CN106403881A - Agricultural machinery deep loosening work depth measurement method based on multi-source information fusion - Google Patents
Agricultural machinery deep loosening work depth measurement method based on multi-source information fusion Download PDFInfo
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- CN106403881A CN106403881A CN201610710095.5A CN201610710095A CN106403881A CN 106403881 A CN106403881 A CN 106403881A CN 201610710095 A CN201610710095 A CN 201610710095A CN 106403881 A CN106403881 A CN 106403881A
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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
- 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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Abstract
The invention relates to an agricultural machinery deep loosening work depth measurement method and provides an agricultural machinery deep loosening work depth measurement method based on multi-source information fusion, and is to realize accurate measurement of the agricultural machinery deep loosening work depth. The method is implemented through a machinery identification sensor, a three-axis acceleration sensor, a power sensor, a master control device and a set of multi-source information fusion algorithm based on an artificial neural network. The machinery identification sensor is recorded with information of width of a deep loosening tool, length of a subsoiler and unique number of the deep loosening tool and the like, and is provided with a distance measurement module for measuring relative height; the three-axis acceleration sensor is used for measuring postures of the agricultural machinery and the deep loosening tool in real time; the power sensor is used for measuring the real-time power change of an engine; and the master control device is used for carrying out the fusion algorithm according to the measured data of the machinery identification sensor, the three-axis acceleration sensor and the power sensor to obtain accurate depth of the deep loosening work. The method is suitable for the agricultural machinery deep loosening work depth measurement occasions.
Description
Technical field
The present invention relates to agricultural machinery Subsoiler depth measurement method.
Background technology
Agricultural machinery Subsoiler is the agricultural machinery by modernizing high-power, drives the subsoiling meeting subsoiling standard to have to complete,
Plough sole can be broken on the premise of not destroying original soil layer construction.Plough sole be due to shallow for a long time turn over, rotary tillage formed,
Between arable layer and subsoil, this thickness degree, up to 6cm-10cm, can lead to soil compaction, affects retaining and conserveing soil moisture and anti-of soil
Non-irrigated prevention waterlogging ability is so that the yield of crops declines year by year.After breaking plough sole, soil retain and conserve soil moisture and drought-relief, waterlogging-preventing ability
Can greatly reinforce, the yield of crops also can be significantly increased.Therefore carry out subsoiling to hardened soil to be necessary.
According to the Ministry of Agriculture《National agricultural machinery subsoiling land preparation operation implementary plan (2011-2015)》Require：Agricultural machinery subsoiling is whole
Ground operation subsidy standard should be the 30%-50% of local agricultural machinery subsoiling land preparation operation price, and is not less than agricultural machinery subsoiling land preparation work
Industry ploughs the price difference of tillage operation with tradition, and agricultural machinery subsoiling land preparation job requirements depth of implements is not less than 25 centimetres.In order to be able to have
Imitate completes the whether qualified measurement of Subsoiler, and Subsoiler depth survey technology is imperative.
Content of the invention
The present invention is to realize the accurate measurement to agricultural machinery Subsoiler depth, thus providing one kind to be based on multi-source information
The agricultural machinery Subsoiler depth measurement method merging.
Based on the agricultural machinery Subsoiler depth measurement method of Multi-source Information Fusion, the method is based on Multi-source Information Fusion
Agricultural machinery Subsoiler depth-measuring system is realized, and this system includes equipment identification sensor, 3-axis acceleration sensor, power
Sensor and master control equipment；
Described equipment identification sensor is arranged on subsoiling equipment, is embedded with range finder module in equipment identification sensor；Institute
State equipment identification sensor for recording the subsoiling equipment information of itself, range finder module is used for measuring subsoiling equipment apart from ground
Height value；
3-axis acceleration sensor is arranged at subsoiling equipment and the couple axle of agricultural machinery, for measuring agricultural machinery and subsoiling equipment
Attitudes vibration；
Power sensor is arranged at the engine of agricultural machinery, and the realtime power for detecting engine changes；
Master control equipment be used for receiving the information of subsoiling equipment itself, the subsoiling equipment height value apart from ground, agricultural machinery and
The attitudes vibration information of subsoiling equipment and the realtime power change information of engine, are additionally operable to carry out merging by these information realize
Agricultural machinery Subsoiler depth survey；
Based on the agricultural machinery Subsoiler depth measurement method of Multi-source Information Fusion, it comprises the following steps：
Step one, master control equipment inquire about the self information of subsoiling equipment by equipment identification sensor, and according to subsoiling
The height apart from ground for the equipment judges whether subsoiling equipment is located on the ground, if it is judged that being no, then execution step two
One；If it is judged that being no, then execution step 31；
Step 2 one, the adjustment height apart from ground for the subsoiling equipment；
Step 2 two, using range finder module measure the height value apart from ground for the current subsoiling equipment, master control equipment judge
Whether the current height value apart from ground for the subsoiling equipment is within preset range；If it is judged that being yes, then execution step two
Three；If rainbow judged result is no, then return execution step 21；
Step 2 three, master control equipment obtain the initial appearance of current subsoiling equipment and agricultural machinery by 3-axis acceleration sensor
State information, completes the original state capture of subsoiling equipment and agricultural machinery, and execution step 31；
Step 3 one, under each time cycle, master control equipment reads the height value apart from ground for the subsoiling equipment, agricultural machinery
With the attitudes vibration of subsoiling equipment and the realtime power change of engine, using blending algorithm, judge whether subsoiling equipment is entering
Row Subsoiler, if it is judged that being yes, then execution step three or two；If it is judged that being no, then terminate current period
Measurement；
Step 3 two, master control equipment obtain subsoiling equipment Subsoiler depth measurements, and show.
Based on the agricultural machinery Subsoiler depth measurement method of Multi-source Information Fusion, it comprises the following steps：
Step one, master control equipment inquire about the self information of subsoiling equipment by equipment identification sensor, and according to subsoiling
The height apart from ground for the equipment judges whether subsoiling equipment is located on the ground, if it is judged that being no, then execution step two
One；If it is judged that being no, then execution step 31；
Step 2 one, the adjustment height apart from ground for the subsoiling equipment；
Step 2 two, using range finder module measure the height value apart from ground for the current subsoiling equipment, master control equipment judge
Whether the current height value apart from ground for the subsoiling equipment is within preset range；If it is judged that being yes, then execution step two
Three；If rainbow judged result is no, then return execution step 21；
Step 2 three, master control equipment obtain the initial appearance of current subsoiling equipment and agricultural machinery by 3-axis acceleration sensor
State information, completes the original state capture of subsoiling equipment and agricultural machinery, and execution step 31；
Step 3 one, under each time cycle, master control equipment reads the height value apart from ground for the subsoiling equipment, agricultural machinery
With the attitudes vibration of subsoiling equipment and the realtime power change of engine, using blending algorithm, judge whether subsoiling equipment is entering
Row Subsoiler, if it is judged that being yes, then execution step three or two；If it is judged that being no, then terminate current period
Measurement；
Step 3 two, master control equipment obtain subsoiling equipment Subsoiler depth measurements, and show.
Blending algorithm described in step 3 one is to be realized based on artificial neural network.
This neutral net artificial comprises 5 inputs：Equipment identification sensor data, X, Y, Z of 3-axis acceleration sensor
Three number of axle evidences and power sensor data；Also include 2 outputs：Whether for the real-time deep of subsoiling state and subsoiling, and should
The perceptron of neutral net does not have hidden layer, and after training, algorithm is convergence.
Manually the data training method of this neutral net is：
Step A, initialization system parameter；
Step B, one group of training sample of input；
Whether step C, error in judgement correction value restrain, if it is judged that being yes, then execution step D1；If it is determined that knot
Fruit is no, then execution step D2；
Step D1, weighted value and threshold value are fixed, and terminate；
Step D2, regularized learning algorithm speed, and return to step B.
The present invention, according to the measurement data of equipment identification sensor system, 3-axis acceleration sensor and power sensor, transports
Row blending algorithm, draws the exact depth of agricultural machinery Subsoiler, realizes the accurate measurement to agricultural machinery Subsoiler depth.
Brief description
Fig. 1 is the structural representation of the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion；
Fig. 2 is farm implements identification sensor schematic view of the mounting position；Wherein 1 is the front beam of subsoiling equipment；2 is subsoiling equipment
Deep soil loosing shovel；3 is equipment identification sensor；
Fig. 3 is 3-axis acceleration sensor principle schematic；
Fig. 4 is master control equipment program operation logic schematic flow sheet；
Fig. 5 is the training schematic flow sheet of artificial neural network；
Specific embodiment
Specific embodiment one, the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion, the method is base
In Multi-source Information Fusion agricultural machinery Subsoiler depth-measuring system realize, this system includes equipment identification sensor, three axles
Acceleration transducer, power sensor and master control equipment；
Described equipment identification sensor is arranged on subsoiling equipment, is embedded with range finder module in equipment identification sensor；Institute
State equipment identification sensor for recording the subsoiling equipment information of itself, range finder module is used for measuring subsoiling equipment apart from ground
Height value；
3-axis acceleration sensor is arranged at subsoiling equipment and the couple axle of agricultural machinery, for measuring agricultural machinery and subsoiling equipment
Attitudes vibration；
Power sensor is arranged at the engine of agricultural machinery, and the realtime power for detecting engine changes；
Master control equipment be used for receiving the information of subsoiling equipment itself, the subsoiling equipment height value apart from ground, agricultural machinery and
The attitudes vibration information of subsoiling equipment and the realtime power change information of engine, are additionally operable to carry out merging by these information realize
Agricultural machinery Subsoiler depth survey；
Based on the agricultural machinery Subsoiler depth measurement method of Multi-source Information Fusion, it comprises the following steps：
Step one, master control equipment inquire about the self information of subsoiling equipment by equipment identification sensor, and according to subsoiling
The height apart from ground for the equipment judges whether subsoiling equipment is located on the ground, if it is judged that being no, then execution step two
One；If it is judged that being no, then execution step 31；
Step 2 one, the adjustment height apart from ground for the subsoiling equipment；
Step 2 two, using range finder module measure the height value apart from ground for the current subsoiling equipment, master control equipment judge
Whether the current height value apart from ground for the subsoiling equipment is within preset range；If it is judged that being yes, then execution step two
Three；If rainbow judged result is no, then return execution step 21；
Step 2 three, master control equipment obtain the initial appearance of current subsoiling equipment and agricultural machinery by 3-axis acceleration sensor
State information, completes the original state capture of subsoiling equipment and agricultural machinery, and execution step 31；
Step 3 one, under each time cycle, master control equipment reads the height value apart from ground for the subsoiling equipment, agricultural machinery
With the attitudes vibration of subsoiling equipment and the realtime power change of engine, using blending algorithm, judge whether subsoiling equipment is entering
Row Subsoiler, if it is judged that being yes, then execution step three or two；If it is judged that being no, then terminate current period
Measurement；
Step 3 two, master control equipment obtain subsoiling equipment Subsoiler depth measurements, and show.
Record in equipment identification sensor and have the information such as the fabric width of subsoiling tool, deep soil loosing shovel length, subsoiling tool unique number, and
Range finder module is contained, for measuring relative altitude in this sensor；
Blending algorithm described in step 3 one is to be realized based on artificial neural network.
This neutral net artificial comprises 5 inputs：Equipment identification sensor data, X, Y, Z of 3-axis acceleration sensor
Three number of axle evidences and power sensor data；Also include 2 outputs：Whether for the real-time deep of subsoiling state and subsoiling, and should
The perceptron of neutral net does not have hidden layer, and after training, algorithm is convergence.
Manually the data training method of this neutral net is：
Step A, initialization system parameter；
Step B, one group of training sample of input；
Whether step C, error in judgement correction value restrain, if it is judged that being yes, then execution step D1；If it is determined that knot
Fruit is no, then execution step D2；
Step D1, weighted value and threshold value are fixed, and terminate；
Step D2, regularized learning algorithm speed, and return to step B.
In the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, range finder module adopts ultrasonic ranging
Module, infrared distance measurement module or laser ranging module are realized.
In the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, equipment identification sensor, three axles add
Data interactive mode between velocity sensor, power sensor and master control equipment, is realized by the way of wired.
In the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, equipment identification sensor, three axles add
Data interactive mode between velocity sensor, power sensor and master control equipment, using CAN, RS232, RS422, RS485 or
The mode of SPI is realized.
In the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, equipment identification sensor, three axles add
Data interactive mode between velocity sensor, power sensor and master control equipment, using wirelessly realizing.
In the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, equipment identification sensor, three axles add
Data interactive mode between velocity sensor, power sensor and master control equipment, using mobile communication 2G, mobile communication 3G,
The mode of mobile communication 4G or WIFI is realized.
Display in step 3 two adopts charactron or liquid crystal display to realize, and completes to capture for auxiliary and display is ploughed in real time
Deep.
Specific embodiment：As shown in Fig. 2 Fig. 2 is farm implements identification sensor schematic view of the mounting position, wherein equipment identification passes
Sensor, have recorded equipment information, and range finder module can be the functional module that any one can measure relative distance, for example ultrasonic
Ripple range finding, infrared distance measurement, laser ranging etc., this module is mainly used in the preliminary surveying of subsoiling depth；It is that three axles add as shown in Figure 3
Velocity sensor principle schematic, 3-axis acceleration sensor, according to X, Y, Z, the acceleration change value of three axles, to measure agricultural machinery
With the attitudes vibration of subsoiling tool, after recording attitudes vibration, real-time tilling depth can be compensated with attitude data, to realize accurately measuring；
Power sensor is used for measuring the change of agricultural machine engine power, and this sensor knot 3-axis acceleration sensor can determine whether agricultural machinery
Whether it is in subsoiling state；The Data Fusion of three above sensor all completes in master control equipment, three sensors
Data interactive mode with master control equipment can be various ways, such as CAN, RS232, RS422, RS485, SPI
Deng wired forms, or the wireless such as mobile communication (2G, 3G, 4G), WIFI, Fig. 4 is that master control equipment intermediate range sort run is patrolled
Collecting flow chart, it can be seen that being the capture completing equipment original state first, in ground grading, being passed by equipment
Value measured by range finder module in sensor judging, subsoiling have whether just on the ground, when its just on the ground when, capture
Subsoiling tool corresponding 3-axis acceleration value this moment, you can obtain the initial state information of farm implements now and agricultural machinery.Capture completes
Afterwards, according to initial attitude, run blending algorithm, you can draw real-time tilling depth；In addition the blending algorithm in master control equipment
It is based on artificial neural network, the training flow chart of this algorithm is as shown in figure 5, be initialization system parameter first：5 inputs
The weight of node, given according to being uniformly distributed, if the judgment threshold being in subsoiling state is set to 0.5, represent deep more than 0.5
Pine, less than the 0.5 non-subsoiling of expression, learning rate is initially set to 0.1, is incremented by with 0.05, until algorithmic statement, number of training
According to being measured data, 1000 are one group.Train different node weights according to different automobile types, obtain being applied to different cars
The neural network model of type；It is finally the display module in master control equipment, this module can be charactron, liquid crystal display etc., use
Complete to capture and the real-time tilling depth of display to assist.
Claims (10)
1. the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion, is characterized in that：The method is based on multi-source letter
The agricultural machinery Subsoiler depth-measuring system that breath merges is realized, and this system includes equipment identification sensor, 3-axis acceleration passes
Sensor, power sensor and master control equipment；
Described equipment identification sensor is arranged on subsoiling equipment, is embedded with range finder module in equipment identification sensor；Described machine
Tool identification sensor is used for recording the subsoiling equipment information of itself, and range finder module is used for measuring the height apart from ground for the subsoiling equipment
Value；
3-axis acceleration sensor is arranged at subsoiling equipment and the couple axle of agricultural machinery, for measuring the appearance of agricultural machinery and subsoiling equipment
State changes；
Power sensor is arranged at the engine of agricultural machinery, and the realtime power for detecting engine changes；
Master control equipment is used for receiving the information of subsoiling equipment itself, the subsoiling equipment height value apart from ground, agricultural machinery and subsoiling
The attitudes vibration information of equipment and the realtime power change information of engine, are additionally operable to for these information to carry out fusion realize agricultural machinery
Subsoiler depth survey；
Based on the agricultural machinery Subsoiler depth measurement method of Multi-source Information Fusion, it comprises the following steps：
Step one, master control equipment inquire about the self information of subsoiling equipment by equipment identification sensor, and according to subsoiling equipment
Height apart from ground judges whether subsoiling equipment is located on the ground, if it is judged that being no, then execution step 21；As
Fruit judged result is no, then execution step 31；
Step 2 one, the adjustment height apart from ground for the subsoiling equipment；
Step 2 two, the height value apart from ground for the current subsoiling equipment is measured using range finder module, master control equipment judges current
Whether the height value apart from ground for the subsoiling equipment is within preset range；If it is judged that being yes, then execution step two or three；As
Rainbow judged result is no, then return execution step 21；
Step 2 three, master control equipment obtain the initial attitude letter of current subsoiling equipment and agricultural machinery by 3-axis acceleration sensor
Breath, completes the original state capture of subsoiling equipment and agricultural machinery, and execution step 31；
Step 3 one, under each time cycle, master control equipment reads the height value apart from ground for the subsoiling equipment, agricultural machinery and depth
The realtime power change of the attitudes vibration of loose equipment and engine, using blending algorithm, judges whether subsoiling equipment is carrying out depth
Loose operation, if it is judged that being yes, then execution step three or two；If it is judged that being no, then terminate the measurement of current period；
Step 3 two, master control equipment obtain subsoiling equipment Subsoiler depth measurements, and show.
2. the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion according to claim 1, its feature exists
Blending algorithm described in step 3 one is to be realized based on artificial neural network.
3. the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion according to claim 2, its feature exists
Comprise 5 inputs in this neutral net artificial：Equipment identification sensor data, X, Y, Z tri- number of axle of 3-axis acceleration sensor
According to power sensor data；Also include 2 outputs：Whether for the real-time deep of subsoiling state and subsoiling, and this nerve net
The perceptron of network does not have hidden layer, and after training, algorithm is convergence.
4. the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion according to claim 2, its feature exists
Data training method in this neutral net artificial is：
Step A, initialization system parameter；
Step B, one group of training sample of input；
Whether step C, error in judgement correction value restrain, if it is judged that being yes, then execution step D1；If it is judged that being
No, then execution step D2；
Step D1, weighted value and threshold value are fixed, and terminate；
Step D2, regularized learning algorithm speed, and return to step B.
5. the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion according to claim 2, its feature exists
In in the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, range finder module adopt ultrasonic distance measuring module,
Infrared distance measurement module or laser ranging module are realized.
6. the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion according to claim 2, its feature exists
In in the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, equipment identification sensor, 3-axis acceleration pass
Data interactive mode between sensor, power sensor and master control equipment, is realized by the way of wired.
7. the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion according to claim 6, its feature exists
In in the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, equipment identification sensor, 3-axis acceleration pass
Data interactive mode between sensor, power sensor and master control equipment, using CAN, RS232, RS422, RS485 or SPI
Mode is realized.
8. the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion according to claim 2, its feature exists
In in the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, equipment identification sensor, 3-axis acceleration pass
Data interactive mode between sensor, power sensor and master control equipment, using wirelessly realizing.
9. the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion according to claim 8, its feature exists
In in the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, equipment identification sensor, 3-axis acceleration pass
Data interactive mode between sensor, power sensor and master control equipment, using mobile communication 2G, mobile communication 3G, moves and leads to
The mode of letter 4G or WIFI is realized.
10. the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion according to claim 2, its feature exists
Display in step 3 two adopts charactron or liquid crystal display to realize.
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012102667A1 (en) * | 2011-01-26 | 2012-08-02 | Väderstad-Verken Ab | Agricultural equipment and method of working soil |
| CN104599474A (en) * | 2015-02-04 | 2015-05-06 | 青岛农业大学 | Operating condition monitoring system of vibratory subsoiler |
| CN104914763A (en) * | 2015-05-28 | 2015-09-16 | 北京农业智能装备技术研究中心 | Remote monitoring system for deep scarification of farm machinery |
| 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 |
| CN205156902U (en) * | 2015-11-27 | 2016-04-13 | 浙江联辉智能科技有限公司 | Dark measuring device of agricultural machinery soil preparation operation loose deeply |
-
2016
- 2016-08-23 CN CN201610710095.5A patent/CN106403881B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012102667A1 (en) * | 2011-01-26 | 2012-08-02 | Väderstad-Verken Ab | Agricultural equipment and method of working soil |
| CN104599474A (en) * | 2015-02-04 | 2015-05-06 | 青岛农业大学 | Operating condition monitoring system of vibratory subsoiler |
| CN104914763A (en) * | 2015-05-28 | 2015-09-16 | 北京农业智能装备技术研究中心 | Remote monitoring system for deep scarification of farm machinery |
| 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 |
| CN205156902U (en) * | 2015-11-27 | 2016-04-13 | 浙江联辉智能科技有限公司 | Dark measuring device of agricultural machinery soil preparation operation loose deeply |
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Effective date of registration: 20191204 Address after: 150001 Harbin, Nangang, West District, large straight street, No. 92 Patentee after: Yin Zhendong Address before: 150006, room 619, Science Park, National University, Harbin Institute of Technology, Harbin, Nangang, Heilongjiang, 434, China Patentee before: Harbin golden Kuixing Technology Development Co. Ltd. |
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Effective date of registration: 20201208 Address after: Room 618, 6 / F, hi tech Park building, 434 Post Street, Nangang District, Harbin City, Heilongjiang Province Patentee after: Harbin Zhixin Innovation Technology Development Co., Ltd Address before: 150001 Harbin, Nangang, West District, large straight street, No. 92 Patentee before: Yin Zhendong |