CN207135464U - A kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor - Google Patents
A kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor Download PDFInfo
- Publication number
- CN207135464U CN207135464U CN201721127265.3U CN201721127265U CN207135464U CN 207135464 U CN207135464 U CN 207135464U CN 201721127265 U CN201721127265 U CN 201721127265U CN 207135464 U CN207135464 U CN 207135464U
- Authority
- CN
- China
- Prior art keywords
- sensors
- sensor
- camera
- main frame
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Traffic Control Systems (AREA)
Abstract
The utility model discloses a kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor, it includes on-vehicle host；Depth transducer；Forward and backward camera；Monitoring management platform and cell-phone customer terminal, described on-vehicle host is installed on the left front in driver's cabin, and by sucker suction at windshield glass, for real time inspection system mode and job information, described depth transducer includes：No. 1 sensor, No. 2 sensors, No. 3 sensors, No. 1 sensor are installed on the horizontal floor in driver's cabin, and No. 2 sensors are installed on the lower pull bar that tractor is connected with equipment, and No. 3 sensors are installed on equipment crossbeam；Described front camera and rear camera, it is respectively arranged in front and rear on the outside of driver's cabin on the outside of the driving of vehicle.The utility model the utility model can the job information such as monitoring resultses information, tilling depth, job state, operation geographical position automatically, by platform uniform management, reduce the labor intensity of personal monitoring.
Description
Technical field
It the utility model is related to agricultural machinery working quality-monitoring technical field, more particularly to a kind of complexity based on multisensor
Landforms agricultural machinery tilling depth monitoring system.
Background technology
With being stepped up for mechanization of agriculture area coverage, agricultural machinery working monitoring turns into primarily to be treated in current agricultural field
Solve the problems, such as, rationally monitor agricultural machinery working state, agricultural machinery working quality can be effectively improved.At present, industry is turned into agricultural machinery
Exist operation process can not scientific monitor, the problems such as artificial monitoring cost is excessive, cut during personal monitoring and labor intensity be present
Greatly, the shortcomings of efficiency is low, error is big, real-time can not ensure.At present, portioned product enters to agricultural machinery working state
Row monitoring, but there is also some problems.Such as：Involve the data such as the Sensor monitoring depth of implements such as echelette using ultrasound.
Such monitoring mode, is had a great influence by ground flat degree, and measurement accuracy is low, and error has larger randomness.Ultrasonic sensor
, can not accurate measurement operation tilling depth and echelette sensor is had a great influence by operation ground stalk with soil block.In current city
In product known to, there is portioned product to be monitored using angular transducer by mathematical modeling to tilling depth, made using equipment
The corresponding relation of angle change and tilling depth carries out counting acquisition during industry, but such product is ploughed using the monitoring of single angular transducer
Hillside fields, mountain region, non-flat land block monitoring error are increased during deep operation, can not meet the needs of operation geomorphology diversity.Therefore,
Emphasis of the present invention solves problem above, proposes multisensor agricultural machinery working monitoring system, solves agricultural machinery working state under more landforms
Monitoring problem.
Utility model content
The purpose of this utility model is to provide a kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor, and this is
System disclosure satisfy that under Various Complex landforms to the accurate measurements of agricultural machinery working, reduces personal monitoring's cost, it is accurate to improve monitoring
Property.
In order to solve the problems, such as that prior art is present, the technical solution adopted in the utility model is：
A kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor, includes on-vehicle host；Depth transducer；
Forward and backward camera；Monitoring management platform and cell-phone customer terminal, described on-vehicle host are installed on the left front in driver's cabin, lead to
Sucker suction is crossed at windshield glass, for real time inspection system mode and job information, described depth transducer bag
Include：No. 1 sensor, No. 2 sensors, No. 3 sensors, No. 1 sensor are installed on the horizontal floor in driver's cabin, No. 2 sensings
Device is installed on the lower pull bar that tractor is connected with equipment, and No. 3 sensors are installed on equipment crossbeam；Described front and rear shooting
Head, it is respectively arranged in front and rear on the outside of driver's cabin on the outside of the driving of vehicle.
The chip internal of described No. 1 sensor, No. 2 sensors and No. 3 sensors integrates 3 axle acceleration sensors, 3 axles
Gyroscope, 3 axle magnetometers.Working truck and equipment operation posture are obtained by sensor, for monitoring resultses depth calculation.
Described main frame is connected by main utilizing camera interface, secondary utilizing camera interface with camera；Main frame is internally integrated 4G
Communication module, 4G communication modules are connected with SIM card module by data/address bus, for being communicated with server；LCD with
LED constitutes alarm indication and the data prompts unit of system；Main frame has been internally integrated depth transducer interface, is connect by this
Mouth is attached with sensor, and main frame has been internally integrated TF card, for storage host work data information；What main frame was internally integrated
GPS module, geographical location information and driving information during for obtaining vehicle operation.
Advantage possessed by the utility model is with effect:
A kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor of the utility model, due to including vehicle-mounted master
Machine, depth transducer, front camera and rear camera, monitoring management platform and cell-phone customer terminal, on-vehicle host include：Communication module, storage
The functional units such as module, clock module, display module, key-press module；Sensor possesses monitoring vehicle and equipment posture function,
And the sensor side of possessing dismantles warning function, effectively prevent from changing equipment and sensor installation shape privately in unauthorized situation
State；The utility model uses front camera and rear camera Collecting operation ambient image information, ensures that farmland environment meets related operation or work standard
While monitor equipment job state and operation performance in real time.The utility model can automatically monitoring resultses information, plough
The job informations such as depth, job state, operation geographical position, by platform uniform management, reduce the labor intensity of personal monitoring.This
Utility model can gather comprehensively to key messages such as tilling depth, working areas, reduce manual measurement error, and it is reliable to improve data
Property.Suitable for Various Complex landforms ploughing work, the several work such as hillside fields, mountain region, paddy field, forest land environmental demand can be completed.
For the utility model due to having complete alarm system, the running status of the timely monitoring system of energy, sensor possesses anti-disassembling function,
Effectively prevent from changing the problems such as sensor causes to measure inaccuracy privately, strengthening system reliability.The utility model adapts to not
With flatness ground, it is possible to prevente effectively from digging measurement error caused by soil during equipment operation.
Brief description of the drawings
The utility model is described in further detail below in conjunction with the accompanying drawings：
Fig. 1 is the view that the utility model is arranged on agricultural machinery；
Fig. 2 is the structural representation of main frame.
Embodiment
The utility model is further elaborated with reference to specific embodiment, but protection model of the present utility model
Enclose and do not limited by specific embodiment, is defined by claims.In addition, with without prejudice to before technical solutions of the utility model
Put, any modifications or changes that the those of ordinary skill in the art made to the utility model easily realize fall within this reality
Within new right.
As shown in figure 1, a kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor of the utility model, including car
Carry main frame 1, depth transducer and camera；Main frame 1 is installed on the left front in vehicle drive room during installation, passes through sucker suction
At windshield glass, for real time inspection system mode, job state and job information are shown.Main frame includes CPU7, master
Utilizing camera interface 8, secondary utilizing camera interface 9, SIM card 10, LCD11, LED12, mu balanced circuit 13, depth transducer interface 14, TF
Card 15, RTC clock 16, GPS module 17,4G communication modules 18, film key 19.Depth transducer includes No. 1 sensor 2,2
Number 4, No. 1 sensor 2 of sensor 3 and No. 3 sensors is installed in vehicle drive room entirely on plate, and sensor is advanced with vehicle
Direction is parallel, and No. 1 sensor input is connected with main frame by connecting line；No. 2 sensors 3 are installed on the drop-down of equipment and vehicle
In connecting rod, No. 2 sensor inputs are connected with No. 1 sensor output by connecting line；No. 3 sensors 4 are installed on equipment
At crossbeam, the input of No. 3 sensors is connected by connecting line with No. 2 sensor outputs；Preceding camera 5 is installed on vehicle
Front, position as shown in Figure 1, preceding camera are connected by connecting line with main frame on the outside of driver's cabin；Rear camera is installed on driving
Outside rear, position as shown in Figure 1, rear camera are connected by connecting line with main frame.Preceding camera 5 is with being used for shooting operation
State before block operation, for achieving and judging improving straw mulching rate；For after shooting operation bulk state and the monitoring of rear camera 6
Equipment state, ensure that equipment meets normal operation requirement, it is ensured that equipment is not changed privately.
Described No. 1 sensor, No. 2 sensors and No. 3 sensor internals use compound chip, and chip internal integrates 3 axles
Acceleration transducer, 3 axle gyroscopes, 3 axle magnetometers.Working truck and equipment operation posture are obtained by sensor, for supervising
Depth of implements is surveyed to calculate.The parameters such as the different directions acceleration of gravity obtained according to No. 1 sensor and No. 2 sensors, can sentence
The current body gesture of disconnected vehicle and course angle etc., by posture evaluation algorithm, calculate vehicle under current farmland environment
Operation posture is correcting the depth information calculated.Cooperated, can calculated using No. 3 sensors and No. 2 sensors
The current job state of equipment, depth of implements, the significant data such as tilt, and coordinates the attitude updating algorithm of vehicle body, finally obtains
Obtain accurate job information.Depth transducer possesses anti-disassembling function, and the sensor after installing is in the case of without permission
During by dismounting change privately, sensing will send warning message, ensure the high reliability and accuracy of system.
Equipment needs that equipment is carried out to initialize installation and calibration after installing, and is inputted using installation client-side program
Equipment basic parameter, such as：After the information such as equipment parameter, machine hand essential information, information of vehicles, on-vehicle host is authorized to carry out initial
Change installation；By button on main frame during installation, Installation Modes are operated into main frame, and pacified according to specific prompting
Fill flow；For main frame after installation procedure has been performed, main frame will record the elemental operation information of vehicle and equipment, now lead
Machine can monitor the job state of equipment, and vehicle now is carried out into actual job, and measure actual job depth and monitoring
Whether depth is consistent, and certain error such as be present can be calibrated by mobile phone terminal offer calibration flow to main frame, ensure monitoring number
According to preparation, and after installation calibrating is completed, close installation and authorize, prevent from changing configuration parameter when maloperation.
As shown in Fig. 2 main frame is connected by main utilizing camera interface 8, secondary utilizing camera interface 9 with camera, operation is obtained
When vehicle before and after image information, ensure that operation plot meets job requirements and ensures that work opportunity tool job state is qualified；It is main
Machine is internally integrated 4G communication modules 18, and the module is connected with SIM card module 10 by data/address bus, for being carried out with server
Communication, work data is reported with obtaining server controls order；LCD11 constitutes system with LED12 two parts functional units
Alarm indication and data prompts unit, it is mainly used in showing major parameter during operation, when operation does not meet relevant criterion,
Main frame will notify machine hand to be adjusted job state by screen and led two ways, prevent that long working is not up to standard
Phenomena such as occur, can ensure can clearly see alarm under sunburst direct projection using the advantages of the two ways
Information；Main frame has been internally integrated depth transducer interface 14, is attached by the interface with sensor, can determine during host work
When to sensor obtain current work needed for parameter, ensure the accuracy and real-time of data.Main frame has been internally integrated TF card 15,
For storage host work data information, prevent due to phenomena such as causing data upload to lose when 4G signals are bad, and
Again the data reported not successfully are uploaded after communication recovery；The GPS module 17 that main frame is internally integrated, during for obtaining vehicle operation
Geographical location information and driving information, coordinate the work data of collection, platform can completely monitor operation overall process.
During operation, main frame leads to the real-time monitoring data message such as equipment and the job state of vehicle and tilling depth, main frame
Cross No. 1 sensor and obtain vehicle attitude, judge the terrain information of vehicle present position, by with No. 2 sensors, No. 3 sensors
Data fusion is carried out, vehicle is solved in measurement error caused by uneven terrain operation, greatly improves the system differently
Applicability under looks.When equipment is in operation because when soil hardness, which does not also result in equipment, produces large magnitude vibrations, No. 2 pass
Sensor and No. 3 sensors cooperate, and monitor the job state of equipment in real time, by the adaptive algorithm inside main frame, accurately
The information such as current tilling depth are obtained, improve the accuracy of Monitoring Data.
By the d GPS locating module inside on-vehicle host, geographical position and vehicle traveling information when obtaining operation, pass through
Wireless communication module inside main frame uploads onto the server real-time positioning information platform, and platform is believed according to the traveling-position of vehicle
The job information such as breath and tilling depth, the detailed data of agricultural machinery working is carried out by finishing analysis by adaptive algorithm, generation is available for
Derived operation detailed account.
Described monitoring management platform is used for all working truck information of real-time management, passes through platform of internet of things, Neng Gouzhi
The operation simultaneously of more operation agricultural machinery is held, there is high concurrent, high stability.The platform allows user to be made by website
Industry state information searching；Platform carries out finishing analysis to all work datas, calculates the information such as working area, plot, supports institute
There is job information to be exported with statement form；High-precision areal calculation algorithm is included inside management platform, to working area
Accurately calculated；Alert detecting system monitors main frame job state in real time, prompts notice machine hand pair to set in time during system exception
It is standby to be checked.
Described cell-phone customer terminal refers to the agro-machine monitor mobile phone application app being installed in machine hand mobile phone, it is allowed to machine hand with
When check the specifying information to have fulfiled assignment.Cell-phone customer terminal is mainly used in real-time query job history information, specifically includes：Make
Industry position, area, tilling depth, qualification rate, backset area, area of balking, equipment alarm information etc..Can be real by cell-phone customer terminal
When obtain current vehicle location information, monitor vehicle running orbit and job state.
It is last it should be noted that, above example is only illustrating the technical solution of the utility model and unrestricted, ginseng
The utility model is described in detail according to preferred embodiment, it will be understood by those within the art that, can be to this
The technical scheme of utility model is modified and equivalent substitution, without departing from the spirit and scope of technical solutions of the utility model,
It all should cover in right of the present utility model.
Claims (3)
1. a kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor, includes on-vehicle host；Depth transducer；
Forward and backward camera；Monitoring management platform and cell-phone customer terminal, it is characterised in that：Described on-vehicle host is installed in driver's cabin
Left front, by sucker suction at windshield glass, for real time inspection system mode and job information, described depth
Degree sensor includes：No. 1 sensor, No. 2 sensors, No. 3 sensors, No. 1 sensor are installed on the horizontal floor in driver's cabin
On, No. 2 sensors are installed on the lower pull bar that tractor is connected with equipment, and No. 3 sensors are installed on equipment crossbeam；Described
Front camera and rear camera, it is respectively arranged in front and rear on the outside of driver's cabin on the outside of the driving of vehicle.
2. a kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor according to claim 1, its feature exist
In：The chip internal of described No. 1 sensor, No. 2 sensors and No. 3 sensors integrates 3 axle acceleration sensors, 3 axle gyros
Instrument and 3 axle magnetometers.
3. a kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor according to claim 1, its feature exist
In：Described main frame is connected by main utilizing camera interface, secondary utilizing camera interface with camera；Main frame is internally integrated 4G communication moulds
Block, 4G communication modules are connected with SIM card module by data/address bus, for being communicated with server；LCD and LED is formed
The alarm indication of system and data prompts units；Main frame has been internally integrated depth transducer interface, by the interface with passing
Sensor is attached, and main frame has been internally integrated TF card, for storage host work data information；The GPS moulds that main frame is internally integrated
Block, geographical location information and driving information during for obtaining vehicle operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721127265.3U CN207135464U (en) | 2017-09-05 | 2017-09-05 | A kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721127265.3U CN207135464U (en) | 2017-09-05 | 2017-09-05 | A kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207135464U true CN207135464U (en) | 2018-03-27 |
Family
ID=61677233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721127265.3U Active CN207135464U (en) | 2017-09-05 | 2017-09-05 | A kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207135464U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109813271A (en) * | 2019-02-14 | 2019-05-28 | 河北信翔电子有限公司 | A kind of agricultural machinery and implement depth of implements calculation method |
| CN111279840A (en) * | 2020-02-28 | 2020-06-16 | 莱州市华弘机械有限公司 | Intelligent furrow opener and intelligent ditching depth regulating method and system thereof |
| CN114608439A (en) * | 2022-03-15 | 2022-06-10 | 牧星智能工业科技(上海)有限公司 | Multi-sensor fused agricultural machinery working area accurate measurement system |
| CN116686438A (en) * | 2023-08-02 | 2023-09-05 | 济宁中堃农业机械科技有限公司 | Deep ploughing machine ploughing depth monitoring and foreign matter sensing system |
| CN114608439B (en) * | 2022-03-15 | 2024-05-31 | 牧星智能工业科技(上海)有限公司 | Agricultural machinery operation area accurate measurement system with multiple sensors integrated |
-
2017
- 2017-09-05 CN CN201721127265.3U patent/CN207135464U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109813271A (en) * | 2019-02-14 | 2019-05-28 | 河北信翔电子有限公司 | A kind of agricultural machinery and implement depth of implements calculation method |
| CN109813271B (en) * | 2019-02-14 | 2020-08-28 | 河北信翔电子有限公司 | Method for calculating operation depth of agricultural implement |
| CN111279840A (en) * | 2020-02-28 | 2020-06-16 | 莱州市华弘机械有限公司 | Intelligent furrow opener and intelligent ditching depth regulating method and system thereof |
| CN114608439A (en) * | 2022-03-15 | 2022-06-10 | 牧星智能工业科技(上海)有限公司 | Multi-sensor fused agricultural machinery working area accurate measurement system |
| CN114608439B (en) * | 2022-03-15 | 2024-05-31 | 牧星智能工业科技(上海)有限公司 | Agricultural machinery operation area accurate measurement system with multiple sensors integrated |
| CN116686438A (en) * | 2023-08-02 | 2023-09-05 | 济宁中堃农业机械科技有限公司 | Deep ploughing machine ploughing depth monitoring and foreign matter sensing system |
| CN116686438B (en) * | 2023-08-02 | 2023-10-27 | 济宁中堃农业机械科技有限公司 | Deep ploughing machine ploughing depth monitoring and foreign matter sensing system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10885481B2 (en) | Agricultural work management system and agricultural crop harvester | |
| CN207135464U (en) | A kind of complex landform agricultural machinery tilling depth monitoring system based on multisensor | |
| US10416314B2 (en) | Machine control system and method | |
| JP6384848B1 (en) | Agricultural cultivation method | |
| CN104737214B (en) | United reaper and combining machine management system | |
| EP2883020B1 (en) | Systems and methods for control, monitoring and mapping of agricultural applications | |
| CN104936430B (en) | Agricultural working machine, agricultural operation management method | |
| CN106352822B (en) | Real-time monitoring system for working tilling depth of agricultural implement | |
| CN104932359A (en) | Vehicle remote unattended loss assessment system based on CAE technology and loss assessment method thereof | |
| WO2012091843A2 (en) | Systems and methods for evaluating range sensor calibration data | |
| CN112815907B (en) | Vehicle wading monitoring method, device and system, computer equipment and storage medium | |
| CN105987679A (en) | Remote real-time monitoring system for agricultural machinery subsoiling work and area measurement and calculation method | |
| CN107561570B (en) | A kind of position and orientation measurement method and system of articulated vehicle | |
| BR102021020771A2 (en) | System and method for quantification of spray quality | |
| EP1876420B1 (en) | Three dimensional terrain mapping | |
| CN104034332A (en) | Kalman filtering-based method for estimating attitude angle of rescue wrecker | |
| CN105759078A (en) | Triaxial self calibration method and device for vehicle-mounted acceleration sensor | |
| CN106403988A (en) | Automatic surveying and mapping system and surveying and mapping method for vehicle-mounted cultivated land topography | |
| AU2014277805B2 (en) | System and method for determining ground speed of machine | |
| JP6827365B2 (en) | Work vehicle | |
| CN206160968U (en) | Agricultural implement operation tilling depth real -time monitoring system | |
| JP6320498B2 (en) | Farm machine and farm work management program | |
| CN212623109U (en) | A equipment for detecting agricultural machinery operation quality and operation area | |
| JP2021080788A (en) | Rollover risk presentation apparatus and rollover risk presentation method | |
| CN208156515U (en) | The hand-held mapping integrated apparatus in unmanned aerial vehicle station |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |