CN115104385A - State recognition method, system, terminal device and storage medium - Google Patents
State recognition method, system, terminal device and storage medium Download PDFInfo
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- CN115104385A CN115104385A CN202210088990.3A CN202210088990A CN115104385A CN 115104385 A CN115104385 A CN 115104385A CN 202210088990 A CN202210088990 A CN 202210088990A CN 115104385 A CN115104385 A CN 115104385A
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- 238000004590 computer program Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 description 18
- 239000002689 soil Substances 0.000 description 16
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B33/00—Tilling implements with rotary driven tools, e.g. in combination with fertiliser distributors or seeders, with grubbing chains, with sloping axles, with driven discs
- A01B33/08—Tools; Details, e.g. adaptations of transmissions or gearings
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- G—PHYSICS
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- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C3/00—Registering or indicating the condition or the working of machines or other apparatus, other than vehicles
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Abstract
The application provides a state identification method, a state identification system, terminal equipment and a storage medium, which are used for determining the operation state of an agricultural machine, wherein the agricultural machine is provided with a machine tool, and the state identification method comprises the following steps: acquiring a real-time angle value of the machine tool, wherein the real-time angle value corresponds to a real-time inclination angle of the machine tool; determining whether the real-time angle value meets a preset condition; if the preset conditions are met, determining the operation depth of the current machine tool according to the real-time angle value and the length information of the machine tool; determining whether the working depth meets a subsoiling threshold condition; and if the operation depth meets the deep scarification threshold condition, recording the real-time angle value and the time for acquiring the real-time angle value. Whether the agricultural machinery carries out subsoiling operation or not can be known through the real-time inclination angle of the machine tool, the time point and the real-time angle value of the subsoiling operation are recorded in real time, and the accuracy of subsoiling operation recording is improved.
Description
Technical Field
The application relates to the field of agricultural machinery operation, in particular to a state identification method, a state identification system, terminal equipment and a storage medium.
Background
In the agricultural field, in order to improve the quality of cultivated land, deep scarification operation is often carried out on the land through an agricultural machine with a machine tool. When recording the land area of subsoiling operation, because the depth of the implement of the agricultural machine inserted into the soil may change with the operation of the agricultural machine, there is a case that part of the land is not subsoiled during the subsoiling operation and is recorded as being subsoiled, and therefore, there is a defect that the recording accuracy of the subsoiling operation is not sufficient.
Disclosure of Invention
In view of the above, it is necessary to provide a state identification method, system, terminal device and storage medium, which can obtain whether the agricultural machine performs subsoiling operation through the real-time tilt angle of the implement, and record the time point of the subsoiling operation in real time, so as to improve the accuracy of recording the subsoiling operation.
In a first aspect, an embodiment of the present application provides a state identification method for determining an operating state of an agricultural machine, where the agricultural machine is provided with a tool, including: acquiring a real-time angle value of the machine tool, wherein the real-time angle value corresponds to a real-time inclination angle of the machine tool; determining whether the real-time angle value meets a preset condition; if the preset condition is met, determining the current working depth of the machine tool according to the real-time angle value and the length information of the machine tool; determining whether the working depth meets a subsoiling threshold condition; and if the operation depth meets the subsoiling threshold value condition, recording the real-time angle value and the time for acquiring the real-time angle value.
Optionally, the preset condition includes an angle threshold condition, and the angle threshold condition includes: the real-time angle value is larger than a preset angle threshold value.
Optionally, the preset condition further includes a time threshold condition, and the time threshold condition includes: and the time when the real-time angle value is greater than the angle threshold value is greater than a preset time threshold value.
Optionally, the state identification method further includes: acquiring a reference angle value of the machine tool; wherein, the reference angle value is the inclination angle value of the implement when the agricultural machine is not operating; the real-time angle value is the difference value between the real-time inclination angle of the machine tool and the reference angle value.
Optionally, the state identification method further includes: obtaining a subsoiling angle value of the machine tool; the subsoiling angle value corresponds to the inclination angle of the implement when the agricultural machine carries out subsoiling operation; the subsoiling angle value is the difference value between the inclination angle of the machine during subsoiling operation and the reference angle value.
Optionally, the angle threshold is equal to a product of the subsonic angle value and a preset ratio.
Optionally, the state identification method further includes: and acquiring the length information of the machine tool.
In a second aspect, an embodiment of the present application provides a state identification system, configured to implement the state identification method described in any one of the above, including: the acquisition module is used for acquiring the real-time angle value; the determining module is used for determining whether the real-time angle value meets the preset condition; the operation module is used for determining the current operation depth of the machine tool according to the real-time angle value and the length information of the machine tool when the real-time angle value meets the preset condition; the determination module is further to determine whether the working depth satisfies the subsoiling threshold condition; and the recording module is used for recording the real-time angle value and the time for acquiring the real-time angle value when the operation depth meets the subsoiling threshold condition.
In a third aspect, an embodiment of the present application provides a terminal device, including: the angle sensing device is used for sensing the inclination angle of the implement; a memory for storing a computer program; a processing system for executing the computer program stored by the memory, the processor being configured to perform the state recognition method as claimed in any one of the preceding claims when the computer program is executed.
In a fourth aspect, an embodiment of the present application provides a storage medium, which includes computer instructions, when the computer instructions are run on a terminal device, cause the terminal device to execute the state identification method as described above.
According to the state identification method, the state identification system, the terminal device and the storage medium, whether the agricultural machine carries out subsoiling operation currently or not is obtained through analysis and operation of the real-time inclination angle of the implement, the time point of the subsoiling operation is recorded after the subsoiling operation of the agricultural implement, and the accuracy of recording the subsoiling operation is improved.
Drawings
Fig. 1 is a schematic diagram of a terminal device in an embodiment of the present application.
FIG. 2 is a schematic view of an agricultural machine in an embodiment of the present application.
Fig. 3 is a flowchart of a state identification method in an embodiment of the present application.
Fig. 4 is another flowchart of a state identification method in the embodiment of the present application.
Fig. 5 is a schematic diagram of a state identification method in the embodiment of the present application.
Description of the main elements
Detailed Description
The technical solutions in the implementations of the present application will be described clearly and completely with reference to the accompanying drawings in the implementations of the present application, and it is obvious that the described implementations are only a part of the implementations of the present application, and not all implementations of the present application.
Referring to fig. 1, fig. 1 is a schematic diagram of a terminal device 100 according to an embodiment of the present application.
It is understood that the terminal device 100 may be mounted on an agricultural machine 200 (shown in fig. 2) for soil loosening operation, or in communication with the agricultural machine 200, which is not limited by the embodiment of the present application.
Referring to fig. 2, in some scenarios, the agricultural operation requires soil loosening operation, specifically, deep loosening operation, by the agricultural machine 200. Be equipped with on agricultural machinery 200 and can rotate machines 210, according to machines 210's inclination changes, machines 210 bottom can insert earth or shift out from earth, just machines 210 bottom inserts the degree of depth of earth and can follow machines 210's rotation changes.
The deep scarification operation is soil loosening operation exceeding the normal ploughing depth, and is used for breaking a hard plough bottom layer in the soil, deepening a plough layer, increasing the air permeability and the water permeability of the soil and improving the root system growth environment of crops.
It will be appreciated that when the agricultural machine 200 is operated and driven on the ground and the bottom end of the implement 210 is inserted into the ground to a predetermined subsoiling threshold, it can be determined that the depth of the implement 210 inserted into the ground meets the subsoiling requirement, i.e., the current operation of the agricultural machine 200 is subsoiling.
In one embodiment, the terminal device 100 may include an angle sensing apparatus 10, a memory 20, a processing system, and a communication apparatus 50.
The angle sensing device 10 may be fixedly mounted on the implement 210, and when the implement 210 rotates, the angle sensing device 10 may sense the tilt angle of the implement 210.
For example, the angle sensing device 10 may be, but is not limited to, an attitude sensor.
The processing system may include a processor 30 and a remote server 40, and the processor 30 may be a general purpose Central Processing Unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the above programs.
In one embodiment, the processor 30 is fixedly mounted to the agricultural machine 200.
The Memory 20 may be a Read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that can store information and instructions, an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to these.
The communication device 50 is used for communicating with other devices or communication Networks, such as ethernet, Radio Access Network (RAN), Wireless Local Area Networks (WLAN), and so on.
In this embodiment, the remote server 40 and the processor 30 are communicatively connected through the communication device 50, so as to realize signal transmission between the remote server 40 and the processor 30.
In one embodiment, a plurality of said memories 20 are provided in said terminal device 100, wherein at least one of said memories 20 is communicatively connected to said processor 30, at least one of said memories 20 is communicatively connected to said remote server 40, and a plurality of said servers are adapted to store application program code for performing a state recognition method.
In one embodiment, the memory 20 may be independent, the processor 30, the communication device 50 and at least one of the memories 20 may be connected via a communication bus and communicate with each other, and the remote server 40 and at least one of the memories 20 may be connected via a communication bus and communicate with each other, and the processor 30 communicatively connected to the processor 30 and the remote server 40 is a different processor 30.
In another embodiment, at least one of the memories 20 may be integrated with the processor 30, at least one of the memories 20 may be integrated with the remote server 40, and the memory 20 integrated with the processor 30 and the remote server 40 is a different memory 20.
It will be appreciated that the processor 30 and the remote server 40 are configured to execute some or all of the application code stored in the memory 20 to perform the state identification method.
In some embodiments, the terminal device 100 may further include an implement identification device 60, the implement identification device 60 may be in communication connection with the processor 30 through a communication bus, the implement identification device 60 is configured to identify information of the agricultural machine 200 and output the information of the agricultural machine 200 to the remote server 40 through the processor 30 and the communication device 50, and the remote server 40 may determine an angle range that the implement 210 needs to rotate when the agricultural machine 200 performs subsoiling according to the acquired information of the agricultural machine 200.
It is understood that the information identified by the implement identifying device 60 may specifically include, but is not limited to, the model, length, power, speed of the agricultural machine 200, the length of the implement 210 on the agricultural machine 200, and the like.
In some embodiments, the terminal device 100 may further include a data processing device 70, the data processing device 70 may be communicatively connected to the angle sensing device 10, the processor 30, and the implement identification device 60 through a communication bus, respectively, and the data processing device 70 may pre-process signals output by the angle sensing device 10 and the implement identification device 60, and then transmit the processed signals to the processor 30 for analysis.
For example, the data processing device 70 may perform preprocessing on the signals output by the angle sensing device 10 and the tool identification device 60, such as but not limited to smoothing, digital-to-analog conversion, and the like.
In some embodiments, the terminal device 100 may further include a camera device 80, and the camera device 80 may be fixedly installed on the agricultural machine 200 and communicatively connected to the processor 30 through a communication bus. The camera device 80 can collect images of the environment where the agricultural machine 200 is located when the agricultural machine 200 is running, and output the collected images to the memory 20 for storage through the processor 30, or output the collected influences to the remote server 40 through the processor 30 and the communication device 50 for viewing by the staff.
In some embodiments, the terminal device 100 may further include a positioning device 90, the positioning device 90 may be fixedly installed on the agricultural machine 200, and the positioning device 90 is configured to determine a position of the agricultural machine 200 in operation, so as to determine a position where the agricultural machine 200 operates.
It is understood that when the agricultural machine 200 performs subsoiling, the processor 30 can obtain the position where the agricultural machine 200 starts subsoiling and the position where the subsoiling ends through the positioning device 90, so as to calculate the subsoiling area of the agricultural machine 200.
For example, the positioning device 90 may be, but is not limited to, a Global Navigation Satellite System (GNSS) device.
It is understood that the terminal device 100 may determine whether the agricultural machine 200 is in the subsoiling state by operating the state recognition method, thereby determining the tilt angle of the implement 210 sensed by the angle sensing means 10.
Referring to fig. 3, fig. 3 is a flowchart of a state identification method according to an embodiment of the present disclosure.
The state identification method of the embodiment may include the steps of:
step S31: length information of the implement 210 is obtained.
It can be understood that, in the agricultural machinery 200 of different models, the length of the implement 210 is different, so when the operation state of the agricultural machinery 200 is identified, the length information of the implement 210 needs to be acquired first, and by calculating the length information and the required working depth of the subsoiling work, the range of the inclination angle of the implement 210 when the agricultural machinery 200 performs the subsoiling work can be calculated.
In some embodiments, the length information of the implement 210 requires manual input by a worker via an interactive device communicatively coupled to the processor 30 or the remote server 40.
For example, the operator may measure the length of the implement 210 in advance, and then input the measured length value in the corresponding program of the mobile phone, so as to generate the length information.
In other embodiments, the length of the implement 210 may be obtained by the implement recognition device 60, and the implement recognition device 60 outputs the length information by recognizing the information of the agricultural machine 200.
In some embodiments, the operation subject of step S31 may be the remote server 40, and the remote server 40 obtains the length information and calculates the angle range of the implement 210 during the subsoiling operation of the agricultural machine 200 according to the length information and the depth requirement of the subsoiling operation.
Step S32: a reference angle value of the implement 210 is obtained.
It will be appreciated that the reference angle value corresponds to the angle of inclination of the agricultural machine 200 when not in operation, i.e. when the implement 210 is not inserted into the soil. In an embodiment of the present application, the terminal device 100 may obtain the reference angle value through the angle sensing apparatus 10.
In some embodiments, the executing entity of step S32 may be the processor 30, when the agricultural machine 200 is not operating, the angle sensing device 10 outputs reference sensing information to the data processing device 70 by sensing the tilt angle of the implement 210, the data processing device 70 processes the reference sensing information to generate the reference angle value, and the processor 30 obtains the real-time angle value.
It can be understood that when the agricultural machine 200 is operating, the specific rotation angle value of the implement 210 can be obtained by calculating the current inclination angle value of the implement 210 and the reference angle value.
Step S33: a subsoiling angle value of the implement 210 is obtained.
It can be understood that the subsoiling angle value corresponds to an angle at which the agricultural machine 200 performs subsoiling, and when the inclination angle of the implement 210 is equal to or corresponds to the subsoiling angle value, the depth of the implement 210 inserted into the soil satisfies the subsoiling threshold condition. In an embodiment of the present application, the terminal device 100 may obtain the subsoiling angle value through the angle sensing device 10.
It is understood that the subsoiling threshold condition may specifically be that the depth of the implement 210 inserted into the soil is within a preset range of values, i.e. when the depth of the implement 210 inserted into the soil satisfies the subsoiling threshold condition, the depth of the implement 210 inserted into the soil, and the tilt angle of the implement 210 may be varied within a certain range.
For example, the subsoiling threshold condition may be specifically that the depth of the implement 210 inserted into the soil is greater than a preset depth threshold.
It will be appreciated that when the agricultural machine 200 is operating, the operator can manipulate the implement 210 to rotate the implement 210 to a maximum tilt angle that can be achieved when the implement 210 is inserted into the soil to a depth that is greater than the predetermined depth threshold for the implement 210. Therefore, before the agricultural machine 200 performs the operation, the operator can operate the implement 210 to rotate to the maximum inclination angle that can be reached, and the subsoiling angle value obtained at this time can be determined to correspond to the inclination angle that can be reached by the implement 210 when the agricultural machine 200 performs the subsoiling operation.
In some embodiments, the executing body of step S33 may be the processor 30, when the agricultural machine 200 is not operating, the operator manipulates the implement 210 to rotate, so that the tilt angle of the implement 210 reaches the maximum value that can be reached, then the angle sensing device 10 outputs upper limit sensing information to the data processing device 70 by sensing the tilt angle of the implement 210, the data processing device 70 processes the upper limit sensing information to generate an upper limit angle value, and the processor 30 obtains the upper limit angle value and obtains the subsoiling angle value by subtracting the upper limit angle value from the reference angle value.
It will be appreciated that the subsoiling angle value may be the difference between the maximum tilt angle value of the implement 210 and the reference angle value.
Step S34: a real-time angle value of the implement 210 is obtained.
It will be appreciated that the real-time angle value corresponds to the current angle of rotation of the implement 210 when the agricultural machine 200 is operating and performing ripping operations. In an embodiment of the present application, the terminal device 100 may obtain the real-time angle value through the angle sensing apparatus 10.
In some embodiments, the executing entity of step S34 may be the processor 30, the angle sensing device 10 outputs the work sensing information to the data processing device 70 by sensing the angle of the implement 210, the data processing device 70 processes the work sensing information to generate a work angle value, and the processor 30 obtains the work angle value and obtains the real-time angle value by subtracting the work angle value from the reference angle value.
It is understood that the real-time angle value may be a difference between the real-time tilt angle of the implement 210 and the reference angle value when the agricultural machine 200 is operating.
Step S35: determining whether the real-time angle value meets a preset condition; if yes, go to step S36; if not, returning to step S34 to re-acquire the real-time angle value at a subsequent time point to determine whether the preset condition is satisfied.
It is understood that the processor 30 can output the real-time angle values at a plurality of time points to the remote server 40 through the communication device 50 for processing and recording, and the transmission of the data without filtering affects the data processing and recording efficiency of the remote server 40. By judging whether the real-time angle value meets the preset condition, whether the agricultural machinery 200 is likely to carry out subsoiling operation at present can be determined, so that the real-time angle value which does not meet the preset condition and the corresponding time point are not transmitted.
Referring to fig. 4, the determination of whether the real-time angle value satisfies the predetermined condition may be implemented by the following steps.
Step S41: and determining whether the real-time angle value is greater than an angle threshold, if so, entering the step S42, and if not, returning to the step S34 to re-acquire the real-time angle value at a subsequent time point to determine whether the real-time angle value meets the preset condition.
It will be appreciated that the predetermined condition may include an angle threshold condition, and the angle threshold condition may include that the real-time angle value is greater than the angle threshold value, and that the working depth of the implement 210, i.e., the depth of the inserted soil value, to which the angle threshold value corresponds may be a value less than and approximately equal to the depth threshold value, or may be a value equal to the depth threshold value.
It can be understood that the smaller the difference between the depth of the job corresponding to the angle threshold and the depth threshold, the greater the probability that the real-time angle value is greater than the angle threshold.
In some embodiments, the angle threshold may be a product of the subsonic angle value and a preset ratio.
It is understood that the selection of the preset ratio can be different according to different specifications of the agricultural machine 200 and the implement 210.
It will be appreciated that the angle threshold may be determined by operation of the subsoiling angle value before operation of step S34 after the determination of the subsoiling angle value in step S33.
For example, the preset ratio may be one quarter, i.e. the angle threshold may be 25% of the subsoil angle value.
It can be understood that, when the subsoiling angle value is obtained, the depth of the implement 210 inserted into the soil is far greater than the depth threshold value, so that the product of the subsoiling angle value and the preset proportion can be used as the angle threshold value, and it can be ensured that the working depth corresponding to the angle threshold value is not greater than the depth threshold value. The determination of the preset proportion can be determined through artificial experience or can be obtained through big data operation.
Step S42: and determining whether the duration of the real-time angle value which is greater than the angle threshold is greater than a time threshold, if so, entering the step S36, and if not, returning to the step S34 to reacquire the real-time angle value at a subsequent time point to judge whether the real-time angle value meets the preset condition.
It is to be understood that the preset condition may further include a time threshold condition, and the time threshold condition may include a duration that the real-time angle value is greater than the angle threshold value, and is greater than the time threshold value.
It can be understood that when the real-time angle value is greater than the angle threshold value only for a moment when the agricultural machine 200 is operated for a long time, it can be determined that the agricultural machine 200 is not operated for subsoiling, and therefore a time threshold value can be set, and when the real-time angle value is greater than the angle threshold value and the duration is greater than the time threshold value, the real-time angle value and the corresponding time point are recorded and stored, so that the probability of recording the real-time angle value under the condition that the real-time angle value reaches the angle threshold value at a moment is reduced, and the accuracy of land area measurement for subsoiling is improved.
Step S36: determining the current working depth of the implement 210 according to the real-time angle value and the length information of the implement 210.
It is understood that the operation subject of step S36 may be the remote server 40, the processor 30 outputs the real-time angle value to the remote server 40 through the communication device 50, and the remote server 40 can calculate the depth value of the implement 210 inserted into soil, i.e. the working depth corresponding to the real-time angle value, by using the acquired length information and the real-time angle value.
In some embodiments, the processor 30 outputs the real-time angle value to the remote server 40 through the communication device 50, and simultaneously, the real-time angle value and the corresponding time point may be locally recorded through the memory 20 as a storage backup.
It is understood that the recorded time point corresponding to the real-time angle value may be a plurality of time nodes, or may be a time period having a time node all the time.
In some embodiments, when the memory 20 records the real-time angle value and the time point corresponding to the real-time angle value, the positioning device 90 senses the current position of the agricultural machine 200, and records the generated positioning information together, so as to facilitate area statistics of the land on which the subsoiling operation is completed.
Step S37: and determining whether the working depth meets the subsoiling threshold condition, if so, performing the step S38, and if not, returning to the step S34 to re-acquire the real-time angle value at a subsequent time point to perform the judgment of whether the preset condition is met.
It is understood that the operation subject of step S37 may be the remote server 40, and the subsoiling threshold condition may be whether the working depth is within a preset range of values, and if the working depth is within the preset range of values, the working depth meets the subsoiling threshold condition, and it may be determined that the agricultural machine 200 is performing subsoiling.
Step S38: and recording the real-time angle value and the time point of obtaining the real-time angle value.
It can be understood that when it is determined that the agricultural machine 200 performs the subsoiling operation, the real-time angle value and the time point corresponding to the real-time angle value can be obtained for recording, so that the land area for performing the subsoiling operation can be conveniently calculated after the operation of the agricultural machine 200 is completed.
It is understood that the recorded time point corresponding to the real-time angle value may be a plurality of time nodes, or may be a time period having an all-time node.
In some embodiments, the operation subject of step S38 may be the remote server 40, and the remote server 40 may record the real-time angle value and the time point corresponding to the real-time angle value through the memory 20 communicatively connected to the remote server 40, and may further store the image corresponding to the real-time angle value obtaining time in the processor 30, so as to facilitate recording of the subsoiling operation.
Referring to fig. 5, fig. 5 is a schematic diagram of a state identification system 300 according to an embodiment of the present disclosure.
The state identification system 300 provided in the embodiment of the present application may include: the system comprises an acquisition module 110, a determination module 120, an operation module 130 and a recording module 140.
The obtaining module 110 is configured to obtain the reference angle value, the subsoiling angle value, and the real-time angle value;
the determining module 120 is configured to determine whether the fact angle value satisfies the preset condition, and determine whether the working depth satisfies the subsoiling threshold condition.
It is understood that the agricultural machine 200 is performing subsoiling at the point in time when the real-time angle value satisfying the subsoiling threshold condition is obtained.
The operation module 130 is configured to determine the current working depth of the implement 210 according to the real-time angle value and the length information of the implement 210 when the real-time angle value satisfies the preset condition.
The recording module 140 is configured to record a real-time angle value of the implement and a time point at which the real-time angle value is obtained when the working depth of the implement meets the subsoiling threshold condition.
It is understood that the above described division of the various modules in the state recognition system 300 is for illustration only, and in other embodiments, the state recognition system 300 may be divided into different modules as needed to perform all or part of the above described functions of the state recognition system 300.
The specific implementation of each module in the embodiment of the present application may also correspond to the corresponding description of the method embodiments shown in fig. 3 and fig. 4.
In the state recognition system 300 depicted in fig. 5, whether the agricultural machine 200 performs the subsoiling operation or not can be known through the real-time inclination angle of the implement 210, and the time of the subsoiling operation can be recorded in real time, so that the accuracy of the subsoiling operation recording is improved. For details, reference may be made to specific embodiments of the state identification method described above, and details are not described here.
The terminal device 100 provided in the embodiment of the present application may include the state identification system 300, and for the state identification system 300, reference is specifically made to the specific description of the embodiment shown in fig. 5, which is not described herein again.
Based on the same concept, the embodiment of the application also provides a storage medium. The readable storage medium stores therein computer instructions, which when executed on the terminal device 100, enable the terminal device 100 to execute the state identification method provided by the foregoing embodiment.
It will be evident to those skilled in the art that the application is not limited to the details of the foregoing illustrative embodiments, and that the present application 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 application 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.
Claims (10)
1. A method of status identification for determining the operating status of an agricultural machine, the agricultural machine having a implement, comprising:
acquiring a real-time angle value of the machine tool, wherein the real-time angle value corresponds to a real-time inclination angle of the machine tool;
determining whether the real-time angle value meets a preset condition;
if the preset condition is met, determining the current working depth of the machine tool according to the real-time angle value and the length information of the machine tool;
determining whether the working depth meets a subsoiling threshold condition;
and if the operation depth meets the subsoiling threshold value condition, recording the real-time angle value and the time for acquiring the real-time angle value.
2. The state recognition method according to claim 1, wherein the preset condition includes an angle threshold condition, the angle threshold condition including:
the real-time angle value is larger than a preset angle threshold value.
3. The state recognition method of claim 2, wherein the preset condition further comprises a time threshold condition, the time threshold condition comprising:
and the time when the real-time angle value is greater than the angle threshold value is greater than a preset time threshold value.
4. The state recognition method according to claim 2, characterized in that the state recognition method further comprises:
acquiring a reference angle value of the machine tool;
wherein, the reference angle value is the inclination angle value of the implement when the agricultural machine is not operating;
the real-time angle value is the difference value between the real-time inclination angle of the machine tool and the reference angle value.
5. The state recognition method according to claim 4, characterized in that the state recognition method further comprises:
obtaining a subsoiling angle value of the machine tool;
the subsoiling angle value corresponds to the inclination angle of the implement when the agricultural machine carries out subsoiling operation;
the subsoiling angle value is the difference value between the inclination angle of the machine during subsoiling operation and the reference angle value.
6. The state recognition method of claim 5, wherein the angle threshold is equal to a product of the subsonic angle value and a preset ratio.
7. The state recognition method of claim 1, wherein the state recognition method further comprises:
acquiring the length information of the machine tool.
8. A state recognition system for implementing the state recognition method according to any one of claims 1 to 7, comprising:
the acquisition module is used for acquiring the real-time angle value;
the determining module is used for determining whether the real-time angle value meets the preset condition or not;
the operation module is used for determining the current operation depth of the machine tool according to the real-time angle value and the length information of the machine tool when the real-time angle value meets the preset condition;
the determination module is further to determine whether the working depth satisfies the subsoiling threshold condition;
and the recording module is used for recording the real-time angle value and the time for acquiring the real-time angle value when the operation depth meets the subsoiling threshold condition.
9. A terminal device, comprising:
the angle sensing device is used for sensing the inclination angle of the implement;
a memory for storing a computer program;
a processing system for executing the computer program stored by the memory, the processor being adapted to perform the state recognition method of any of claims 1-7 when the computer program is executed.
10. A storage medium, characterized in that the storage medium comprises computer instructions which, when run on a terminal device, cause the terminal device to perform the state recognition method according to any one of claims 1-7.
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