CN105987679B - The remote real time monitoring system and Area computing method of agricultural machinery and implement Subsoiler - Google Patents
The remote real time monitoring system and Area computing method of agricultural machinery and implement Subsoiler Download PDFInfo
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- CN105987679B CN105987679B CN201610267594.1A CN201610267594A CN105987679B CN 105987679 B CN105987679 B CN 105987679B CN 201610267594 A CN201610267594 A CN 201610267594A CN 105987679 B CN105987679 B CN 105987679B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/18—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring depth
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/28—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring areas
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Abstract
The invention discloses a kind of remote real time monitoring system of agricultural machinery and implement Subsoiler and Area computing methods, including real-time monitoring terminal and subsoiling system management platform, the real-time monitoring terminal includes main control MCU module and the tilling depth measurement module being connect respectively with the main control MCU module, navigation positioning module, data memory module and the communication module that information exchange is realized with the subsoiling system management platform；The tilling depth measurement module includes the farm implements label model being connect respectively with the main control MCU module respective input, the first obliquity sensor on lower pull rod and the second obliquity sensor on plow frame.The present invention measures tilling depth depth using obliquity sensor, not only solving ranging class sensor, easily by ground, uneven, stalk fertilizer congestion influences depth measurement result, and can monitor the accurate tilling depth measurement of horizontal variable condition offer of subsoiling plow by installing the second obliquity sensor on plow frame.
Description
Technical field
The present invention relates to a kind of agricultural machinery and implement subsoiling real-time monitoring system, especially a kind of long-range reality of agricultural machinery and implement Subsoiler
When monitoring system and Area computing method.
Background technology
Currently, China's mode of agriculture has been realized in the epoch based on do mechanization operation, with rural laborer
City transfer, agricultural machinery is widely used in the every field of agricultural production, dependence of the agricultural production to agricultural machinery
Increasingly stronger, level of farming mechanization is higher and higher, and peasant is also higher and higher to the quality requirement of agricultural machinery farm work.Such as
What improves the management level to farm work and then improves Unit Grain Production, this is new choose for farm machinery management department
War.
Recent years, country improve China rural area arable land topsoil structure, it is anti-to promote soil to improve Unit Grain Production
Non-irrigated water drainage ability adheres to that always carrying out " the three, three " wheel attached most importance to subsoiling ploughs system, i.e., every 3 years deep in agricultural machanization production
It is loose primary, it takes within other 2 years and minimal tills or no-tillage farming, and give certain operation to user and subsidize, but Subsoiler area
Accurate assert and the detection of operation quality is the difficult point carried out Subsoiler and subsidized always.
China is most of still using the soil layer for manually pushing equipment operation aside for the measurement of tilling depth at present, exposes operation
The bottom of soil layer, the method for then using Steel Ruler to measure.Not only labor intensity is big for this mode, but also by pushing operation aside
Soil layer afterwards determines bottom of trench, with uncertainty, keeps measurement inaccurate, and can not continuously record tilling depth data.In addition
Calculating tilling depth using ultrasonic sensor in existing patented technology can not avoid ground injustice, stalk fertilizer congestion to depth measurement knot
The influence of fruit；Setting angle sensor is unable to monitor the water of subsoiling plow only on the articulated shaft of Subsoiler mechanism load frame rear end
Level state changes, and is not avoided that some machine hand farm works are used inferior materials and turned out substandard goods, carries plough and ploughs shallowly, cannot get subsoiling effect.
Due to the influence of the backwardness and human factor of detection means, the operation plot spot-check also cannot ensure to reach mark
Standard, and existing Area computing model can not solve the problems, such as that overwrite job computes repeatedly, and cause have false area existing every year
As occurring.
Invention content
Present invention aim to address the accurate measuring and calculating of the on-line measurement of subsoiling depth and real-time Transmission and subsoiling area
Problem monitors the operating status of subsoiling plow using obliquity sensor, by the navigation positioning module and depth of car-mounted terminal in real time
The Area computing module construction Area computing model of loose system management platform can solve to repeat operation, compute repeatedly asking for mu number
Topic, thus effective guarantee subsoiling quality, and effective monitoring subsoiling area.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of monitoring system of agricultural machinery and implement Subsoiler, including real-time monitoring terminal and subsoiling system management platform, it is described
Real-time monitoring terminal includes that main control MCU module and the tilling depth measurement module being connect respectively with the main control MCU module, navigation are determined
Position module, data memory module and the communication module that information exchange is realized with the subsoiling system management platform；
The tilling depth measurement module includes the farm implements label mould being connect respectively with the main control MCU module respective input
Block, the first obliquity sensor on lower pull rod and the second obliquity sensor on plow frame.
The main control MCU module receives the measured value of the first obliquity sensor and the second obliquity sensor, and according to following
Formula calculates tilling depth data in real time：
（Ⅰ）
Wherein,Indicate tilling depth depth, unit mm；
Indicate the inclination angle measured value of the first obliquity sensor, unit °；
Indicate the inclination angle measured value of the second obliquity sensor, unit °；
Indicate height when subsoiler is kept flat, unit mm；
Indicate the distance between forward and backward two rows of deep loosening tooths, unit mm；
Indicate lower rod length, unit mm；
Indicate plough shovel end to the vertical range for ploughing arm, unit mm；
Height of the hinged end of pull rod and agricultural machinery apart from ground, unit mm under indicating.
In above-mentioned technical proposal, by communication between subsoiling system management platform and the real-time monitoring terminal for being distributed in various regions
Module may be implemented information exchange, real-time monitoring terminal by the job information of acquisition, tilling depth data, navigation information, vehicle condition,
The information such as farm implements parameter are real-time transmitted to subsoiling system management platform；Subsoiling system management platform can count and record all peaces
The work data of agricultural machinery and implement equipped with real-time monitoring terminal, and subsoiling area is calculated according to job information and driving trace.
The subsoiling system management platform is interacted with each real-time monitoring terminal, is comprised the following modules：
Area computing module, the vehicle location coordinate information uploaded using real-time monitoring terminal and job information are calculated deep
Subsoiling area of the loose machine within seclected time；
Vehicle management module, for providing information of vehicles, position positioning, historical track, car alarming and map denotation；
Farm implements management module, for carrying out information management to farm implements classification, coding and parameter.
The Area computing method of remote real time monitoring system based on above-mentioned agricultural machinery and implement Subsoiler, including following step
Suddenly：Step 1: according to the tilling depth data for reaching subsoiling requirement, the track queue of subsoiling is determined, be wide, along the subsoiling with working width
Track be scanned, every continuous path generates a polygon, and polygon 1, more is generated respectively by the sequence of track queue
Side shape 2 ... polygon n, and calculate the area of a polygon of generation, respectively S1、S2……Sn；
Step 2: generating minimum outsourcing rectangle according to the vertex of polygon, correspondence is denoted as rectangle 1, rectangle 2 ... square respectively
Shape n；
Step 3: judge whether rectangle j and rectangle j+1 intersect in sequence, when intersection, step 5 is executed, when not phase
When friendship, Sj,j+1=0, execute step 4；Wherein, j values 1 arrive n-1；
Step 4: extracting next group of rectangle in sequence, step 3 is repeated, after all rectangles judge, executes step
Rapid six；
Step 5: judging whether the corresponding polygon of rectangle intersects, when intersection, adjacent polygons intersecting area is calculated
Sj,j+1, as non-intersecting, Sj,j+1=0；It is then back to step 4；
Step 6: calculating subsoiling area according to the following equation：
（Ⅱ）
Wherein, S indicates subsoiling area, SiIndicate the area of polygon, Sj,j+1Indicate the intersection between adjacent polygons
Product.
Area computing module obtains the longitude and latitude of vehicle-mounted real-time monitoring terminal by navigation positioning module in above-mentioned technical proposal
Co-ordinate position information is spent, and is sent to subsoiling system management platform, platform forms track according to coordinate points information and tilling depth information
Then queue generates a polygon according to working width, each track queue, judges and calculate adjacent polygons overlapping area, i.e.,
The plot subsoiling gross area can be obtained.For the ease of judging the overlapping of adjacent polygons, by polygon minimum outsourcing rectangle whether
Intersection is judged, i.e., first judges whether outsourcing rectangle intersects, restart another group of outsourcing square if outsourcing rectangle is non-intersecting
The judgement of shape；If outsourcing rectangle intersection judges whether two polygons intersect again, if two polygon intersections find out intersection
Product, if two polygons are non-intersecting, re-starts the judgement of another group of outsourcing rectangle.Relative to backward artificial detection hand
Section, the real-time monitoring system in above-mentioned technical proposal improves the accuracy of Subsoiler area, avoids false area phenomenon
Generation.
The advantageous effect generated using above-mentioned technical proposal is：（1）The present invention measures tilling depth depth using obliquity sensor
Degree, not only solving ranging class sensor, easily by ground, uneven, stalk fertilizer congestion influences depth measurement result, and by
The second obliquity sensor is installed on plow frame can monitor the horizontal variable condition of subsoiling plow, prevent from carrying during subsoiling plough and plough shallowly or more
It changes small colter to plough shallowly, is measured to provide accurate tilling depth, Subsoiler quality is monitored in real time, ploughed by improving
Whole quality promotes growth of agricultural efficiency, increasing peasant income；（2）Area computing mould of the Area computing method based on Area computing module construction
Type does not need expensive high accuracy positioning equipment, and to reduce monitoring cost, and the Area computing model built can
With to overwrite job carry out accurate judgement, prevent reference area bigger than normal, can effectively prevent false area phenomenon occur, to for
The reasonable granting of subsoiling subsidy provides foundation；（3）In further improved scheme, setting camera head monitor module can capture
Subsoiler live view can monitor agricultural machinery working state, the colter replacement action effectivelying prevent during subsoiling.
Description of the drawings
Fig. 1 is the schematic diagram of tilling depth measuring principle of the present invention；
Fig. 2 is the hardware architecture diagram of real-time monitoring terminal of the present invention；
Fig. 3 is the software flow pattern of Area computing of the present invention；
Fig. 4 is the track queue schematic diagram that certain plot forms subsoiling；
Fig. 5 is the principle schematic that area of a polygon calculates, and solid line represents subsoiling track；
Wherein, 1 lower pull rod is represented, 2 represent the first obliquity sensor, and 3 represent the second obliquity sensor, and 4 represent forward and backward two
The connecting rod between subsoiling plow is arranged, 5 represent plough arm, and 6 represent plough shovel, and 7 represent polygon, and 8 represent subsoiling track.
Specific implementation mode
The monitoring system of agricultural machinery and implement Subsoiler includes real-time monitoring terminal and subsoiling system management platform in the present embodiment,
The real-time monitoring terminal includes that main control MCU module and the tilling depth measurement module being connect respectively with main control MCU module, navigation are determined
Position module, data memory module and the communication module that information exchange is realized with the subsoiling system management platform；
The tilling depth measurement module includes the farm implements label mould being connect respectively with the main control MCU module respective input
Block, the first obliquity sensor 2 on lower pull rod 1 and the second obliquity sensor 3 on plow frame.
In other embodiments, the tilling depth measurement module include the data processor being connect with main control MCU module and
The farm implements label model being connect respectively with the data processor respective input, the first inclination angle on lower pull rod 1 pass
Sensor 2 and the second obliquity sensor 3 on plow frame, referring specifically to Fig. 2.
Tilling depth measurement module relies on the obliquity sensor on lower pull rod and plow frame, by being carried out to sensing data
Comprehensive analysis can real-time resolving subsoiling plow tilling depth.Specifically, the main control MCU module receives the first obliquity sensor 2 and the
The measured value of two obliquity sensors 3, and calculate tilling depth data in real time according to the following equation：
（Ⅰ）
Wherein,Indicate tilling depth depth, unit mm；
Indicate the inclination angle measured value of the first obliquity sensor, unit °；
Indicate the inclination angle measured value of the second obliquity sensor, unit °；
Indicate height when subsoiler is kept flat, unit mm；
Indicate the distance between forward and backward two rows of deep loosening tooths, unit mm；
Indicate lower rod length, unit mm；
Indicate plough 6 ends of shovel to the distance for ploughing arm 5, unit mm；
Height of the hinged end of pull rod and agricultural machinery apart from ground, unit mm under indicating.
The principle of tilling depth is measured referring to Fig. 1：Subsoiling depth, due to the connection between forward and backward two rows of deep loosening tooths
Bar 4 is vertical with plough arm 5, plough arm top to D1The distance of bottom end is：；Wherein,；.To sum up, it can be deduced that。
The farm implements label model uses STC11F05 microcontrollers, is managed to farm implements parameter information, the farm implements ginseng
Height when number includes working width, subsoiler is kept flat, the distance between front two rows deep loosening toothWith plough shovel end to plough arm
Distance, above-mentioned parameter is constant, the length of lower pull rod 1And height of the hinged end of lower pull rod 1 and agricultural machinery apart from ground
DegreeAlso it is constant；The model STM32 of the main control MCU module.
The navigation positioning module support Big Dipper or GPS satellite navigation positioning system, the position coordinates of real-time collection vehicle, and will
Collected location data is sent to subsoiling system management platform by communication module.
The real-time monitoring terminal further includes the display apparatus module being connect respectively with the main control MCU module respective input
With camera head monitor module.Display apparatus module is by the subsoiling depth of subsoiling plow, working area, driving trace, the real-time shape of tractor
In the presentation of information to display screen such as state, subsoiling plow and the working condition of tractor are understood in real time convenient for staff.Camera is supervised
Control module takes pictures to Subsoiler process timing by the camera on tractor, and subsoiling system is reported to by communication module
Platform under the overall leadership.
Model using data processor is STM32, and the result of calculating is input to main control MCU module, communicates mould
The communication module based on wireless public network may be used in block.
The subsoiling system management platform is interacted with each real-time monitoring terminal, is comprised the following modules：
Area computing module, the vehicle location coordinate information uploaded using real-time monitoring terminal and job information are calculated deep
Subsoiling area of the loose machine within seclected time；
Vehicle management module, for providing information of vehicles, position positioning, historical track, car alarming and map denotation；
Farm implements management module, for carrying out information management to farm implements classification, coding and parameter.
Subsoiling system management platform is an agricultural machinery and implement job accounting management system, can calculate vehicle in seclected time period
Interior working area counts and records the work data of the agricultural machinery and implement of all installation subsoiling real-time monitoring terminals, including subsoiling depth
The information such as degree, driving trace, working area, activity duration, to provide foundation for the reasonable granting of subsoiling subsidy.Platform feature
Further include：Statistical analysis and task management etc..Statistical analysis module is directed to each car, each enterprise and each car owner, statistics
Its job task situation in given time period.Task management module refer to enterprise for the task total amount of every agricultural machinery car owner and
Task performance is managed.
Include using the step of Area computing module calculating subsoiling area：
Step 1: according to the tilling depth data for reaching subsoiling requirement, the track queue of subsoiling is determined, with working width for width, along institute
The track for stating subsoiling is scanned, and every continuous path generates a polygon 7, is generated respectively by the sequence of track queue polygon
Shape 1, polygon 2 ... polygon n, and calculate the area of a polygon of generation, respectively S1、S2……Sn.Referring to Fig. 4, a depth
Loose track 8 is since subsoiling plow enters plot, puts plough subsoiling, until subsoiling plow lifts only to another edge of a field, subsoiling plow, in the depth
During pine, real-time monitoring terminal sends a tilling depth data and navigator fix system every 5 ~ 20s to subsoiling system management platform
The position coordinates of system transmission, the continuous broken line that each position coordinate is connected to formation in sequence is a subsoiling track 8, is formed
Polygon 7 be centered on the subsoiling track 8, it is wide with working width, be scanned to obtain along the subsoiling track.It is turning around
Place, subsoiling plow, which lift, is not calculated as subsoiling track.
Step 2: generating minimum outsourcing rectangle according to the vertex of polygon, correspondence is denoted as rectangle 1, rectangle 2 ... square respectively
Shape n.
Step 3: judge whether rectangle j and rectangle j+1 intersect in sequence, when intersection, step 5 is executed, when not phase
When friendship, Sj,j+1=0, execute step 4；Wherein, j values 1 arrive n-1.
Step 4: extracting next group of rectangle in sequence, step 3 is repeated, after all rectangles judge, executes step
Rapid six.
Step 5: judging whether the corresponding polygon of rectangle intersects, when intersection, adjacent polygons intersecting area is calculated
Sj,j+1, as non-intersecting, Sj,j+1=0；It is then back to step 4.Specific flow can be found in Fig. 3.
Judge that the step of polygon intersects includes in the step：
Judge whether each apex coordinate of polygon j falls in polygon j+1, it, will if falling into polygon j+1
The apex coordinate is added to intersection point set MJ, j+1In；
5.2, judge whether each apex coordinate of polygon j+1 falls in polygon j, if falling into polygon j,
The apex coordinate is added to intersection point set MJ, j+1In；
5.3, for each side of polygon j and polygon j+1, whether calculating has intersection point, and intersecting point coordinate is added to
Intersection point set MJ, j+1In；
5.4, M in antinode setJ, j+1In point coordinates be ranked up, be linked in sequence generation intersection polygon.
Wherein, the face for the intersection polygon that the polygon and adjacent polygons that irregular subsoiling track is formed are crossed to form
Accumulating computational methods is：
When calculated Subsoiler region the surrounded figure of enveloping outer enclosure is irregular, area is sought can be several according to plane
The method cut, cut, mended in what acquires.A kind of universal method is provided in the present embodiment, when as shown in Figure 5, in the signal provided
In figure, on the basis of coordinate where the A of any one vertex, along straight line AK is made with place plane coordinates axle parallel direction, remaining is each
Fixed point is vertical line BF, CG, DH, EK to the straight line, then irregularly the Area computing formula of arable land region ABCDE is：
（Ⅲ）
Wherein, according to graphics vertex coordinate can be easy to acquire right angled triangle ABF, AEK and right-angled trapezium BCGF,
The area of CDHG, DEKH.Can be arbitrary shape in the hope of the surrounded geometric figure of cultivated area enveloping outer enclosure by this algorithm
Graphics area.When concrete operation, point coordinates fixed given in navigation positioning module can be converted into be with the starting point in plot
The coordinate of origin, to reduce operand.
Step 6: calculating subsoiling area according to the following equation：
（Ⅱ）
Wherein, S indicates subsoiling area, SiIndicate the area of polygon, Sj,j+1Indicate the intersection between adjacent polygons
Product.
Area computing module does not need expensive high accuracy positioning equipment, to reduce monitoring cost.In addition, structure
The Area computing model built can carry out accurate judgement to overwrite job, prevent reference area bigger than normal.
For ease of calculation, two threshold values can be set in the present embodiment, when intersection area of a polygon and two polygons
The ratio between middle minimum area thinks that intersecting area is 0 less than 0.1；When minimum area in intersection area of a polygon and two polygons
The ratio between think that intersecting area is minimum area of a polygon more than 0.9, that is, work asWhen, then Sj,j+1=0；WhenWhen,.To reduce the calculation amount of system.
In other embodiments, it can also include step 7：The endpoint of track queue homonymy is linked in sequence and with
One and the last item track be connected, generate with the block-shaped identical polygon in ground, calculate the area S in the polygon plot0, and
It is compared with subsoiling area S.If to the continuous subsoiling in a certain plot, by comparing block area S0It, can with subsoiling area S
To monitor the block area that subsoiling repeats the area covered and omitted in subsoiling, foundation is provided for effectively control subsoiling quality.
In conclusion the present invention carries out Area computing, the Area computing of structure using navigation positioning module to Subsoiler
Model can accurately distinguish repetition operation, compute repeatedly a mu number problem.By respectively being installed on the plow frame of lower pull rod and subsoiling plow
One obliquity sensor can monitor the operating status of subsoiling plow in real time, to provide accurate depth survey.
Claims (9)
1. a kind of remote real time monitoring system of agricultural machinery and implement Subsoiler, including real-time monitoring terminal and subsoiling system pipes pat
Platform, it is characterised in that：
The real-time monitoring terminal includes that main control MCU module and the tilling depth being connect respectively with the main control MCU module measure mould
Block, navigation positioning module, data memory module and the communication module that information exchange is realized with the subsoiling system management platform；Institute
Tilling depth measurement module is stated to include the farm implements label model connecting with the main control MCU module respective input respectively, be mounted on down
Pull rod（1）On the first obliquity sensor（2）With the second obliquity sensor on plow frame（3）；
The main control MCU module receives the first obliquity sensor（2）With the second obliquity sensor（3）Measured value, and under
It states formula and calculates tilling depth data in real time：
（Ⅰ）
Wherein, DtIndicate tilling depth depth, unit mm；
αtIndicate the inclination angle measured value of the first obliquity sensor, unit °；
βtIndicate the inclination angle measured value of the second obliquity sensor, unit °；
H0Indicate height when subsoiler is kept flat, unit mm；
LyIndicate the distance between forward and backward two rows of deep loosening tooths, unit mm；
L0Indicate lower rod length, unit mm；
LcIndicate plough shovel（6）End is to ploughing arm（5）Distance, unit mm；
d0Indicate lower pull rod（1）Height with the hinged end of agricultural machinery apart from ground, unit mm.
2. the remote real time monitoring system of agricultural machinery and implement Subsoiler according to claim 1, it is characterised in that described real-time
It further includes the display apparatus module being connect respectively with the main control MCU module respective input and camera head monitor mould to monitor terminal
Block.
3. the remote real time monitoring system of agricultural machinery and implement Subsoiler according to claim 1, it is characterised in that the farm implements
Label model uses STC11F05 microcontrollers, is managed to farm implements parameter information, the farm implements parameter includes working width, subsoiler
Height H when keeping flat0, the distance between front two rows deep loosening tooth LyWith the distance L of plough shovel end to plough armc；The main control MCU
The model STM32 of module.
4. the remote real time monitoring system of agricultural machinery and implement Subsoiler according to claim 1, it is characterised in that the tilling depth
Measurement module can be replaced：Include the data processor being connect with main control MCU module and respectively with the data processor phase
It answers the farm implements label model of input terminal connection, be mounted on lower pull rod（1）On the first obliquity sensor（2）With on plow frame
The second obliquity sensor（3）.
5. the remote real time monitoring system of agricultural machinery and implement Subsoiler according to claim 1, it is characterised in that the subsoiling
System management platform is interacted with each real-time monitoring terminal, is comprised the following modules：
Area computing module, the vehicle location coordinate information uploaded using real-time monitoring terminal and job information, calculate subsoiler
Subsoiling area within seclected time；
Vehicle management module, for providing information of vehicles, position positioning, historical track, car alarming and map denotation；
Farm implements management module, for carrying out information management to farm implements classification, coding and parameter.
6. a kind of Area computing method of the remote real time monitoring system based on the agricultural machinery and implement Subsoiler described in claim 5,
Characterized by the following steps：
Step 1: according to the tilling depth data for reaching subsoiling requirement, the track queue of subsoiling is determined, be wide, along the depth with working width
The track of pine is scanned, and every continuous path generates a polygon, by the sequence of track queue generate respectively polygon 1,
Polygon 2 ... polygon n, and calculate the area of a polygon of generation, respectively S1、S2……Sn；
Step 2: generating minimum outsourcing rectangle according to the vertex of polygon, correspondence is denoted as rectangle 1, rectangle 2 ... rectangle n respectively；
Step 3: judging whether rectangle j and rectangle j+1 intersect in sequence, when intersection, step 5 is executed, when non-intersecting,
Sj,j+1=0, execute step 4；Wherein, j values 1 arrive n-1；
Step 4: extracting next group of rectangle in sequence, step 3 is repeated, after all rectangles judge, executes step 6；
Step 5: judging whether the corresponding polygon of rectangle intersects, when intersection, adjacent polygons intersecting area S is calculatedj,j+1,
As non-intersecting, Sj,j+1=0；It is then back to step 4；
Step 6: calculating subsoiling area according to the following equation：
（Ⅱ）
Wherein, S indicates subsoiling area, SiIndicate the area of polygon, Sj,j+1Indicate the intersecting area between adjacent polygons.
7. Area computing method according to claim 6, it is characterised in that in step 5, when adjacent polygons intersect, whenWhen, then Sj,j+1=0；
WhenWhen,。
8. Area computing method according to claim 6, it is characterised in that the step of judging polygon intersection in step 5
Including：
5.1, judge whether each apex coordinate of polygon j falls in polygon j+1, it, will if falling into polygon j+1
The apex coordinate is added to intersection point set MJ, j+1In；
5.2, judge whether each apex coordinate of polygon j+1 falls in polygon j, if falling into polygon j, by this
Apex coordinate is added to intersection point set MJ, j+1In；
5.3, for each side of polygon j and polygon j+1, whether calculating has intersection point, and intersecting point coordinate is added to intersection point
Set MJ, j+1In；
5.4, M in antinode setJ, j+1In point coordinates be ranked up, be linked in sequence generation intersection polygon.
9. Area computing method according to claim 6, it is characterised in that further include step 7：By track queue homonymy
Endpoint is linked in sequence and is connected with first and the last item track, generates and be somebody's turn to do with the block-shaped identical polygon in ground, calculating
The area S in polygon plot0, and be compared with subsoiling area S.
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| CN108036717A (en) * | 2017-11-30 | 2018-05-15 | 北京博创联动科技有限公司 | A kind of agricultural machine working area measuring method and device |
| CN109724577B (en) * | 2019-01-30 | 2022-02-11 | 山东省国土测绘院 | Water depth data processing method combining single-beam and towing measurement |
| CN109813271B (en) * | 2019-02-14 | 2020-08-28 | 河北信翔电子有限公司 | Method for calculating operation depth of agricultural implement |
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