CN108627856A - Square bale baler system for measuring yield based on the Big Dipper/GPS technology and survey production method - Google Patents
Square bale baler system for measuring yield based on the Big Dipper/GPS technology and survey production method Download PDFInfo
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- CN108627856A CN108627856A CN201810728422.9A CN201810728422A CN108627856A CN 108627856 A CN108627856 A CN 108627856A CN 201810728422 A CN201810728422 A CN 201810728422A CN 108627856 A CN108627856 A CN 108627856A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F15/00—Baling presses for straw, hay or the like
- A01F15/08—Details
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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
- G01B7/32—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring areas
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/52—Weighing apparatus combined with other objects, e.g. furniture
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
The present invention relates to a kind of square bale baler system for measuring yield based on the Big Dipper/GPS technology and production method is surveyed, belongs to baler technical field.The present invention includes the weighing device of measurement side's bale weight；Read and processing weighing sensor data first from controller；Read the Big Dipper/GPS receiver of baler geographic position data；It reads the Big Dipper/GPS receiver data and simultaneously combines baler breadth, calculate the second of working area from controller；First is read from controller, second from controller data and carries out the master controller for surveying production in real time and data store, the terminal display with real-time display function.The weighing device, first are located at bale from controller and export ways-end；The Big Dipper/the GPS receiver is located at outside tractor；Described second is located at from controller, master controller, terminal display in tractor cab.The present invention can obtain stalk Yield distribution in space information real-time, reliable and corresponding with time geographical location, and peasant is facilitated to understand harvest in real time and accurately managed operation field.
Description
Technical field
The invention belongs to baler technical fields, are related to a kind of square bale baler system for measuring yield being based on the Big Dipper/GPS technology
And survey production method.
Background technology
China's Forage Germplasm Resources are abundant, rich in various trace elements and vitamin in herbage, therefore as the head of stock raising
Choosing.Currently, silage harvester tool is by the cutting of some agricultural crop straws, crushes, bundling, and bale is as grass making machinery
Product, not only easily transport, stacking, but also can guarantee its quality to a certain extent, yield directly affects the economy of animal husbandry
Benefit, related system for measuring yield are paid attention in western countries very early.Bale surveys the application that production is Precision Agriculture Technology, important
Link is the acquisition of field crops production information.Since square bale baler is to work continuously, bale packing weigh be dynamic carry out, and
There are the out-of-flatnesses of operation ground, the reasons such as baler shake, can there is vibration interference signal when weighing.Obtain accurately bale packing
Number and weight, and carry out surveying the fusion of production data sampling and processing and transmission being the key that need to solve in conjunction with the Big Dipper/GPS technology
Technical barrier.
Invention content
Problem to be solved by this invention is, in view of the deficiencies of the prior art, proposes a kind of based on the Big Dipper/GPS technology
Square bale baler system for measuring yield：Weighing sensor data can be acquired in real time, and vibration interference can be reduced with Grubbs algorithm
It influences, can get the weight of each bale；The Big Dipper/GPS receiver data can be acquired in real time and are calculated in conjunction with baler breadth
The farmland working area of actual job；Controller automatic gauge in setting time interval adds up bale yield, then is scaled pair
The yield per unit area of working area in time interval is answered, and shows real-time yield per unit area on terminal display；Individually
Bale weight data and real time job area data can be stored to storage card, be produced by Yield mapping software after fulfiling assignment
More accurate bale yield spatial distribution map, for instructing precision agriculture production practices；Data transmission uses bus topology pattern, each node
All being " plug and play " has higher real-time and scalability, and differential signal transmission, anti-interference ability is stronger.
The technical scheme is that：
One kind being based on the square bale baler system for measuring yield of the Big Dipper/GPS technology, it is characterised in that including weighing device, first from control
Device processed, the Big Dipper/GPS receiver, second are from controller, master controller, terminal display, and the weighing device, first are from control
Device is located at bale output ways-end；The Big Dipper/the GPS receiver is located at outside tractor；Described second from controller, master control
Device processed, terminal display are located in tractor cab.
The above-mentioned square bale baler system for measuring yield based on the Big Dipper/GPS technology, wherein first from controller, second from control
Device, master controller include microprocessor, CAN transceiver interface, program download circuit, power circuit, reset circuit, and described the
One from controller further includes A/D conversion circuits, and described second from controller further includes RS232 interface, and the master controller also wraps
Include RS232 interface, storage card.
The above-mentioned square bale baler system for measuring yield based on the Big Dipper/GPS technology, wherein first from controller, second from control
Device, master controller are communicated by CAN bus.
The above-mentioned square bale baler system for measuring yield based on the Big Dipper/GPS technology, wherein weighing device further includes weighing and sensing
Device, slot of weighing, supporting rack；Analog quantity is converted digital quantity by the weighing sensor through A/D conversion circuits, and by data transmission
Two from controller；The slot of weighing exports slideway less than discharge chambe bale, ladder-like in 2 grades, and the length of square bale, which is less than, weighs
The length of slot, more than the half for slot length of weighing.
Method is produced in the survey of square bale baler system for measuring yield based on the Big Dipper/GPS technology：
Step 1：After baler starts, system for measuring yield is started to work after weighing sensor data reach certain numerical value, when square grass
Bundle, which falls into its instantaneous pressure jump signal of slot moment of weighing and is denoted as this side's bale, weighs initial signal I1, weigh when square bale skids off
Its instantaneous pressure jump signal of slot moment is denoted as this bale and weighs final signal I2, wherein first weighs from controller reading bale
Initial signal to bale is weighed the weighing sensor data between final signal, surveys multigroup weighing data, every 1 group of survey is multiple to weigh
Value with Grubbs algorithm by the abnormality value removing of weighing in every 1 group of data, and counts after asking every 1 group of abnormality value removing complete
According to average value be denoted as the data that this group weighs, calculate multigroup weighing data average value and be denoted as the final data that this bale is weighed,
The final data weighed is transmitted to master controller by first from controller by CAN bus；
Step 2：The Big Dipper/GPS receiver acquires a latitude and longitude information at regular intervals, second from controller read the Big Dipper/
GPS receiver longitude and latitude degrees of data simultaneously combines the breadth of baler to obtain real-time farmland working area, and real time job area is passed
It send to master controller；
Step 3：Master controller reads first from controller, second from controller data；In master controller setting time interval certainly
Dynamic metering adds up bale yield, then is scaled the yield per unit area of working area in corresponding time interval, and by real-time unit
Area output is sent to terminal display and shows；Main controller is by the single bale weight data changed over time and real time job face
Volume data is stored to storage card, and bale yield spatial distribution map is produced by Yield mapping software after fulfiling assignment；
Step 4：When first from when not reading instantaneous pressure jump signal controller continuous a period of time in the baler course of work
Acquiescence is entered into slot of weighing without square bale, first will stop transmitting weighing data to master controller from controller, when slot of weighing
Continue to start to work after reading instantaneous pressure jump signal；Claim from controller when master controller continuous a period of time does not read first
Tuple evidence will stop sending real-time yield per unit area to terminal display, and terminal display will placed in a suspend state, Zhi Daozai
It is secondary to read first from controller weighing data.
Present invention has the advantages that：
1. the present invention is by designing weighing device and first from controller, the slot that will weigh is less than discharge chambe bottom surface, is in 2 grades of ranks
Scalariform, weighing sensor are weighed initial signal I by perception side's bale1It weighs final signal I with bale2It can determine whether grass to be weighed
Position is tied, and measures multiple weighing datas between two signals, with Grubbs algorithm by the exceptional value in the data
It rejects, it is final data of weighing to seek the average value of this data, can measure the weight of each bale, improve weighing data
Accuracy and real-time；
2. automatic gauge adds up bale yield in master controller setting time interval, then is scaled operation in corresponding time interval
The yield per unit area of area, and real-time yield per unit area is sent to terminal display and is shown, main controller will become at any time
The single bale weight data and real time job area data changed are stored to storage card, can be packed and be produced by Yield mapping Software Create
The intelligent information detectability of baler can be improved in spirogram, obtains bale packing real-time, accurate and corresponding with time geographical location
Yield distribution in space information facilitates peasant to understand harvest in real time and accurately managed operation field；
3. the present invention is by further in master controller and from preferably being communicated using CAN bus between controller, thus according to
According to the unique property and advantage of CAN bus, the reliability, real-time and flexibility of data communication are greatly strengthened.
Description of the drawings
Fig. 1 is the square bale baler system for measuring yield composition frame chart based on the Big Dipper/GPS technology.
Fig. 2 is the square bale baler system for measuring yield overall schematic based on the Big Dipper/GPS technology.
Fig. 3 is the square bale baler system for measuring yield weighing device schematic diagram based on the Big Dipper/GPS technology.
Fig. 4 is the square bale baler system for measuring yield controller architecture block diagram based on the Big Dipper/GPS technology.
Slot 1, weighing sensor 2, supporting rack 3, first weigh from controller 4, the Big Dipper/GPS receiver 5, terminal display
6, second slideway 12, square bale are exported from controller 7, master controller 8, baler 9, tractor 10, weighing device 11, bale
13。
Specific implementation mode
With reference to the accompanying drawings and examples, the present invention is further elaborated.
Embodiment 1：As shown in Figure 1 to Figure 3, a kind of square bale baler system for measuring yield being based on the Big Dipper/GPS technology, including
Weighing device 11, first is from controller 4, the Big Dipper/GPS receiver 5, second from controller 7, master controller 8, terminal display 6；
The weighing device 11, first is located at bale output slideway 12 end from controller 4, weighing device 11 include weigh slot 1, weigh
Sensor 2, supporting rack 3, wherein slot 1 of weighing exports slideway 12 less than bale, distance is 200mm or so, ladder-like in 2 grades；Side
The length of bale is less than the length for slot 1 of weighing, more than the half for 1 length of slot of weighing, with the slot that ensures to weigh every time only to a side
Bale is weighed；The Big Dipper/the GPS receiver 5 is located at outside tractor 10, and second from controller 7, master controller 8, terminal
Display 6 is located in 10 driver's cabin of tractor；Described first connect from controller 4 with weighing sensor 2, and electricity is converted by A/D
Road converts analog quantity weighing data to digital quantity weighing data, and rejects wherein exceptional value by Grubbs algorithm, to obtain
Obtain final weighing data；Described second connect reading longitude and latitude from controller 7 by RS232 interface with the Big Dipper/GPS receiver 5
Data calculate real-time farmland working area in conjunction with the breadth of baler, and real time job area are sent to by CAN bus
Master controller 8；The master controller 8 reads the first data from controller 4, second from controller 7, master control by CAN bus
Automatic gauge adds up bale yield in 8 setting time interval of device processed, then is scaled the unit of working area in corresponding time interval
Real-time yield per unit area data are sent to terminal display 6 by RS232 interface and shown by area output；Main controller 8 will be with
The single bale weight data and real time job area data of time change are stored to storage card, pass through yield after fulfiling assignment
Figure software produces more accurate bale yield spatial distribution map, for instructing precision agriculture production practices.
As shown in figure 4, first includes STM32F105 microprocessors from controller 4, second from controller 7, master controller 8
Device, CAN transceiver interface, STLINK interfaces, 24V turn 5V power circuits, reset circuit, and described first further includes from controller 4
A/D conversion circuits, described second from controller 7 further includes RS232 interface, and the master controller 8 further includes RS232 interface, deposits
Card storage interface, wherein STLINK interfaces are used for program burn writing.
Embodiment 2：The detailed process that weighing data is read, when square bale falls into slot its instantaneous pressure of 1 moment mutation of weighing
Signal is denoted as this side's bale and weighs initial signal I1, it is denoted as when square bale skids off its instantaneous pressure jump signal of 1 moment of slot of weighing
This side's bale is weighed final signal I2, wherein first weighs initial signal I from 4 side's of reading bale of controller1It weighs most to square bale
Whole signal I2Between 2 data of weighing sensor, survey 3 groups of weighing datas, every 1 group of survey, 30 values of weighing calculate with Grubbs
Abnormality value removing of weighing in every 1 group of data is asked the average value of the complete data later of every 1 group of abnormality value removing to be denoted as this group by method
The data weighed calculate 3 groups of weighing data average values and are denoted as the final data that this side's bale is weighed, and first will claim from controller 4
The final data of weight is transmitted to master controller 8 by CAN bus, and when first, from controller 4, continuously a period of time does not read instantaneously
When pressure jump signal, acquiescence is entered into slot 1 of weighing without square bale, first will stop transmitting to master controller 8 from controller 4
Weighing data continues to start to work after slot 1 of weighing reads jump signal, and wherein Grubbs algorithm rejects exceptional value of weighing
Process：
a）The value of weighing of 30 in every 1 group is arranged from small to large ord, calculates the average value of 30 numbers in this groupAnd mark
Quasi- difference s；
b）Calculate deviation value：The difference of the difference of average value and minimum value, average value and maximum value；
c）Determine a dubious value：Comparatively, if maximum value and the difference of average value are more than the difference of average value and minimum value, recognize
It is dubious value for maximum valuex；
d）Calculate the G values of dubious value：, by G values and critical value GPIt is compared, looks into the acquisition of Grubbs table
Critical value GPIf G ＞ GPThen dubious value is exceptional value, and dubious value is rejected；
e）Dubious value repeats the above process after rejecting, until G<GP, remaining value is averaging to the weighing data for being denoted as this group.
Embodiment 3：The measurement of working area, one latitude and longitude information of acquisition per second of the Big Dipper/GPS receiver 5, by longitude and latitude
Information is sent to second from controller 7, and second reads 5 longitude and latitude degrees of data of the Big Dipper/GPS receiver from controller 7, by longitude and latitude
Data are converted into operation distance and the breadth of baler 9 are combined to calculate real-time farmland working area, and by real time job area
It is sent to master controller 8 by CAN bus.
Embodiment 4：The storage and display of production data are surveyed, master controller 8 reads first from 4 weighing data of controller, second
From 7 working area data of controller；Master controller 8 sets 1 minute time interval, and this time adds up bale weight every interior automatic gauge
Amount, working area, then it is scaled the yield per unit area of working area in corresponding time interval, it will be real-time by RS232 interface
Yield per unit area is sent to the display of terminal display 6；Main controller 8 is by the single bale weight data changed over time and in real time
Working area data are stored to storage card, and more accurate bale output distribotion is produced by Yield mapping software after fulfiling assignment
Figure.First is not read from 4 weighing data of controller when the continuous a period of time of master controller 8, will stop sending to terminal display 6
Real-time yield, terminal display 6 will placed in a suspend state.
Master controller 8 and first from controller 4, second from preferably being communicated using CAN bus between controller 7, from
And according to the unique property and advantage of CAN bus, greatly strengthen the reliability, real-time and flexibility of data communication.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
The all any modification, equivalent and improvement etc. done within refreshing and principle, should all be included in the protection scope of the present invention.
Claims (5)
1. one kind being based on the square bale baler system for measuring yield of the Big Dipper/GPS technology, it is characterised in that including weighing device（11）,
One from controller（4）, the Big Dipper/GPS receiver（5）, second from controller（7）, master controller（8）, terminal display（6）, institute
State weighing device（11）, first from controller（4）Slideway is exported positioned at bale（12）End；The Big Dipper/the GPS receiver（5）
Positioned at tractor（10）It is external；Described second from controller（7）, master controller（8）, terminal display（6）Positioned at tractor
（10）In driver's cabin.
2. a kind of square bale baler system for measuring yield being based on the Big Dipper/GPS technology as claimed in claim 1, it is characterised in that：
The weighing device（11）It further include slot of weighing（1）, weighing sensor（2）, supporting rack（3）；The weighing sensor（2）Through A/
D conversion circuits convert analog quantity to digital quantity, and digital quantity value of weighing is sent to first from controller（4）；It is described to weigh
Slot（1）Slideway is exported less than bale（12）.
3. one kind as described in claims 1 to 2 is based on the square bale baler system for measuring yield of the Big Dipper/GPS technology, feature exists
In：Described first from controller（4）Read and handle weighing sensor（2）Data；Described second from controller（7）It reads and locates
Manage the Big Dipper/GPS receiver（5）Geographic position data；The master controller（8）First is read from controller（4）, second from control
Device data（7）, and the real-time yield per unit area data calculated are sent to terminal display（6）Display；The main control
Device（8）, first from controller（4）, second from controller（7）Using CAN bus communication modes.
4. one kind as described in claims 1 to 3 is based on the square bale baler system for measuring yield of the Big Dipper/GPS technology, feature exists
In：Described first from controller（4）, second from controller（7）, master controller（8）Connect including microprocessor, CAN transceiver
Mouth, program download circuit, power circuit, reset circuit, described first from controller（4）Further include A/D conversion circuits, described
Two from controller（7）Further include RS232 interface, the master controller further includes RS232 interface, storage card.
5. a kind of control method of square bale baler system for measuring yield based on the Big Dipper/GPS technology according to claim 1,
Include the following steps：
Step 1：Start baler, system initialization, when first from controller（4）The weighing sensor of reading（2）Data reach
System for measuring yield is started to work after certain numerical value, and square bale falls into slot of weighing（1）Moment, its instantaneous pressure jump signal was denoted as this side
Bale is weighed initial signal I1, when square bale skids off slot of weighing（1）Its instantaneous pressure jump signal of moment is denoted as this side's bale and claims
Weight final signal I2；
Step 2：First from controller（4）Reading side's bale is weighed initial signal I1It weighs final signal I to square bale2Between
Weighing sensor（2）Data survey multigroup weighing data, the multiple values of weighing of each group of survey, with Grubbs algorithm by each group
Abnormality value removing of weighing in data, and the average value of data is denoted as this group and weighs number after asking each group of abnormality value removing complete
According to calculating all groups of weighing data average values and be denoted as the final data that this bale is weighed, first from controller（4）It will weigh most
Whole data transmission is to master controller（8）；
Step 3：The Big Dipper/GPS receiver（5）A latitude and longitude information is acquired at regular intervals, and second from controller（7）It reads
The Big Dipper/GPS receiver（5）Longitude and latitude degrees of data simultaneously combines baler（9）Breadth obtain real-time farmland working area, and will be real-time
Working area is sent to master controller（8）；
Step 4：Master controller（8）First is read from controller（4）, second from controller（7）Data, master controller（8）Setting
Automatic gauge adds up bale yield in time interval, then is scaled the yield per unit area of working area in corresponding time interval,
And real-time yield per unit area is sent to terminal display（6）Display；Main controller（8）The single bale weight that will be changed over time
Amount data and real time job area data are stored to storage card, and bale yield is produced by Yield mapping software after fulfiling assignment
Distribution map；
Step 5：When first from controller in the baler course of work（4）Continuous a period of time does not read instantaneous pressure jump signal
I1When acquiescence entered into slot of weighing without square bale, first from controller（4）It will stop to master controller（8）Transmit number of weighing
According to when slot of weighing（1）Read instantaneous pressure jump signal I1After continue to start to work；Work as master controller（8）Continuous a period of time
First is not read from controller（4）Weighing data will stop to terminal display（6）Send real-time yield per unit area, terminal
Display（6）Will placed in a suspend state, until reading first again from controller（4）Weighing data.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810728422.9A CN108627856B (en) | 2018-07-05 | 2018-07-05 | Beidou/GPS technology-based square bundle bundling machine yield measurement system and yield measurement method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810728422.9A CN108627856B (en) | 2018-07-05 | 2018-07-05 | Beidou/GPS technology-based square bundle bundling machine yield measurement system and yield measurement method |
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| CN108627856B CN108627856B (en) | 2023-10-10 |
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| CN201810728422.9A Active CN108627856B (en) | 2018-07-05 | 2018-07-05 | Beidou/GPS technology-based square bundle bundling machine yield measurement system and yield measurement method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110579193A (en) * | 2019-08-15 | 2019-12-17 | 安徽科技学院 | bundling machine bale production measuring device and method based on GPS |
| CN111226615A (en) * | 2020-03-02 | 2020-06-05 | 安徽中科智能感知产业技术研究院有限责任公司 | Real-time online detection method for bundling length of square straw bundle bundling machine based on magnetic sensor |
| CN111272266A (en) * | 2020-02-10 | 2020-06-12 | 北京农业智能装备技术研究中心 | Square baler bale weight monitoring system and method |
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| AU2010202940A1 (en) * | 2009-07-14 | 2011-02-03 | Daniel Dullard | System, method and apparatus for weighing bales |
| CN106644016A (en) * | 2016-11-18 | 2017-05-10 | 江苏大学 | Bundling machine dynamic weighing and valuation apparatus, control system and control method |
| CN208399691U (en) * | 2018-07-05 | 2019-01-18 | 新疆农业大学 | Based on Beidou/GPS technology square bale baler system for measuring yield |
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| US5913801A (en) * | 1995-11-22 | 1999-06-22 | Robert Bosch Gmbh | Agricultural baler, and method of baling |
| AU2010202940A1 (en) * | 2009-07-14 | 2011-02-03 | Daniel Dullard | System, method and apparatus for weighing bales |
| CN106644016A (en) * | 2016-11-18 | 2017-05-10 | 江苏大学 | Bundling machine dynamic weighing and valuation apparatus, control system and control method |
| CN208399691U (en) * | 2018-07-05 | 2019-01-18 | 新疆农业大学 | Based on Beidou/GPS technology square bale baler system for measuring yield |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110579193A (en) * | 2019-08-15 | 2019-12-17 | 安徽科技学院 | bundling machine bale production measuring device and method based on GPS |
| CN110579193B (en) * | 2019-08-15 | 2021-06-08 | 安徽科技学院 | Bundling machine bale production measuring device and method based on GPS |
| CN111272266A (en) * | 2020-02-10 | 2020-06-12 | 北京农业智能装备技术研究中心 | Square baler bale weight monitoring system and method |
| CN111226615A (en) * | 2020-03-02 | 2020-06-05 | 安徽中科智能感知产业技术研究院有限责任公司 | Real-time online detection method for bundling length of square straw bundle bundling machine based on magnetic sensor |
| CN111226615B (en) * | 2020-03-02 | 2022-04-22 | 安徽中科智能感知产业技术研究院有限责任公司 | Real-time online detection method for bundling length of square straw bundle bundling machine based on magnetic sensor |
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| Publication number | Publication date |
|---|---|
| CN108627856B (en) | 2023-10-10 |
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