CN114342582A - Remote calibration method for agricultural machinery subsoiling terminal - Google Patents
Remote calibration method for agricultural machinery subsoiling terminal Download PDFInfo
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Abstract
The invention relates to the technical field of intelligent agricultural machinery monitoring, in particular to a remote calibration method for an agricultural machinery subsoiling terminal, which comprises the following steps: installing a sensor and a subsoiling terminal; powering on the subsoiling terminal, collecting angle data acquired by a sensor, and uploading the angle data to a server end; the mobile phone side uploads corresponding length data to the server side; the server stores the length data uploaded by the mobile phone and the angle data of the uploading time and sends the length data and the angle data to the subsoiling terminal, the subsoiling terminal calculates angle compensation parameters according to the received data, the subsoiling terminal displays that calibration is completed, field installation personnel calibrate and measure the operating depth data of the agricultural implement in time, the subsoiling terminal automatically uploads a sensor to measure an angle, and manual detection of fixed length parameters of the agricultural implement is performed to manually upload the measured angle data to realize a parameter correction function.
Description
Technical Field
The invention belongs to the technical field of intelligent agricultural machinery monitoring, and particularly relates to a remote calibration method for an agricultural machinery subsoiling terminal.
Background
With the intensive implementation of the structural reform on the agricultural supply side, the quality and the benefit of agricultural production are increasingly emphasized. In recent years, the real-time monitoring and remote monitoring of the subsoiling operation by an information technology means have achieved obvious effects, quantitative basis is provided for subsidy of the subsoiling operation, and the informatization level and efficiency of operation management are remarkably improved. In practical production application, due to the influences of factors such as a sensor mounting mode, a data measurement mode and mechanical vibration, a large error is generated in the calculated plowing depth value of the mechanical subsoiling operation, and operation quality assessment is seriously influenced, so that data calibration needs to be carried out on agricultural machinery subsoiling equipment and terminals before the beginning of each year of operation season, and deep plowing calculation parameters are updated, so that the equipment state is optimal, and the operation quality index requirements are met. The current calibration mode mainly adopts manual measurement, and parameters are measured on site, calculated on site and manually input into a system by using tools such as a hand-held steel plate ruler and the like. The device has the advantages of large workload, low efficiency and small coverage, and is difficult to meet the requirements of comprehensively, wholly and remotely monitoring the deep scarification operation of the machinery.
Disclosure of Invention
The invention aims to solve the problems, and provides a remote calibration method for a subsoiling terminal of an agricultural machine, which is simple, convenient and quick and is easy to implement.
In order to solve the above problems, the present invention provides the following technical solutions: a remote calibration method for an agricultural machinery subsoiling terminal comprises a subsoiling terminal, a mobile phone end and a server end, wherein the subsoiling terminal uploads collected data I to the server end, and the server end sends the collected data I to the mobile phone end for display; the method comprises the following steps that a mobile phone end inputs data II to be uploaded to a server end, the server issues the data I and the data II to a subsoiling terminal, the subsoiling terminal processes the data I and the data II to obtain calibration data, the data I is angle data obtained by a sensor, and the data II is measured length data, and the method specifically comprises the following steps:
s1, installing a sensor and a deep scarification terminal;
s2, powering on the subsoiling terminal, collecting angle data acquired by a sensor, and uploading the angle data to a server end;
s3, uploading length data to a server side through the mobile phone side; after field manual measurement, inputting the measured length data to a mobile phone end;
s4, the server side stores the length data uploaded by the mobile phone and the angle data of the uploading time and sends the length data and the angle data to the subsoiling terminal;
s5, the subsoiling terminal calculates angle compensation parameters according to the data received in the step S4, and the subsoiling terminal displays that calibration is completed;
at S1, the installing the sensor and the subsoiling terminal includes the steps of:
mounting a sensor and a deep scarification terminal, wherein the sensor comprises a first angle sensor and a second angle sensor, firstly, the plough plate is horizontally placed, the second angle sensor is mounted above the plough plate, and the mounting surface of the second angle sensor is superposed with the upper plane of the plough plate and is in close contact with the upper plane of the plough plate; mounting a first angle sensor on a load frame or a load rotating shaft beam, wherein the mounting surface of the first angle sensor is superposed with and closely contacted with the upper plane of the load frame; installing the subsoiling terminal into a cab and supplying power; the plough disc, the load frame, the load rotating shaft beam, the deep ploughing plough, the articulated shaft and the cab are all mechanical structure parts of deep ploughing agricultural machinery equipment;
at S3, the uploaded length data includes: l isOA、LAB、LOC；LOaLength of the load carrier, LaBVertical height, L, of the subsoiler and the load carrierOCThe vertical height of the articulated shaft and the ground is indicated;
in S4, the time point uploaded by the mobile phone is used as a reference point, the angle values of the two angle sensors at the current moment are stored and are respectively regarded as the reference angle values of the two sensors, and when the subsoiling terminal requests parameters, the server issues the three length values and the reference angle values of the two sensors at the moment to the subsoiling terminal;
in S5, after receiving the three length values from the server and the reference angle values of the two sensors, the subsoiling terminal calculates the angle compensation parameters according to the tilling depth calculation principle, and the angle sensors are difficult to master due to the deviation caused by the installation mode or the installation environment, and the compensation parameters need to be introduced during calculation:
according to the schematic diagram of the tilling depth calculation principle in fig. 4, it can be known that:
LCD＝LOBcos(α+Δα+β+Δβ)-LOC (1)
LCDis the plowing depth value; l isOCThe vertical height of the articulated shaft and the ground; alpha is the angle between the load frame and the vertical direction during deep ploughing; beta is the angle between the deep loosening plough frame and the horizontal direction during deep ploughing; l isOBThe straight line distance between the articulated shaft and the plough tooth during deep ploughing;
Δ α, Δ β: the ploughing depth is L when the ploughing tool is horizontally placedCDThe difference between the theoretical angle value and the actual measured angle value calculated for 0 and the three length parameters;
the specific steps of obtaining Δ α and Δ β according to the tilling depth calculation principle in S5 include:
according to the tillage depth calculation principle, the schematic diagram shows that:
LCD＝LOD-LOC＝LOBcos∠BOD-LOC (2)
wherein: b, supporting angle BOD as alpha + beta; l isOdThe vertical height of the plough tooth and the articulated shaft during deep scarification operation;
to obtain LCD＝LOBcos(α+β)-LOC
According to the Pythagorean theorem, the method comprises the following steps:
according to the tangent formula:
solving the value of the & AOB;
to obtain
α＝θ1-∠AOB (5)
FIG. 4 shows: according to the horizontal arrangement of the plough tool theta2For the angle measured by the angle sensor II, the theoretical value (taking the horizontal plane as the reference plane) should be 0, and at this time, theta2The measured value is beta; then Δ β is 0- β; theta1In order to measure the angle according to the angle sensor, the theoretical value of the angle between the load-bearing rotating shaft beam and the vertical plane is the angle, the size of the angle is related to the connecting structure of the agricultural machine and the subsoiler, specifically the angle is close to 90 degrees,
the theoretical plowing depth value LCDΔ α can be obtained by substituting 0, Δ β, and α into the above equation (1);
further, according to the values of the angle compensation parameters delta alpha and delta beta, the actually measured tilling depth value L calculated by the deep scarification terminal when the actual farmland works is obtainedCD′:
LCD′＝LOBcos(α′+Δα+β′+Δβ)-LOC (6)
LCD' actual measurement of tilling depth in deep tillingA value; alpha' is the angle between the load frame and the vertical direction during deep ploughing; beta' is the angle between the measured deep loosening plough frame and the horizontal direction during deep ploughing; l isOBThe straight line distance between the articulated shaft and the plough tooth is actually measured during deep ploughing;
furthermore, when the sensor is installed, the agricultural machine plough is installed on the agricultural machine and comprises a load frame or a load rotating shaft beam and a plough disc, one end of the load frame is hinged with the agricultural machine through a hinged shaft during installation, the other end of the load frame is connected with the plough disc, the agricultural machine plough is rotated to enable the plough disc to be horizontally placed, the agricultural machine plough with all structures can be simplified into the structure, the agricultural machine is driven to be horizontal ground, the agricultural machine is operated to enable a load rotating shaft to rotate, plough teeth below the plough disc are enabled to just contact with the ground, and the reason that the plough disc is horizontally placed is that the plough depth value L is obtainedCD＝0；
Further, in S3, the installer scans the two-dimensional code of the subsoil terminal using the mobile phone WeChat or the browser, displays the terminal calibration interface, writes the three measured fixed length values into the corresponding three edit boxes, and finally clicks the "submit" button to upload to the server.
Further, after S3, it is periodically queried whether the subsoiling terminal displays calibration, if not, three length parameter values and reference angle values of two sensors at the reference point time are requested from the server, and if calibrated, the calibration is completed, and the next subsoiling operation can be performed.
Further, after S5, a database is built by the server, and the angle data and the length data parameters obtained by the sensor are saved.
Compared with the prior art, the invention has the beneficial effects that:
1. the remote calibration function of the intelligent terminal for the deep ploughing and deep scarification of the agricultural machinery realizes that field installation personnel can calibrate and measure the operating depth data of the agricultural machinery in time, the terminal is adopted to automatically upload the measurement angle of the installation sensor, and the fixed length parameters of the agricultural machinery are manually detected and manually uploaded to realize the function of parameter correction.
2. Through field test, the method is simple and rapid to realize, has high automation degree, effectively reduces the workload of installation personnel, and meets the requirements of stable and accurate deep scarification operation, and the error between the deep scarification terminal plowing depth calculation value and the field measurement value is smaller than 1cm through test statistics.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic overall flow chart of a remote calibration method for an agricultural machinery subsoiling terminal provided by the present application;
FIG. 2 is a schematic flow chart illustrating a remote calibration principle of an agricultural machinery subsoiling terminal provided by the present application;
FIG. 3 is a schematic view of the sensor mounting location of the present application;
FIG. 4 is a schematic diagram of the tilling depth calculation principle of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in figures 1-4
Example one
The invention provides the following technical scheme: a remote calibration method for an agricultural machinery subsoiling terminal comprises a subsoiling terminal, a mobile phone end and a server end, wherein the subsoiling terminal uploads collected data I to the server end, and the server end sends the collected data I to the mobile phone end for display; the method comprises the following steps that a mobile phone end inputs data II and uploads the data II to a server end, the server issues the data I and the data II to a subsoiling terminal, and the subsoiling terminal processes the data I and the data II to obtain calibration data, and specifically comprises the following steps:
s1, installing a sensor and a deep scarification terminal; at S1, the installing the sensor and the subsoiling terminal includes the steps of:
the sensor comprises a first angle sensor and a second angle sensor, wherein a plough disc is horizontally placed, further, when the sensor is installed, an agricultural machine plough is installed on an agricultural machine, the agricultural machine plough comprises a load frame or a load rotating shaft beam and the plough disc, one end of the load frame is hinged with the agricultural machine through a hinged shaft, the other end of the load frame is connected with the plough disc, the agricultural machine plough with all structures can be simplified to the structure, the agricultural machine is opened to the horizontal ground, the agricultural machine is operated to enable a load rotating shaft to rotate, plough teeth below the plough disc are enabled to just contact with the ground, the second angle sensor is installed above the plough disc, the installation surface of the second angle sensor is overlapped with and tightly contacted with the upper plane of the plough disc, and the horizontal plane of the second angle sensor is set as a reference plane; mounting a first angle sensor on a load frame or a load rotating shaft beam, wherein a mounting surface of the first angle sensor is overlapped with and tightly contacted with an upper plane of the load frame, and a reference surface of the first angle sensor is set to be a reference surface vertical to a horizontal plane; installing the subsoiling terminal into a cab and supplying power; the plough disc, the load frame, the load rotating shaft beam, the deep ploughing plough, the articulated shaft and the cab are all mechanical structure parts of deep ploughing agricultural machinery equipment;
s2, powering on the subsoiling terminal, collecting angle data acquired by a sensor, and uploading the angle data to a server end; when the subsoiling terminal is powered on, positioning data is also acquired, the positioning data is mainly Beidou satellite longitude and latitude data, is one of subsoiling terminal functions and is used for positioning agricultural machinery, angle data uploaded after the agricultural machinery is positioned and length data uploaded subsequently are associated with the agricultural machinery,
in S2, according to the data acquired by the sensor, determining whether the sensor is installed correctly, wherein the value of the first angle sensor is close to 90 degrees, the value of the second angle sensor is close to 0 degrees, and if the error is large, the sensor is installed wrongly and needs to be adjusted again;
s3, uploading length data to a server side through the mobile phone side; after field manual measurement, inputting the measured length data to a mobile phone end; at S3, the uploaded length data includes: l isOA、LAB、LOC；LOALength of the load carrier, LABVertical height, L, of the subsoiler and the load carrierOCThe vertical height of the articulated shaft and the ground is indicated; further, in S3, the installer scans the two-dimensional code of the subsoil terminal using the mobile phone WeChat or the browser, displays the terminal calibration interface, writes the three measured fixed length values into the corresponding three edit boxes, and finally clicks the "submit" button to upload to the server.
S4, the server side stores the length data uploaded by the mobile phone and the angle data of the uploading time and sends the length data and the angle data to the subsoiling terminal; in S4, the time point uploaded by the mobile phone is used as a reference point, the angle values of the two angle sensors at the current moment are stored and are respectively regarded as the reference angle values of the two sensors, and when the subsoiling terminal requests parameters, the server issues the three length values and the reference angle values of the two sensors at the moment to the subsoiling terminal;
s5, the subsoiling terminal calculates angle compensation parameters according to the data received in the step S4, and the subsoiling terminal displays that calibration is completed; the specific principle of calibration is to update a calibration flag variable (the flag variable is a variable defined in a program during specific implementation), a display board of a subsonic terminal displays a specific character, and the specific character is a self-defined character and is used for indicating that the calibration is completed;
further, after S3, it is checked whether calibration is performed or not at regular time, that is, it is checked whether the calibration flag is shifted at regular time, if not, the specific character indicates that calibration is not completed, then three length parameter values and reference angle values of two sensors at the reference point time are requested from the server, and if calibrated, the specific character indicates that calibration is completed and next subsoiling operation can be performed.
In S5, the subsoiling terminal receives the three length values and the reference angle values of the two sensors from the server, calculates the angle compensation parameters according to the tilling depth calculation principle,
according to the schematic diagram of the tilling depth calculation principle in fig. 4, it can be known that:
LCD＝LOBcos(α+Δα+β+Δβ)-LOC (1)
LCDis the plowing depth value; l isOCThe vertical height of the articulated shaft and the ground; alpha is the angle between the load frame and the vertical direction during deep ploughing; beta is the angle between the deep loosening plough frame and the horizontal direction during deep ploughing; l isOBThe straight line distance between the articulated shaft and the plough tooth during deep ploughing;
Δ α, Δ β: the ploughing depth is L when the ploughing tool is horizontally placedCDThe difference between the theoretical angle value and the actual measured angle value calculated for 0 and the three length parameters;
the specific steps of obtaining Δ α and Δ β according to the tilling depth calculation principle in S5 include:
according to the tillage depth calculation principle, the schematic diagram shows that:
LCD＝LOD-LOC＝LOBcos∠BOD-LOC (2)
wherein: b, supporting angle BOD as alpha + beta; l isODThe vertical height of the plough tooth and the articulated shaft during deep scarification operation;
to obtain LCD＝LOBcos(α+β)-LOc
According to the Pythagorean theorem, the method comprises the following steps:
according to the tangent formula:
solving the value of the & AOB;
to obtain
α＝θ1-∠AOB (5)
FIG. 4 shows: according to the horizontal arrangement of the plough tool theta2For the angle measured by the angle sensor II, the theoretical value (taking the horizontal plane as the reference plane) should be 0, and at this time, theta2The measured value is beta; then Δ β is 0- β; theta1In order to measure the angle according to the angle sensor, the theoretical value of the angle is the included angle between the load rotating shaft beam and the vertical surface, the size of the angle is related to the connecting structure of the agricultural machine and the subsoiler,
the theoretical plowing depth value LCDΔ α can be obtained by substituting 0, Δ β, and α into the above equation (1);
according to the values of the angle compensation parameters delta alpha and delta beta, obtaining an actually measured tilling depth value calculated by a subsoiling terminal when the actual tilling land works:
LCD′＝LOBcos(α′+Δα+β′+Δβ)-LOC (6)
LCD' is actually measured tilling depth value during deep tilling; alpha' is the angle between the load frame and the vertical direction during deep ploughing; beta' is the angle between the measured deep loosening plough frame and the horizontal direction during deep ploughing; l isOBThe straight line distance between the articulated shaft and the plough tooth is actually measured during deep ploughing;
according to the above, one specific example of the implementation of this patent is:
the uploaded length data comprises: l isOA、LAB、LOC；LOA＝2.2m，LAB＝0.9m，LOC＝0.48m；
Angle theta measured by angle sensor1102.469 DEG, angle theta measured by angle sensor two2＝1.517°；
∠AOB＝22.245°；
α＝80.224°；
β＝θ2＝1.517°；
Δβ＝-1.517°；
LCD＝0；
Obtaining:
Δα＝-1.878°；
then, for the agricultural machinery, according to the calibrated actual tillage depth value:
LCD′＝LOBcos(α′-1.878°+β′-1.517°)-LOC。
further, after S5, a database is built by the server for the angle data and the manually measured length data acquired by the sensor in real time, and the parameters are saved.
In order to meet the requirement of a remote calibration function of an intelligent terminal for deep ploughing and deep scarification of agricultural machinery and realize timely calibration and measurement of operating depth data of agricultural implements by field installation personnel, the functions of automatically uploading a measurement angle of an installation sensor by a terminal and manually uploading fixed-length parameters of the agricultural implements by manual detection to realize parameter correction are adopted. According to the tilling depth calculation principle, 5 parameters are required: l isOALength of the load carrier, LABVertical height, L, of the subsoiler and the load carrierOCMeans the vertical height theta of the articulated shaft and the ground1And theta2. Respectively expressing the expressions in a database as the lengths of the Length _ OA load frames; the vertical height of the Length _ AB subsoiler and the load frame; the vertical height of the Length _ OC articulated shaft and the ground; angle — 50 Angle 1; angle _51 Angle 2, to ensure that the calibration function is performed only once to fix the parameters, the reset parameter is increased to indicate whether to calibrate. The reset that has been calibrated is 1 and the reset that has not been calibrated is 0.
The data sheet design is shown in table 1:
TABLE 1 subsoiling terminal Server database
Wherein L isOA、LAB、LOCThe size of the part of the agricultural implement is measured by field installation personnel and uploaded through WeChat.
θ1And theta2And is obtained by deep scarification terminal SK2103NJ uploading.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. A remote calibration method for an agricultural machinery subsoiling terminal comprises a subsoiling terminal, a mobile phone end and a server end, wherein the subsoiling terminal uploads collected data I to the server end, and the server end sends the collected data I to the mobile phone end for display; the method is characterized by specifically comprising the following steps of:
s1, installing a sensor and a deep scarification terminal;
s2, powering on the subsoiling terminal, collecting angle data acquired by a sensor, and uploading the angle data to a server end;
s3, uploading length data to a server side through the mobile phone side; after field manual measurement, inputting the measured length data to a mobile phone end;
s4, the server side stores the length data uploaded by the mobile phone and the angle data of the uploading time and sends the length data and the angle data to the subsoiling terminal;
s5, the subsoiling terminal calculates angle compensation parameters according to the data received in the step S4, and the subsoiling terminal displays that calibration is completed;
at S1, the installing the sensor and the subsoiling terminal includes the steps of:
the sensors comprise a first angle sensor and a second angle sensor, the plough plate is horizontally placed at first, then the second angle sensor is installed above the plough plate, and the installation surface of the second angle sensor is overlapped with and closely contacted with the upper plane of the plough plate; mounting a first angle sensor on a load frame or a load rotating shaft beam, wherein the mounting surface of the first angle sensor is superposed with and closely contacted with the upper plane of the load frame; installing the subsoiling terminal into a cab and supplying power; the plough disc, the load frame, the load rotating shaft beam, the deep ploughing plough, the articulated shaft and the cab are all mechanical structure parts of deep ploughing agricultural machinery equipment;
at S3, the uploaded length data includes: l isOA、LAB、LOC；LOALength of the load carrier, LABVertical height, L, of the subsoiler and the load carrierOCThe vertical height of the articulated shaft and the ground is indicated;
in S4, the time point uploaded by the mobile phone is used as a reference point, the angle values of the two angle sensors at the current moment are stored and are respectively regarded as the reference angle values of the two sensors, and when the deep loosening terminal requests parameters, the server issues the values of the three length data and the reference angle values of the two sensors at the moment to the deep loosening terminal;
in S5, the subsoiling terminal receives the length data from the server and the angle data from the sensor, and calculates the angle compensation parameters Δ α, Δ β according to the tilling depth calculation principle:
LCD＝LOBcos(α+Δα+β+Δβ)-LOC (1)
LCDis the plowing depth value; l isOCThe vertical height of the articulated shaft and the ground; alpha is the angle between the load frame and the vertical direction during deep ploughing; beta is the angle between the deep loosening plough frame and the horizontal direction during deep ploughing; l isOBThe straight line distance between the articulated shaft and the plough tooth during deep ploughing;
Δ α, Δ β: the ploughing depth is L when the ploughing tool is horizontally placedCDThe difference between the theoretical angle value and the actual measured angle value is calculated for the data of 0 and three lengths;
the specific steps of obtaining Δ α and Δ β according to the tilling depth calculation principle in S5 include:
according to the tilling depth calculation principle, the following steps are known:
LCD＝LOD-LOC＝LOBcos∠BOD-LOC (2)
wherein: b, supporting angle BOD as alpha + beta; l isODFor the purpose of making the plough teeth and articulated shafts plumb during deep-loosening operationA straight height;
to obtain LCD＝LOBcos(α+β)-LOC
According to the Pythagorean theorem, the method comprises the following steps:
according to the tangent formula:
solving the value of the & AOB;
to obtain
α＝θ1-∠AOB (5)
According to the horizontal arrangement of the plough tool theta2For the angle measured by the angle sensor two, the theoretical value should be 0, and θ is then2The measured value is beta; then Δ β is 0- β;
θ1according to the angle measured by the angle sensor, the theoretical value of the angle is the included angle between the load rotating shaft beam and the vertical plane;
the theoretical plowing depth value LCDΔ α can be obtained by substituting 0, Δ β, and α into the above equation (1).
2. The remote calibration method for the subsoiling terminal of the agricultural machine according to claim 1, characterized in that: according to the values of the angle compensation parameters delta alpha and delta beta, the actually measured tilling depth L calculated by the subsoiling terminal is obtained when the actual farmland worksCD′：
LCD′＝LOBcos(α′+Δα+β′+Δβ)-LOC (6)
LCD' is actually measured tilling depth value during deep tilling; alpha' is the angle between the load frame and the vertical direction during deep ploughing; beta' is the angle between the measured deep loosening plough frame and the horizontal direction during deep ploughing; l isOBThe linear distance between the articulated shaft and the plough teeth is actually measured during deep ploughing.
3. The remote calibration method for the subsoiling terminal of the agricultural machine according to claim 2, characterized in that: when the sensor is installed, the agricultural machine plough is installed on the agricultural machine and comprises a load frame or a load rotating shaft beam and a plough disc, one end of the load frame is hinged with the agricultural machine through a hinged shaft during installation, the other end of the load frame is connected with the plough disc, and the agricultural machine plough is rotated to enable plough teeth below the plough disc to just contact the ground.
4. The remote calibration method for the subsoiling terminal of the agricultural machine according to claim 3, characterized in that: in S3, the installer scans the two-dimensional code of the subsoil terminal using the mobile phone WeChat or the browser, displays the terminal calibration interface, writes the three measured fixed length values into the corresponding three edit boxes, and uploads the three fixed length values to the server.
5. The remote calibration method for the subsoiling terminal of the agricultural machine according to claim 4, characterized in that: and after S3, regularly inquiring whether the subsoiling terminal displays calibration or not, if not, requesting three length parameter values and reference angle values of two sensors at the reference point moment from the server, if so, finishing the calibration, and performing the next subsoiling operation.
6. The remote calibration method for the subsoiling terminal of the agricultural machine according to claim 5, characterized in that: after S5, a database is built by the server, and the angle data and the length data parameters obtained by the sensor are saved.
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