Разработка интеллектуальных мехатронных систем точного наземного сканирования поверхности склоновых земель

Abstract

This paper describes the development of intelligent mechatronic systems for accurate ground scanning of slope land surface. Soil erosion causes a reduction in the areas acceptable for agricultural production, loss of soil fertility, creation of negative environmental situations and violation of the soil structure, which, in general, reduces crop yields. Modern digital land use on slope lands deter-mines the use of intelligent approaches and establishes a number of requirements that are necessary and link the technical characteristics of the applied mechatronic sys-tems and the parameters that characterize the agricultural landscape of slope lands. The research goal is to substan-tiate the intellectual method of spiral scanning of the under-lying surface in combination with the methods of digital modeling of slope lands and a number of technologies for accurate land use on slope lands that provide differentiated management impact. A field mechatronic profiler of an orig-inal design was developed for the implementation of intelli-gent technologies for accurate ground scanning of slope land surface. The principle of operation and the sequence of scanning operations using a field laptop and a wireless connection are described. An intelligent selection of the profiling scheme of the daily soil surface along Fermat’s spiral is implemented based on the data obtained along the circle. Preliminary studies of the daily surface of the soil, after its main treatment, allowed determining crumbly con-dition and ridgeness when scanning along the circumfer-ence as well as to establish a point cloud when scanning the entire studied surface along the Fermat’s spiral. At the same time, the soil moisture and the geoposition of the studied elementary site on an agricultural field were meas-ured. The developed intelligent mechatronic systems for accurate ground scanning of slope land surfacemake it possible to increase the accuracy and reliability of measur-ing surface parameters throughout the studied site, natural and climatic parameters of the environment in the field on slope lands by expanding the functionality of the device, taking into account the influence of a set of side physical phenomena and meteorological conditions.