CN115104385B - State identification method, system, terminal equipment and storage medium - Google Patents
State identification method, system, terminal equipment and storage medium Download PDFInfo
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- CN115104385B CN115104385B CN202210088990.3A CN202210088990A CN115104385B CN 115104385 B CN115104385 B CN 115104385B CN 202210088990 A CN202210088990 A CN 202210088990A CN 115104385 B CN115104385 B CN 115104385B
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000015654 memory Effects 0.000 claims description 27
- 238000012545 processing Methods 0.000 claims description 19
- 238000004590 computer program Methods 0.000 claims description 6
- 239000002689 soil Substances 0.000 description 21
- 238000004891 communication Methods 0.000 description 19
- 238000010586 diagram Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000035699 permeability Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
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- 230000002452 interceptive effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
- 238000010223 real-time analysis Methods 0.000 description 1
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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
- G07—CHECKING-DEVICES
- 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 tool, and the state identification method comprises the following steps: acquiring a real-time angle value of the tool, wherein the real-time angle value corresponds to a real-time inclination angle of the tool; determining whether the real-time angle value meets a preset condition; if the preset condition is met, determining the operation depth of the current tool according to the real-time angle value and the length information of the tool; determining whether the operation depth meets a subsoiler threshold condition; and if the operation depth meets the subsoiler threshold condition, recording the real-time angle value and the time for acquiring the real-time angle value. Whether the agricultural machinery performs 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 the subsoiling operation recording is improved.
Description
Technical Field
The present application relates to the field of agricultural machinery operation, and more particularly, to a state identification method, system, terminal device, and storage medium.
Background
In the agricultural field, in order to improve the quality of cultivated land, subsoiling operations are often performed on the land by means of agricultural machinery with an implement. When recording the soil area of the subsoiling operation, the depth to which the implement of the agricultural machine is inserted into the soil may vary depending on the operation of the agricultural machine, and thus, there is a case where a part of the soil is recorded as having undergone the subsoiling operation without undergoing the subsoiling operation during the subsoiling operation, and therefore, there is a defect that the recording accuracy of the subsoiling operation is insufficient.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a state identification method, a system, a terminal device, and a storage medium, which can acquire whether an agricultural machine performs a subsoiling operation through a real-time inclination angle of an implement, record a time point of the subsoiling operation in real time, and improve accuracy of the subsoiling operation record.
In a first aspect, embodiments of the present application provide a method for determining a working state of an agricultural machine, the agricultural machine being provided with an implement, comprising: acquiring a real-time angle value of the tool, wherein the real-time angle value corresponds to a real-time inclination angle of the tool; determining whether the real-time angle value meets a preset condition; if the preset condition is met, determining the current operation depth of the tool according to the real-time angle value and the length information of the tool; determining whether the job depth meets a subsoiler threshold condition; and if the working depth meets the subsoiler threshold 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, where the time threshold condition includes: and the time that the real-time angle value is larger than the angle threshold value is larger 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 an inclination angle value of the machine tool when the agricultural machine does not operate; 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; wherein, the subsoiling angle value corresponds to the inclination angle of the machine tool when the agricultural machine performs subsoiling operation; the subsoiler angle value is the difference value between the inclination angle and the reference angle value during subsoiler operation of the machine tool.
Optionally, the angle threshold is equal to a product of the subsoil angle value and a preset ratio.
Optionally, the state identification method further includes: the length information of the implement is obtained.
In a second aspect, embodiments of the present application provide a state recognition system, configured to implement a state recognition method according to any one of the foregoing methods, 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 tool according to the real-time angle value and the length information of the tool when the real-time angle value meets the preset condition; the determining module is further configured to determine whether the job depth meets the deep scarification 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 working depth meets the subsoiler threshold condition.
In a third aspect, embodiments of the present application provide a terminal device, including: the angle sensing device is used for sensing the inclination angle of the tool; 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 identification method as claimed in any one of the preceding claims when the computer program is executed.
In a fourth aspect, embodiments of the present application provide a storage medium comprising computer instructions which, when run on a terminal device, cause the terminal device to perform a state identification method as described above.
According to the state identification method, the state identification system, the terminal equipment and the storage medium, whether the agricultural machinery performs deep scarification operation or not at present is obtained through real-time analysis and operation of the inclined angle of the machine tool, the time point of the deep scarification operation is recorded after the deep scarification operation of the agricultural machinery, and the accuracy of the deep scarification operation recording 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 recognition method in an embodiment of the present application.
Fig. 4 is another flowchart of a state recognition method in an embodiment of the present application.
Fig. 5 is a schematic diagram of a state recognition method in an embodiment of the present application.
Description of the main reference signs
Terminal device 100
Agricultural machinery 200
Implement 210
State recognition system 300
Angle sensing device 10
Memory 20
Processor 30
Remote server 40
Communication device 50
Implement identification device 60
Data processing device 70
Image pickup device 80
Positioning device 90
Acquisition module 110
Determination module 120
Operation module 130
Recording module 140
Detailed Description
The technical solutions in the implementation manner of the present application will be clearly and completely described below with reference to the drawings in the implementation manner of the present application, and it is obvious that the described implementation manner is only a part of the implementation manner of the present application, not all the implementation manners.
Referring to fig. 1, fig. 1 is a schematic diagram of a terminal device 100 according to an embodiment of the present application.
It will be appreciated that the terminal device 100 may be mounted on an agricultural machine 200 (shown in fig. 2) for performing a scarification operation, or communicatively coupled to the agricultural machine 200, as embodiments of the present application are not limited in this regard.
Referring to fig. 2, in some scenarios, the agricultural operation needs to perform a soil loosening operation on the land by the agricultural machine 200, which may be a subsoiling operation. The agricultural machine 200 is provided with a rotatable tool 210, the bottom end of the tool 210 can be inserted into or removed from the soil according to the change of the inclination angle of the tool 210, and the depth of the bottom end of the tool 210 inserted into the soil can be changed along with the rotation of the tool 210.
It is understood that subsoiling operation refers to soil loosening operation beyond normal plowing depth, and is used to break a hard plow layer in the ground, deepen the plowing layer, increase air permeability and water permeability of the soil, and improve root growth environment of crops.
It will be appreciated that when the agricultural machine 200 is running and running on the land, the bottom end of the implement 210 may confirm that the depth of the implement 210 inserted into the soil meets the requirement of the subsoiling operation when the depth of the implement inserted into the soil reaches a preset subsoiling threshold, i.e., the current operation of the agricultural machine 200 is the subsoiling operation.
In one embodiment, the terminal device 100 may include an angle sensing means 10, a memory 20, a processing system and a communication means 50.
The angle sensing device 10 may be fixedly installed on the implement 210, and the angle sensing device 10 may sense an inclination angle of the implement 210 when the implement 210 rotates.
The angle sensing device 10 may be, for example, but not limited to, an attitude sensor.
The processing system may include a processor 30 and a remote server 40, 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 program.
In one embodiment, the processor 30 is fixedly mounted to the agricultural machine 200.
The Memory 20 may be, but is not limited to, a read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a random access Memory (random access Memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-Only Memory (Electrically Erasable Programmable Read-Only Memory, EEPROM), a compact disc read-Only Memory (Compact Disc Read-Only Memory) or other optical disk storage, optical disk 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.
The communication means 50 are for communicating with other devices or communication networks, such as ethernet, radio Access Network (RAN), wireless local area network (Wireless Local Area Networks, WLAN), etc.
In this embodiment, the remote server 40 and the processor 30 are connected in communication through the communication device 50, so as to implement signal transmission between the remote server 40 and the processor 30.
In one embodiment, the terminal device 100 is provided with a plurality of memories 20, where at least one memory 20 is communicatively connected to the processor 30, at least one memory 20 is communicatively connected to the remote server 40, and a plurality of the servers are used to store application program codes for executing the 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 by a communication bus and perform communication with each other, and the remote server 40 and at least one of the memories 20 may be connected by a communication bus and perform communication with each other, and the processor 30 communicatively connected to the processor 30 and the remote server 40 may be different from the 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 one of the memories 20.
It will be appreciated that the processor 30 and the remote server 40 are operative to execute some or all of the application code stored in the plurality of memories 20 to perform the state recognition method.
In some embodiments, the terminal device 100 may further include an implement identifying device 60, where the implement identifying device 60 may be communicatively connected to the processor 30 through a communication bus, the implement identifying 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, according to the obtained information of the agricultural machine 200, an angle range in which the implement 210 needs to rotate when the agricultural machine 200 performs the subsoiling operation.
It is understood that the information identified by the implement identification device 60 may include, but is not limited to, the model, length, power, speed of the agricultural implement 200, the length of the implement 210 on the agricultural implement 200, and the like.
In some embodiments, the terminal device 100 may further include a data processing device 70, where the data processing device 70 may be respectively communicatively connected to the angle sensing device 10, the processor 30, and the implement identifying device 60 through a communication bus, and the data processing device 70 may pre-process signals output by the angle sensing device 10 and the implement identifying device 60, and then transmit the processed signals to the processor 30 for analysis and processing.
For example, the data processing device 70 may perform preprocessing on the signals output by the angle sensing device 10 and the tool recognition device 60, and may specifically be, but not limited to, smoothing, digital-to-analog conversion, etc.
In some embodiments, the terminal device 100 may further include a camera device 80, where the camera device 80 may be fixedly mounted on the agricultural machine 200 and communicatively connected to the processor 30 through a communication bus. The camera device 80 may 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 effects to the remote server 40 through the processor 30 and the communication device 50 for viewing by staff.
In some embodiments, the terminal device 100 may further include a positioning device 90, where the positioning device 90 may be fixedly mounted on the agricultural machine 200, and the positioning device 90 is used to determine a position of the agricultural machine 200 in operation, so as to determine a position of the agricultural machine 200 when working.
It will be appreciated that, when the agricultural machine 200 performs the subsoiling operation, the processor 30 may obtain, through the positioning device 90, a position where the agricultural machine 200 starts the subsoiling operation and a position where the subsoiling operation ends, so as to perform calculation and determination on the subsoiling operation area of the agricultural machine 200.
The positioning device 90 may be, for example, but not limited to, a global navigation satellite system (Global Navigation Satellite System, GNSS) device.
It will be appreciated that the terminal device 100 may determine whether the agricultural machine 200 is in a subsoiler operation state by operating the state recognition method such that the inclination angle of the implement 210 sensed by the angle sensing device 10.
Referring to fig. 3, fig. 3 is a flowchart of a state recognition method according to an embodiment of the present application.
The state recognition method of the present embodiment may include the steps of:
step S31: length information of the implement 210 is obtained.
It will be appreciated that the lengths of the tools 210 of the agricultural machines 200 of different models are different from each other, so that it is necessary to obtain the length information of the tools 210 first when recognizing the operation state of the agricultural machines 200, and the inclination angle range of the tools 210 can be calculated when the agricultural machines 200 perform the subsoiling operation by calculating the length information and the operation depth required for the subsoiling operation.
In some embodiments, the length information of the implement 210 may require manual entry by a worker through an interactive device communicatively coupled to the processor 30 or the remote server 40.
For example, the operator may measure the length of the tool 210 in advance, and then input the measured length value in a 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 identification device 60, and the implement identification device 60 may output the length information by identifying the information of the agricultural implement 200.
In some embodiments, the operation subject of step S31 may be the remote server 40, where the remote server 40 obtains the length information, and according to the length information and the depth requirement of the subsoiling operation, the angle range of the implement 210 rotating during the subsoiling operation of the agricultural machine 200 may be calculated.
Step S32: a reference angle value of the implement 210 is obtained.
It will be appreciated that the reference angle value corresponds to the tilt angle of the agricultural machine 200 when not in operation, i.e., the implement 210 is not inserted into the soil. In the embodiment of the present application, the terminal device 100 may obtain the reference angle value through the angle sensing device 10.
In some embodiments, the execution body of step S32 may be the processor 30, when the agricultural machine 200 is not working, the angle sensing device 10 outputs reference sensing information to the data processing device 70 by sensing the inclination 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 will be appreciated that the angle of specific rotation of the implement 210 may be known by calculating the current tilt angle of the implement 210 from the reference angle while the implement 200 is in operation.
Step S33: a deep-loosening angle value of the implement 210 is obtained.
It is understood that the subsoiler angle value corresponds to an angle at which the agricultural machine 200 performs a subsoiler operation, and that the depth of the implement 210 inserted into the soil satisfies the subsoiler threshold condition when the inclination angle of the implement 210 is equal to or corresponds to the subsoiler angle value. In the embodiment of the present application, the terminal device 100 may obtain the deep scarification angle value through the angle sensing apparatus 10.
It will be appreciated that the subsoiler condition may specifically be that the depth of the implement 210 inserted into the soil is within a preset value range, that is, when the depth of the implement 210 inserted into the soil meets the subsoiler condition, the depth of the implement 210 inserted into the soil and the inclination angle of the implement 210 may be varied within a certain range.
For example, the subsoiling threshold condition may specifically be that the depth of insertion of the implement 210 into the soil is greater than a predetermined depth threshold.
It will be appreciated that when the agricultural machine 200 is operated, an operator may operate the implement 210 to rotate such that the inclination angle of the implement 210 reaches a maximum value, at which time the implement 210 is inserted into the soil, and the depth of the implement 210 inserted into the soil is greater than the preset depth threshold. Therefore, before the agricultural machine 200 performs the operation, the operator may control the implement 210 to rotate to the maximum tilting angle that can be reached, and the subsoiler angle value obtained at this time may be determined to correspond to the tilting angle that can be reached by the implement 210 when the agricultural machine 200 performs the subsoiler operation.
In some embodiments, the execution body of step S33 may be the processor 30, when the agricultural machine 200 does not perform the operation, the operator controls the implement 210 to rotate, so that the inclination angle of the implement 210 reaches the maximum value, then the angle sensing device 10 outputs the upper limit sensing information to the data processing device 70 by sensing the inclination 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 subsoiler angle value by differentiating the upper limit angle value and the reference angle value.
It is understood that the deep-pitch 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 as the agricultural machine 200 is operating and performing a ripping operation. In the embodiment of the present application, the terminal device 100 may obtain the real-time angle value through the angle sensing device 10.
In some embodiments, the execution body of step S34 may be the processor 30, the angle sensing device 10 outputs job sensing information to the data processing device 70 by sensing the angle of the implement 210, the data processing device 70 processes the job sensing information to generate a job angle value, and the processor 30 obtains the job angle value and obtains the real-time angle value by differentiating the job angle value and 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 during operation of the agricultural machine 200.
Step S35: determining whether the real-time angle value meets a preset condition; if yes, go to step S36; if not, returning to the step S34 to re-acquire the real-time angle value at a subsequent time point to determine whether the preset condition is satisfied.
It will be appreciated that the processor 30 may output the real-time angle values at a plurality of time points to the remote server 40 via the communication device 50 for processing and recording, and the data processing and recording efficiency of the remote server 40 may be affected by the transmission of data without filtering. By determining whether the real-time angle value satisfies the preset condition, it may be determined whether there is a possibility that the subsoiling operation is currently performed by the agricultural machine 200, so that the real-time angle value and the corresponding time point which do not satisfy the preset condition may not be transmitted.
Referring to fig. 4, the determining whether the real-time angle value meets the preset condition may be implemented by the following steps.
Step S41: and determining whether the real-time angle value is larger than an angle threshold value, if so, entering a step S42, and if so, returning to the step S34 to reacquire the real-time angle value at a subsequent time point so as to judge whether the preset condition is met.
It will be appreciated that the preset conditions may include an angle threshold condition, where the angle threshold condition may include that the real-time angle value is greater than the angle threshold, and the working depth of the implement 210 corresponding to the angle threshold, that is, a depth value of the inserted soil, may be a value less than and approximately equal to the depth threshold, or may be a value equal to the depth threshold.
It will be appreciated that the smaller the difference between the working depth and the depth threshold corresponding to the angle 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 subsoil angle value and a predetermined ratio.
It is understood that the predetermined ratio may be selected differently according to the specifications of the agricultural machine 200 and the implement 210.
It will be appreciated that the angle threshold may be determined by calculation of the subsoil angle value before the operation of step S34 after the subsoil angle value is determined in step S33.
For example, the preset proportion may be one quarter, i.e. the angle threshold may be 25% of the deep-pitch angle value.
It will be appreciated that when the subsoil angle value is obtained, the depth of the implement 210 inserted into the soil is much greater than the depth threshold, so that the product of the subsoil angle value and the preset ratio can be used as the angle threshold, and the working depth corresponding to the angle threshold can be ensured not to be greater than the depth threshold. 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 time of the real-time angle value larger than the angle threshold value is larger than a time threshold value, if so, entering a step S36, and if so, returning to the step S34 to reacquire the real-time angle value at a subsequent time point so as to judge whether the preset condition is met.
It is understood that the preset condition may further include a time threshold condition, and the time threshold condition may include a duration of time that the real-time angle value is greater than the angle threshold value, which is greater than the time threshold value.
It will be appreciated that when the agricultural machine 200 works for a long time and the real-time angle value is only momentarily larger than the angle threshold, it may be determined that the agricultural machine 200 does not perform the subsoiling operation, so that the time threshold may be set, and when the real-time angle value is larger than the angle threshold and the duration is longer than the time threshold, 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 when the angle threshold is momentarily reached is reduced, and the accuracy of land area measurement for the subsoiling operation is improved.
Step S36: the current work depth of the implement 210 is determined based on the real-time angle value and the length information of the implement 210.
It is to be understood that the main operation of step S36 may be that the remote server 40 outputs the real-time angle value to the remote server 40 through the communication device 50, and the remote server 40 may calculate the depth value of the implement 210 inserted into the soil, that is, the working depth corresponding to the real-time angle value, through the acquired length information and the real-time angle value.
In some embodiments, the processor 30 may output the real-time angle value to the remote server 40 through the communication device 50, and may record the real-time angle value and the corresponding time point locally through the memory 20 as a storage backup.
It is understood that the recorded time points corresponding to the real-time angle values may be a plurality of time nodes, or may be a time period with an all-time node.
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 location of the agricultural machine 200 is also sensed by the positioning device 90, and the generated positioning information is recorded together, so as to facilitate the area statistics of the land where the subsoiling operation is completed.
Step S37: and determining whether the operation depth meets the deep scarification threshold condition, if so, performing step S38, and if not, returning to step S34 to acquire the real-time angle value again at a subsequent time point to determine whether the preset condition is met.
It is understood that the main operation in step S37 may be the remote server 40, and the subsoiling threshold condition may be whether the working depth is within a preset value range, and if the working depth is within the preset value range, the subsoiling threshold condition is satisfied, so that it may be determined that the agricultural machine 200 is performing a subsoiling operation.
Step S38: and recording the real-time angle value and the time point for acquiring the real-time angle value.
It can be appreciated that when the agricultural machine 200 is determined to perform the subsoiling operation, the real-time angle value and the time point corresponding to the real-time angle value can be obtained and recorded, so that the calculation of the land area for performing the subsoiling operation after the operation of the agricultural machine 200 is completed is facilitated.
It is understood that the recorded time points corresponding to the real-time angle values may be a plurality of time nodes, or may be a time period with an all-time node.
In some embodiments, the operation subject of step S38 may be the remote server 40, where the remote server 40 may record the real-time angle value and a time point corresponding to the real-time angle value through the memory 20 communicatively connected to the remote server 40, and may store an image corresponding to the real-time angle value acquisition time in the processor 30, so as to facilitate recording acres of the follow-up subsoiling operation.
Referring to fig. 5, fig. 5 is a schematic diagram of a state recognition system 300 according to an embodiment of the present disclosure.
The state recognition 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 subsoiler angle value, and the real-time angle value;
the determining module 120 is configured to determine whether the fact angle value meets the preset condition, and determine whether the job depth meets the deep scarification threshold condition.
It will be appreciated that at the point in time when the real-time angle value acquisition satisfying the subsoiler threshold condition is being performed by the agricultural machine 200.
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 meets the preset condition.
The recording module 140 is configured to record a real-time angle value of the implement and a time point when the real-time angle value is obtained when the working depth of the implement meets the deep scarification threshold condition.
It should be 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 functions of the state recognition system 300.
The specific implementation of each module in the embodiments 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 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 can be improved. Details may be found in the specific embodiments of the state recognition method described above, and will not be described in detail here.
The terminal device 100 provided in the embodiment of the present application may include the above-mentioned state recognition system 300, and the specific description of the embodiment shown in fig. 5 is specifically referred to for the state recognition system 300, which is not repeated herein.
Based on the same conception, embodiments of the present application also provide a storage medium. The readable storage medium stores computer instructions that, when executed on the terminal device 100, enable the terminal device 100 to perform the state recognition method provided by the foregoing embodiments.
It will be evident to those skilled in the art that the present 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 characteristics thereof. The above-described embodiments of the application 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 (8)
1. A state identification method for determining a working state of an agricultural machine provided with an implement, comprising:
acquiring a real-time angle value of the tool, wherein the real-time angle value corresponds to a real-time inclination angle of the tool;
determining whether the real-time angle value meets a preset condition, wherein the preset condition comprises an angle threshold value condition and a time threshold value condition, the angle threshold value condition comprises that the real-time angle value is larger than a preset angle threshold value, and the time threshold value condition comprises that the real-time angle value is larger than the angle threshold value and is larger than a preset time threshold value;
if the preset condition is met, determining the current operation depth of the tool according to the real-time angle value and the length information of the tool;
determining whether the job depth meets a subsoiler threshold condition;
and if the working depth meets the subsoiler threshold condition, recording the real-time angle value and the time for acquiring the real-time angle value.
2. The state recognition method of claim 1, wherein the state recognition method further comprises:
acquiring a reference angle value of the machine tool;
wherein the reference angle value is an inclination angle value of the machine tool when the agricultural machine does not operate;
the real-time angle value is the difference value between the real-time inclination angle of the machine tool and the reference angle value.
3. The state recognition method of claim 2, wherein the state recognition method further comprises:
obtaining a subsoiling angle value of the machine tool;
wherein, the subsoiling angle value corresponds to the inclination angle of the machine tool when the agricultural machine performs subsoiling operation;
the subsoiler angle value is the difference value between the inclination angle and the reference angle value during subsoiler operation of the machine tool.
4. A state recognition method according to claim 3, wherein the angle threshold is equal to the product of the subsoil angle value and a predetermined ratio.
5. The state recognition method of claim 1, wherein the state recognition method further comprises:
the length information of the implement is obtained.
6. A state recognition system for implementing the state recognition method according to any one of claims 1-5, 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;
the operation module is used for determining the current operation depth of the tool according to the real-time angle value and the length information of the tool when the real-time angle value meets the preset condition;
the determining module is further configured to determine whether the job depth meets the deep scarification 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 working depth meets the subsoiler threshold condition.
7. A terminal device, comprising:
the angle sensing device is used for sensing the inclination angle of the tool;
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 identification method of any of claims 1-5 when the computer program is executed.
8. A storage medium comprising computer instructions which, when run on a terminal device, cause the terminal device to perform the state identification method of any of claims 1-5.
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