CN104977586A - Suspension-type subsoiler and online tilling depth detection device and method - Google Patents
Suspension-type subsoiler and online tilling depth detection device and method Download PDFInfo
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- CN104977586A CN104977586A CN201410143575.9A CN201410143575A CN104977586A CN 104977586 A CN104977586 A CN 104977586A CN 201410143575 A CN201410143575 A CN 201410143575A CN 104977586 A CN104977586 A CN 104977586A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention provides a suspension-type subsoiler and an online tilling depth detection device and method. The subsoiler comprises a rack, a suspension connection portion, a subsoiling device and the online tilling depth detection device, wherein the suspension connection portion, the subsoiling device and the online tilling depth detection device are arranged on the rack. The online tilling depth detection device obtains soil entering depth of a sub-soiling shovel of the subsoiler by detecting change of distance between the rack of the subsoiler and the ground so as to carry out real-time monitoring on the quality of subsoiling work. The online tilling depth detection device comprises an ultrasonic distance measuring sensor which is arranged on the rack and is used for measuring the distance between the rack and the ground online in real time to obtain a distance signal; a processor which is connected with the ultrasonic distance measuring sensor and is used for receiving the distance signal and carrying out data processing on the distance signal to obtain real-time tilling depth data of the subsoiler; and an upper computer which is connected with the processor and is used for receiving and outputting the real-time tilling depth data. The invention further discloses the online tilling depth detection method and the suspension-type subsoiler which can control the quality of the subsoiling work by utilizing the method above.
Description
Technical field
The present invention relates to agricultural machinery farm work Working condition detecting method and device, particularly a kind of suspension type subsoiler and tilling depth on-line measuring device thereof and method.
Background technology
Soil subsoiling is one of important technical links of conservation tillage.Soil subsoiling uses subsoiler, and the plough sole of 5 ~ 15cm below the arable layer that ravels, makes loose the thickness of the layer deepen.Owing to not upsetting earth's surface arable layer, so decrease the vaporization loss of soil moisture.Meanwhile, enhance the infiltration capacity of rainfall, accelerate the permeating speed of rainfall, improve the utilization factor of rainfall, for crop growth creates suitable edaphic condition.Subsoiler is generally made up of frame and subsoiling device, and subsoiling device is made up of spade and deep soil loosing shovel.To general soil, to strengthen for the purpose of preserving soil moisture, according to plough sole situation, the pine soil depth of 30 ~ 45 centimetres can be selected.The soil of plough sole position can be broken, obtain significant effect: one is promote soil water storage soil moisture conservation, strengthens drought-relief, waterlogging-preventing ability.Between the Summer Drought of subsoiling plot, average moisture content improves 7 percentage points, the drought-enduring time lengthening of crop about 10 days than the plot of non-subsoiling.Two is prick under promoting crops root system, improves lodging tolerance.Subsoiling is that plant growth creates good soil environment, improves the growth conditions of crop root, promotes that sturdy, the lower bundle of root system is comparatively dark, distribution optimization, fully absorbs moisture and the nutrient of soil, promote that crop production is grown.Three is promote crop growth, improves grain yield.
At present, various places have explored the subsoiling land preparation technology mode defining suitable various soil types, and have developed a collection of advanced and applicable subsoiling land preparation facility, agricultural machanization competent authorities have accumulated the popularization experience compared with horn of plenty.Along with China strong agriculture Huinong policy dynamics continues to increase, China has possessed the condition of spread deep-ploughing implement.But the operation of agricultural machinery subsoiling land preparation needs big-powered tractor to be power, and opex is higher, have impact on the enthusiasm of peasant.
Summary of the invention
Technical matters to be solved by this invention is in suspension type subsoiling tractor-ploughing whole ground farm work process, difficult problem is measured to depth of implements, there is provided a kind of suspension type subsoiler and tilling depth on-line measuring device thereof and method, to realize carrying out effective monitoring to Subsoiler quality.
To achieve these goals, the invention provides a kind of tilling depth on-line measuring device for suspension type subsoiler, wherein, the deep soil loosing shovel embedded depth of described subsoiler is obtained by the change of the frame and ground distance that detect described subsoiler, to monitor in real time Subsoiler quality, described tilling depth on-line measuring device comprises:
Ultrasonic distance-measuring sensor, is arranged in the frame of described subsoiler, for the distance on frame described in real-time online measuring and ground to obtain distance signal;
Processor, is connected with described ultrasonic distance-measuring sensor, for receiving described distance signal, and obtains the real-time tilling depth data of described subsoiler after carrying out data processing to described distance signal; And
Host computer, is connected with described processor, for receiving and exporting described real-time tilling depth data.
Above-mentioned tilling depth on-line measuring device, wherein, also comprise press wheel, to be arranged in described frame and to be arranged on described ultrasonic distance-measuring sensor front, for by soft soil superficial compaction, to ensure that the receiving end of described ultrasonic distance-measuring sensor receives the reflected signal of real-time online measuring distance.
Above-mentioned tilling depth on-line measuring device, wherein, described processor comprises:
Receiver module, for receiving described distance signal continuously;
Computing module, is averaging processing for after the described distance signal computational tasks degree of depth that receives described receiver module, and using the mean value after process as described real-time tilling depth data;
Sending module, for being sent to described host computer by described real-time tilling depth data.
Above-mentioned tilling depth on-line measuring device, wherein, the computing formula of described depth of implements is:
D=0.5*v*t-h
Wherein, v is the aerial velocity of propagation of ultrasound wave that described ultrasonic distance-measuring sensor sends, and t is the time of the ultrasonic pulse transmission that described ultrasonic distance-measuring sensor sends, and h is the setting height(from bottom) of described ultrasonic distance-measuring sensor apart from non-operation ground.
Above-mentioned tilling depth on-line measuring device, wherein, also comprises temperature sensor, and described temperature sensor to be arranged in described frame and to be connected with described processor, and described velocity of propagation v adopts following formula correction:
v=331.4+0.61*T
Wherein, T is the real-time air themperature that described temperature sensor detects.
Above-mentioned tilling depth on-line measuring device, wherein, described host computer is airborne computer or hand-held intelligent device, and described airborne computer is arranged in the pilothouse of described subsoiler.
Above-mentioned tilling depth on-line measuring device, wherein, described airborne computer or hand-held intelligent device are connected with described processor by bluetooth or wifi, when described hand-held intelligent device is positioned at the transmission range of described bluetooth or wifi, described ultrasonic distance-measuring sensor and described processor are duty, when described hand-held intelligent device is positioned at outside the transmission range of described bluetooth or wifi, described ultrasonic distance-measuring sensor and described processor are dormant state.
In order to realize above-mentioned purpose better, present invention also offers a kind of tilling depth online test method for suspension type subsoiler, wherein, the deep soil loosing shovel embedded depth of described subsoiler is obtained by the change of the frame and ground distance that detect described subsoiler, to monitor in real time Subsoiler quality, described tilling depth online test method comprises the steps:
S100, ultrasonic ranging, by the distance on frame described in ultrasonic distance-measuring sensor real-time online measuring and ground to obtain distance signal;
S200, calculate real-time tilling depth data, after data processing is carried out to described distance signal, obtain the real-time tilling depth data of described subsoiler;
S300, output tilling depth data, export described real-time tilling depth data.
Above-mentioned tilling depth online test method, wherein, the real-time tilling depth data of described fuselage comprise the steps:
S201, calculate the depth of implements of described subsoiler;
S202, ask calculation mean value, described depth of implements sorted, and after removing minimum and maximum data calculating mean value as described real-time tilling depth data,
The computing formula of described depth of implements is:
D=0.5*v*t-h
Wherein, v is the aerial velocity of propagation of ultrasound wave sent by ultrasonic distance-measuring sensor, and t is the time that the ultrasonic pulse sent by ultrasonic distance-measuring sensor is transmitted, and h is the setting height(from bottom) of described ultrasonic distance-measuring sensor apart from non-operation ground.
Above-mentioned tilling depth online test method, wherein, before step S202, also comprise velocity of propagation correction step, described velocity of propagation v adopts following formula correction:
v=331.4+0.61*T
Wherein, T is the real-time air themperature detected by temperature sensor.
In order to realize above-mentioned purpose better, present invention also offers a kind of suspension type subsoiler, comprising frame and the hanger attachment portion be arranged in described frame and subsoiling device, wherein, also comprising above-mentioned tilling depth on-line measuring device.
In order to realize above-mentioned purpose better, present invention also offers a kind of suspension type subsoiler adopting above-mentioned tilling depth online test method to control Subsoiler quality.
Technique effect of the present invention is:
The present invention is that the problem solving suspension type subsoiler depth of implements on-line checkingi difficulty provides effective means:
1) on trailing implement hydraulic cylinder, ultrasonic distance-measuring sensor is installed, calculates tilth by the distance measuring frame distance ground;
2) the present invention can with any have the smart mobile phone of bluetooth or wifi function with the use of, improve the convenience of use;
3) the present invention adopts power-on flexibly by judging the distance of receiving end bluetooth or wifi or enters dormant state, effectively reduces energy resource consumption.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.
Accompanying drawing explanation
Fig. 1 is the subsoiler perspective view of one embodiment of the invention;
Fig. 2 is the subsoiler structural representation of one embodiment of the invention;
Fig. 3 is the tilling depth on-line measuring device schematic diagram of one embodiment of the invention;
Fig. 4 is the tilling depth online test method process flow diagram of one embodiment of the invention.
Wherein, Reference numeral
1 frame
2 hanger attachment portion
3 subsoiling devices
4 tilling depth on-line measuring devices
41 ultrasonic distance-measuring sensors
42 processors
43 host computers
44 press wheels
5 external power supplys
S100-S300 step
Embodiment
Below in conjunction with accompanying drawing, structural principle of the present invention and principle of work are described in detail:
See the subsoiler perspective view that Fig. 1 and Fig. 2, Fig. 1 are one embodiment of the invention, Fig. 2 is the subsoiler structural representation of one embodiment of the invention.Suspension type subsoiler of the present invention, comprises frame 1 and the hanger attachment portion 2 be arranged in described frame 1 and subsoiling device 3, also comprises tilling depth on-line measuring device 4.This subsoiler is by hanger attachment portion 2 and draw-gear (such as tractor, figure does not show) connect, in the present embodiment, this hanger attachment portion 2 is bikini connection, this frame 1 is a horizontally disposed rectangular frame structure, and mutual alignment relation, annexation, principle of work etc. between the connection of this subsoiler and draw-gear and other parts, be more ripe prior art, and therefore not to repeat here, is only described in detail tilling depth on-line measuring device 4 of the present invention below.
Tilling depth monitoring is the modal observing and controlling parameter of agricultural machinery farm work.For the feature that during farm work, dust dust is larger, disturbing factor is many, tilling depth on-line measuring device 4 of the present invention, ultrasonic listening technology is adopted to obtain the deep soil loosing shovel embedded depth of described subsoiler, to monitor in real time Subsoiler quality by the change of the frame 1 and ground distance that detect described subsoiler.Described tilling depth on-line measuring device 4 comprises: ultrasonic distance-measuring sensor 41, be arranged in the frame 1 of described subsoiler, for the distance on frame described in real-time online measuring 1 and ground to obtain distance signal, this ultrasonic distance-measuring sensor 41 provides standard interface, there are the positive and negative connection terminal of power lead and the positive and negative connection terminal of data line, the side of frame 1 can be arranged on, vertical to ground launch ultrasound wave, arrive ground back reflection, ultrasonic distance-measuring sensor 41 accepts reflected signal, obtains frame 1 distance overhead.After power lead connects 12v direct supply, signal terminal can continue the distance signal of probe to barrier of transmission ultrasonic distance-measuring sensor 41 by certain time interval (such as 100ms).When subsoiler operation, frame 1 terrain clearance of subsoiler changes, and calculates deep soil loosing shovel embedded depth by detecting this variable quantity; Processor 42, is connected with described ultrasonic distance-measuring sensor 41, and for receiving described distance signal, and the real-time tilling depth data obtaining described subsoiler after carrying out data processing to described distance signal send to host computer 43; Host computer 43, is connected with described processor 42, for receiving and exporting described real-time tilling depth data, also can be direct Dynamic Announce on screen after tilling depth curve by this tilling depth Plotting data.
General ultrasonic distance-measuring sensor 41 is at soft interface echo weak output signal, and receiving end cannot receive detection data.Therefore, press wheel 44 is also comprised in the present embodiment, to be arranged in described frame 1 and to be arranged on described ultrasonic distance-measuring sensor 41 front, for by soft soil superficial compaction, to ensure that the receiving end of described ultrasonic distance-measuring sensor 41 receives the reflected signal of real-time online measuring distance.Along with vehicle advances, press wheel 44, first by soft soil superficial compaction, is arranged on the soil after the probe transmitting ultrasonic signal to compacting of press wheel 44 ultrasonic distance-measuring sensor 41 below on the surface, can ensures that receiving end receives reflected signal.
See the tilling depth on-line measuring device schematic diagram that Fig. 3, Fig. 3 are one embodiment of the invention.Described processor 42 comprises: receiver module, for receiving described distance signal continuously; Computing module, is averaging processing for after the described distance signal computational tasks degree of depth that receives described receiver module, and using the mean value after process as described real-time tilling depth data; Sending module, for being sent to described host computer 43 by described real-time tilling depth data.
Wherein, the computing formula of described depth of implements is preferably:
D=0.5*v*t-h
Wherein, v is the aerial velocity of propagation of ultrasound wave that described ultrasonic distance-measuring sensor 41 sends, t is the time of the ultrasonic pulse transmission that described ultrasonic distance-measuring sensor 41 sends, and h is the setting height(from bottom) of described ultrasonic distance-measuring sensor 41 apart from non-operation ground.
The present invention utilizes ultrasonic pulse to propagate in atmosphere and the principle that reflects is measured.Be fixed on the ultrasonic distance-measuring sensor 41 on agricultural machinery and implement, ultrasonic pulse is sent to the ground surface after farming, sound pulse passes to ground surface through air, wherein acoustic wave segment turns back to ultrasonic distance-measuring sensor 41 after reflecting, ultrasonic distance-measuring sensor 41 ranging pulse receives the time used from being transmitted into, according to the velocity of sound in air, thus calculate depth of implements D.Acoustic velocity depends on that the one-tenth transmitting gas is grouped into, pressure size and temperature height.For most ultrasonic applications, composition and the pressure of gas are relative changeless, and temperature may be change.Temperature compensation can reduce because temperature affects the comparatively big error caused.Therefore the present embodiment also comprises temperature sensor (not shown), described temperature sensor can be arranged in described frame 1 and to be connected with described processor 42, in order to the error that compensates causes, the present invention is before the new value of output, its mean value will be got to sensor repetitive measurement result, and at processor 42(such as single-chip microcomputer) testing circuit in increase temperature detecting module, Real-time Collection air themperature, then described velocity of propagation v adopts following formula correction:
v=331.4+0.61*T
Wherein, T is the real-time air themperature that described temperature sensor detects.
Wherein, described host computer 43 can be airborne computer or hand-held intelligent device, and described airborne computer can be arranged in the pilothouse of described subsoiler.Described airborne computer or hand-held intelligent device are connected with described processor 42 by bluetooth or wifi, when described hand-held intelligent device is positioned at the transmission range of described bluetooth or wifi, described ultrasonic distance-measuring sensor 41 is duty with described processor 42, when described hand-held intelligent device is positioned at outside the transmission range of described bluetooth or wifi, described ultrasonic distance-measuring sensor 41 is dormant state with described processor 42.After opening power, ultrasonic distance-measuring sensor 41 and processor 42 are started working, processor 42 reads the data of ultrasonic distance-measuring sensor 41, after filtering process, obtain real-time tilling depth data, send out through bluetooth or wifi module, this hand-held intelligent device is such as smart mobile phone installs corresponding application program, receive tilling depth data by bluetooth or wifi module, show on a display screen.
This smart mobile phone may correspond to and is provided with bluetooth module and display module, is respectively used to data receiver and display.The tilling depth data that bluetooth module is sent by bluetooth for receiving processor 42 also can be set; Data processing module, for the tilling depth Plotting data tilling depth curve sent according to processor 42, screen shows; Positional information obtains and display module, obtains the position coordinates that the GPS module on mobile phone provides, is shown on numerical map; Tilling depth data, position data etc., by mobile phone GPRS network, are sent to server network, to carry out remote detection and control by data transmission blocks.
The present invention can not establish power switch, and driver does not need to do any work to opening and closing of the present invention.Wherein ultrasonic distance-measuring sensor 41 is arranged on mounted implement, and external power supply 5 module and processor 42 are arranged in pilothouse.When driver carry smart mobile phone enter pilothouse start operation time, smart mobile phone distance processor 42 is within the scope of bluetooth or wifi transmission range, meeting wake up process device 42, carry out tilling depth data sampling and processing and transmitting, pilothouse is left when driver carries smart mobile phone, processor 42 can't detect intelligent mobile phone Bluetooth data, will auto sleep.Such one side reduces the workload of driver's operation, can play energy-conservation effect simultaneously.
See the tilling depth online test method process flow diagram that Fig. 4, Fig. 4 are one embodiment of the invention.Tilling depth online test method of the present invention, the deep soil loosing shovel embedded depth of described subsoiler is obtained by the change of the frame 1 and ground distance that detect described subsoiler, to monitor in real time Subsoiler quality, described tilling depth online test method comprises the steps:
Step S100, ultrasonic ranging, by the distance on frame described in ultrasonic distance-measuring sensor 41 real-time online measuring 1 and ground to obtain distance signal;
Step S200, calculate real-time tilling depth data, after data processing is carried out to described distance signal, obtain the real-time tilling depth data of described subsoiler; Processor 42 after such as single-chip microcomputer receives raw data, judges that whether effectively (exceed rational scope, be such as less than zero, be greater than the maximum operation degree of depth etc.) data, deletes invalid data, valid data are done average treatment.
Step S300, output tilling depth data, export described real-time tilling depth data.Such as, obtain the tilling depth data of per second through data processing, be sent to airborne computer or hand-held intelligent device by bluetooth.
Wherein, the real-time tilling depth data of described fuselage comprise the steps:
Step S201, calculate the depth of implements of described subsoiler;
Step S202, ask calculation mean value, described depth of implements is sorted, and after removing minimum and maximum data calculating mean value as described real-time tilling depth data, the present embodiment sets collection per second 10 data, 10 data are sorted from small to large according to Of Bubble Sort Algorithm, then remove two minimum data and maximum two data, get the mean value of six middle data, as actual tilling depth data.
The distance signal received is averaging processing, comprises sequence and be averaged after removing minimum and maximum data.Such as, concrete sort algorithm step can be:
1) more adjacent element.If first ratio second is large, just exchange them two;
2) same work is done to every a pair adjacent element, from first to ending last is right;
3) in this point, last element should be able to be maximum number;
4) above step is repeated, except last for all elements;
5) continue at every turn to the step that element less and less repeats above, until need to compare without any a pair numeral.
The computing formula of described depth of implements is:
D=0.5*v*t-h
Wherein, v is the aerial velocity of propagation of ultrasound wave sent by ultrasonic distance-measuring sensor 41, t is the time that the ultrasonic pulse sent by ultrasonic distance-measuring sensor 41 is transmitted, and h is the setting height(from bottom) of described ultrasonic distance-measuring sensor 41 apart from non-operation ground.
Wherein, before step S202, also comprise velocity of propagation correction step, described velocity of propagation v adopts following formula correction:
v=331.4+0.61*T
Wherein, T is the real-time air themperature detected by temperature sensor.
Above-mentioned tilling depth online test method can be used for arbitrary suspension type subsoiler to control Subsoiler quality, and the structure for this suspension type subsoiler does not have particular/special requirement, as long as adopt above-mentioned tilling depth online test method to control Subsoiler quality.
Certainly; the present invention also can have other various embodiments; when not deviating from the present invention's spirit and essence thereof; those of ordinary skill in the art are when making various corresponding change and distortion according to the present invention, but these change accordingly and are out of shape the protection domain that all should belong to the claim appended by the present invention.
Claims (12)
1. the tilling depth on-line measuring device for suspension type subsoiler, it is characterized in that, obtained the deep soil loosing shovel embedded depth of described subsoiler by the change of the frame and ground distance that detect described subsoiler, to monitor in real time Subsoiler quality, described tilling depth on-line measuring device comprises:
Ultrasonic distance-measuring sensor, is arranged in the frame of described subsoiler, for the distance on frame described in real-time online measuring and ground to obtain distance signal;
Processor, is connected with described ultrasonic distance-measuring sensor, for receiving described distance signal, and obtains the real-time tilling depth data of described subsoiler after carrying out data processing to described distance signal; And
Host computer, is connected with described processor, for receiving and exporting described real-time tilling depth data.
2. tilling depth on-line measuring device as claimed in claim 1, it is characterized in that, also comprise press wheel, to be arranged in described frame and to be arranged on described ultrasonic distance-measuring sensor front, for by soft soil superficial compaction, to ensure that the receiving end of described ultrasonic distance-measuring sensor receives the reflected signal of real-time online measuring distance.
3. tilling depth on-line measuring device as claimed in claim 1 or 2, it is characterized in that, described processor comprises:
Receiver module, for receiving described distance signal continuously;
Computing module, is averaging processing for after the described distance signal computational tasks degree of depth that receives described receiver module, and using the mean value after process as described real-time tilling depth data;
Sending module, for being sent to described host computer by described real-time tilling depth data.
4. tilling depth on-line measuring device as claimed in claim 3, it is characterized in that, the computing formula of described depth of implements is:
D=0.5*v*t-h
Wherein, v is the aerial velocity of propagation of ultrasound wave that described ultrasonic distance-measuring sensor sends, and t is the time of the ultrasonic pulse transmission that described ultrasonic distance-measuring sensor sends, and h is the setting height(from bottom) of described ultrasonic distance-measuring sensor apart from non-operation ground.
5. tilling depth on-line measuring device as claimed in claim 4, is characterized in that, also comprise temperature sensor, and described temperature sensor to be arranged in described frame and to be connected with described processor, and described velocity of propagation v adopts following formula correction:
v=331.4+0.61*T
Wherein, T is the real-time air themperature that described temperature sensor detects.
6. the tilling depth on-line measuring device as described in claim 1,2,4 or 5, is characterized in that, described host computer is airborne computer or hand-held intelligent device, and described airborne computer is arranged in the pilothouse of described subsoiler.
7. tilling depth on-line measuring device as claimed in claim 6, it is characterized in that, described airborne computer or hand-held intelligent device are connected with described processor by bluetooth or wifi, when described hand-held intelligent device is positioned at the transmission range of described bluetooth or wifi, described ultrasonic distance-measuring sensor and described processor are duty, when described hand-held intelligent device is positioned at outside the transmission range of described bluetooth or wifi, described ultrasonic distance-measuring sensor and described processor are dormant state.
8. the tilling depth online test method for suspension type subsoiler, it is characterized in that, the deep soil loosing shovel embedded depth of described subsoiler is obtained by the change of the frame and ground distance that detect described subsoiler, to monitor in real time Subsoiler quality, described tilling depth online test method comprises the steps:
S100, ultrasonic ranging, by the distance on frame described in ultrasonic distance-measuring sensor real-time online measuring and ground to obtain distance signal;
S200, calculate real-time tilling depth data, after data processing is carried out to described distance signal, obtain the real-time tilling depth data of described subsoiler;
S300, output tilling depth data, export described real-time tilling depth data.
9. tilling depth online test method as claimed in claim 8, it is characterized in that, the real-time tilling depth data of described fuselage comprise the steps:
S201, calculate the depth of implements of described subsoiler;
S202, ask calculation mean value, described depth of implements sorted, and after removing minimum and maximum data calculating mean value as described real-time tilling depth data,
The computing formula of described depth of implements is:
D=0.5*v*t-h
Wherein, v is the aerial velocity of propagation of ultrasound wave sent by ultrasonic distance-measuring sensor, and t is the time that the ultrasonic pulse sent by ultrasonic distance-measuring sensor is transmitted, and h is the setting height(from bottom) of described ultrasonic distance-measuring sensor apart from non-operation ground.
10. tilling depth online test method as claimed in claim 9, it is characterized in that, before step S202, also comprise velocity of propagation correction step, described velocity of propagation v adopts following formula correction:
v=331.4+0.61*T
Wherein, T is the real-time air themperature detected by temperature sensor.
11. 1 kinds of suspension type subsoilers, comprise frame and the hanger attachment portion be arranged in described frame and subsoiling device, it is characterized in that, also comprise as the tilling depth on-line measuring device in the claims 1-7 as described in any one.
12. 1 kinds of suspension type subsoilers adopting the tilling depth online test method in the claims 8-10 described in any one to control Subsoiler quality.
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| CN105379453A (en) * | 2015-11-19 | 2016-03-09 | 农业部南京农业机械化研究所 | Subsoiler capable of automatically monitoring depth |
| CN105652840A (en) * | 2016-02-03 | 2016-06-08 | 西北农林科技大学 | Mechanical deep scarification work quality monitoring and evaluation method and system |
| CN105698718A (en) * | 2016-03-29 | 2016-06-22 | 西北农林科技大学 | Subsoiling operation depth measurement method based on difference method |
| CN105783839A (en) * | 2016-04-27 | 2016-07-20 | 中电科卫星导航运营服务有限公司 | Tilling depth on-line measuring system and method of agricultural implements subsoiling working |
| CN105928481A (en) * | 2016-04-22 | 2016-09-07 | 扬州大学 | Hanging agricultural machinery tillage depth detection device |
| CN106097888A (en) * | 2016-06-22 | 2016-11-09 | 江苏高速公路信息工程有限公司 | Integral type highway solar gantry type advices plate |
| CN106171165A (en) * | 2016-07-27 | 2016-12-07 | 李兴彪 | A kind of portable sandy soil seeder |
| CN106247970A (en) * | 2016-07-13 | 2016-12-21 | 哈尔滨工业大学 | Agricultural machinery working degree of depth self-operated measuring unit based on laser pulse ranging and measuring method |
| CN106352822A (en) * | 2016-09-29 | 2017-01-25 | 东北农业大学 | Real-time tillage depth monitoring system for agricultural implement operation |
| CN106989664A (en) * | 2017-05-25 | 2017-07-28 | 哈尔滨工业大学 | Soil subsoiling qualification rate acquisition methods with GPS track interpolation are scanned based on cell |
| CN107505620A (en) * | 2017-08-18 | 2017-12-22 | 河南科技大学 | Ditch shape plotting board |
| CN107941140A (en) * | 2017-11-14 | 2018-04-20 | 吉林大学 | A kind of three-dimensional Subsoiler quality detecting system |
| CN107980261A (en) * | 2017-11-22 | 2018-05-04 | 中国农业大学 | A kind of general-purpose type tilling depth automatic detection and control device |
| CN111895952A (en) * | 2020-08-17 | 2020-11-06 | 山东隽永信息技术有限公司 | Intelligent detection device for measuring deep ploughing and deep scarification depth and use method |
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| CN105379453A (en) * | 2015-11-19 | 2016-03-09 | 农业部南京农业机械化研究所 | Subsoiler capable of automatically monitoring depth |
| CN105652840A (en) * | 2016-02-03 | 2016-06-08 | 西北农林科技大学 | Mechanical deep scarification work quality monitoring and evaluation method and system |
| CN105698718A (en) * | 2016-03-29 | 2016-06-22 | 西北农林科技大学 | Subsoiling operation depth measurement method based on difference method |
| CN105928481A (en) * | 2016-04-22 | 2016-09-07 | 扬州大学 | Hanging agricultural machinery tillage depth detection device |
| CN105928481B (en) * | 2016-04-22 | 2018-11-09 | 扬州大学 | Tilling depth detection device on suspension type agricultural machinery |
| CN105783839B (en) * | 2016-04-27 | 2018-06-26 | 中电科卫星导航运营服务有限公司 | The tilling depth on-line measurement system and method for agricultural machinery and implement Subsoiler |
| CN105783839A (en) * | 2016-04-27 | 2016-07-20 | 中电科卫星导航运营服务有限公司 | Tilling depth on-line measuring system and method of agricultural implements subsoiling working |
| CN106097888A (en) * | 2016-06-22 | 2016-11-09 | 江苏高速公路信息工程有限公司 | Integral type highway solar gantry type advices plate |
| CN106247970A (en) * | 2016-07-13 | 2016-12-21 | 哈尔滨工业大学 | Agricultural machinery working degree of depth self-operated measuring unit based on laser pulse ranging and measuring method |
| CN106171165A (en) * | 2016-07-27 | 2016-12-07 | 李兴彪 | A kind of portable sandy soil seeder |
| CN106352822A (en) * | 2016-09-29 | 2017-01-25 | 东北农业大学 | Real-time tillage depth monitoring system for agricultural implement operation |
| CN106352822B (en) * | 2016-09-29 | 2020-05-22 | 东北农业大学 | Real-time monitoring system for working tilling depth of agricultural implement |
| CN106989664A (en) * | 2017-05-25 | 2017-07-28 | 哈尔滨工业大学 | Soil subsoiling qualification rate acquisition methods with GPS track interpolation are scanned based on cell |
| CN107505620A (en) * | 2017-08-18 | 2017-12-22 | 河南科技大学 | Ditch shape plotting board |
| CN107941140A (en) * | 2017-11-14 | 2018-04-20 | 吉林大学 | A kind of three-dimensional Subsoiler quality detecting system |
| CN107941140B (en) * | 2017-11-14 | 2019-12-10 | 吉林大学 | Three-dimensional deep scarification operation quality detection system |
| CN107980261A (en) * | 2017-11-22 | 2018-05-04 | 中国农业大学 | A kind of general-purpose type tilling depth automatic detection and control device |
| CN107980261B (en) * | 2017-11-22 | 2019-08-30 | 中国农业大学 | A kind of general-purpose type tilling depth automatic detection and control device |
| CN111895952A (en) * | 2020-08-17 | 2020-11-06 | 山东隽永信息技术有限公司 | Intelligent detection device for measuring deep ploughing and deep scarification depth and use method |
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