Paddy field plow pan information continuous sensing device and method

Abstract

The invention relates to a paddy field plow pan information continuous sensing device which comprises an attitude sensor, two sets of feeler lever sensing devices and a data acquisition device. The attitude sensor is installed on a tractor body, and the two sets of feeler lever sensing devices are installed on left and right front wheel main pins of a tractor respectively; the feeler lever sensingdevice comprises a supporting frame, a parallelogram mechanism, a force sensor, an angular displacement sensor, a feeler lever and a constant-pressure mechanism; the supporting frame is relatively fixed to the main pins, the feeler lever, the constant-pressure mechanism and the force sensor ascend and descend relative to the supporting frame through the parallelogram mechanism, and the angular displacement sensor is installed on the parallelogram mechanism. The invention further relates to a paddy field plow pan information continuous sensing method. Plow pan depth information and plow pan depth soil resistance on a running path of the paddy field tractor can be continuously sensed at the same time, measurement means of a paddy field terrain and a soil bearing capacity are enriched, and the device and the method belong to the technical field of soil information sensing.

Description

technical field [0001] The invention relates to the technical field of soil information perception, in particular to a device and method for continuously sensing bottom layer information of a paddy field plow. Background technique [0002] Carrying out paddy field soil information perception and detection has guiding significance for paddy field crop cultivation and agricultural machinery equipment design. Traditional methods mainly use soil hardness testers to measure the hardness of soil layers at different depths or use telemetry equipment to reconstruct the three-dimensional surface of the field. There is also a lightweight portable device that can sample and analyze soil moisture and nutrients on site. With the development of agricultural machinery and equipment in the direction of automation and intelligence, the automatic navigation operation of tractors puts forward higher requirements for the perception of farmland environmental information. [0003] At present, th...

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Problems solved by technology

[0005] (1) The structure of the paddy field is complex, the hard bottom layer is covered with a cultivation layer and a water layer, and the water surface is reflective, transparent, and light-absorbing, so traditional ground or space telemetry equipment cannot be directly applied to paddy field soil analysis;

[0006] (2) The traditional contact topographic measurement device is mainly based on discrete point measurement, which cannot meet the needs of rapid and continuous measurement of field soil data;

[0007] (3) Traditional farmland terrain surveying and mapping equipment only pays attention to the soil surface information, and cannot know the driving layer or plow bottom layer of paddy field tractors;

[0008] (4) Traditional soil information measurement devices measure soil resistance or map surface topography, and the acquisition of measurement object information is single

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