CN105698718A - Subsoiling operation depth measurement method based on difference method - Google Patents

Abstract

The invention provides a subsoiling operation depth measurement method based on a difference method. A subsoiling shovel is provided with an ultrasonic sensor probe. The ultrasonic sensor probe acquires absolute depth data with a fixed frequency. A real-time depth is calculated through height difference between heights which are measured in shovel lifting and shovel dropping. Error data in the acquired real-time depths are eliminated. Effective data are filtered through a filtering algorithm. Finally the filtered data are averaged, thereby obtaining the average depth of operation at this time, and calculating depth standard-reaching rate in subsoiling operation. The subsoiling operation depth measurement method can monitor the subsoiling operation depth in real time. Simple operation and small measurement error are realized. Furthermore the calculated depth data can accurately reflect operation quality.

Description

A kind of Subsoiler depth measurement method based on calculus of finite differences

Technical field

The invention belongs to reading intelligent agriculture technical field, particularly to a kind of Subsoiler depth measurement method based on calculus of finite differences。

Background technology

The quality of soil is one of key factor of restriction grain-production, but China's major part soil is based on traditional operating type, i.e. small farm machine operation, depth of implements is shallower, farming causes the problems such as soil erosion, soil fertility decline, soil compaction year after year, restricts increases in grain production。

Mechanization deep-ploughing implement can break the hard plough sole formed for a long time, improving permeable, the permeability of soil, being conducive to crop root deeply to prick, thus promoting increases in grain production。Due to the great function of deep-ploughing implement, China carries out deep-ploughing implement energetically。But in actual Subsoiler, the subsoiling degree of depth is generally inadequate, causes that operation effectiveness is had a greatly reduced quality；Due to actual Subsoiler circumstance complication, the out-of-flatness in weeds, straw and arable land causes that the subsoiling degree of depth cannot adopt effective means to measure in real time, traditional measuring method is more complicated, and the quality of every subjob cannot be evaluated by effective depth data, artificial subjective factor produces considerable influence for Subsoiler evaluation。

Summary of the invention

For the shortcoming overcoming above-mentioned prior art, it is an object of the invention to provide a kind of Subsoiler depth measurement method based on calculus of finite differences, the method can monitor the Subsoiler degree of depth in real time, simple to operate, the error recorded is little, and the depth data tried to achieve can accurately reflect operation quality。

To achieve these goals, the technical solution used in the present invention is:

A kind of Subsoiler depth measurement method based on calculus of finite differences, deep soil loosing shovel arranges ultrasonic sensor probe, ultrasonic sensor probe gathers absolute depth data with fixed frequency, real-time deep is tried to achieve with the difference in height recorded when falling and shovel during by carrying shovel, wrong data in the real-time deep value obtained is removed, then passes through filtering algorithm and valid data are filtered, finally filtered data are averaging, obtain the mean depth of this subjob, and obtain Subsoiler degree of depth compliance rate。

Before Subsoiler, subsoiler does not fall to shoveling, and now ultrasonic sensor probe records the distance with ground is primary standard value；When Subsoiler, subsoiler falls to shoveling, and the degree of depth of sensor measurement exists a relative altitude with primary standard value, and this relative altitude is the real-time deep value recorded。

Described wrong data refers to the number less than 0 and the real-time deep data more than 50 centimetres, and described valid data refer to the real-time deep data at 0 to 50 centimetres, and the described Subsoiler degree of depth finger degree of depth up to standard reaches more than 25 centimetres。

The frequency acquisition of described absolute depth data is 5HZ。

Described filtering algorithm is:

Every 15 data, wherein removing 5 maximums, remove 5 minima, remaining five points are averaging, and filtered data, as data, finally, are averaging, are the mean depth of this subjob by such 15 data。

Described Subsoiler degree of depth compliance rate refers to be removed data lower than 5 centimetres after filtering, and the data more than 25 centimetres account for except the ratio of rear total data。(reason removing the point lower than 5cm is, eliminates the edge of a field and carries shovel, falls to shoveling the impact on operation compliance rate, truly this Subsoiler degree of depth is evaluated)

Compared with prior art, the invention has the beneficial effects as follows:

1) present invention can effectively measure the real-time deep of each Subsoiler, and precision is high。

2) measuring method of the present invention fully takes into account actual Subsoiler environment and feature, it is contemplated that different deep soil loosing shovel features, universality is strong。

3) present invention can the degree of depth quality of the every subjob of accurate evaluation, rationally reflect actual subsoiling effect, contribute to Subsoiler process is exercised supervision。

4) present invention is simple to operate, substantially increases measurement efficiency, less costly。

Accompanying drawing explanation

Fig. 1 is ultrasonic sensor probe mounting structure figure。

Fig. 2 is algorithm flow chart。

Detailed description of the invention

Embodiments of the present invention are described in detail below in conjunction with drawings and Examples。

A kind of Subsoiler depth measurement method based on calculus of finite differences of the present invention sets up and application process is as follows:

1, Method And Principle introduction

Subsoiling depth survey principle is introduced below in conjunction with Subsoiler process。Subsoiling depth survey adopts ultrasonic sensor probe, ultrasonic sensor probe is fixed on deep soil loosing shovel cross bar by support, ultrasonic sensor probe is with 5HZ frequency collection absolute depth data, and the difference in height recorded during by carrying shovel and falling and shovel tries to achieve the real-time subsoiling degree of depth。Before Subsoiler, subsoiler does not fall to shoveling, and the distance with ground that now ultrasonic sensor probe records is primary standard value；When Subsoiler, subsoiler falls to shoveling, and the degree of depth of measurement exists a relative altitude with primary standard value, and this relative altitude is the real-time deep value recorded。Wrong data in the real-time deep value tried to achieve is removed, then passes through filtering algorithm and valid data are filtered, finally obtain mean depth and the Subsoiler degree of depth compliance rate of this subjob。

Absolute depth data refer to the numerical value that ultrasonic sensor probe directly records, and this numerical value is the ultrasonic sensor probe distance to ground；Primary standard value refers to the distance on the ground of popping one's head in that ultrasonic sensor probe records when subsoiler operation premise is shoveled；Relative altitude refers to that primary standard value deducts the instantaneous value that in Subsoiler process, ultrasonic sensor probe is measured, and this relative altitude is subsoiling real-time deep value；Wrong data refers to the number less than 0 and the real-time deep data more than 50 centimetres；Valid data refer to the real-time deep data at 0 to 50 centimetres；The Subsoiler degree of depth finger degree of depth up to standard reaches more than 25 centimetres；The purpose of filtering algorithm is the impact for eliminating straw, weeds。

The fixed form of ultrasonic sensor probe is as shown in Figure 1, an angle of 90 degrees or 45 degree of angles it are generally due to existing deep soil loosing shovel cross bar incline, in conjunction with characteristics such as ultrasonic sensor probe ranges, probe fixing structure is designed to shown in Fig. 1, probe is arranged in shell 1 that can be rainproof, shell 1 is arranged on supporting structure, supporting structure is arranged on bracket base 4, supporting structure includes 45 degree of supports 2 of 90 degree of supports 3 and L-shaped, 90 degree of supports 3 are arranged on bracket base 4 with vertical form, the bottom of one branch of 45 degree of supports 2 is connected on bracket base 4, shell 1 is arranged on the upper surface of another branch。The Liang Ge branch of 45 degree of supports 2 is all horizontal by 45 degree of angles, and 90 degree of supports 3 support 45 degree of supports 2, utilizes detachable screw 5 to realize the two and connects, by dismantling satisfied two kinds of handling situations。

2, the method flow process being discussed in detail in conjunction with Fig. 2, the method detailed step is as follows:

Step 1: the data acquiring frequency of ultrasonic sensor probe is set；

Step 2: before operation, the probe that record ultrasonic sensor probe records is to the distance on ground, and this distance is primary standard value；

Step 3: in operation, ultrasonic sensor probe monitors probe in real time to ground distance, and all real time datas is preserved；

Step 4: try to achieve subsoiling degree of depth instantaneous value with the real time data that difference sonic sensor measures by primary standard value；

Step 5: the subsoiling wrong data tried to achieve is rejected；

Step 6；Subsoiling data are filtered by filtering algorithm, tries to achieve subsoiling depth-averaged value；

A kind of embodiment of filtering algorithm: every 15 data, wherein removes 5 maximums, removes 5 minima, and remaining five points are averaging, and such 15 data turn to data。Finally, filtered data are averaging, are the mean depth of this subjob。

Step 7: obtain depth of implements compliance rate；

Data lower than 5 centimetres after filtering are removed, the data more than 25 centimetres account for divisor according to after ratio, be this subjob compliance rate。

3 results and discussion

3.1 test methods

Mount Taishan and Dongfanghong tractor are dragged in the mountain that this test subsoiler selects China arable land conventional。During operation, tractor band deep soil loosing shovel travel speed is generally about 15km/h。Test carries out on Yangling Shaanxi Xibei Univ. of Agricultural & Forest Science & Technology farm, and test period is in JIUYUE, 2015。Ultrasonic sensor probe model is JSN-SR04T, and range finding maximum distance is 5m, frequency configuration at 5HZ, i.e. five data of collection per second。

Experimentation is, before Subsoiler, selects 10 points as fixed point at random in the soil wanting farming in advance；In operation process, write down the subsoiler time through each fixed point；After operation process, measure the actual tilth of each fixed point with steel ruler。In experimentation, real time data can be passed to arm processor by ultrasonic sensor probe, processor can in real time by sensor measurement to every data and time of every data be saved in USB flash disk, and be converted into actual grade value by algorithm。

3.2 proof of algorithm results

Through measuring, deep soil loosing shovel carries shovel highly for 120cm。The measurement data corresponding with fixed point is found by the time。Due to five data of generation per second, by these corresponding five data averaged, meansigma methods and actual measured value are asked for error。Being computed, measurement error is below 5%。

Claims (6)

1. the Subsoiler depth measurement method based on calculus of finite differences, it is characterized in that, deep soil loosing shovel arranges ultrasonic sensor probe, ultrasonic sensor probe gathers absolute depth data with fixed frequency, real-time deep is tried to achieve with the difference in height recorded when falling and shovel during by carrying shovel, wrong data in the real-time deep value obtained is removed, then pass through filtering algorithm to be filtered by valid data, finally filtered data are averaging, obtain the mean depth of this subjob, and obtain Subsoiler degree of depth compliance rate。

2., according to claim 1 based on the Subsoiler depth measurement method of calculus of finite differences, it is characterised in that before Subsoiler, subsoiler does not fall to shoveling, and now ultrasonic sensor probe records the distance with ground is primary standard value；When Subsoiler, subsoiler falls to shoveling, and the degree of depth of sensor measurement exists a relative altitude with primary standard value, and this relative altitude is the real-time deep value recorded。

3. according to claim 1 based on the Subsoiler depth measurement method of calculus of finite differences, it is characterized in that, described wrong data refers to the number less than 0 and the real-time deep data more than 50 centimetres, described valid data refer to the real-time deep data at 0 to 50 centimetres, and the described Subsoiler degree of depth finger degree of depth up to standard reaches more than 25 centimetres。

4. according to claim 1 based on the Subsoiler depth measurement method of calculus of finite differences, it is characterised in that the frequency acquisition of described absolute depth data is 5HZ。

5. according to claim 1 based on the Subsoiler depth measurement method of calculus of finite differences, it is characterised in that described filtering algorithm is:

Every 15 data, wherein removing 5 maximums, remove 5 minima, remaining five points are averaging, and filtered data, as data, finally, are averaging, are the mean depth of this subjob by such 15 data。

6. according to claim 1 based on the Subsoiler depth measurement method of calculus of finite differences, it is characterised in that described Subsoiler degree of depth compliance rate refers to greater than the data of 25 centimetres and accounts for the ratio of total data after filtering。