水田平地机自动平地系统设计与试验

doi:10.13733/j.jcam.issn.2095-5553.2025.04.009

摘要/Abstract

摘要： 针对水田平地机作业姿态调节的问题，研制一款基于IMU惯性测量单元和GNSS—RTK的水田自动平地系统。通过电磁溢流阀实现液压系统的保压和卸荷功能，解决作业时油温过高等问题；采用GNSS—RTK差分定位技术以及RT—Thread实时操作系统实现平地机自动控制；利用数学几何关系设计出既能高程调节也能水平调节的平地机构，且高程幅度可达1 085.7 mm，水平倾角幅度可达-21.4°~19.9°。为验证该平地系统的工作性能，进行水田平整试验。结果表明，在1 m/s、1.4 m/s、1.8 m/s、2.2 m/s作业速度下，平地铲倾角均方根误差分别为0.514°、0.573°、0.656°、0.710°，小于3 cm的高差分布列由20.6%提高到79.3%，倾角在-1.5°~1.5°范围内占比由35.4%提高到84.6%，平整度由13.9 cm提高到2.88 cm，满足水田农艺要求，故该自动平地系统可有效改善水田平整度且机具结构设计合理。

关键词: 水田平地机, 姿态调节, 自动平地系统, 实时操作系统, 平整度

Abstract: To address the issue of adjusting the operating attitude of paddy field grader, an automatic grading system for paddy fields based on IMU (inertial measurement unit) and GNSS—RTK was developed. The hydraulic system uses electromagnetic relief valves to achieve pressure holding and unloading functions, addressing the issue of high oil temperature during operation. Automatic grader control is achieved through the use of GNSS—RTK differential positioning technology and RT—Thread real‑time operating system. The grader mechanism was designed with adjustable elevation and level by using mathematical geometrical relations, allowing for an elevation range of up to 1 085.7 mm and a level inclination range of -21.4° to 19.9°. To verify its working performance, a paddy field levelling test was conducted. The test results showed that the root mean square error of the rake angle was 0.514°, 0.573°, 0.656°, and 0.710° at operating speeds of 1 m/s, 1.4 m/s, 1.8 m/s, and 2.2 m/s. The elevation distribution column of less than 3 cm increased from 20.6% to 79.3%. The range of inclination angle from -1.5°-1.5° increased from 35.4% to 84.6%. The flatness decreased from 13.9 cm to 2.88 cm. These values meet the agronomic requirements of paddy fields. Therefore, this automated levelling system can effectively improve the flatness of paddy fields. The machine structure is well‑designed.

Key words: paddy field grader, posture adjustment, automatic grading system, real?time operating system, flatness

中图分类号:

S222.5+1

李乐, 王焱清, 王路玮, 杨光友, 廖龙祥, 汪本福. 水田平地机自动平地系统设计与试验[J]. 中国农机化学报, 2025, 46(4): 58-63.

Li Le, Wang Yanqing, , Wang Luwei, , Yang Guangyou, , Liao Longxiang, , Wang Benfu. Design and test of automatic grading system of paddy field grader[J]. Journal of Chinese Agricultural Mechanization, 2025, 46(4): 58-63.

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