DESIGN AND VALIDATION OF A SURFACE PROFILING APPARATUS FOR AGRICULTURAL TERRAIN ROUGHNESS MEASUREMENTS

Abstract

How to accurately and efficiently measure the profiles of the terrain on which agricultural machines operate has been an ongoing research topic. In this study, a surface profiling apparatus (profiler) was developed to measure agricultural terrain profiles along parallel tracks. The profiler is mainly composed of sensor frames, an RTK-GNSS system (Real Time Kinematics-Global Navigation Satellite Systems), laser sensors, an Inertial Measurement Unit (IMU) sensor and a data acquisition system. Along with a full description of how the terrain profiles were produced, a methodology to compensate for the tractor motion was included in the sensor data analysis. In field profiling validation, two trapezoidal bumps with known dimensions were used to assess the ability of the terrain profiler to reproduce the vertical profiles of the bumps, resulting in root mean square error (RMSE) of 3.6-4.7 mm and 4.5-5.1 mm with profiling speeds of 1.02 and 2.56 km/h, respectively. In addition, a validation test was also conducted on an asphalt road by profiling a flat road with the measuring wheels of the profiler rolling on the flat section but with the tractor wheels driving over a trapezoidal bump to excite the tractor pitch and roll motion. The measured profiles then also exhibited a flat road, which showed the ability of the profiler to remove the tractor motion from the profiling measurements.