CN104950304A - Turnover plow ploughing depth measurement system and turnover plow ploughing depth measurement method - Google Patents
Turnover plow ploughing depth measurement system and turnover plow ploughing depth measurement method Download PDFInfo
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- CN104950304A CN104950304A CN201510335592.7A CN201510335592A CN104950304A CN 104950304 A CN104950304 A CN 104950304A CN 201510335592 A CN201510335592 A CN 201510335592A CN 104950304 A CN104950304 A CN 104950304A
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- 238000002604 ultrasonography Methods 0.000 claims description 122
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- 208000031968 Cadaver Diseases 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters
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Abstract
The invention discloses a turnover plow ploughing depth measurement system and a turnover plow ploughing depth measurement method. The turnover plow ploughing depth measurement system comprises a tractor and a turnover plow which are connected in a pull-type manner, a host furrow plow monitor arranged in a cab of the tractor, a furrow plow monitor arranged in the part, which is adjacent to the middle of a steel plate of the tractor, of the turnover plow, an ultrasonic receiving component arranged at a rear wheel of the tractor, and an ultrasonic transmitting component arranged at the part, which is adjacent to the bottom of the steel plate of the tractor, of the turnover plow, wherein the ultrasonic receiving component and the furrow plow monitor are connected with the ultrasonic transmitting component which is in wireless connection with the ultrasonic receiving component. The turnover plow ploughing depth measurement system and the turnover plow ploughing depth measurement method are capable of overcoming the defects such as high manual labor intensity, poor real-time property and low measurement accuracy, and have the advantages of low labor strength, good real-time property and high measurement accuracy.
Description
Technical field
The present invention relates to agriculture field of measuring technique, particularly, relate to a kind of pivot plow and plough dark measuring system and method.
Background technology
In agricultural operation, be divided into plow, sow, field management, the large link of results four.And plow and occupy the first.The mechanization facility plowing used are exactly pivot plow, and its operation quality is the basis of follow-up agricultural production link, popularly say, ground does not turn over, 1 year white spirit.In Xinjiang Production and Construction Army Corps each field, there is clear and definite index request to the degree of depth of plowing, 28cm-31cm.But owing to there is no the means of information-based robotization, there is no formation networking system yet.This index is difficult to by effective monitoring, by a large amount of manpowers, can only inspect by random samples with ruler.Can produce very large drawback like this, first is exactly that monitoring cannot accomplish real-time, and second cannot realize comprehensive quality monitoring exactly, and the 3rd wastes a large amount of human costs and group's field handling cost.
Thus we propose by ultrasonic sensor measuring technique, and in conjunction with agricultural machinery Internet of things system, plowing in operation process, carry out in real time ploughing dark automatic measurement, and by agricultural machinery Internet of things system, relevant operation quality data are carried out gathering storage, simultaneously by warning that is local and far-end, corrects driver's operation situation not up to standard in time.Realize from fundamental significance, the automatic measurement of operation of plowing, in real time monitoring, in time correction, data store and review.Thus reach effective guarantee and to plow the quality of cargo handling operation, reduce cost of labor and handling cost.Supvr is stayed indoors, just may effectively supervision and management to plow cargo handling operation.
The maximum difficult point of the program, is just automatically to measure the degree of depth of plowing.Due on earth's surface, plot to be plowed, have rugged attachment (wheat stubble, cotton stalk, weeds etc.), if directly measured over the ground, have very large deviation, in operation process, the factor such as locomotive speed, environment all can have a significant impact measurement simultaneously.
Realizing in process of the present invention, inventor finding at least to exist in prior art that hand labor intensity is large, poor real and the defect such as measuring accuracy is low.
Summary of the invention
The object of the invention is to, for the problems referred to above, propose a kind of pivot plow and plough dark measuring system, to realize the advantage that hand labor intensity is little, real-time good and measuring accuracy is high.
The second object of the present invention is, proposes a kind of pivot plow and ploughs dark measuring method.
For achieving the above object, the technical solution used in the present invention is: dark measuring system ploughed by a kind of pivot plow, comprise tractor and the pivot plow of towed connection, be arranged on the main frame turnplow watch-dog in the pilothouse of described tractor, be arranged on the turnplow watch-dog of described pivot plow near the steel plate middle position at tractor place, be arranged on the ultrasound wave receiving unit at described tractor rear wheel place, and be arranged on the ultrasound wave emitting module of described pivot plow near the steel plate bottom position place at tractor place;
Described ultrasound wave receiving unit is connected described ultrasound wave emitting module and the wireless connections of ultrasound wave receiving unit with main frame turnplow watch-dog.Ultrasound wave emitting module and ultrasound wave receiving unit, all launched by ultrasound wave, receive, ultrasound wave emitting module and the connection between ultrasound wave receiving unit and relevant device are wireless.
Further, described ultrasound wave emitting module, specifically comprise and be arranged on the first ultrasound wave transmitting probe of described pivot plow above the steel plate middle position at tractor place, and be arranged on the second ultrasound wave transmitting probe of described pivot plow below the steel plate middle position at tractor place.
Further, the surface of emission of described first ultrasound wave transmitting probe is arranged horizontal by miter angle towards front lower place; And/or the surface of emission of the second ultrasound wave transmitting probe is arranged horizontal by miter angle towards front upper place.Transmitting probe and receiving transducer are oppositely arranged as far as possible, and angle is less than 15 degree.
Further, described ultrasound wave receiving unit, specifically comprises the first pair of ultrasound wave receiving transducer and second pair of ultrasound wave receiving transducer that arrange near two trailing wheels of described tractor respectively.
Further, described first pair of ultrasound wave receiving transducer, comprises further in two trailing wheels being arranged on described tractor and is positioned at left side wheels tire place and the first ultrasound wave receiving transducer setting up and down and the second ultrasound wave receiving transducer.
Further, described second pair of ultrasound wave receiving transducer, comprises further in two trailing wheels being arranged on described tractor and is positioned at right-hand wheel tire place and the 3rd ultrasound wave receiving transducer setting up and down and the 4th ultrasound wave receiving transducer.
Meanwhile, another technical scheme that the present invention adopts is: a kind of and above-described pivot plow is ploughed the pivot plow that dark measuring system matches and ploughed dark measuring method, comprises the following steps:
(1) the ultrasonic transmitter installed additional on pivot plow, two pairs of ultrasound wave receiving transducers in the same cross section of installing on tractor, carry out directional transmissions, synchronized transmissions start signal is to control module;
(2), after the ultrasonic signal that ultrasound wave receiving transducer receives, the indicator signal synchronously received is to main frame turnplow watch-dog;
(3) main frame turnplow watch-dog is according to the mistiming being transmitted into reception, calculates the first distance L1 and the second distance L2 of a pair ultrasound wave receiving transducer in ultrasound wave transmitting probe to two pairs of ultrasound wave receiving transducers;
(4), according to the first height H 1 and the second height H 2 that a pair ultrasound wave receiving transducer in two pairs of ultrasound wave receiving transducers demarcating in advance is installed on tractor, by mathematical model formula, the height of ultrasound wave transmitting probe apart from ground can be calculated;
(5) in conjunction with factors of influence such as temperature, calculation deviation value, draws the exact height H after correction, according to the distance of the transmitting probe demarcated in advance to pivot plow plough point, subtracts each other, can calculate the depth value of plowing of needs;
(6) when pivot plow enters next line operation, when face of simultaneously ploughing overturns, can by two pairs of ultrasound wave receiving transducers, another continues (1), (2), (3), (4), (5) to measure according to step to ultrasound wave receiving transducer.
The pivot plow of various embodiments of the present invention ploughs dark measuring system and method, owing to comprising tractor and the pivot plow of towed connection, be arranged on the main frame turnplow watch-dog in the pilothouse of tractor, be arranged on the turnplow watch-dog of pivot plow near the steel plate middle position at tractor place, be arranged on the ultrasound wave receiving unit at tractor rear wheel place, and be arranged on the ultrasound wave emitting module of pivot plow near the steel plate bottom position place at tractor place; Ultrasound wave receiving unit is connected ultrasound wave emitting module and the wireless connections of ultrasound wave receiving unit with main frame turnplow watch-dog; Thus can overcome that hand labor intensity in prior art is large, poor real and the low defect of measuring accuracy, to realize the advantage that hand labor intensity is little, real-time good and measuring accuracy is high.
Other features and advantages of the present invention will be set forth in the following description, and, partly become apparent from instructions, or understand by implementing the present invention.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for instructions, together with embodiments of the present invention for explaining the present invention, is not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is that the mounting structure schematic diagram of dark measuring system on tractor and pivot plow ploughed by pivot plow of the present invention;
Fig. 2 is the sequential chart that dark measuring system ploughed by pivot plow of the present invention;
Fig. 3 is the mathematical modeling schematic diagram that dark measuring system ploughed by pivot plow of the present invention.
By reference to the accompanying drawings, in the embodiment of the present invention, Reference numeral is as follows:
(LS160 main frame turnplow monitoring HLA is arranged in pilothouse 1-main frame turnplow watch-dog, and LS160 is telemanagement main frame, and a whole set of measuring system carries out upper management by telemanagement main frame; HLA is the reception counter that dark measuring system ploughed by pivot plow); 2-second pair of ultrasound wave receiving transducer (installation site of second pair of ultrasound wave receiving transducer: the 3rd ultrasound wave receiving transducer be arranged on top, the 4th ultrasound wave receiving transducer be arranged on below); 3-turnplow watch-dog (turnplow monitoring HLB is arranged on inside the block plate of A position two, and HLB is the ultrasound wave transmit control device of pivot plow measuring system); 4-a pair ultrasound wave transmitting probe (installation site of a pair ultrasound wave transmitting probe, the first ultrasound wave transmitting probe is arranged on the below of A position steel plate, and the first ultrasound wave transmitting probe surface of emission miter angle is towards front lower place; Second ultrasound wave transmitting probe is arranged on the top of A position steel plate, and the surface of emission miter angle of the second ultrasound wave transmitting probe is towards front upper place); 5-first pair of ultrasound wave receiving transducer (installation site of first pair of ultrasound wave receiving transducer: up, the second ultrasound wave two pairs ultrasound wave receiving transducer is in below for the first ultrasound wave two pairs ultrasound wave receiving transducer).
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein is only for instruction and explanation of the present invention, is not intended to limit the present invention.
According to the embodiment of the present invention, as shown in Figure 1-Figure 3, provide a kind of pivot plow and plough dark measuring system and method, space measurement will be converted into based on measuring distance earthward, and by the mathematical modelling algorithms of complexity, realize effective depth survey; The program is by structural design simultaneously, perfectly solves a measurement difficult problem for pivot plow double-side operation.
In the inventive solutions, dark measuring method ploughed by pivot plow, comprises the following steps:
A. ultrasonic transmitter pivot plow installed additional, 2 receiving transducers in the same cross section of installing on big-powered tractor, carry out directional transmissions, synchronized transmissions start signal is to control module;
B., after the ultrasonic signal that ultrasound wave receiving transducer receives, the indicator signal synchronously received is to controller;
C. controller is according to the mistiming being transmitted into reception, calculates the first distance L1 and the second distance L2 of a pair ultrasound wave receiving transducer in ultrasound wave transmitting probe to two pairs of ultrasound wave receiving transducers;
D. according to the first height H 1 and the second height H 2 that a pair ultrasound wave receiving transducer in two pairs of ultrasound wave receiving transducers demarcating in advance is installed on tractor, by mathematical model formula, the height of ultrasound wave transmitting probe apart from ground can be calculated;
E, in conjunction with factors of influence such as temperature, calculation deviation value, draws the exact height H after correction, according to the distance of the transmitting probe demarcated in advance to pivot plow plough point, subtracts each other, can calculate the depth value of plowing of needs;
F. when pivot plow enters next line operation, when face of simultaneously ploughing overturns, can by two pairs of ultrasound wave receiving transducers, another continues to measure according to A, B, C, D, E step to ultrasound wave receiving transducer.
Dark measuring method ploughed by pivot plow in technical solution of the present invention, can be applied on different types of tractor and pivot plow, only need change slightly on fixed support.
See Fig. 1, dark measuring system ploughed by pivot plow, comprise ultrasound wave transmitting probe (as a pair ultrasound wave transmitting probe 4), receiving transducer (as second pair of ultrasound wave receiving transducer, 2, first pair of ultrasound wave receiving transducer 5), mission controller HLB(as turnplow watch-dog 3) and receive controller HLA(as main frame turnplow watch-dog 1), and associated wiring.HLA first group of connecting line, connects 4 receiving transducers, each probe 3 line.Comprise VDD, GND, REC, amount to 12.HLA second group of connecting line, connect HLB, 5 lines, comprise VDD, GND, 485A, 485B, SYNC.
A. mission controller HLB starts the one-shot measurement cycle (measuring period was 1 second), first the ultrasound wave of the 40K frequency in 1 group of 8 cycle is launched by transmitting probe, on the signal edge of transmitted waveform, synchronous by connecting line level, commencing signal is notified HLA, space supersonic signal will arrive receiving transducer by a period of time, and (what install here is 2 just different probes, by the adjustment of angle, make transmitting probe in the centre position of 2 receiving transducers, mutual angle is less than 15 degree, just can ensure reception).And start signal, because by the direct-connected signal transmission that carries out of connecting line, thus can think without any time delay.
B. controller HLA is received, by interrupting receive to after sending instruction; Start the timer of oneself, and start the signal of scan round 2 receiving transducers, wait for the ultrasound signal receipt instruction getting receiving transducer.Receive controller HLA by direct-connected line, 2 signal designation pin of access receiving transducer, once after receiving the spacing wave of 40K frequency, namely provide instruction level on this signal wire.According to our measuring and calculating, the probe distance of general pivot plow being popped one's head on tractor is at 3 meters and so on.The transmitting probe power that we select is comparatively large, can reach the transmission receiving range of more than 10 meters, the finding range thus within 5 meters, can normally use.There will not be the situation not receiving and disturb.
C. controller is according to the mistiming being transmitted into reception, be accurate to microsecond rank (uS), according to the speed (normally 340m/s) of ultrasound wave at space propagation, accurately calculate the first distance L1 and the second distance L2 of a pair ultrasound wave receiving transducer in ultrasound wave transmitting probe to two pairs of ultrasound wave receiving transducers; Fig. 2 is sequential chart explanation.L=T × 340(rice), T is the time of ultrasound wave at spatial, and 340 is the speed of ultrasound wave at spatial.
D. according to the first height H 1 and the second height H 2 that a pair ultrasound wave receiving transducer in two pairs of ultrasound wave receiving transducers demarcating in advance is installed on tractor, by mathematical model formula, the height of ultrasound wave transmitting probe apart from ground can be calculated; Because receiving transducer is arranged on tractor rear wheel top position, the deadweight of tractor own and the weight of tire all very large, substantially earth's surface attachment can be flattened, thus the height H 1/H2 demarcated in advance is when actual job, all very accurately, can not change, thus measuring accuracy can obtain effective guarantee.Simultaneously by structural design, adopt T-shaped metal support, easily fixedly mount on the one hand, make calibrated altitude on the one hand in addition, change can not be occurred in operation process.
When pivot plow upset is in left side as shown in Figure 1, a ultrasound wave transmitting probe job in a pair ultrasound wave transmitting probe, needs towards first pair of ultrasound wave receiving transducer; Installation will guarantee that a pair ultrasound wave transmitting probe, first pair of ultrasound wave receiving transducer are in a plane as far as possible.When pivot plow upset is on right side, another ultrasound wave transmitting probe work in a pair ultrasound wave transmitting probe, needs towards second pair of ultrasound wave receiving transducer; Installation will guarantee that another ultrasound wave transmitting probe in a pair ultrasound wave transmitting probe and second pair of ultrasound wave receiving transducer are in a plane as far as possible.
Mathematical modeling schematic diagram, see Fig. 3.Triangle SP1P2 uses the cosine law as follows:
Triangle SP1P3 uses the cosine law as follows:
, H3, transmitting probe is to the distance of pivot plow plough point.Hx, plough point enters the ground degree of depth, the degree of depth of namely plowing, the dark data of plough that our whole system is measured.
Comprehensive above two formulas obtain:
Abbreviation obtains:
E, in conjunction with factors of influence such as temperature, calculation deviation value, draws the exact height H after correction, according to the distance of the transmitting probe demarcated in advance to pivot plow plough point, subtracts each other, can calculate the depth value of plowing of needs;
Temperature is on the impact of measuring and correcting method:
In atmosphere, the velocity of sound can change to some extent along with the temperature of air, and relation is as follows:
T: Celsius temperature
V: the velocity of sound when T DEG C, unit m/s
As shown from the above formula, when temperature 15 DEG C, the velocity of sound is about 340m/s, and this is also the velocity of sound that acquiescence adopts.If actual temperature is T, but the temperature used when calculating distance is T+d
t, then error coefficient
:
Abbreviation obtains:
Due to d
tthe error brought is d
x:
When following table is plough dark 20cm, dt gets error during different value, and wherein dt=15-T represents the difference of Current Temperatures and 15 DEG C, namely calculates apart from constantly, does not consider the impact of temperature on the velocity of sound, velocity of sound during fixing use 15 DEG C.
As seen from the above table, if do not consider the impact of temperature on the velocity of sound, the error brought is still larger, can differ cm more than 7 when 0 DEG C.If temperature error controls within 5 DEG C, error can be reduced to about 1cm.
Pass through error analysis, the correspondence table of temperature and transmission speed is stored in the flash in controller HLA by we, simultaneously by agricultural machinery Internet of things system, long-range temperature data timing (30 minutes once) by during operation is delivered in HLA, by inquiry contrast table, obtain actual transmission speed, correct L1 and L2, finally ploughed dark data accurately.
F. when pivot plow enters next line operation, when face of simultaneously ploughing overturns, can by two pairs of ultrasound wave receiving transducers, another continues to measure according to A, B, C, D, E step to ultrasound wave receiving transducer.
Last it is noted that the foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment to invention has been detailed description, for a person skilled in the art, it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. dark measuring system ploughed by a pivot plow, it is characterized in that, comprise tractor and the pivot plow of towed connection, be arranged on the main frame turnplow watch-dog in the pilothouse of described tractor, be arranged on the turnplow watch-dog of described pivot plow near the steel plate middle position at tractor place, be arranged on the ultrasound wave receiving unit at described tractor rear wheel place, and be arranged on the ultrasound wave emitting module of described pivot plow near the steel plate bottom position place at tractor place;
Described ultrasound wave receiving unit is connected described ultrasound wave emitting module and the wireless connections of ultrasound wave receiving unit with main frame turnplow watch-dog.
2. dark measuring system ploughed by pivot plow according to claim 1, it is characterized in that, described ultrasound wave emitting module, specifically comprise and be arranged on the first ultrasound wave transmitting probe of described pivot plow above the steel plate middle position at tractor place, and be arranged on the second ultrasound wave transmitting probe of described pivot plow below the steel plate middle position at tractor place.
3. dark measuring system ploughed by pivot plow according to claim 2, it is characterized in that, the surface of emission of described first ultrasound wave transmitting probe is arranged horizontal by miter angle towards front lower place; And/or the surface of emission of the second ultrasound wave transmitting probe is arranged horizontal by miter angle towards front upper place.
4. dark measuring system ploughed by the pivot plow according to any one of claim 1-3, it is characterized in that, described ultrasound wave receiving unit, specifically comprises the first pair of ultrasound wave receiving transducer and second pair of ultrasound wave receiving transducer that arrange near two trailing wheels of described tractor respectively.
5. dark measuring system ploughed by pivot plow according to claim 4, it is characterized in that, described first pair of ultrasound wave receiving transducer, comprises further in two trailing wheels being arranged on described tractor and is positioned at left side wheels tire place and the first ultrasound wave receiving transducer setting up and down and the second ultrasound wave receiving transducer.
6. dark measuring system ploughed by pivot plow according to claim 4, it is characterized in that, described second pair of ultrasound wave receiving transducer, comprises further in two trailing wheels being arranged on described tractor and is positioned at right-hand wheel tire place and the 3rd ultrasound wave receiving transducer setting up and down and the 4th ultrasound wave receiving transducer.
7. plough the pivot plow that dark measuring system matches with the pivot plow according to any one of claim 1-6 and plough a dark measuring method, it is characterized in that, comprise the following steps:
(1) the ultrasonic transmitter installed additional on pivot plow, two pairs of ultrasound wave receiving transducers in the same cross section of installing on tractor, carry out directional transmissions, synchronized transmissions start signal is to control module;
(2), after the ultrasonic signal that ultrasound wave receiving transducer receives, the indicator signal synchronously received is to main frame turnplow watch-dog;
(3) main frame turnplow watch-dog is according to the mistiming being transmitted into reception, calculates the first distance L1 and the second distance L2 of a pair ultrasound wave receiving transducer in ultrasound wave transmitting probe to two pairs of ultrasound wave receiving transducers;
(4), according to the first height H 1 and the second height H 2 that a pair ultrasound wave receiving transducer in two pairs of ultrasound wave receiving transducers demarcating in advance is installed on tractor, by mathematical model formula, the height of ultrasound wave transmitting probe apart from ground can be calculated;
(5) in conjunction with factors of influence such as temperature, calculation deviation value, draws the exact height H after correction, according to the distance of the transmitting probe demarcated in advance to pivot plow plough point, subtracts each other, can calculate the depth value of plowing of needs;
(6) when pivot plow enters next line operation, when face of simultaneously ploughing overturns, can by two pairs of ultrasound wave receiving transducers, another continues (1), (2), (3), (4), (5) to measure according to step to ultrasound wave receiving transducer.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106323270A (en) * | 2016-07-29 | 2017-01-11 | 北京合众思壮科技股份有限公司 | Data collection method and device |
| CN106627802A (en) * | 2016-12-30 | 2017-05-10 | 北奔重型汽车集团有限公司 | Method for measuring and calculating working load of heavy truck cab and turning cylinder |
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| JPH08168301A (en) * | 1994-12-19 | 1996-07-02 | Kubota Corp | Structure for lifting rotary tilling device of farm tractor |
| CN203178488U (en) * | 2012-12-28 | 2013-09-04 | 上海卧虎环保科技有限公司 | Automotive radar system |
| CN103884317A (en) * | 2014-04-14 | 2014-06-25 | 西安阿尔特测控技术有限公司 | Real-time monitoring system for settlement of roadbed of high-speed rail |
| CN104569965A (en) * | 2014-12-24 | 2015-04-29 | 西安电子工程研究所 | Method for synchronizing time and frequency of motor-driven configured bistatic radar |
| CN204679634U (en) * | 2015-06-17 | 2015-09-30 | 新疆新朗迪科技发展有限责任公司 | Dark measuring system ploughed by a kind of pivot plow |
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2015
- 2015-06-17 CN CN201510335592.7A patent/CN104950304B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08168301A (en) * | 1994-12-19 | 1996-07-02 | Kubota Corp | Structure for lifting rotary tilling device of farm tractor |
| CN203178488U (en) * | 2012-12-28 | 2013-09-04 | 上海卧虎环保科技有限公司 | Automotive radar system |
| CN103884317A (en) * | 2014-04-14 | 2014-06-25 | 西安阿尔特测控技术有限公司 | Real-time monitoring system for settlement of roadbed of high-speed rail |
| CN104569965A (en) * | 2014-12-24 | 2015-04-29 | 西安电子工程研究所 | Method for synchronizing time and frequency of motor-driven configured bistatic radar |
| CN204679634U (en) * | 2015-06-17 | 2015-09-30 | 新疆新朗迪科技发展有限责任公司 | Dark measuring system ploughed by a kind of pivot plow |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106323270A (en) * | 2016-07-29 | 2017-01-11 | 北京合众思壮科技股份有限公司 | Data collection method and device |
| CN106627802A (en) * | 2016-12-30 | 2017-05-10 | 北奔重型汽车集团有限公司 | Method for measuring and calculating working load of heavy truck cab and turning cylinder |
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| CN104950304B (en) | 2017-12-22 |
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