correspondence, make unevenness test have more realistic meaning.
Present configuration is simple, easy to adjust, and land wheel spacing and parallelogram guide mechanism are relative with traction crossbeam
Highly equal scalable, makes test device be adapted to different model tractor to attach, after being completed, can adjust test device
To the high position of liftoff 30cm, do not affect the normally travel of tractor.
Brief description
Fig. 1 is the agent structure schematic diagram of the present invention.
Fig. 2 is the structural representation of parallelogram guide mechanism in Fig. 1.
Fig. 3 is the structural representation of tractor connecting seat in Fig. 1.
Fig. 4 is the structural representation drawing crossbeam in Fig. 1.
Fig. 5 is the structural representation of the data collection station of the present invention.
Specific embodiment
To further describe the present invention with reference to specific embodiment, advantages of the present invention and feature will be with description and
Apparent.But these embodiments are only exemplary, any restriction is not constituted to the scope of the present invention.People in the art
Member should be understood that can be to enter to the details of technical solution of the present invention and form under without departing from the spirit and scope of the present invention
Row modification or replacement, but these modifications and replacement each fall within protection scope of the present invention.
Referring to Fig. 1 to Fig. 5, the present invention relates to a kind of farmland soft random road roughness test device, including mechanism for testing sum
According to acquisition terminal, this mechanism for testing is located at the front of tractor, and described data collection station is used for the test to mechanism for testing
Data is processed and is analyzed.
Described mechanism for testing includes tractor connecting seat, traction crossbeam 2, sensor beam 3, land wheel 4, parallelogram
Guide mechanism and unevenness sensing chip 15, as shown in figure 3, described tractor connecting seat include platform 1-3, mounting seat 1-2 and
Connecting rod 1-1, the upper surface of mounting seat 1-2 is provided with platform 1-3, and lower surface is provided with connecting rod 1-1(connecting rod 1-1 and fixes
In the jack of John deer 904 tractor balancing weight, and fixed by clamp nut), traction crossbeam 2 is rotated by bearing pin
It is arranged in mounting seat 1-2 and (connection attached plate 21 is provided with traction crossbeam, mounting seat is arranged on by connecting attached plate 21 by bearing pin
On the pin shaft hole of 1-2), sensor beam 3 is arranged on platform 1-3 by bolt, and the two ends of described traction crossbeam 2 are mounted on
One parallelogram guide mechanism, is provided with a ground wheel seat in the bottom of each parallelogram guide mechanism, and land wheel 4 is arranged on
On ground wheel seat；On the top of this ground wheel seat, unevenness sensing chip 15 is installed.
Described parallelogram guide mechanism includes articulated slab 9, lower articulated slab 5, land wheel guide rod 10 and sleeve guide rod
6, upper articulated slab 9 and lower articulated slab 5 be arranged in parallel, and land wheel guide rod 10 and sleeve guide rod 6 be arranged in parallel, the two ends of upper articulated slab 9
It is respectively articulated with one end regulating sleeve 8, two end regulating sleeves 8 are all positioned by bolt 81, wherein one end is adjusted
Sleeve is enclosed within the top of land wheel guide rod 10, and the other end regulating sleeve is enclosed within the top of described sleeve guide rod 6；Lower articulated slab 5
The hinged end plate in one end 42, the bottom of sleeve guide rod 6 is arranged on this end plate 42, and the other end is hinged on ground wheel seat 41, institute
The bottom of the land wheel guide rod 10 stated is arranged on ground wheel seat 41, described upper articulated slab 9, lower articulated slab 5, land wheel guide rod 10 and set
Cylinder guide rod 6 surrounds a parallelogram.
It is parallel all the time that this parallelogram guide mechanism acts on the unevenness sensing chip above being to ensure that land wheel in motion
Pass through to adjust relative position on sleeve guide rod 6 with land wheel guide rod 10 for the upper articulated slab end regulating sleeve 8 in ground level, test
Put, make articulated slab 9 parallel with lower articulated slab 5, after position adjustment is good, by bolt, make end regulating sleeve solid
It is scheduled on sleeve guide rod and the specified location of land wheel guide rod.
Described land wheel 4 is the solid tire of a diameter of 20cm, due to land wheel lighter in weight, and adopts parallel four sides
Shape guide mechanism is coupled with traction crossbeam 2, test device relatively can freely move up and down, thus can be approximately considered it unchanged
Table shape, the result of measurement is original ground surface unevenness.
Each sleeve guide rod 6 is all cased with regulating sleeve 7 in the middle part of in the of, the side of regulating sleeve 7 is provided with the middle part of this
Square casing 72, the end of traction crossbeam 2 is respectively protruding in the square casing 72 of corresponding end, and is positioned by regulating bolt 71；
Described traction crossbeam 2 is two, arranged in parallel.
Land wheel spacing can be by changing two square casings 72 being connected on the regulating sleeve 7 of middle part on traction crossbeam 2
Adjusting, range of accommodation is 0.8m-2.15m for position, and parallelogram guide mechanism can pass through with the relative altitude of traction crossbeam
Change middle part regulating sleeve 7 to adjust with the relative position of sleeve guide rod 6, use regulating bolt 71 fixing after regulation, altitude mixture control
When it is noted that ensureing that upper articulated slab 9 and lower articulated slab 5 are parallel to each other, these regulations can make test device be applied to different model to drag
The test of machine drawing.
Between described lower articulated slab 5 and sleeve guide rod 6, threaded rod 13 is installed, one end of this threaded rod 13 is welded in down
On articulated slab 5, what other end insertion was welded on sleeve guide rod 6 picks up the ears in 14, and this threaded rod is welded on a termination of lower articulated slab
Closely described land wheel 4；Described threaded rod 13 is set with land wheel spring 11, this land wheel spring 11 is by being arranged on threaded rod
Nut 12 on 13 adjusts preload；Described land wheel spring 11 is used for making land wheel and ground real-time contact.
Described data collection station include laser sensor 16(be arranged on the both sides on sensor beam 3 left side swash
Optical sensor and right side laser sensor), acceleration transducer (No. 1 acceleration transducer, No. 2 acceleration transducers, No. 3 plus
Velocity sensor, No. 4 acceleration transducers), tachogenerator, signal condition unit 16-1, analog multichannel switch 16-2, hardware
Integrator 16-3, high-speed data collecting and processing device 16-5, rs232 communication interface 16-4, rs232 communication interface 16-6, pc
Machine 16-7 and power management module 16-8, described laser sensor is used for testing soft ground original unevenness information, is arranged on
The both sides of sensor beam 3, and corresponding with unevenness sensing chip (positioned at the surface of unevenness sensing chip)；Will in test
The printing paper of white is pasted onto on unevenness sensing chip, to increase the recognition efficiency of laser sensor.
Described acceleration transducer is used for testing the effective roughness of tractor wheels exciting, is installed on tractor wheels
In the vehicle bridge of center, the vertical vibration of test wheel, wheel is equivalent to Tuned mass damper system, is asked by the differential equation
Solution, obtains encouraging the soft ground effective roughness data of wheel hop.
Tire is equivalent to Tuned mass damper system, analysis principle is as follows:
Set up the differential equation of tire vertical displacement x and effective roughness displacement q:
mẍ+c(ẋ−q̇)+k(x−q)=0
Wherein: q is the effective roughness displacement of soft ground；C tire damps；K tire stiffness；
X wheel center displacement；Load on m wheel.
Tachogenerator is gps tachogenerator 16-9, and absorption, on the roof of tractor, is easy to accept satellite-signal,
For testing the speed of service of tractor.
Laser sensor is connected with high-speed data collecting and processing device 16-4 by signal condition unit 16-1, acceleration sensing
Device is passed sequentially through analog multichannel switch 16-2, hardware integrator 16-3 and is connected with high-speed data collecting and processing device 16-5, high speed number
According to Acquisition Processor 16-5, analog multichannel switch 16-2 and hard is driven according to the data acquisition time data drainage pattern of setting
Part integrator 16-3, gps tachogenerator is connected to high-speed data collecting and processing device by rs232 communication interface；Described pc machine
16-6 passes through rs232 communication interface 16-5 and sends corresponding acquisition controlling instruction to high-speed data collecting and processing device, passes through simultaneously
Rs232 communication interface receive high-speed data collecting and processing device return each sensor (laser sensor, acceleration transducer and
Gps tachogenerator) data that measures carry out preliminary treatment and real-time show；Power management module is used for external input power
Voltage conversion and filtering, be converted into be suitable for each sensor (laser sensor, acceleration transducer and tachogenerator) work
Make voltage, be pc machine and high-speed data collecting and processing device is powered simultaneously.
High-speed data collecting and processing device is according to the control instruction receiving to analog multichannel switch, hardware integrator and each sensing
Device is controlled, drives and gathers；Laser sensor output signal after twin-channel signal condition unit, after correcting
Distance signal send to high speed data collection processor, analog multichannel switch passes through circulation and selects 1-4 acceleration transducer,
And the data of acceleration transducer data is processed through hardware integrator, the displacement signal obtaining the most at last sends paramount
Fast data collection processor.
To sum up, the present invention can measure the original unevenness in the soft ground in field in real time and excitation tractor wheels are beated effectively not
Pingdu, conveniently sets up original unevenness and the relation of effective roughness, and can expand the operation of test system real-time testing tractor
Dynamic response parameter, be easy to study the influence to agricultural machinery for the field level feature.
Claims (7)
1. farmland soft random road roughness test device is it is characterised in that include mechanism for testing data acquisition terminal, this test machine
Structure is located at the front of tractor, and described data collection station is used for the test data of mechanism for testing being processed and analyzing.
2. the soft random road roughness test device in farmland according to claim 1 is it is characterised in that described mechanism for testing bag
Include tractor connecting seat, traction crossbeam, sensor beam, land wheel, parallelogram guide mechanism and unevenness sensing chip, described
Tractor connecting seat include platform, mounting seat and connecting rod, the upper surface of mounting seat is provided with platform, and lower surface is provided with even
Extension bar, traction crossbeam is arranged in mounting seat by what bearing pin rotated, and sensor beam is arranged on platform by bolt, described
The two ends of traction crossbeam are mounted on parallelogram guide mechanism, are provided with the bottom of each parallelogram guide mechanism
One ground wheel seat, land wheel is arranged on ground wheel seat；On the top of this ground wheel seat, unevenness sensing chip is installed.
3. the soft random road roughness test device in farmland according to claim 1 is it is characterised in that described parallelogram
Guide mechanism includes articulated slab, lower articulated slab, land wheel guide rod and sleeve guide rod, and upper articulated slab and lower articulated slab be arranged in parallel,
Land wheel guide rod and sleeve guide rod be arranged in parallel, and the two ends of upper articulated slab are respectively articulated with one end regulating sleeve, and two ends are adjusted
Sleeve is all positioned by bolt, and wherein one end regulating sleeve is enclosed within the top of land wheel guide rod, the other end regulating sleeve
It is enclosed within the top of described sleeve guide rod；The hinged end plate in one end of lower articulated slab, the bottom of sleeve guide rod is arranged on this end plate
On, the other end is hinged on ground wheel seat, and the bottom of described land wheel guide rod is arranged on ground wheel seat, described upper articulated slab, under
Articulated slab, land wheel guide rod and sleeve guide rod surround a parallelogram.
4. the soft random road roughness test device of the farmland according to Claims 2 or 3 is it is characterised in that lead in each sleeve
One middle part regulating sleeve is all cased with bar, the side of regulating sleeve is provided with square casing, the end of traction crossbeam in the middle part of this
It is respectively protruding in the square casing of corresponding end, and positioned by regulating bolt.
5. the soft random road roughness test device in farmland according to claim 4 is it is characterised in that described traction crossbeam is
Two, arranged in parallel.
6. the soft random road roughness test device in farmland according to claim 3 it is characterised in that described lower articulated slab with
Between sleeve guide rod, threaded rod is installed, one end of this threaded rod is welded on lower articulated slab, other end insertion is welded on sleeve
In the picking up the ears of guide rod, this threaded rod is welded on one end of lower articulated slab close to described land wheel；Described threaded rod is set with
There is land wheel spring, this land wheel spring adjusts preload by the nut being arranged on threaded rod.
7. the soft random road roughness test device in farmland according to claim 1 it is characterised in that described data acquisition eventually
End includes laser sensor, acceleration transducer, tachogenerator, signal condition unit, analog multichannel switch, hardware integration
Device, high-speed data collecting and processing device, rs232 communication interface, rs232 communication interface, pc machine and power management module, described
Laser sensor be used for testing soft ground original unevenness information, be arranged on the both sides of sensor beam, and with unevenness sense
Answer the corresponding of piece；Described acceleration transducer is used for testing the effective roughness of tractor wheels exciting, and it is dilatory to be installed on
In the vehicle bridge of locomotive wheel center；Tachogenerator is gps tachogenerator, adsorbs on the roof of tractor, for surveying
The speed of service of examination tractor；Laser sensor is connected with high-speed data collecting and processing device by signal condition unit, acceleration
Sensor passes sequentially through analog multichannel switch, hardware integrator is connected with high-speed data collecting and processing device, at high-speed data acquisition
Reason device drives analog multichannel switch and hardware integrator according to the data acquisition time data drainage pattern of setting, and gps tests the speed
Sensor is connected to high-speed data collecting and processing device by rs232 communication interface, and high-speed data collecting and processing device passes through rs232
Communication interface connects to pc machine；Described pc machine passes through rs232 communication interface and sends accordingly to high-speed data collecting and processing device
Acquisition controlling instruction, each sensor that high-speed data collecting and processing device returns is received by rs232 communication interface simultaneously and surveys
The data of amount simultaneously carries out preliminary treatment and real-time display；Power management module is used for voltage conversion and the filter of external input power
Ripple, is converted into being suitable for the running voltage of each sensor, is pc machine and high-speed data collecting and processing device is powered simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610842586.5A CN106352818B (en) | 2016-09-22 | 2016-09-22 | The soft random road roughness test device in farmland |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610842586.5A CN106352818B (en) | 2016-09-22 | 2016-09-22 | The soft random road roughness test device in farmland |
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| Publication Number | Publication Date |
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| CN106352818A true CN106352818A (en) | 2017-01-25 |
| CN106352818B CN106352818B (en) | 2019-02-19 |
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ID=57858336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201610842586.5A Active CN106352818B (en) | 2016-09-22 | 2016-09-22 | The soft random road roughness test device in farmland |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112444641A (en) * | 2020-11-06 | 2021-03-05 | 中国科学院合肥物质科学研究院 | Device for detecting running speed and sinking depth of tractor in paddy field environment |
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| CN1053954A (en) * | 1990-02-06 | 1991-08-21 | 吉林工业大学 | Soft road surface unevenness measuring device |
| CN201016725Y (en) * | 2007-03-28 | 2008-02-06 | 云南昆船设计研究院 | Ground surface four-point planeness measuring instrument |
| CN103543755A (en) * | 2013-05-10 | 2014-01-29 | 内蒙古农业大学 | Seeder depth control system |
| US8904653B1 (en) * | 2011-04-13 | 2014-12-09 | Richard Miaskiewicz | Portable wheel alignment device and system |
| CN105136468A (en) * | 2015-07-20 | 2015-12-09 | 农业部南京农业机械化研究所 | Farmland ground effective excitation spectrum measurement device and method |
| CN206073941U (en) * | 2016-09-22 | 2017-04-05 | 内蒙古农业大学 | The soft random road roughness test device in farmland |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1053954A (en) * | 1990-02-06 | 1991-08-21 | 吉林工业大学 | Soft road surface unevenness measuring device |
| CN201016725Y (en) * | 2007-03-28 | 2008-02-06 | 云南昆船设计研究院 | Ground surface four-point planeness measuring instrument |
| US8904653B1 (en) * | 2011-04-13 | 2014-12-09 | Richard Miaskiewicz | Portable wheel alignment device and system |
| CN103543755A (en) * | 2013-05-10 | 2014-01-29 | 内蒙古农业大学 | Seeder depth control system |
| CN105136468A (en) * | 2015-07-20 | 2015-12-09 | 农业部南京农业机械化研究所 | Farmland ground effective excitation spectrum measurement device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112444641A (en) * | 2020-11-06 | 2021-03-05 | 中国科学院合肥物质科学研究院 | Device for detecting running speed and sinking depth of tractor in paddy field environment |
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| CN106352818B (en) | 2019-02-19 |
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