WO2024045448A1 - 土壤坚实度测量设备及测量方法 - Google Patents

土壤坚实度测量设备及测量方法 Download PDF

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Publication number
WO2024045448A1
WO2024045448A1 PCT/CN2022/142876 CN2022142876W WO2024045448A1 WO 2024045448 A1 WO2024045448 A1 WO 2024045448A1 CN 2022142876 W CN2022142876 W CN 2022142876W WO 2024045448 A1 WO2024045448 A1 WO 2024045448A1
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trenching
depth
pressure
measuring device
component
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English (en)
French (fr)
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高原源
杨逸飞
李佩盈
魏新华
祝清震
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Jiangsu University
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Jiangsu University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N19/00—Investigating materials by mechanical methods
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass

Definitions

  • the invention relates to the technical field of agricultural intelligent equipment, and in particular to a soil solidity measuring device and a measuring method.
  • the method of measuring soil solidity includes manually holding both ends of the handle of the measuring instrument, and then evenly piercing the cone at the bottom of the measuring instrument into the soil, and measuring the feedback pressure of the cone connecting rod, thereby obtaining the range of the soil layer.
  • the soil solidity inside the machine can be measured, or the soil parameter measuring instrument can be installed on the trolley to achieve automated measurement of soil parameters.
  • the soil solidity information collected has a certain lag, and cannot provide real-time parameter information for the operation of agricultural machinery, which is not conducive to the intelligent control and precise operation of agricultural machinery.
  • the present invention provides a soil solidity measuring device and a measuring method, which can realize real-time measurement of soil solidity information by agricultural machinery.
  • the specific technical solutions are as follows:
  • the invention provides a soil solidity measuring equipment, which includes: a frame body; a pressure regulating device and a trenching device; the pressure regulating device is connected to the frame body; the pressure regulating device is adapted to apply a third force to the frame body.
  • An acting force the trenching device is connected to the frame body; a trenching depth measuring device, the trenching depth measuring device is connected to the frame body and/or the trenching device, the trenching depth measuring device
  • the pressure regulating device includes a pressure regulating component, a pressure transmission component, and a first pressure acquisition component.
  • the pressure regulating component is connected to the pressure transmission component, and the pressure transmission component is connected to the frame. body connection, the first pressure collecting component is provided on the pressure regulating component and/or the pressure conducting component.
  • the pressure transmission component includes a four-link structure, and the pressure adjustment component is connected to the four-link structure in a hinged manner.
  • the first pressure acquisition component includes a first angle sensor and a first force sensor.
  • the first angle sensor is disposed on the pressure transmission component, and the first force sensor is disposed on the pressure transmission component. on the pressure regulating assembly.
  • the trenching device includes a trenching wheel assembly, the trenching wheel assembly is connected to the frame body, and the trenching wheel assembly includes a first trenching wheel and a second trenching wheel. , the first grooved wheel and the second grooved wheel are coaxially arranged, and the first grooved wheel and the second grooved wheel are non-parallel.
  • the trenching depth measuring device includes a depth limiting component and a trenching depth acquisition component.
  • the depth limiting component is connected to the frame, and the trenching depth acquisition component is connected to the depth limiting component. Component connections.
  • the trenching depth acquisition component includes a second angle sensor
  • the depth limiting component includes a hinge arm
  • the second angle sensor is disposed on the hinge arm.
  • the contact point pressure measurement device includes a second pressure collection component, and the second pressure collection component is connected to the depth limiting component and/or the frame body.
  • the second pressure acquisition component includes a pin sensor, a fixed piece and a depth-limiting block.
  • the pin sensor is arranged on the depth-limiting block, and the pin sensor is connected to the fixed piece.
  • the fixed piece is connected to the frame body.
  • the present invention provides a soil solidity measurement method based on the soil solidity measurement equipment as described above.
  • the method includes:
  • soil solidity information is determined.
  • the first force exerted by the pressure regulating device on the frame can be transferred to the trenching device, and the trenching device can A trench is dug in the soil, and the trenching depth measuring device remains in contact with the ground, and a height difference is formed in the vertical ground direction between the contact point and the maximum depth point where the trenching device sinks into the soil.
  • the depth of the trench can be obtained through the height difference. value, that is, the maximum depth of the trenching device sinking into the soil at this position.
  • the trenching device and the trenching depth measuring device keep moving forward simultaneously. In this way, the trenching depth measuring device can obtain the real-time value of the trenching device every time.
  • the depth value of the trench dug at a location point that is, the maximum depth value of the trenching device sinking into the soil.
  • the contact point pressure measuring device is connected to the trenching depth measuring device, and the magnitude of the second force at the contact point between the trenching depth measuring device and the ground can be obtained in real time.
  • the contact surface area between the trenching device and the trench can be obtained.
  • the magnitude of the force between the contact points can be calculated to obtain the magnitude of the force between the trenching device and the trench contact point.
  • the ratio between the force at the contact point between the trenching device and the trench and the area of the contact surface between the trenching device and the trench is the solidity information of the soil at that location.
  • Figure 1 is a schematic structural diagram of a soil solidity measuring device provided by an embodiment of the present invention.
  • Figure 2 is a schematic flow chart of a soil solidity measurement method provided by an embodiment of the present invention.
  • Pressure regulating device 20. Pressure regulating device; 210. Pressure regulating component; 220. Pressure transmission component; 230. First angle sensor; 240. First force sensor;
  • Trenching depth measuring device 410. Depth limiting component; 420. Trenching depth acquisition component;
  • connection should be understood in a broad sense.
  • it can be a fixed connection or a detachable connection. Or integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium.
  • connection should be understood in specific situations.
  • the first feature "on” or “below” the second feature may be that the first and second features are in direct contact, or the first and second features are in intermediate contact. Indirect media contact.
  • the terms “above”, “above” and “above” the first feature is above the second feature may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is higher in level than the second feature.
  • "Below”, “below” and “beneath” the first feature to the second feature may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature has a smaller horizontal height than the second feature.
  • references to the terms “one embodiment,” “some embodiments,” “an example,” “specific examples,” or “some examples” or the like means that specific features are described in connection with the embodiment or example. , structures, materials or features are included in at least one embodiment or example of embodiments of the present invention. In this specification, the schematic expressions of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine different embodiments or examples and features of different embodiments or examples described in this specification unless they are inconsistent with each other.
  • methods for measuring the solidity of the soil include manually holding both ends of the handle of the measuring instrument, then evenly piercing the cone at the bottom of the measuring instrument into the soil, and measuring the feedback pressure of the cone connecting rod, thereby obtaining the soil within the cultivated layer. soil solidity, or install the soil parameter measuring instrument on the trolley to achieve automated measurement of soil parameters.
  • the soil solidity information collected has a certain lag, and cannot provide real-time parameter information for the operation of agricultural machinery, which is not conducive to the intelligent control and precise operation of agricultural machinery.
  • the present invention provides a soil solidity measuring device 1.
  • the soil solidity measuring device 1 includes a frame 10, a pressure regulating device 20, a trenching device 30, and a trenching depth measuring device. 40 and touchdown point pressure measuring device 50.
  • the pressure regulating device 20 is connected to the frame body 10.
  • the pressure regulating device 20 is adapted to apply a first force to the frame body 10.
  • the trenching device 30 is connected to the frame body 10; the trenching depth measuring device 40 is connected to the frame body 10 and/or the opening.
  • the trenching device 30 is connected, and there is at least one point on the trenching depth measuring device 40 that is in contact with the ground.
  • the contact point between the trenching depth measuring device 40 and the ground is close to the trenching device 30; the contact point pressure measuring device 50 is connected to the trenching depth measuring device 40. , the contact point pressure measuring device 50 is suitable for measuring the size of the second acting force between the trenching depth measuring device 40 and the ground; wherein the first acting force is toward the ground.
  • the pressure regulating device 20 applies a first force to the frame body 10 , the first force is toward the ground, and the first force further acts on the trenching device 30 through the frame body 10 so that the trenching device 30 opens a trench on the ground.
  • the pressure regulating device 20 may include an electric push rod, a pneumatic spring, a hydraulic cylinder, an electromagnetic damper, etc.
  • the direction of the first force forms an angle within the range of 90 degrees with the ground. By adjusting the direction of the first force, the actual effect of the pressure regulating device 20 on the trenching device 30 for trenching on the ground can be changed. Magnitude of the force.
  • the direction of the first force can be completely perpendicular to the ground, so that the first force exerted by the pressure regulating device 20 can be completely converted into the force of the trenching device 30 to dig trenches on the ground.
  • the trenching depth measuring device 40 can obtain the depth of the trench opened by the trenching device 30.
  • the trenching depth measuring device 40 remains in contact with the ground, that is, during the advancement of the agricultural machinery, the trenching depth measuring device 40 walks close to the ground.
  • the vertical distance between the part of the trenching device 30 that sinks into the trench and the contact point at the bottom of the trench to the ground is the depth of the trench.
  • the contact point between the trenching depth measuring device 40 and the ground should be close to the trenching device 30. Further, in order to better To further accurately obtain the trenching depth of the trenching device 30 at a certain position, the contact point between the trenching depth measuring device 40 and the ground should be close to the contact point between the trenching device 30 and the bottom of the trench.
  • the trenching depth measuring device 40 and the trenching device 30 keep advancing synchronously. This ensures that the trenching depth measuring device 40 obtains the trenching depth in real time and accurately.
  • the contact point pressure measuring device 50 is connected to the trenching depth measuring device 40, and the magnitude of the second force between the trenching depth measuring device 40 and the ground contact point can be obtained.
  • the first force applied by the pressure regulating device 20 to the frame body 10 finally acts at two positions.
  • the first position is the position of the contact point between the trenching depth measuring device 40 and the ground, and this position is the second position.
  • the second position is the contact point between the trenching device 30 and the bottom of the trench.
  • the force at this position can be called the fourth force.
  • This position is the fourth force.
  • the sum of the second force and the fourth force is equal to the first force. Therefore, by obtaining the second force through the contact point pressure measuring device 50, the relationship between the trenching device 30 and the groove can be determined. The magnitude of the fourth force between the bottoms.
  • the pressure regulating device 20 includes a pressure regulating component 210, a pressure transmission component 220, a first pressure acquisition component, the pressure regulating component 210 is connected to the pressure transmission component 220, and the pressure transmission component 220 is connected to the frame 10 , and the first pressure collecting component is provided on the pressure regulating component 210 and/or the pressure conducting component 220 .
  • the pressure adjustment component 210 can be an electric push rod, a pneumatic spring, a hydraulic cylinder, an electromagnetic damper, etc.
  • the pressure adjustment component 210 is connected to the pressure transmission component 220.
  • the pressure adjustment component 210 applies a first force to the pressure transmission component 220.
  • the pressure transmission component 220 transmits the first force to the frame 10 , and the first pressure collecting component can collect the magnitude of the first force exerted by the pressure regulating component 210 .
  • the pressure transmission component 220 includes a four-link structure, and the pressure adjustment component 210 is connected to the four-link structure in a hinged manner.
  • the four-link structure can transmit large power, has a simple structure, and has good dynamic balance performance.
  • the pressure adjustment component 210 is hinged with the four-link structure.
  • the connection point between the pressure adjustment component 210 and the four-link structure is Relative rotation can be generated so that the pressure adjustment component 210 is always connected to the four-link structure, so that the structural stability between the pressure adjustment component 210 and the four-link structure is better, further ensuring the stability of the output force of the pressure control device 20 sex.
  • the first pressure acquisition component includes a first angle sensor 230 and a first force sensor 240.
  • the first angle sensor 230 is disposed on the pressure transmission component 220, and the first force sensor 240 is provided on the pressure regulating assembly 210.
  • the first angle sensor 230 is installed at the upper arm or the lower arm of the four-link structure to measure the swing angle of the four-link structure under the action of the first force, and obtain the first angle through calculation. The length of the force arm.
  • the first force sensor 240 is installed on the pressure adjustment component 210, and can be obtained by measuring the force deformation at the hinge of the lower arm of the four-link structure or the internal pressure of the pressure adjustment component 210, and further combining the swing angle of the four-link structure and other parameters to obtain the first force sensor 240.
  • the size of the force is measured by measuring the force deformation at the hinge of the lower arm of the four-link structure or the internal pressure of the pressure adjustment component 210, and further combining the swing angle of the four-link structure and other parameters to obtain the first force sensor 240. The size of the force.
  • the trenching device 30 includes a trenching wheel assembly.
  • the trenching wheel assembly is connected to the frame 10 .
  • the trenching wheel assembly includes a first trenching wheel and a second trenching wheel. wheel, the first groover wheel and the second groover wheel are coaxially arranged, and the first groover wheel and the second groover wheel are non-parallel.
  • the trenching device 30 consists of a first trenching wheel and a second trenching wheel fixed on the frame 10 at a certain angle.
  • the first trenching wheel and the second trenching wheel rely on their own weight and the force of the pressure regulating device 20 to move the soil layer. It is cut and pushed to both sides to form a trench.
  • the contact surface between the sides of the first trenching wheel and the second trenching wheel and the side of the trench is the area where the trenching device 30 cuts into the soil.
  • the trenching depth measuring device 40 includes a depth limit component 410 and a trench depth acquisition component 420.
  • the depth limit component 410 is connected to the frame 10, and the trench depth acquisition component 420 is connected to the depth limit component 410.
  • the depth limit assembly 410 may include a depth limit wheel structure. The rollers in the depth limit wheel structure roll on the ground.
  • the depth limit wheel is connected to the frame body 10 through a hinge arm. The hinge arm and the frame body 10 are rotatably connected.
  • the depth limit assembly 410 may also include a sliding plate structure, wherein one end of the sliding plate is in contact with the ground, and the other end of the sliding plate is rotatably connected to the frame 10 .
  • the trenching depth acquisition component 420 may include a sensor, and the trenching depth may be further calculated by measuring the motion deformation parameters of the depth limiting component 410 relative to the frame 10 .
  • the trenching depth acquisition component 420 includes a second angle sensor
  • the depth limiting component 410 includes a hinge arm
  • the second angle sensor is disposed on the hinge arm.
  • the second angle sensor can measure the swing angle of the arm of the depth-limiting component 410 relative to the frame 10 in real time. After data processing, the swing height of the depth-limiting component 410 relative to the connection between the trenching device 30 and the frame 10 is obtained, thereby obtaining the trench. The depth of the groove.
  • the depth of the trench can also be calculated by combining the relative positions of the depth limiting component 410 and the trenching device 30 through an inclination sensor, a laser ranging sensor or a wire sensor installed on the arm of the depth limiting component 410 .
  • the trenching depth acquisition component 420 may also include a coupling, a connecting bolt, and a crank arm pin.
  • the second angle sensor rotating shaft passes through the coupling, the connecting bolt, and the crank arm pin in sequence, and is finally fixed to the frame 10 , the second angle sensor housing is fixed on the arm of the depth limit assembly 410 through the coupling sleeve.
  • the contact point pressure measurement device 50 includes a second pressure collection component 510 , and the second pressure collection component 510 is connected to the depth limiting component 410 and/or the frame 10 .
  • the second pressure acquisition component 510 may include a sensor, and the sensor may acquire the deformation parameter of the trenching depth measuring device 40 relative to the frame 10 to obtain the magnitude of the second force when the trenching depth measuring device 40 contacts the ground.
  • the second pressure acquisition component 510 includes a pin sensor, a fixed piece and a depth-limiting block.
  • the pin sensor is arranged on the depth-limiting block.
  • the pin sensor is connected to the fixed piece, and the fixed piece is connected to the frame body. 10 connections.
  • the pin sensor is installed at the swing pin hole of the depth limit block and is connected to the frame 10 through the pin sensor fixed piece. It can monitor the force between the contact point of the depth limit component 410 and the ground in real time, ensuring that the depth limit Stable control of pressure under assembly 410.
  • the present invention provides a method for measuring soil solidity based on the above-mentioned soil solidity measuring device 1.
  • the method includes:
  • the first force is directed toward the ground.
  • the third force is the decomposed force of the first force in the direction perpendicular to the ground.
  • the third force is The third action force is the same as the first action force.
  • the fourth force is the difference between the third force and the second force.
  • the soil solidity information map is generated by combining the real-time position information of the individual body collected by the mobile GNSS device.
  • the first force exerted by the pressure regulating device 20 on the frame body 10 can be transmitted to the trenching device 30, and the trenching device 30 can drill a trench in the soil under the action of the first force, the trenching depth measuring device 40 remains in contact with the ground, and the contact point and the maximum depth point of the trenching device 30 sinking into the soil are formed in the vertical ground direction. Height difference, through the height difference, the depth value of the trench can be obtained, that is, the maximum depth of the trenching device 30 sinking into the soil at this position.
  • the trenching device 30 and the trenching depth measuring device 40 keep moving forward synchronously, so , the depth value of the trench opened by the trenching device 30 at each position point can be obtained in real time through the trenching depth measuring device 40, that is, the maximum depth value of the trenching device 30 sinking into the soil.
  • the contact point pressure measuring device 50 is connected to the trenching depth measuring device 40 and can obtain the magnitude of the second force at the contact point between the trenching depth measuring device 40 and the ground in real time.
  • the area of the contact surface between the trenching device 30 and the trench can be obtained by obtaining the maximum depth value of the trenching device 30 sunk into the soil, and the magnitude of the force exerted by the pressure regulating device 20 on the frame body 10 and the trenching depth can be obtained.
  • the magnitude of the force between the contact point of the device 40 and the ground can be calculated.
  • the ratio between the force at the contact point between the trenching device 30 and the trench and the area of the contact surface between the trenching device 30 and the trench is the solidity information of the soil at that location.
  • the trenching device 30, the trenching depth measuring device 40 and the contact point pressure measuring device 50 keep moving forward synchronously, and the above-mentioned parameters corresponding to each position point of the trenching device 30 can be obtained in real time, and then Agricultural machinery can be used to measure soil solidity information in real time.

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Abstract

一种土壤坚实度测量设备(1)及测量方法，涉及农业智能装备技术领域。土壤坚实度测量设备(1)包括架体(10)、压力调控装置(20)、开沟装置(30)、开沟深度测量装置(40)和触地点压力测量装置(50)。压力调控装置(20)与架体(10)连接，压力调控装置(20)适于向架体(10)施加第一作用力，开沟装置(30)与架体(10)连接；开沟深度测量装置(40)与架体(10)和/或开沟装置(30)连接，开沟深度测量装置(40)上至少存在一点与地面接触，开沟深度测量装置(40)与地面的接触点靠近开沟装置(30)；触地点压力测量装置(50)与开沟深度测量装置(40)连接，触地点压力测量装置(50)适于测量开沟深度测量装置(40)与地面之间的第二作用力的大小；其中，第一作用力朝向地面方向。土壤坚实度测量设备(1)及测量方法，可以实现农机实时测量土壤坚实度信息。

Description

土壤坚实度测量设备及测量方法 技术领域
本发明涉及农业智能装备技术领域，尤其涉及一种土壤坚实度测量设备及测量方法。
背景技术
在播种作业中，土壤的坚实度会直接影响农机的作业质量和后续作物的生长效果，因此，获取土壤的坚实度的准确参数可为农用机具的工作决策提供参考，进而可以促进作物出苗和生长发育，同时为后续播种施肥提供准确有效的决策指导。
现有技术中，实现测量土壤的坚实度的方法包括，通过人工握住测量仪把手两端，然后将测量仪底部圆锥均匀扎入土壤，测量其圆锥连杆反馈压力，从而获得土壤耕层范围内的土壤坚实度，或者，将土壤参数测量仪安装到小车上，以实现土壤参数的自动化测量。
应用上述中的土壤坚实度测量设备及测量方法，采集的土壤坚实度信息具有一定的滞后性，不能为农机的作业提供实时的参数信息，不利于农机智能化控制和精准作业。
发明内容
为了解决背景技术中存在的至少一个方面的技术问题，本发明提供了一种土壤坚实度测量设备及测量方法，可以实现农机实时测量土壤坚实度信息。具体技术方案如下：
本发明提供一种土壤坚实度测量设备，包括：架体；压力调控装置和开沟装置，所述压力调控装置与所述架体连接，所述压力调控装置适于向所述架体施加第一作用力，所述开沟装置与所述架体连接；开沟深度测量装置，所述开沟深度测量装置与所述架体和/或所述开沟装置连接，所述开沟深度测量装置上至少存在一点与地面接触，所述开沟深度测量装置与地面的接触点靠近所述开沟装置；触地点压力测量装置，所述触地点压力测量装置与所述开沟深度测量装置连接，所述触地点压力测量装置适于测量所述开沟深度测量装置与地面之间的第二作用力的大小；其中，所述第一作用力朝向地面方向。
根据本发明的一个实施例，所述压力调控装置包括压力调节组件、压力传导组件，第一压力采集组件，所述压力调节组件与所述压力传导组件连接，所述压力传导组件与所述架体连接，所述第一压力采集组件设置在所述压力调节组件和/或所述压力传导组件上。
根据本发明的一个实施例，所述压力传导组件包括四连杆结构，所述压力调节组件与所述四连杆结构通过铰接的方式连接。
根据本发明的一个实施例，所述第一压力采集组件包括第一角度传感器和第一力传感器，所述第一角度传感器设置在所述压力传导组件上，所述第一力传感器设置在所述压力调节组件上。
根据本发明的一个实施例，所述开沟装置包括开沟轮组件，所述开沟轮组件与所述架体连接，所述开沟轮组件包括第一开沟轮和第二开沟轮，所述第一开沟轮和所述第二开沟轮同轴设置，所述第一开沟轮和所述第二开沟轮非平行。
根据本发明的一个实施例，所述开沟深度测量装置包括限深组件和开沟深度采集 组件，所述限深组件与所述架体连接，所述开沟深度采集组件与所述限深组件连接。
根据本发明的一个实施例，所述开沟深度采集组件包括第二角度传感器，所述限深组件包括拐臂，所述第二角度传感器设置在所述拐臂上。
根据本发明的一个实施例，所述触地点压力测量装置包括第二压力采集组件，所述第二压力采集组件与所述限深组件和/或所述架体连接。
根据本发明的一个实施例，所述第二压力采集组件包括销轴传感器、固定片和限深块，所述销轴传感器设置在所述限深块上，所述销轴传感器与所述固定片连接，所述固定片与所述架体连接。
本发明提供了一种基于如上所述的土壤坚实度测量设备的土壤坚实度测量方法，方法包括：
获取所述压力调控装置向所述架体施加的所述第一作用力的大小；
基于所述第一作用力的大小，获取所述架体对地面的第三作用力大小；
获取所述开沟深度测量装置与地面之间的所述第二作用力的大小；
基于所述第三作用力和所述第二作用力，确定所述开沟装置与沟槽之间的第四作用力大小；
获取所述开沟装置陷入沟槽的最大深度值；
基于所述最大深度值，确定所述开沟装置与沟槽的接触面积；
基于所述第四作用力和所述接触面积，确定土壤坚实度信息。
根据本发明实施例提供的一种土壤坚实度测量设备及测量方法，其压力调控装置向架体施加的第一作用力可以传递至开沟装置，开沟装置在第一作用力的作用下可以在土壤中开出沟槽，开沟深度测量装置与地面保持接触，且接触点与开沟装置陷入土壤中的最大深度点在垂直地面方向上形成高度差，通过高度差可以获得沟槽的深度值，也即开沟装置在该位置陷入土壤中的最大深度，农机作业时，开沟装置与开沟深度测量装置保持同步前进，这样，通过开沟深度测量装置可以实时获取开沟装置在每一个位置点所开出的沟槽的深度值，也即开沟装置陷入土壤中的最大的深度值。触地点压力测量装置与开沟深度测量装置连接，可以实时获取开沟深度测量装置与地面的接触点的第二作用力的大小。通过获取到的开沟装置陷入土壤中的最大深度值可以得到开沟装置与沟槽的接触面的面积，通过获取压力调控装置向架体施加的作用力的大小以及开沟深度测量装置与地面接触点之间的作用力的大小，可以计算得到开沟装置与沟槽接触点的作用力的大小。在同一位置处，开沟装置与沟槽接触点的作用力和开沟装置与沟槽的接触面的面积之间的比值，即为该位置土壤的坚实度信息。农机连续作业时，开沟装置、开沟深度测量装置和触地点压力测量装置保持同步前进，可以实时获取开沟装置在每一个位置点所对应的上述中的各项参数，进而可以实现农机实时测量土壤坚实度信息。
附图说明
为了更清楚地说明本发明或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例提供的土壤坚实度测量设备的结构示意图；
图2是本发明实施例提供的土壤坚实度测量方法的流程示意图。
附图标记：
1、土壤坚实度测量设备；
10、架体；
20、压力调控装置；210、压力调节组件；220、压力传导组件；230、第一角度传感器；240、第一力传感器；
30、开沟装置；
40、开沟深度测量装置；410、限深组件；420、开沟深度采集组件；
50、触地点压力测量装置；510、第二压力采集组件。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明中的附图，对本发明中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在本发明实施例的描述中，需要说明的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明实施例的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本发明实施例的描述中，需要说明的是，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明实施例中的具体含义。
在本发明实施例中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明实施例的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
相关技术中，实现测量土壤的坚实度的方法包括，通过人工握住测量仪把手两端，然后将测量仪底部圆锥均匀扎入土壤，测量其圆锥连杆反馈压力，从而获得土壤耕层范围内的土壤坚实度，或者，将土壤参数测量仪安装到小车上，以实现土壤参数的自动化测量。
应用上述中的土壤坚实度测量设备及测量方法，采集的土壤坚实度信息具有一定的滞后性，不能为农机的作业提供实时的参数信息，不利于农机智能化控制和精准作业。
为了解决上述问题，本发明提供了一种土壤坚实度测量设备1，如图1所示，土壤坚实度测量设备1包括架体10、压力调控装置20、开沟装置30、开沟深度测量装置40和触地点压力测量装置50。压力调控装置20与架体10连接，压力调控装置20适于向架体10施加第一作用力，开沟装置30与架体10连接；开沟深度测量装置40与架体10和/或开沟装置30连接，开沟深度测量装置40上至少存在一点与地面接触，开沟深度测量装置40与地面的接触点靠近开沟装置30；触地点压力测量装置50与开沟深度测量装置40连接，触地点压力测量装置50适于测量开沟深度测量装置40与地面之间的第二作用力的大小；其中，第一作用力朝向地面方向。
压力调控装置20向架体10施加第一作用力，第一作用力朝向地面方向，第一作用力通过架体10进一步作用于开沟装置30以使开沟装置30在地面上开出沟槽，压力调控装置20施加第一作用力的方式有多种，具体地，压力调控装置20可以包括电动推杆、气动弹簧、液压油缸、电磁阻尼器等。第一作用力的方向与地面形成90度范围内的夹角，可以通过调整第一作用力的方向，改变压力调控装置20实际作用于开沟装置30用于在地面上开出沟槽的作用力的大小。第一作用力的方向可以完全垂直于地面，这样可以使压力调控装置20施加的第一作用力完全转化为开沟装置30在地面上开出沟槽的作用力。
开沟深度测量装置40可以获取开沟装置30开出的沟槽的深度，开沟深度测量装置40保持与地面接触的状态，即在农机前进过程中，开沟深度测量装置40贴地行走，开沟装置30陷入沟槽内的部分与沟槽底部接触点到地面的垂直距离即为沟槽的深度，开沟深度测量装置40与地面接触点要靠近开沟装置30，进一步地，为了更进一步准确获取开沟装置30在某位置的开沟深度，开沟深度测量装置40与地面接触点要靠近开沟装置30与沟槽底部接触点。农机前进过程中，开沟深度测量装置40与开沟装置30保持同步前进，这样可以保证开沟深度测量装置40实时、准确地获取开沟深度。
触地点压力测量装置50与开沟深度测量装置40连接，可以获取开沟深度测量装置40和地面接触点的第二作用力的大小。具体地，压力调控装置20向架体10施加的第一作用力最终作用在两个位置，第一个位置即为开沟深度测量装置40与地面的接触点的位置，此位置即为第二作用力作的用点所在的位置，第二个位置即为开沟装置30与沟槽的底部接触点的位置，可以将此位置的作用力称为第四作用力，此位置即为第四作用力作的用点所在的位置，第二作用力与第四作用力之和等于第一作用力，因此，通过触地点压力测量装置50获取第二作用力，即可确定开沟装置30与沟槽底部之间的第四作用力的大小。
如图1所示，在本发明的一些实施例中，压力调控装置20包括压力调节组件210、压力传导组件220，第一压力采集组件，压力调节组件210与压力传导组件220连接，压力传导组件220与架体10连接，第一压力采集组件设置在压力调节组件210和/或压力传导组件220上。压力调节组件210可以是电动推杆、气动弹簧、液压油缸、电磁阻尼器等，压力调节组件210与压力传导组件220连接，压力调节组件210向压力传导组件220施加第一作用力，压力 传导组件220将第一作用力传递至架体10上，第一压力采集组件可以采集压力调节组件210施加的第一作用力的大小。
如图1所示，在本发明的一些实施例中，压力传导组件220包括四连杆结构，压力调节组件210与四连杆结构通过铰接的方式连接。四连杆结构可以传递较大的动力，结构简单，动平衡性能好，压力调节组件210与四连杆结构铰接，当四连杆发生变形时，压力调节组件210与四连杆结构连接点位置可以产生相对转动，以使压力调节组件210始终保持与四连杆结构连接，使压力调节组件210和四连杆结构之间的结构稳定性能更好，进一步保证压力调控装置20输出作用力的稳定性。
如图1所示，在本发明的一些实施例中，第一压力采集组件包括第一角度传感器230和第一力传感器240，第一角度传感器230设置在压力传导组件220上，第一力传感器240设置在压力调节组件210上。在本发明的实施例中，第一角度传感器230安装在四连杆结构中的上臂或下臂处，以测量在第一作用力的作用下四连杆结构的摆动角度，通过计算获得第一作用力的力臂长度。第一力传感器240安装压力调节组件210上，可通过测量四连杆结构下臂铰接处受力形变或者压力调节组件210的内部压强，进一步结合四连杆结构的摆动角度等参数来获得第一作用力的大小。
如图1所示，在本发明的一些实施例中，开沟装置30包括开沟轮组件，开沟轮组件与架体10连接，开沟轮组件包括第一开沟轮和第二开沟轮，第一开沟轮和第二开沟轮同轴设置，第一开沟轮和第二开沟轮非平行。开沟装置30由第一开沟轮和第二开沟轮呈一定角度固定在架体10上，第一开沟轮和第二开沟轮依靠自重及压力调控装置20的作用力将土层切开并推向两侧而形成沟槽，第一开沟轮与第二开沟轮的侧面与沟槽侧面的接触面即为开沟装置30切入土壤的作用面积。
在本发明的一些实施例中，开沟深度测量装置40包括限深组件410和开沟深度采集组件420，限深组件410与架体10连接，开沟深度采集组件420与限深组件410连接。限深组件410可以包括限深轮结构，限深轮结构中的滚轮在地面上滚动，限深轮通过拐臂与架体10连接，拐臂与架体10之间可转动连接，限深组件410还可以包括滑板结构，其中，滑板的一端与地面接触，滑板的另一端与架体10可转动连接。开沟深度采集组件420可以包括传感器，可以通过测量限深组件410相对于架体10的运动变形参数进一步计算出开沟深度。
在本发明的一些实施例中，开沟深度采集组件420包括第二角度传感器，限深组件410包括拐臂，第二角度传感器设置在拐臂上。第二角度传感器可以实时测量限深组件410的拐臂相对架体10的摆动角度，经过数据处理后获得限深组件410相对于开沟装置30与架体10连接处的摆动高度，从而获取沟槽的深度。
另外，也可通过安装在限深组件410拐臂上的倾角传感器、激光测距传感器或拉线传感器等，结合限深组件410和开沟装置30的相对位置计算获得沟槽的深度。
其中，上述开沟深度采集组件420还可以包括联轴器、连接螺栓、拐臂销轴，第二角度传感器转轴依次通过联轴器、连接螺栓、拐臂销轴，并最终与架体10固定，第二角度传感器壳体通过联轴器套固定在限深组件410拐臂上。
在本发明的一些实施例中，触地点压力测量装置50包括第二压力采集组件510，第二压力采集组件510与限深组件410和/或架体10连接。第二压力采集组件510可以包括传感器，传感器可以获取开沟深度测量装置40相对于架体10的变形参数，以获取开沟深度测量 装置40与地面接触的第二作用力的大小。
在本发明的一些实施例中，第二压力采集组件510包括销轴传感器、固定片和限深块，销轴传感器设置在限深块上，销轴传感器与固定片连接，固定片与架体10连接。轴销传感器安装在限深块摆动销孔处，通过销轴传感器固定片与架体10相连接，可对限深组件410与地面的接触点之间的作用力进行实时监测，保证了限深组件410下压力的稳定控制。
如图2所示，本发明提供了一种基于上述中的土壤坚实度测量设备1的土壤坚实度测量方法，方法包括，
S100、获取所述压力调控装置20向所述架体10施加的所述第一作用力的大小。
其中，第一作用力朝向地面方向。
S200、基于所述第一作用力的大小，获取所述架体10对地面的第三作用力大小。
当第一作用力的方向与地面的夹角小于90度时，则第三作用力为第一作用力在垂直于地面方向的分解力，当第一作用力的方向与地面垂直时，则第三作用力与第一作用力等同。
S300、获取所述开沟深度测量装置40与地面之间的所述第二作用力的大小。
S400、基于所述第三作用力和所述第二作用力，确定所述开沟装置30与沟槽之间的第四作用力大小。
第四作用力为第三作用力和第二作用力之间的差值。
S500、获取所述开沟装置30陷入沟槽的最大深度值。
S600、基于所述最大深度值，确定所述开沟装置30与沟槽的接触面积。
S700、基于所述第四作用力和所述接触面积，确定土壤坚实度信息。
其中，在获得土壤实时坚实度信息后，为保证数据稳定可靠性，采用滑动滤波方式以消除数据的抖动，包括但不限于滑动算术平均值滤波和滑动加权平均值滤波。进一步，结合移动GNSS设备采集的单体实时位置信息，生成土壤坚实度信息图。
综上所述，根据本发明实施例提供的一种土壤坚实度测量设备1及测量方法，其压力调控装置20向架体10施加的第一作用力可以传递至开沟装置30，开沟装置30在第一作用力的作用下可以在土壤中开出沟槽，开沟深度测量装置40与地面保持接触，且接触点与开沟装置30陷入土壤中的最大深度点在垂直地面方向上形成高度差，通过高度差可以获得沟槽的深度值，也即开沟装置30在该位置陷入土壤中的最大深度，农机作业时，开沟装置30与开沟深度测量装置40保持同步前进，这样，通过开沟深度测量装置40可以实时获取开沟装置30在每一个位置点所开出的沟槽的深度值，也即开沟装置30陷入土壤中的最大的深度值。触地点压力测量装置50与开沟深度测量装置40连接，可以实时获取开沟深度测量装置40与地面的接触点的第二作用力的大小。通过获取到的开沟装置30陷入土壤中的最大深度值可以得到开沟装置30与沟槽的接触面的面积，通过获取压力调控装置20向架体10施加的作用力的大小以及开沟深度测量装置40与地面接触点之间的作用力的大小，可以计算得到开沟装置30与沟槽接触点的作用力的大小。在同一位置处，开沟装置30与沟槽接触点的作用力和开沟装置30与沟槽的接触面的面积之间的比值，即为该位置土壤的坚实度信息。农机连续作业时，开沟装置30、开沟深度测量装置40和触地点压力测量装置50保持同步前进，可以实时获取开沟装置30在每一个位置点所对应的上述中的各项参数，进而可以实现农机实时测量土壤坚实度信息。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。

Claims (10)

  1. 一种土壤坚实度测量设备，其特征在于，包括：
    架体；
    压力调控装置和开沟装置，所述压力调控装置与所述架体连接，所述压力调控装置适于向所述架体施加第一作用力，所述开沟装置与所述架体连接；
    开沟深度测量装置，所述开沟深度测量装置与所述架体和/或所述开沟装置连接，所述开沟深度测量装置上至少存在一点与地面接触，所述开沟深度测量装置与地面的接触点靠近所述开沟装置；
    触地点压力测量装置，所述触地点压力测量装置与所述开沟深度测量装置连接，所述触地点压力测量装置适于测量所述开沟深度测量装置与地面之间的第二作用力的大小；
    其中，所述第一作用力朝向地面方向。
  2. 根据权利要求1所述的土壤坚实度测量设备，其特征在于，所述压力调控装置包括压力调节组件、压力传导组件，第一压力采集组件，所述压力调节组件与所述压力传导组件连接，所述压力传导组件与所述架体连接，所述第一压力采集组件设置在所述压力调节组件和/或所述压力传导组件上。
  3. 根据权利要求2所述的土壤坚实度测量设备，其特征在于，所述压力传导组件包括四连杆结构，所述压力调节组件与所述四连杆结构通过铰接的方式连接。
  4. 根据权利要求2所述的土壤坚实度测量设备，其特征在于，所述第一压力采集组件包括第一角度传感器和第一力传感器，所述第一角度传感器设置在所述压力传导组件上，所述第一力传感器设置在所述压力调节组件上。
  5. 根据权利要求1所述的土壤坚实度测量设备，其特征在于，所述开沟装置包括开沟轮组件，所述开沟轮组件与所述架体连接，所述开沟轮组件包括第一开沟轮和第二开沟轮，所述第一开沟轮和所述第二开沟轮同轴设置，所述第一开沟轮和所述第二开沟轮非平行。
  6. 根据权利要求1所述的土壤坚实度测量设备，其特征在于，所述开沟深度测量装置包括限深组件和开沟深度采集组件，所述限深组件与所述架体连接，所述开沟深度采集组件与所述限深组件连接。
  7. 根据权利要求6所述的土壤坚实度测量设备，其特征在于，所述开沟深度采集组件包括第二角度传感器，所述限深组件包括拐臂，所述第二角度传感器设置在所述拐臂上。
  8. 根据权利要求6所述的土壤坚实度测量设备，其特征在于，所述触地点压力测量装置包括第二压力采集组件，所述第二压力采集组件与所述限深组件和/或所述架体连接。
  9. 根据权利要求8所述的土壤坚实度测量设备，其特征在于，所述第二压力采集组件包括销轴传感器、固定片和限深块，所述销轴传感器设置在所述限深块上，所述销轴传感器与所述固定片连接，所述固定片与所述架体连接。
  10. 一种基于权利要求1-9中任一项所述的土壤坚实度测量设备的土壤坚实度测量方法，其特征在于，所述方法包括：
    获取所述压力调控装置向所述架体施加的所述第一作用力的大小；
    基于所述第一作用力的大小，获取所述架体对地面的第三作用力大小；
    获取所述开沟深度测量装置与地面之间的所述第二作用力的大小；
    基于所述第三作用力和所述第二作用力，确定所述开沟装置与沟槽之间的第四作用力大小；
    获取所述开沟装置陷入沟槽的最大深度值；
    基于所述最大深度值，确定所述开沟装置与沟槽的接触面积；
    基于所述第四作用力和所述接触面积，确定土壤坚实度信息。
PCT/CN2022/142876 2022-08-30 2022-12-28 土壤坚实度测量设备及测量方法 Ceased WO2024045448A1 (zh)

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