| 冯添,黄玉祥,赵鹏飞,刘卓韬,毕于彬,巨晓腾.基于多传感器融合的玉米播种机播深控制系统设计与试验[J].干旱地区农业研究,2025,(4):261~272 |
| 基于多传感器融合的玉米播种机播深控制系统设计与试验 |
| Design and test of control system for sowing depth of corn seeder based on multi\|sensor fusion |
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| DOI：10.7606/j.issn.1000-7601.2025.04.27 |
| 中文关键词: 玉米播种机 播种深度 控制系统 卡尔曼滤波 多传感器融合 |
| 英文关键词:corn seeder sowing depth control system Kalman filtering multi\|sensor fusion |
| 基金项目:国家重点研发计划项目（2021YFD2000405-5） |
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| 中文摘要: |
| 针对玉米播种机面对田间复杂地形存在的播深一致性难以控制等问题，以提高播种深度控制精度为目标，提出一套基于多传感器融合的播种深度自动控制系统。该系统主要由播深控制处理器、播深检测装置及液压缸调节装置组成，采用超声波传感器与倾角传感器作为播深信息采集装置，通过融合滤波算法降低单个传感器的检测误差，以融合滤波信号与播深预设值的差值作为控制系统的反馈输入信号，控制系统计算得到输出信号，使液压缸调节装置进行抬升或下压控制，从而实现播种深度的实时、精准调节。传感器动态标定试验结果表明，经过卡尔曼滤波处理后，超声波传感器和倾角传感器检测数据的平均误差分别降低至0.59 cm和0.12 cm。田间试验表明，设定播深为50 mm，在3~5、5~7、7~9 km·h-1速度梯度播深控制时，播深平均值的最大误差为2.00 mm，播深合格率最高为95.0%；随着机器速度的提高，播深合格率均值为90.83%，播深变异系数均值为9.9%。该控制系统可满足玉米播种机保证播深一致性、提高播深控制精度的要求。 |
| 英文摘要: |
| A multi\|sensor fusion\|based automatic sowing depth control system is proposed to improve the accuracy of sowing depth control for corn seeders operating in complex field terrains, such as those that present challenges to sowing depth consistency. The system primarily comprises a sowing depth control processor, seeding depth detection device, and hydraulic cylinder adjustment device. Ultrasonic sensors and inclination sensors serve as the sowing depth information acquisition devices. The fusion filtering algorithm is utilized to reduce the detection error of individual sensors. The deviation between the fusion filtering signal and the preset seeding depth value is utilized as the feedback input signal of the control system. The control system computes the output signal, and the hydraulic cylinder adjustment device regulates the raising or lowering of the seeding unit to attain real\|time and accurate adjustment of sowing depth. The dynamic calibration test of the sensor demonstrated that, following Kalman filtering processing, the average error of the detection data of the ultrasonic sensor and the inclination sensors was decreased to 0.59 cm and 0.12 cm, respectively. Field experiments revealed that, when setting the sowing depth to 50 mm and controlling the sowing depth at speed gradients of 3~5 km·h-1, 5~7 km·h-1, and 7~9 km·h-1, the maximum error in the average sowing depth was 2.00 mm, and the maximum qualified rate of sowing depth was 95.0%. Furthermore, with the increase of machine speed, the average qualified rate of sowing depth was 90.83%, and the average variation coefficient of sowing depth was 9.9%. This control system satisfies the requirements for ensuring consistent sowing depth and enhancing sowing depth control accuracy for corn seeders. |
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