CN107941140B - Three-dimensional deep scarification operation quality detection system - Google Patents
Three-dimensional deep scarification operation quality detection system Download PDFInfo
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- CN107941140B CN107941140B CN201711119667.3A CN201711119667A CN107941140B CN 107941140 B CN107941140 B CN 107941140B CN 201711119667 A CN201711119667 A CN 201711119667A CN 107941140 B CN107941140 B CN 107941140B
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- electromagnetic wave
- mounting plate
- cross beam
- microcomputer
- receiving device
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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
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/28—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/02—Tracing profiles of land surfaces
Abstract
A three-dimensional deep scarification operation quality detection system belongs to the technical field of agricultural machinery, and a transmitter mounting plate of an electromagnetic wave transmitting device and a receiver mounting plate of an electromagnetic wave receiving device are arranged in parallel front and back; the transmitter mounting plate and the receiver mounting plate are positioned between a middle cross beam and a rear cross beam of a middle frame I of the subsoiler, and two ends of the transmitter mounting plate and the receiver mounting plate are fixedly connected with the inner surfaces of a left longitudinal beam and a right longitudinal beam; the microcomputer is respectively connected with a communication interface I in the electromagnetic wave receiving device and a communication interface II in the electromagnetic wave transmitting device. The invention utilizes a plurality of beams of electromagnetic waves to detect the shape and the position of the section of the furrow, does not need to manually remove the loosened soil in the detection process, thus the measurement precision and the efficiency are higher than those of the traditional method, and the three-dimensional image of the furrow can be quickly obtained through the processing of a microcomputer, thereby obtaining the tilling depth and the subsoiling disturbance area of the subsoiling operation, and providing data support for the quality evaluation of the subsoiling operation, the operation efficiency of a subsoiler and the subsidy of the subsoiling operation.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a three-dimensional deep scarification operation quality detection system.
Background
The deep scarifier can loosen soil, break the plough bottom layer, promote the growth of crop root systems, and enable the crop root systems to absorb nutrients and moisture in the subsoil layer, thereby increasing the yield; meanwhile, surface runoff in rainfall can be reduced by deep scarification, and water and soil loss is slowed down. Furrows (interfaces between loosened soil and unreleased soil after deep loosening) formed by the deep loosening operation can reflect not only the tilling depth of the deep loosening operation, but also the deep loosening area. Therefore, the measurement of the shape and the area of the furrow after the subsoiling operation has important significance for the evaluation of the subsoiling operation quality and the performance of the subsoiler, and simultaneously can provide support for the subsidy of the subsoiling operation. The traditional furrow detection method generally comprises the steps of manually removing soil loosened after deep scarification operation, and then measuring the shape of a furrow section by using a soil profile gauge. The method has the advantages of large workload, low efficiency, great subjectivity in manually removing soil and easy inaccurate furrow detection; meanwhile, the method cannot continuously measure the cross-sectional shape of the furrow, and therefore, cannot provide a three-dimensional visual understanding of the furrow shape formed after the subsoiling operation.
Because the porosity of the loosened soil is different from that of the un-loosened soil, and the dielectric properties of the loosened soil are different, when the electromagnetic waves are emitted into the soil, the electromagnetic waves can generate reflected waves on the interface of the loosened soil and the un-loosened soil, the reflected electromagnetic waves are received, and the interface can be positioned and identified according to the time difference of the electromagnetic waves, the intensity of received signals, the form of received echoes and the like. When a plurality of electromagnetic waves are emitted on a certain furrow section, a plurality of points on the furrow section can be obtained, and the shape and the size of the furrow section can be obtained by fitting the points by using a microcomputer; and fitting the continuously acquired furrow sections along the subsoiling direction to obtain a three-dimensional image of the furrow.
Disclosure of Invention
The invention aims to provide a three-dimensional subsoiling operation quality detection system, which can detect the shape and position of a furrow formed after subsoiling operation by emitting electromagnetic waves and receiving the electromagnetic waves, and simultaneously utilize a microcomputer to fit a furrow section continuously obtained along the subsoiling direction to obtain a three-dimensional image of the furrow; the invention can detect the shape and size of the furrow after the subsoiling operation in real time and quickly to obtain the subsoiling operation depth and the subsoiling operation disturbance area, and can conveniently and visually evaluate the subsoiling operation quality and the operation efficiency of the subsoiler; meanwhile, data support can be provided for deep scarification operation subsidy.
The deep scarification machine comprises a deep scarification machine A, an electromagnetic wave emitting device B, an electromagnetic wave receiving device C, a machine frame I, a suspension device II, a deep scarification device III, a lead I1, a lead II 2 and a microcomputer 3, wherein the deep scarification machine A comprises a machine frame I, a suspension device II and a deep scarification device III, the machine frame I comprises a front cross beam 4, a middle cross beam 5, a left longitudinal beam 6, a rear cross beam 7 and a right longitudinal beam 8, the front cross beam 4, the middle cross beam 5 and the rear cross beam 7 are sequentially arranged in parallel from front to back, and the left longitudinal beam 6 and the right longitudinal beam 8 are fixedly connected to two sides of the front cross beam 4, the middle cross beam 5 and the rear cross beam 7 respectively to; the suspension device II is positioned in front of a front cross beam 4 in the rack I; and the deep scarification device III is positioned in the center of a middle cross beam 5 of the machine frame I.
The transmitter mounting plate 10 of the electromagnetic wave transmitting device B and the receiver mounting plate 13 of the electromagnetic wave receiving device C are arranged in parallel front and back, the distance s 3 between the transmitter mounting plate 10 and the receiver mounting plate 13 is 60-65mm, the transmitter mounting plate 10 and the receiver mounting plate 13 are positioned between the middle cross beam 5 and the rear cross beam 7 of the middle frame I of the subsoiler A, two ends of the transmitter mounting plate 10 and the receiver mounting plate 13 are fixedly connected with the inner surfaces of the left longitudinal beam 6 and the right longitudinal beam 8, the upper planes of the transmitter mounting plate 10 and the receiver mounting plate 13 are flush with the upper planes of the left longitudinal beam 6 and the right longitudinal beam 8, the microcomputer 3 installed in a tractor cab is connected with a communication interface I11 in the electromagnetic wave receiving device C through a lead I1, and the microcomputer 3 is connected with a communication interface II.
The electromagnetic wave transmitting device B comprises electromagnetic wave transmitters 9, a transmitter mounting plate 10 and communication interfaces I11, wherein the length L 1 of the transmitter mounting plate 10 is 600-620mm, the width W 1 is 30-40mm, the height H 1 is 20-30mm, the number of the electromagnetic wave transmitters 9 is 18-22, the electromagnetic wave transmitters are uniformly distributed and fixedly connected to the lower plane of the transmitter mounting plate 10, the communication interfaces I11 are fixedly connected to the near right end of the upper plane of the transmitter mounting plate 10, and the distance s 1 between the communication interfaces I11 and the right end face of the transmitter mounting plate 10 is 85-95 mm.
The electromagnetic wave receiving device C comprises an electromagnetic wave receiver 12, a receiver mounting plate 13 and communication interfaces II 14, wherein the length L 2 of the receiver mounting plate 13 is 600-620mm, the width W 2 is 60-70mm, the height H 2 is 20-30mm, the number of the electromagnetic wave receivers 12 is 18-22, the electromagnetic wave receivers are uniformly distributed and fixedly connected to the lower plane of the receiver mounting plate 13, the communication interfaces II 14 are fixedly connected to the upper plane of the receiver mounting plate 13 close to the right end, and the distance s 2 between the communication interfaces II 14 and the right end face of the receiver mounting plate 13 is 85-95 mm.
The principle of the invention is that when electromagnetic waves are transmitted into soil, the electromagnetic waves are reflected at two interfaces due to the difference of dielectric properties between air and soil surface, loosened soil and un-loosened soil, because the subsoiler has a forward working speed, after the echo is reflected, the echo can be received by the electromagnetic wave receiver exactly, and then the received echo information is transmitted to the microcomputer for processing, after the echo is processed by the microcomputer, the time t 1 from the ground echo signal to the electromagnetic wave receiver and the time interval t 2 from the furrow echo signal to the ground echo signal can be obtained, if the propagation speed of the electromagnetic waves in the air is v 1 and the propagation speed in the loosened soil is v 2, the distance L 3 v 1 t 7 from the frame to the ground and the distance L 4 v 2 t 2 from the ground to the furrow can be calculated, after the same processing is carried out on other electromagnetic waves, the shape of the cross section of the whole furrow and the shape of the ground surface can be obtained, thus the cross section of the electromagnetic waves can be continuously processed along with the progress of the cross section of the soil, and the electromagnetic wave can be obtained by the microcomputer, and the cross section of the electromagnetic wave can be processed continuously by the microcomputer, so that the cross section of the electromagnetic wave transmitting and the furrow can be obtained by the microcomputer.
The working process of the invention is as follows: in the subsoiling process of the subsoiler, the electromagnetic wave transmitter and the electromagnetic wave receiver continuously transmit and receive electromagnetic waves, and after echoes are processed by the microcomputer, the three-dimensional shape of a furrow after subsoiling can be obtained, so that the information of subsoiling depth and subsoiling operation disturbance area of subsoiling can be obtained.
The invention utilizes a plurality of beams of electromagnetic waves to detect the shape and the position of the section of the furrow, does not need to manually remove the loosened soil in the detection process, thus the measurement precision and the efficiency are higher than those of the traditional method, and the three-dimensional image of the furrow can be quickly obtained through the processing of a microcomputer, thereby obtaining the tilling depth and the subsoiling disturbance area of the subsoiling operation, and providing data support for the quality evaluation of the subsoiling operation, the operation efficiency of a subsoiler and the subsidy of the subsoiling operation.
Drawings
FIG. 1 is a perspective view of a three-dimensional subsoiling operation quality detection system
FIG. 2 is a top view of the subsoiler
FIG. 3 is a top view of the frame
FIG. 4 is a bottom view of the electromagnetic wave emitting device
FIG. 5 is a front view of an electromagnetic wave emitting device
FIG. 6 is a bottom view of the electromagnetic wave receiving device
FIG. 7 is a front view of an electromagnetic wave receiving device
FIG. 8 is a top view of the frame, the electromagnetic wave transmitter, and the electromagnetic wave receiver
FIG. 9 is a schematic diagram of electromagnetic wave emission
FIG. 10 is a schematic diagram of electromagnetic wave reception
FIG. 11 is a schematic view of furrow echo
Wherein: A. subsoiler B, electromagnetic wave transmitting device C, electromagnetic wave receiving device I, frame II, suspension device III, subsoiler 1, wire I2, wire II 3, microcomputer 4, front beam 5, middle beam 6, right longitudinal beam 7, rear beam 8, left longitudinal beam 9, electromagnetic wave transmitter 10, transmitter mounting plate 11, communication interface I12, electromagnetic wave receiver 13, receiver mounting plate 14, communication interface IIa, loose soil b, loose soil c, surface echo signal d, furrow echo signal d
Detailed Description
The invention is described below with reference to the accompanying drawings.
As shown in fig. 1, 2, 3 and 4, the invention comprises a subsoiler A, an electromagnetic wave emitting device B, an electromagnetic wave receiving device C, a frame I, a suspension device II, a subsoiler III, a lead I1, a lead II 2 and a microcomputer 3, wherein the subsoiler A comprises the frame I, the suspension device II and the subsoiler III, the frame I comprises a front cross beam 4, a middle cross beam 5, a left longitudinal beam 6, a rear cross beam 7 and a right longitudinal beam 8, the front cross beam 4, the middle cross beam 5 and the rear cross beam 7 are sequentially arranged in parallel from front to back, and the left longitudinal beam 6 and the right longitudinal beam 8 are fixedly connected with two sides of the front cross beam 4, the middle cross beam 5 and the rear cross beam 7 respectively to form a shape like a Chinese character 'ri'; the suspension device II is positioned in front of a front cross beam 4 in the rack I; and the deep scarification device III is positioned in the center of a middle cross beam 5 of the machine frame I.
The transmitter mounting plate 10 of the electromagnetic wave transmitting device B and the receiver mounting plate 13 of the electromagnetic wave receiving device C are arranged in parallel front and back, the distance s 3 between the transmitter mounting plate 10 and the receiver mounting plate 13 is 60-65mm, the transmitter mounting plate 10 and the receiver mounting plate 13 are positioned between the middle cross beam 5 and the rear cross beam 7 of the middle frame I of the subsoiler A, two ends of the transmitter mounting plate 10 and the receiver mounting plate 13 are fixedly connected with the inner surfaces of the left longitudinal beam 6 and the right longitudinal beam 8, the upper planes of the transmitter mounting plate 10 and the receiver mounting plate 13 are flush with the upper planes of the left longitudinal beam 6 and the right longitudinal beam 8, the microcomputer 3 installed in a tractor cab is connected with a communication interface I11 in the electromagnetic wave receiving device C through a lead I1, and the microcomputer 3 is connected with a communication interface II.
As shown in fig. 5 and 6, the electromagnetic wave emitting device B comprises an electromagnetic wave emitter 9, an emitter mounting plate 10 and a communication interface i 11, wherein the emitter mounting plate 10 has a length L 1 of 600-620mm, a width W 1 of 30-40mm and a height H 1 of 20-30mm, the number of the electromagnetic wave emitters 9 is 18-22, the electromagnetic wave emitters are uniformly distributed and fixedly connected to the lower plane of the emitter mounting plate 10, the communication interface i 11 is fixedly connected to the upper plane of the emitter mounting plate 10 near the right end, and the distance s 1 between the communication interface i 11 and the right end face of the emitter mounting plate 10 is 85-95 mm.
As shown in fig. 7 and 8, the electromagnetic wave receiving device C comprises an electromagnetic wave receiver 12, a receiver mounting plate 13 and a communication interface ii 14, wherein the length L 2 of the receiver mounting plate 13 is 600-620mm, the width W 2 is 60-70mm, the height H 2 is 20-30mm, 18-22 electromagnetic wave receivers 12 are uniformly distributed and fixedly connected to the lower plane of the receiver mounting plate 13, the communication interface ii 14 is fixedly connected to the upper plane of the receiver mounting plate 13 near the right end, and the distance s 2 between the communication interface ii 14 and the right end face of the receiver mounting plate 13 is 85-95 mm.
As shown in fig. 9 and 10, when the electromagnetic wave emitter emits the electromagnetic wave into the soil, the electromagnetic wave is reflected at the two interfaces due to the difference in dielectric properties between the air and the soil surface, and between the loosened soil and the unreleased soil; because the subsoiler has a forward working speed, the echo can be received by the electromagnetic wave receiver exactly after being reflected back, and then the received echo information is transmitted to the microcomputer for processing.
As shown in fig. 11, taking the second echo signal i 1 as an example, after processing the echo by the microcomputer, the time t 1 from the ground echo signal to the electromagnetic wave receiver and the time interval t 2 from the furrow echo signal to the ground echo signal can be obtained, if the propagation speed of the electromagnetic wave in the air is v 1 and the propagation speed in the loosened soil is v 2, the distance L 3 from the frame to the ground and the distance L 4 from the ground to the furrow can be calculated as v 1 t 1 and the distance L 4 from the ground to the furrow as v 2 t 2.
Claims (3)
- 31. A three-dimensional deep scarification operation quality detection system comprises a deep scarification machine (A), an electromagnetic wave emitting device (B), an electromagnetic wave receiving device (C), a rack (I), a suspension device (II), a deep scarification device (III), a lead I (1), a lead II (2) and a microcomputer (3), wherein the deep scarification machine (A) comprises the rack (I), the suspension device (II) and the deep scarification device (III), the rack (I) comprises a front cross beam (4), a middle cross beam (5), a left longitudinal beam (6), a rear cross beam (7) and a right longitudinal beam (8), the front cross beam (4), the middle cross beam (5) and the rear cross beam (7) are sequentially arranged in parallel from front to back, the front cross beam (4), the middle cross beam (5) and the rear cross beam (7) are fixedly connected with the left longitudinal beam (6) and the right longitudinal beam (8) respectively to form a reversed Chinese character 'ri' shape, the suspension device (II) is arranged in front of the front cross beam (4) in the rack (I), the deep scarification device (5) is arranged in the middle cross beam (I), the middle cross beam (5) of the rack (I), the deep scarification device (III), the microcomputer is arranged in the middle cross beam (13), the middle cross beam (10) of the microcomputer, the microcomputer is arranged in the middle cross beam (6), the middle cross beam (10), the microcomputer is connected with the electromagnetic wave receiving device (10) and the electromagnetic wave receiving device (I, the electromagnetic wave receiving device (10) and the electromagnetic wave receiving device (10, the microcomputer, the electromagnetic wave receiving device (10) and the electromagnetic wave receiving device (10) is arranged in the microcomputer, the microcomputer is arranged in the microcomputer, the microcomputer is.
- 2. The three-dimensional subsoiling operation quality detection system as claimed in claim 1, wherein said electromagnetic wave emitting device (B) is composed of electromagnetic wave emitters (9), emitter mounting plates (10) and communication interfaces I (11), wherein the length L 1 of the emitter mounting plate (10) is 600-620mm, the width W 1 is 30-40mm, and the height H 1 is 20-30mm, the number of the electromagnetic wave emitters (9) is 18-22, the electromagnetic wave emitters are uniformly distributed and fixedly connected to the lower plane of the emitter mounting plate (10), the communication interfaces I (11) are fixedly connected to the upper plane near the right end of the emitter mounting plate (10), and the distance s 1 between the communication interfaces I (11) and the right end face of the emitter mounting plate (10) is 85-95 mm.
- 3. The three-dimensional subsoiling operation quality detection system as claimed in claim 1, wherein said electromagnetic wave receiving means (C) is comprised of electromagnetic wave receivers (12), receiver mounting plates (13) and communication interfaces (II) (14), wherein the length L 2 of the receiver mounting plate (13) is 600-620mm, the width W 2 is 60-70mm, and the height H 2 is 20-30mm, the number of the electromagnetic wave receivers (12) is 18-22, and they are uniformly distributed and fixedly connected to the lower plane of the receiver mounting plate (13), the communication interfaces (II) (14) are fixedly connected to the upper plane near the right end of the receiver mounting plate (13), and the distance s 2 between the communication interfaces (II) (14) and the right end face of the receiver mounting plate (13) is 85-95 mm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711119667.3A CN107941140B (en) | 2017-11-14 | 2017-11-14 | Three-dimensional deep scarification operation quality detection system |
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| CN201711119667.3A CN107941140B (en) | 2017-11-14 | 2017-11-14 | Three-dimensional deep scarification operation quality detection system |
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| CN107941140A CN107941140A (en) | 2018-04-20 |
| CN107941140B true CN107941140B (en) | 2019-12-10 |
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| CN108645333A (en) * | 2018-07-20 | 2018-10-12 | 武汉君荣迅联科技有限责任公司 | Intelligent amendment type deck crack detection device |
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| JPH0260507A (en) * | 1988-08-26 | 1990-03-01 | Iseki & Co Ltd | Control device of tilling depth in tractor |
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