طراحی، ساخت و ارزیابی سامانه سنجش مکانی عمق زیرشکن در مزارع نیشکر

زیرشکنی لایه زیرین خاک با توجه به رفت و آمد ماشین‌های کشاورزی و خصوصاً در شرایط بافت سنگین و فشردگی زیاد خاک، برای بسیاری محصولات خصوصاً نیشکر بسیار حیاتی است. در این تحقیق اقدام به طراحی، ساخت و ارزیابی سامانه سنجش عمق بر روی زیرشکن متصل به بولدوزر در مزارع نیشکر گردید. برای ارزیابی عمق سامانه از قالب طرح بلوک‌های کامل تصادفی به روش کرت‌های یک بار خردشده استفاده گردید. کرت‌های اصلی در سه سطح روش‌های عمق‌سنجی بر مبنای زوایای شاسی‌های محرک شاخه‌های زیرشکن، فاصله‌سنج لیزری و فاصله‌سنج فراصوتی و کرت‌های فرعی در سه سطح عمق 30-0 (سطحی)، 60-30 (میانی) و 90-60 (عمیق) سانتی‌متری بودند. نتایج نشان داد که تمام شاخص‌های آماری خطای عمق در اثر نوع روش عمق‌سنجی معنی‌دار بود و کمترین و بیشترین میانگین خطای عمق به‌ترتیب با 1.91 سانتی‌متر در روش زوایا و 3.83 سانتی‌متر در روش فراصوتی به‌دست آمد. همچنین تمام شاخص‌های آماری خطای عمق در اثر دامنه‌های عمق معنی‌دار بود و کمترین و بیشترین میانگین خطای عمق به‌ترتیب با 2.33 سانتی‌متر در دامنه عمیق و 3.65 سانتی‌متر در دامنه سطحی به‌دست آمد. همچنین فقط شاخص‌های آماری حداقل و حداکثر خطا در اثر متقابل دو عامل معنی‌دار بودند و کمترین و بیشترین مقادیر حداقل خطا به‌ترتیب به روش زوایا و دامنه عمیق با 0.05 و روش فراصوتی و دامنه سطحی با 0.34 سانتی‌متر تعلق داشت در حالی‌که کمترین و بیشترین مقادیر حداکثر خطا به‌ترتیب به روش زوایا و دامنه عمیق با 3.21 و روش فراصوتی و دامنه سطحی با 8.63 سانتی‌متر تعلق داشت.

design, construction, and evaluation of a spatial depth measurement system for subsoiler in sugarcane fields

introductionsubsoiling is a critical tillage operation for many crops, particularly sugarcane, due to the impact of agricultural machinery traffic and its significance in managing heavy-textured and compacted soils. given the extensive size of sugarcane fields and the time-intensive nature of subsoiling operations, the application of intelligent control techniques for monitoring and managing these processes is of considerable importance. currently, subsoiling operations are monitored using manual gauges. this approach involves collecting a limited number of samples per hectare, typically after the operation is completed, which makes it nearly impossible to implement real-time corrections. to address this limitation, the development and implementation of a depth measurement system offer a promising solution. such a system enables real-time observation of working depth by both the operator, via an on-screen display, and by a remote observer through an online platform. this capability allows for immediate adjustments during the operation, ensuring greater precision and efficiency. furthermore, by integrating recorded depth data with geospatial information, it becomes possible to generate detailed maps illustrating depth variations across the field. these maps can serve as valuable tools for further evaluations, such as performance monitoring in areas where subsoiling depth deviates from the desired range, either being too shallow or excessively deep. this technological advancement has the potential to significantly enhance the accuracy and effectiveness of subsoiling operations in modern agricultural practices.materials and methodsthis study focused on the design, development, and evaluation of a depth measurement system for a subsoiler attached to a track-type tractor, specifically tailored for sugarcane fields. the system not only provided real-time depth display but also recorded the location and transmitted it online. the research employed three distinct depth measurement techniques and was conducted using a randomized complete block design with split plots. the main plots are the three depth measurement techniques: based on the angles of the driving profiles of the subsoiler shanks (t1), the laser distance measurement method (t2), and the ultrasonic distance measurement method (t3), and sub-plots are depth ranges at three levels: 0-30 cm (r1: surface range), 30-60 cm (r2: mid-range), and 60-90 cm (r3: deep range). initially, we calculated the absolute difference between the depths recorded by the system and those measured manually with a rod at each location. following this, we analyzed key statistical indicators, including the average, standard deviation, and the minimum and maximum of errors, for comparison.results and discussionthe results showed that the depth measurement error was significantly influenced by the technique employed. the angle technique yielded the lowest average error of 1.91 cm, while the ultrasonic technique resulted in the highest average error of 3.83 cm. across all depth ranges, statistical indicators for depth error were significant. specifically, within these ranges, the deep range exhibited an average depth error of 2.33 cm, and the surface range had an average error of 3.65 cm. statistical analysis revealed that only indices related to minimum and maximum errors for interactions between factors were significant. the lowest minimum error value (0.05 cm) was observed with the angle technique at deeper depths, whereas the highest minimum error (0.34 cm) occurred with ultrasonic measurements at shallower depths on surfaces. similarly, maximum errors followed this trend: the lowest maximum error (3.21 cm) was associated with angle measurements at deeper depths, while ultrasonic measurements on surfaces yielded a higher maximum error (8.63 cm).