CN106403881B - Agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion - Google Patents
Agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion Download PDFInfo
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- CN106403881B CN106403881B CN201610710095.5A CN201610710095A CN106403881B CN 106403881 B CN106403881 B CN 106403881B CN 201610710095 A CN201610710095 A CN 201610710095A CN 106403881 B CN106403881 B CN 106403881B
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- 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
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Abstract
Agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion, is related to agricultural machinery Subsoiler depth measurement method.The present invention is to realize the accurate measurement to agricultural machinery Subsoiler depth.The implementation of the measurement method includes: equipment identification sensor, 3-axis acceleration sensor, power sensor, master control equipment and a set of Multi-source Information Fusion algorithm based on artificial neural network.The information such as record has subsoiling to have in equipment identification sensor breadth, deep soil loosing shovel length, subsoiling tool unique number, and contain range finder module in the sensor, for measuring relative altitude；The posture that 3-axis acceleration sensor has for real-time measurement agricultural machinery and subsoiling；Power sensor is used to measure the realtime power variation of engine；Master control equipment runs blending algorithm, obtains the exact depth of agricultural machinery Subsoiler according to the measurement data of equipment identification sensor system, 3-axis acceleration sensor and power sensor.The present invention is suitable for agricultural machinery Subsoiler depth measurement occasion.
Description
Technical field
The present invention relates to agricultural machinery Subsoiler depth measurement methods.
Background technique
Agricultural machinery Subsoiler is the agricultural machinery by modernizing high-power, and the subsoiling for meeting subsoiling standard is driven to have to complete,
Plough sole can be broken under the premise of not destroying original soil layer construction.Plough sole be due to shallowly turning over for a long time, rotary tillage is formed,
Between arable layer and subsoil, which will lead to soil hardening up to 6cm-10cm, influence retaining and conserveing soil moisture and resisting for soil
Non-irrigated prevention waterlogging ability, so that the yield of crops declines year by year.After breaking plough sole, soil is retained and conserved soil moisture and drought-relief, waterlogging-preventing ability
It can greatly reinforce, the yield of crops also will increase dramatically.Therefore carrying out subsoiling to hardened soil is necessary.
Required according to the Ministry of Agriculture " national agricultural machinery subsoiling land preparation operation implementary plan (2011-2015) ": agricultural machinery subsoiling is whole
Ground operation subsidy standard should be the 30%-50% of local agricultural machinery subsoiling land preparation operation price, and make not less than agricultural machinery subsoiling land preparation
The price difference of industry and the cultivated tillage operation of tradition, agricultural machinery subsoiling land preparation job requirements depth of implements are not less than 25 centimetres.In order to have
The completion Subsoiler of effect whether He Ge measurement, Subsoiler depth measurement technology is imperative.
Summary of the invention
The present invention is in order to realize the accurate measurement to agricultural machinery Subsoiler depth, to provide a kind of based on multi-source information
The agricultural machinery Subsoiler depth measurement method of fusion.
Agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion, this method is based on Multi-source Information Fusion
What agricultural machinery Subsoiler depth-measuring system was realized, which includes equipment identification sensor, 3-axis acceleration sensor, power
Sensor and master control equipment；
In the equipment identification sensor setting to subsoiling equipment, range finder module is embedded in equipment identification sensor；Institute
Equipment identification sensor is stated for recording the information of subsoiling equipment itself, range finder module is for measuring subsoiling equipment apart from ground
Height value；
3-axis acceleration sensor is arranged at the couple axle of subsoiling equipment and 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；
Height value that master control equipment is used to receive the information, subsoiling equipment of subsoiling equipment itself apart from ground, agricultural machinery and
The attitudes vibration information of subsoiling equipment and the realtime power change information of engine, are also used to these information carrying out fusion realization
Agricultural machinery Subsoiler depth measurement；
Agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion, it the following steps are included:
Step 1: master control equipment inquires the self information of subsoiling equipment by equipment identification sensor, and according to subsoiling
Height of the equipment apart from ground judges whether subsoiling equipment is located on the ground, if it is judged that be it is no, then follow the steps two
One；If it is judged that be it is yes, then follow the steps 31；
The height of step 2 one, adjustment subsoiling equipment apart from ground；
Step 2 two measures height value of the current subsoiling equipment apart from ground, master control equipment judgement using range finder module
Whether current height value of the subsoiling equipment apart from ground be within preset range；If it is judged that be it is yes, then follow the steps two
Three；If it is judged that be it is no, then return to 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 executes step 3 one；
Step 3 one, under each time cycle, master control equipment reads height value, agricultural machinery of the subsoiling equipment apart from ground
With the variation of the realtime power of the attitudes vibration of subsoiling equipment and engine, using blending algorithm, judge subsoiling equipment whether into
Row Subsoiler, if it is judged that be it is yes, then follow the steps three or two；If it is judged that be it is no, then terminate current period
Measurement；
Step 3 two, master control equipment obtain subsoiling equipment Subsoiler depth measurements, and show.
Agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion, it the following steps are included:
Step 1: master control equipment inquires the self information of subsoiling equipment by equipment identification sensor, and according to subsoiling
Height of the equipment apart from ground judges whether subsoiling equipment is located on the ground, if it is judged that be it is no, then follow the steps two
One；If it is judged that be it is no, then follow the steps 31；
The height of step 2 one, adjustment subsoiling equipment apart from ground；
Step 2 two measures height value of the current subsoiling equipment apart from ground, master control equipment judgement using range finder module
Whether current height value of the subsoiling equipment apart from ground be within preset range；If it is judged that be it is yes, then follow the steps two
Three；As rainbow judging result be it is no, then return to 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 executes step 3 one；
Step 3 one, under each time cycle, master control equipment reads height value, agricultural machinery of the subsoiling equipment apart from ground
With the variation of the realtime power of the attitudes vibration of subsoiling equipment and engine, using blending algorithm, judge subsoiling equipment whether into
Row Subsoiler, if it is judged that be it is yes, then follow the steps three or two；If it is judged that be it is 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 realized based on artificial neural network.
The artificial neural network includes 5 inputs: X, Y, Z of equipment identification sensor data, 3-axis acceleration sensor
Three number of axle evidences and power sensor data；Further include 2 outputs: whether being in the real-time deep of subsoiling state and subsoiling, and should
The perceptron of neural network is not no hidden layer, and algorithm is convergent after training.
The data training method of the artificial neural network are as follows:
Step A, system parameter is initialized；
Step B, one group of training sample is inputted；
Step C, whether error in judgement correction value restrains, if it is judged that be it is yes, then follow the steps D1；If it is determined that knot
Fruit be it is no, then follow the steps D2；
Step D1, weighted value and threshold value are fixed, and terminated；
Step D2, regularized learning algorithm rate, and return step B.
Measurement data of the present invention according to equipment identification sensor system, 3-axis acceleration sensor and power sensor, fortune
Row blending algorithm obtains the exact depth of agricultural machinery Subsoiler, realizes the accurate measurement to agricultural machinery Subsoiler depth.
Detailed description of the invention
Fig. 1 is the structural schematic diagram 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 be subsoiling equipment front beam；2 be subsoiling equipment
Deep soil loosing shovel；3 be equipment identification sensor；
Fig. 3 is 3-axis acceleration sensor schematic illustration；
Fig. 4 is master control equipment program operation logic flow diagram；
Fig. 5 is the training flow diagram of artificial neural network；
Specific embodiment
Specific embodiment one, the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion, this method is base
It is realized in the agricultural machinery Subsoiler depth-measuring system of Multi-source Information Fusion, which includes equipment identification sensor, three axis
Acceleration transducer, power sensor and master control equipment；
In the equipment identification sensor setting to subsoiling equipment, range finder module is embedded in equipment identification sensor；Institute
Equipment identification sensor is stated for recording the information of subsoiling equipment itself, range finder module is for measuring subsoiling equipment apart from ground
Height value；
3-axis acceleration sensor is arranged at the couple axle of subsoiling equipment and 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；
Height value that master control equipment is used to receive the information, subsoiling equipment of subsoiling equipment itself apart from ground, agricultural machinery and
The attitudes vibration information of subsoiling equipment and the realtime power change information of engine, are also used to these information carrying out fusion realization
Agricultural machinery Subsoiler depth measurement；
Agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion, it the following steps are included:
Step 1: master control equipment inquires the self information of subsoiling equipment by equipment identification sensor, and according to subsoiling
Height of the equipment apart from ground judges whether subsoiling equipment is located on the ground, if it is judged that be it is no, then follow the steps two
One；If it is judged that be it is yes, then follow the steps 31；
The height of step 2 one, adjustment subsoiling equipment apart from ground；
Step 2 two measures height value of the current subsoiling equipment apart from ground, master control equipment judgement using range finder module
Whether current height value of the subsoiling equipment apart from ground be within preset range；If it is judged that be it is yes, then follow the steps two
Three；If it is judged that be it is no, then return to 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 executes step 3 one；
Step 3 one, under each time cycle, master control equipment reads height value, agricultural machinery of the subsoiling equipment apart from ground
With the variation of the realtime power of the attitudes vibration of subsoiling equipment and engine, using blending algorithm, judge subsoiling equipment whether into
Row Subsoiler, if it is judged that be it is yes, then follow the steps three or two；If it is judged that be it is no, then terminate current period
Measurement；
Step 3 two, master control equipment obtain subsoiling equipment Subsoiler depth measurements, and show.
The information such as record has subsoiling to have in equipment identification sensor breadth, deep soil loosing shovel length, subsoiling tool unique number, and
Contain range finder module in the sensor, for measuring relative altitude；
Blending algorithm described in step 3 one is realized based on artificial neural network.
The artificial neural network includes 5 inputs: X, Y, Z of equipment identification sensor data, 3-axis acceleration sensor
Three number of axle evidences and power sensor data；Further include 2 outputs: whether being in the real-time deep of subsoiling state and subsoiling, and should
The perceptron of neural network is not no hidden layer, and algorithm is convergent after training.
The data training method of the artificial neural network are as follows:
Step A, system parameter is initialized；
Step B, one group of training sample is inputted；
Step C, whether error in judgement correction value restrains, if it is judged that be it is yes, then follow the steps D1；If it is determined that knot
Fruit be it is no, then follow the steps D2；
Step D1, weighted value and threshold value are fixed, and terminated；
Step D2, regularized learning algorithm rate, and return step B.
In the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, range finder module uses ultrasonic distance measurement
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 axis 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 axis 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 axis 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 axis 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 are realized.
Display in step 3 two is realized using charactron or liquid crystal display, for assisting completion capture and display to plough in real time
It is deep.
Specific embodiment: as shown in Fig. 2, Fig. 2 is farm implements identification sensor schematic view of the mounting position, wherein equipment identification is passed
Sensor has recorded equipment information, and range finder module can be any one functional module for being capable of measuring relative distance, such as ultrasound
Wave ranging, infrared distance measurement, laser ranging etc., the module are mainly used for the preliminary surveying of subsoiling depth；It is that three axis add as shown in Figure 3
Velocity sensor schematic illustration, 3-axis acceleration sensor is according to X, Y, Z, the acceleration change value of three axis, to measure agricultural machinery
With the attitudes vibration of subsoiling tool, after measuring attitudes vibration, real-time tilling depth can be compensated with attitude data, to realize accurate measurement；
Power sensor is used to measure the variation of agricultural machine engine power, which can determine whether agricultural machinery
Whether subsoiling state is in；The Data Fusion of three above sensor is all completed in master control equipment, three sensors
Data interactive mode with master control equipment can be various ways, such as CAN, RS232, RS422, RS485, SPI
The equal wireless such as wired forms or mobile communication (2G, 3G, 4G), WIFI, Fig. 4 is that master control equipment intermediate range sort run is patrolled
Volume flow chart, it can be seen from the figure that being to complete the capture of equipment original state to pass in ground grading by equipment first
Value measured by range finder module judges in sensor, subsoiling have whether just on the ground, when its just on the ground when, capture
Subsoiling has corresponding 3-axis acceleration value this moment, and the initial state information of farm implements and agricultural machinery at this time can be obtained.Capture is completed
Afterwards, according to initial attitude, blending algorithm, real-time tilling depth that you can get it are run；In addition the blending algorithm in master control equipment
It is based on artificial neural network, the training flow chart of the algorithm is as shown in figure 5, be initialization system parameter first: 5 inputs
The weight of node, it is given according to being uniformly distributed, if the judgment threshold in subsoiling state is set as 0.5, and being greater than 0.5 indicates deep
Pine indicates non-subsoiling less than 0.5, and 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.Different node weights is trained according to different automobile types, obtains being suitable for different vehicles
The neural network model of type；It is finally the display module in master control equipment, which can be charactron, liquid crystal display etc., use
To assist completing capturing and showing real-time tilling depth.
Claims (10)
1. the agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion, it is characterized in that: this method is believed based on multi-source
What the agricultural machinery Subsoiler depth-measuring system of breath fusion was realized, which includes equipment identification sensor, 3-axis acceleration biography
Sensor, power sensor and master control equipment；
In the equipment identification sensor setting to subsoiling equipment, range finder module is embedded in equipment identification sensor；The machine
Tool identification sensor is used to record the information of subsoiling equipment itself, and range finder module is for measuring height of the subsoiling equipment apart from ground
Value；
3-axis acceleration sensor is arranged at the couple axle of subsoiling equipment and agricultural machinery, for measuring the appearance of agricultural machinery and subsoiling equipment
State variation；
Power sensor is arranged at the engine of agricultural machinery, and the realtime power for detecting engine changes；
Master control equipment is used to receive height value, agricultural machinery and the subsoiling of the information, subsoiling equipment of subsoiling equipment itself apart from ground
The attitudes vibration information of equipment and the realtime power change information of engine are also used to carry out these information fusion and realize agricultural machinery
Subsoiler depth measurement；
Agricultural machinery Subsoiler depth measurement method based on Multi-source Information Fusion, it the following steps are included:
Step 1: master control equipment inquires 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 be it is no, then follow the steps 21；Such as
Fruit judging result be it is yes, then follow the steps 31；
The height of step 2 one, adjustment subsoiling equipment apart from ground；
Step 2 two measures height value of the current subsoiling equipment apart from ground using range finder module, and master control equipment judgement is current
Whether height value of the subsoiling equipment apart from ground be within preset range；If it is judged that be it is yes, then follow the steps two or three；Such as
Fruit judging result be it is no, then return to step 21；
Step 2 three, master control equipment are believed by the initial attitude that 3-axis acceleration sensor obtains current subsoiling equipment and agricultural machinery
Breath, completes the original state capture of subsoiling equipment and agricultural machinery, and executes step 3 one；
Step 3 one, under each time cycle, master control equipment reads height value, agricultural machinery and depth of the subsoiling equipment apart from ground
The realtime power variation of the attitudes vibration and engine of loose equipment judges whether subsoiling equipment is carrying out deeply using blending algorithm
Loose operation, if it is judged that be it is yes, then follow the steps three or two；If it is judged that be it is 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 according to claim 1 based on Multi-source Information Fusion, feature exist
The blending algorithm described in step 3 one is realized based on artificial neural network.
3. the agricultural machinery Subsoiler depth measurement method according to claim 2 based on Multi-source Information Fusion, feature exist
Include 5 in the artificial neural network to input: equipment identification sensor data, tri- number of axle of X, Y, Z of 3-axis acceleration sensor
According to power sensor data；Further include 2 outputs: whether being in the real-time deep of subsoiling state and subsoiling, and the nerve net
The perceptron of network is not no hidden layer, and algorithm is convergent after training.
4. the agricultural machinery Subsoiler depth measurement method according to claim 2 based on Multi-source Information Fusion, feature exist
In the data training method of the artificial neural network are as follows:
Step A, system parameter is initialized；
Step B, one group of training sample is inputted；
Step C, whether error in judgement correction value restrains, if it is judged that be it is yes, then follow the steps D1；If it is judged that being
It is no, then follow the steps D2；
Step D1, weighted value and threshold value are fixed, and terminated；
Step D2, regularized learning algorithm rate, and return step B.
5. the agricultural machinery Subsoiler depth measurement method according to claim 2 based on Multi-source Information Fusion, feature exist
In in the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, range finder module using ultrasonic distance measuring module,
Infrared distance measurement module or laser ranging module are realized.
6. the agricultural machinery Subsoiler depth measurement method according to claim 2 based on Multi-source Information Fusion, feature exist
In in the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, equipment identification sensor, 3-axis acceleration are passed
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 according to claim 6 based on Multi-source Information Fusion, feature exist
In in the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, equipment identification sensor, 3-axis acceleration are passed
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 according to claim 2 based on Multi-source Information Fusion, feature exist
In in the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, equipment identification sensor, 3-axis acceleration are passed
Data interactive mode between sensor, power sensor and master control equipment, using wirelessly realizing.
9. the agricultural machinery Subsoiler depth measurement method according to claim 8 based on Multi-source Information Fusion, feature exist
In in the agricultural machinery Subsoiler depth-measuring system based on Multi-source Information Fusion, equipment identification sensor, 3-axis acceleration are passed
Data interactive mode between sensor, power sensor and master control equipment is logical using mobile communication 2G, mobile communication 3G, movement
The mode of letter 4G or WIFI is realized.
10. the agricultural machinery Subsoiler depth measurement method according to claim 2 based on Multi-source Information Fusion, feature exist
Display in step 3 two is realized using charactron or liquid crystal display.
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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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