悬挂式水田宽幅卫星平地机设计与试验

Design and Test of Suspended Paddy Wide Range Satellite Grader

针对我国水田平整时窗短、平整作业精度要求高、缺乏高效水田平整作业机具等问题,设计了一种悬挂式水田宽幅卫星平地机。研发了悬挂式水田宽幅卫星平地机平地控制系统,应用北斗卫星RTK定位技术,将北斗卫星天线置于平地铲上方,可实现平地铲高度的厘米级精准定位。开发的智能终端采用阈值-多项式插值算法将实时高程信息转换成点云图,可直接反映水田平整后地势情况,供二次平整作业参考。设计了液压控制系统和悬挂式挂载结构的双液压缸驱动平地机,平地机载荷能力强,高程调节过程更加稳定。进行了系统定位精度及控制输出验证试验,结果表明:悬挂式水田宽幅卫星平地机平地控制系统定位精度为䥺SymbolqB@1.0cm,控制部分输出稳定。为验证悬挂式水田宽幅卫星平地机的工作性能,对其进行了水田平整试验,并将田间采样高程数据进行了田块纵横单行数据拟合曲线对比分析及统计分析。田间试验结果表明:田面最大高差d从19.6cm平整至5.9cm,采样点标准差Sd从4.9cm平整至2.6cm,作业效果较好,可有效改善水田平整度。

Aiming at the problems of short window,high precision and lack of efficient paddy field leveling tools in China,a suspended paddy field wide satellite grader is designed in this paper.The leveling control system of the suspended paddy field wide satellite grader has been developed.The system uses the Beidou satellite RTK positioning technology to place the Beidou satellite antenna above the leveling shovel,which can achieve centimeter level accurate positioning of the height of the leveling shovel.The developed intelligent terminal uses the threshold polynomial interpolation algorithm to convert the real-time elevation information into a point cloud map,which can directly reflect the terrain situation after paddy field leveling and provide a reference for the second leveling operation.A hydraulic control system and a double hydraulic cylinder driven grader with a suspension mounting structure are designed.The grader has strong load capacity and more stable elevation adjustment process.The system positioning accuracy and control output verification tests were carried out.The test results showed that the positioning accuracy of the leveling control system of the suspended paddy field wide satellite grader was±1.0 cm,and the output of the control part was stable.In order to verify the working performance of the suspended paddy field wide range satellite grader,paddy field leveling tests were carried out,and the vertical and horizontal single row data fitting curves and statistical analysis were carried out for the field sampled elevation data.The field test results showed that the maximum height difference d of the field surface was 5.9 cm from 19.6 cm,and the standard deviation Sd of the sampling point was 4.9 cm to 2.6 cm,indicating that the suspended paddy field wide range satellite grader had a good leveling effect,It can effectively improve the flatness of paddy field.