| 小型方捆机草捆动态称量系统设计与试验 |
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| 引用本文： | 张安琪,孟志军,陈立平,武广伟,丛岳,安晓飞.小型方捆机草捆动态称量系统设计与试验[J].农业机械学报,2020,51(10):170-175,185. |
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| 作者姓名： | 张安琪 孟志军 陈立平 武广伟 丛岳 安晓飞 |
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| 作者单位： | 北京农业智能装备技术研究中心,北京100097 |
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| 基金项目： | 北京市农林科学院创新能力建设专项（KJCX20200416）、现代农业产业技术体系建设专项资金项目（CARS-03）和2020年度农机北斗导航与智能测控北京市工程实验室建设项目（PT2020-22） |
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| 摘 要： | 针对小方捆机作业过程中草捆连续、单捆动态分离称量难、捡拾器升降频繁、地面起伏大等问题，基于多传感器融合技术设计了一套方捆机草捆动态称量系统。提出了一种草捆动态分离、识别方法，构建了基于称量台实时下压力和俯仰角的双参数草捆动态称量系统，实现了单草捆动态独立称量。该系统由机械部分、传感器部分、数据采集模块、卫星定位模块、显示终端及上位机软件组成，传感器部分包括4个压力式称量传感器、称量台俯仰角传感器和草捆状态识别传感器。系统可以实时显示称量台下压力、称量台俯仰角、草捆质量、草捆状态和经纬度等信息。进行了草捆动态称量系统性能试验，结果表明，静态模式下系统的草捆质量预测值最大相对误差为0.38%；动态模式下草捆质量预测值和真实值决定系数R2达到0.996，系统预测的相对误差为-4.40%~4.30%。说明系统具有较高的准确性及较好的鲁棒性，满足田间草捆称量的实际需要，为打捆机作业质量评价提供了一种快速测量手段。
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| 关 键 词： | 方捆机 草捆 传感器 动态称量 |
| 收稿时间： | 2020/7/22 0:00:00 |
Design and Experiment of Dynamic Weighing System for Small Square Baler |
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| ZHANG Anqi,MENG Zhijun,CHEN Liping,WU Guangwei,CONG Yue,AN Xiaofei.Design and Experiment of Dynamic Weighing System for Small Square Baler[J].Transactions of the Chinese Society of Agricultural Machinery,2020,51(10):170-175,185. |
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| Authors: | ZHANG Anqi MENG Zhijun CHEN Liping WU Guangwei CONG Yue AN Xiaofei |
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| Institution: | Beijing Research Center of Intelligent Equipment for Agriculture |
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| Abstract: | Aiming at the problems in the operation of small square baling machine, such as baling continuous, difficult dynamic separating and weighing a single bale, frequently rising and lifting of pickup, and ground up and down, a dynamic weighing system of square baling machine was designed based on multi sensor fusion technology. A dynamic separation and identification method of bales was proposed by changing the track. A dynamic weighing system of straw bale based on real time downforce and pitch angle of weighing platform was established. As a result, the dynamic independent weighing of single straw bale was realized. The system included mechanical part, sensor part, data acquisition module, satellite positioning module, display terminal and upper computer software. The sensor part includes four pressure type weighing sensors, the tilt angle sensor of the weighing platform and the straw bale status identification sensor. The system could display real time information such as pressure under weighing platform, pitch angle of weighing platform, bale weight, bale status, longitude and latitude, etc. In June 2020, the performance test of straw bale dynamic weighing system was carried out in Xiaotangshan National Precision Agriculture Research Base in Changping District, Beijing City. The results showed that the maximum relative error of the predicted bale weight in the static mode was 0.38%. In the dynamic mode, the R2 of the predicted bale weight and the true value reached 0.996, and the relative error range of the system predicted weight was -4.40%~4.30%. The results showed that the system had excellent accuracy and robustness, and the system could satisfy the practical needs of weighing grass bales in the field. The system provided a fast measurement method for the operation quality evaluation of baler. |
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