A power consumption test device and a test method thereof

Abstract

The present invention discloses a power consumption testing device and a testing method thereof, comprising: a frame having a first end face and a second end face opposite to each other, and the first end face is connected to an agricultural machine; a plurality of six-dimensional force sensors, one end of each of the six-dimensional force sensors is connected to the second end face, and the other end is hinged to the agricultural machine, and is used to collect the traction force signal of the agricultural machine; a torque and speed sensor, which is fixedly connected to the frame, and its output shaft has a first connecting end and a second connecting end; wherein the first connecting end is connected to the power output shaft of the agricultural machine, and the second connecting end is connected to the power output shaft of the agricultural machine, and is used to collect the torque signal and the speed signal of the agricultural machine; a speed sensor, which is installed on the frame and is used to measure the operating speed signal of the agricultural machine; a data collector, which is respectively coupled to the six-dimensional force sensor, the torque and speed sensor and the speed sensor; and a control terminal, which is coupled to the data collector.

Description

Technical Field

[0001] The present invention relates to the field of agricultural machinery and equipment, and in particular to a power consumption testing device and a testing method thereof. Background Art

[0002] At present, for driven agricultural implements, there are both driving power consumption and traction power consumption. The test parameters of traction power consumption include traction force and operating speed, and the test parameters of driving power consumption include torque and speed. The existing test methods all use discrete sensor devices to complete the test tasks. The common test methods for traction force are: the car-pulling-car method, that is, using another tractor to tow the working unit under test, using a conventional tension sensor. The disadvantage is that the drag resistance of the empty line must be tested separately to eliminate its influence. The force measuring pin method, that is, replacing the three suspension pins connecting the tractor and the agricultural implement with a single-axis force sensor, has the disadvantage that it can only test the load in a fixed direction according to the installation orientation of the sensor, and cannot reduce the influence of the force in other directions. Pseudo-sensor method: that is, the upper and lower pull rods and the lifting rod of the tractor suspension device are transformed into single-axis force sensors. During the measurement process, the angle and transient position of the rod must be measured at the same time, and the value of the traction force is calculated by analytical method. The disadvantage is that it is only applicable to the height adjustment mode (the implement is in a floating state), that is, it is simplified to an ideal two-force rod stress state. The above-mentioned test devices cannot effectively calculate the traction power consumption and the driving power consumption at the same time, and the measurement is cumbersome and the manpower cost is high. Summary of the invention

[0003] In response to the problems and needs raised above, this solution proposes a power consumption testing device, which can achieve the above technical objectives and bring about many other technical effects by adopting the following technical features.

[0004] A power consumption testing device according to a first aspect of the present invention comprises:

[0005] A frame having a first end surface and a second end surface opposite to each other, wherein the first end surface is connected to the agricultural machine;

[0006] A plurality of six-dimensional force sensors, one end of each of the six-dimensional force sensors is connected to the second end surface, and the other end is hinged to the agricultural implement, and is used to collect traction force signals of the agricultural implement;

[0007] A torque and speed sensor is fixedly connected to the frame, and its output shaft has a first connection end and a second connection end; wherein the first connection end is connected to the power output shaft of the agricultural machine, and the second connection end is connected to the power output shaft of the agricultural implement, and is used to collect torque signals and speed signals of the agricultural implement;

[0008] A speed sensor, mounted on the frame, for measuring an operating speed signal of the agricultural machine;

[0009] A data collector, which is coupled to the six-dimensional force sensor, the torque and speed sensor, and the speed sensor, respectively, and is used to receive the traction force signal, the torque signal, the speed signal, and the operating speed signal of the agricultural implement; and

[0010] The control terminal is coupled to the data collector and can calculate the traction power consumption according to the traction force signal and the operation speed signal, and calculate the driving power consumption according to the torque and speed signal.

[0011] In this technical solution, the data collector collects the traction signal of the agricultural machinery through a six-axis force sensor, the torque signal and speed signal of the agricultural machinery through a torque and speed sensor, and the operating speed signal of the agricultural machinery through a speed sensor. The control terminal receives the traction signal, torque signal, speed signal and operating speed signal, decouples the traction measured by the six-axis force sensor, calculates the traction power consumption according to the traction signal and the operating speed signal, and calculates the driving power consumption according to the torque and speed signals; the power consumption test device can effectively measure the traction power consumption and driving power consumption, reduce the influence of the vertical force and lateral force generated by the dead weight of the agricultural machinery, the friction of the connection pair, the working parts, etc. on the traction test results, make the test more accurate, reduce the test cost, shorten the test cycle, and help improve the research and development efficiency.

[0012] In addition, the power consumption test device according to the present invention may also have the following technical features:

[0013] In one example of the present invention, it further includes: a gyro acceleration sensor,

[0014] It is coupled to the data collector and is used to collect the linear acceleration and angular acceleration of the agricultural implement. The control terminal can perform data fusion processing on the linear acceleration and angular acceleration to obtain the angular difference of the agricultural implement relative to the agricultural machine.

[0015] In one example of the present invention, the gyro acceleration sensor comprises: a Kalman filter or a complementary filter,

[0016] It is used to eliminate the cumulative error generated by the angular acceleration during the integration process, and can also eliminate the influence of motion acceleration on the angle measurement of the linear accelerometer.

[0017] In an example of the present invention, the six-dimensional force sensor is connected to the frame via an adapter flange, and the adapter flange can move in the lateral direction and / or longitudinal direction of the frame.

[0018] In an example of the present invention, the adapter flange is connected to the frame through a first set of waist holes and a first set of fasteners to allow the six-axis force sensor to move along the lateral direction of the frame.

[0019] In an example of the present invention, the adapter flange is connected to the frame through a second set of waist holes and a second set of fasteners to allow the six-axis force sensor to move along the longitudinal direction of the frame.

[0020] In one example of the present invention, it further includes: a ruler,

[0021] It is installed on the frame and can measure the movement of the adapter flange in the transverse direction and / or the longitudinal direction.

[0022] In one example of the present invention, the rack comprises:

[0023] A frame part, wherein the torque and speed sensor is fixedly installed in the frame;

[0024] An extension portion formed on the outer side of the frame portion, and the six-dimensional force sensor is mounted on the extension portion;

[0025] Wherein, the first group of waist holes and the second group of waist holes are arranged on the extension part.

[0026] In one example of the present invention, the rack further comprises:

[0027] A receiving cavity formed on the frame;

[0028] A cover plate disposed on the receiving cavity;

[0029] Wherein, a sealing gasket is arranged between the cover plate and the receiving cavity.

[0030] A testing method for a power consumption testing device according to a second aspect of the present invention comprises the following steps:

[0031] S10: Connecting the first end face of the frame to the agricultural machine, and adjusting the six-dimensional force sensor of the frame to a suitable position according to the span of the agricultural machine suspension frame and the height of the column, and connecting the agricultural machine to the six-dimensional force sensor;

[0032] S20: The first connection end of the output shaft of the torque and speed sensor is connected to the power output shaft of the agricultural machine, and the second connection end is connected to the power output shaft of the agricultural implement, and the speed sensor and the gyro acceleration sensor are installed on the frame;

[0033] S30: placing the control terminal, the data collector, and the mobile power supply in the cab of the agricultural machine;

[0034] S40: connecting the six-dimensional force sensor, the torque and speed sensor, the speed sensor and the gyro acceleration sensor to the data collector, the data collector is connected to the control terminal via a network cable, and the data collector synchronization trigger line is connected to the control terminal;

[0035] S50: According to the test requirements, set the parameters of each sensor, sampling parameters and test item parameters, lift the agricultural machinery off the ground, and perform an idling test run to ensure that the agricultural machinery can run flexibly without abnormal noise and that the data collection of each sensor is normal;

[0036] S60: The agricultural machine equipped with the power consumption test device is moved to the field to perform operations, and data is collected during the operation. The control terminal displays a real-time collected data curve until the sampling is completed.

[0037] The best embodiment for carrying out the present invention will be described in more detail below with reference to the accompanying drawings so that the features and advantages of the present invention can be easily understood. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings of the embodiments of the present invention, wherein the drawings are only used to illustrate some embodiments of the present invention, but not to limit all embodiments of the present invention thereto.

[0039] Figure 1 is a front view of a power consumption testing device according to an embodiment of the present invention;

[0040] Figure 2 It is a left view of the power consumption testing device according to an embodiment of the present invention;

[0041] Figure 3 is a top view of a power consumption testing device according to an embodiment of the present invention;

[0042] Figure 4 is an exploded diagram of a power consumption testing device according to an embodiment of the present invention;

[0043] Figure 5 4 is a control principle diagram of a power consumption testing device according to an embodiment of the present invention.

[0044] List of reference numerals:

[0045] Power consumption test device 100;

[0046] Rack 10;

[0047] A first end surface 101;

[0048] A second end surface 102;

[0049] Frame portion 11;

[0050] Extension 12;

[0051] Accommodating chamber 12A;

[0052] Cover plate 12B;

[0053] The first set of waist holes 121;

[0054] A second set of waist holes 122;

[0055] Six-dimensional force sensor 20;

[0056] Signal conditioning module 21;

[0057] Torque speed sensor 30;

[0058] A first connection end 31;

[0059] A second connection end 32;

[0060] Adapter flange 40;

[0061] Scale 50;

[0062] Hinge support 60;

[0063] GNSS antenna 70;

[0064] Speed ​​sensor 80;

[0065] Gyro acceleration sensor 90;

[0066] Data collector 110;

[0067] Control terminal 120. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solution and advantages of the technical solution of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described in conjunction with the drawings of specific embodiments of the present invention. The same figure marks in the drawings represent the same parts. It should be noted that the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0069] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar words used in the patent application specification and claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not necessarily indicate a quantity limitation. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0070] According to a first aspect of the present invention, a power consumption testing device 100 is provided. Figures 1 to 5 As shown, including:

[0071] The frame 10 has a first end face 101 and a second end face 102 opposite to each other, and the first end face 101 is connected to the agricultural machine;

[0072] A plurality of six-dimensional force sensors 20, one end of each of the six-dimensional force sensors 20 is connected to the second end surface 102, and the other end is hinged to the agricultural implement, so as to collect the traction force signal of the agricultural implement;

[0073] The torque and speed sensor 30 is fixedly connected to the frame 10, and its output shaft has a first connection end 31 and a second connection end 32; wherein the first connection end 31 is connected to the power output shaft of the agricultural machine, and the second connection end 32 is connected to the power output shaft of the agricultural implement, and is used to collect the torque signal and the speed signal of the agricultural implement;

[0074] The speed sensor 80 is installed on the frame 10 and is used to measure the operating speed signal of the agricultural machine; for example, it is encapsulated in the receiving cavity 12A on the top of the frame and is equipped with a GNSS antenna 70, which is placed on the upper cover 16 through its own suction cup to receive satellite signals. It covers BDS, GPS, and GLONASS multi-frequency points. In order to reduce the obstruction of satellite signals and improve the reception effect, the antenna can be placed on the roof of the tractor. The speed measurement range is 0.3 to 30 km / h, and the maximum allowable error is ±0.1 m / s;

[0075] A data collector 110, which is coupled to the six-dimensional force sensor 20, the torque and speed sensor 30 and the speed sensor 80, respectively, and is used to receive the traction force signal, torque signal, speed signal and operation speed signal of the agricultural implement; and

[0076] The control terminal 120 is coupled to the data collector 110, and can decouple the traction force measured by the six-dimensional force sensor 20, and calculate the traction power consumption according to the traction force signal and the operating speed signal, and calculate the driving power consumption according to the torque and speed signal.

[0077] That is to say, the data collector 110 collects the traction signal of the agricultural machinery through the six-axis force sensor, the torque signal and speed signal of the agricultural machinery through the torque and speed sensor 30, and the operating speed signal of the agricultural machinery through the speed sensor 80. The control terminal 120 receives the traction signal, torque signal, speed signal and operating speed signal, decouples the traction measured by the six-axis force sensor 20, and calculates the traction power consumption according to the traction signal and the operating speed signal, and calculates the driving power consumption according to the torque and speed signals; the power consumption test device 100 can effectively measure the traction power consumption and driving power consumption, reduce the influence of the vertical force and lateral force generated by the dead weight of the agricultural machinery, the friction of the connection pair, the working parts, etc. on the traction test results, make the test more accurate, reduce the test cost, shorten the test cycle, and help improve the research and development efficiency.

[0078] Among them, the traction power consumption is: P T =FV*10 -3 , where P T is the traction power consumption, in kilowatts (KW); F is the average traction force of the operating unit passing through the measurement area, in Newton (N); V is the average speed of the operating unit passing through the measurement area, in meters per second (m / s);

[0079] Among them, the driving force power consumption is: P D =πnT / 30*10 -3 Where P D is the driving power consumption, in kilowatts (KW); T is the torque measured at the power output shaft of the agricultural machine (agricultural implement), in Newton meters (N m); n is the speed at the power output shaft of the agricultural machine (agricultural implement), in revolutions per minute (r / min);

[0080] In an example of the present invention, each six-axis force sensor 20 is coupled to a corresponding signal conditioning module 21, and the signal conditioning module 21 converts the millivolt signal of the six-axis force sensor 20 into a digital signal via AD and sends it to the data acquisition device 110 through the serial port; the signal conditioning module 21 is an optional unit, which is used for non-digital output of the six-axis force sensor signal to enhance the anti-interference capability of the signal transmission.

[0081] Preferably, the six-dimensional force sensors 20 include three.

[0082] In one example of the present invention, it further includes: a hinge support 60,

[0083] One end of the hinge support 60 is fixedly connected to the six-dimensional force sensor 20, and the other end is hingedly connected to the agricultural implement; for example, the hinge support 60 and the six-dimensional force sensor 20 are connected via a flange;

[0084] One end of the hinge support 60 is fixedly connected to the frame 10, and the other end is hingedly connected to the agricultural machine;

[0085] That is, a hinge support 60 is also provided on the first end surface 101 of the frame 10, one end of which is fixedly connected to the first end surface 101, and the other end of which is hingedly connected to the agricultural machine;

[0086] By providing the hinge support 60, the connection between the testing device and the agricultural implement or agricultural machine can be facilitated, and the reliability is high.

[0087] In one example of the present invention, it further includes: a gyro acceleration sensor 90,

[0088] It is coupled to the data collector 110 and is used to collect the linear acceleration and angular acceleration of the agricultural implement. The control terminal 120 can perform data fusion processing on the linear acceleration and angular acceleration to obtain the angle difference of the agricultural implement relative to the agricultural machine, and convert the traction force from the coordinate system of the power consumption test device to the coordinate system of the agricultural machine;

[0089] In other words, using data fusion methods to solve the posture of agricultural machinery to correct the test results is conducive to improving the accuracy of test results.

[0090] In one example of the present invention, the gyro acceleration sensor 90 includes: a Kalman filter or a complementary filter,

[0091] It is used to eliminate the cumulative error generated by the angular acceleration during the integration process, and can also eliminate the influence of motion acceleration on the angle measurement of the linear accelerometer;

[0092] When only a linear accelerometer is used to measure the angle, the motion acceleration will be superimposed on it and affect the result. It is impossible to completely eliminate the influence of motion acceleration on the linear accelerometer when measuring the angle. When only a gyroscope is used, there will be integral and cumulative errors as time goes by. After Kalman filtering or complementary filtering, a stable attitude angle can be obtained.

[0093] In an example of the present invention, the six-dimensional force sensor 20 is connected to the frame 10 via an adapter flange 40, and the adapter flange 40 can move in the lateral direction and / or longitudinal direction of the frame 10;

[0094] By moving the adapter flange 40 in the lateral direction or the longitudinal direction of the frame 10 , the matching degree between the testing device and the agricultural implement can be adjusted, thereby facilitating the connection between the testing device and the agricultural implement.

[0095] In one example of the present invention, the adapter flange 40 is connected to the frame 10 through a first set of waist holes 121 and a first set of fasteners to allow the six-axis force sensor 20 to move along the lateral direction of the frame 10;

[0096] That is to say, a plurality of first group of waist holes 121 extending along the transverse direction are arranged on the frame 10, and the positioning holes on the adapter flange 40 are adapted to the first group of waist holes 121, and the first group of fasteners are sequentially penetrated through the positioning holes and the first group of waist holes 121; the position of the adapter flange 40 can be adjusted at the first group of waist holes 121 in the transverse direction according to actual needs.

[0097] In one example of the present invention, the adapter flange 40 is connected to the frame 10 through the second set of waist holes 122 and the second set of fasteners to allow the six-axis force sensor 20 to move along the longitudinal direction of the frame 10;

[0098] That is, a plurality of second group of waist holes 122 extending in the longitudinal direction are arranged on the frame 10, and the positioning holes on the adapter flange 40 are adapted to the second group of waist holes 122, and the second group of fasteners are sequentially penetrated through the positioning holes and the second group of waist holes 122; the position of the adapter flange 40 can be adjusted at the second group of waist holes 122 in the transverse direction according to actual needs;

[0099] The first group of waist holes 121 and the second group of waist holes 122 are provided to allow the power consumption test device 100 to match agricultural machinery of different models;

[0100] Of course, the present invention is not limited to this. For the hinge support 60 whose first end face 101 is hinged to the agricultural machine, it can also be connected to the frame 10 by the above-mentioned waist hole connection method to adapt to different types of agricultural machines. The specific connection method is similar to the above and will not be repeated here.

[0101] In one example of the present invention, it further includes: a ruler 50,

[0102] It is installed on the frame 10 and can measure the movement of the adapter flange 40 in the transverse direction and / or the longitudinal direction;

[0103] That is to say, for the first group of waist holes 121 in the transverse direction, the ruler 50 is arranged on one side of the first group of waist holes 121 along the transverse direction; for the second group of waist holes 122 in the longitudinal direction, the ruler 50 is arranged on one side of the second group of waist holes 122 along the longitudinal direction; by setting the ruler 50, the movement of the adapter flange 40 in the transverse direction and / or longitudinal direction can be measured, thereby facilitating the calculation of traction power consumption and driving power consumption.

[0104] In one example of the present invention, the rack 10 includes:

[0105] The frame portion 11, the torque and speed sensor 30 is fixedly installed in the frame;

[0106] An extension portion 12 is formed outside the frame portion 11, and the six-dimensional force sensor 20 is mounted on the extension portion 12;

[0107] Wherein, the first group of waist holes 121 and the second group of waist holes 122 are arranged on the extension portion 12;

[0108] Specifically, the frame portion 11 and the extension portion 12 are integrally formed, and the first connection end 31 and the second connection end 32 of the torque and speed sensor 30 are respectively perpendicular to the first end surface 101 and the second end surface 102 of the frame 10, thereby facilitating the connection between the torque and speed sensor 30 and the agricultural machine and agricultural implements;

[0109] For example, the extension parts 12 include three, one is arranged on each side along the lateral direction of the frame part 11, and one is arranged on the symmetry axis of the frame part 11 and located at the upper end of the frame part 11. Therefore, a six-dimensional force sensor 20 is installed on each of the three extension parts 12.

[0110] In one example of the present invention, the rack 10 further includes:

[0111] A receiving cavity 12A formed on the frame 10;

[0112] A cover plate 12B covering the receiving cavity 12A;

[0113] Wherein, a sealing gasket is arranged between the cover plate 12B and the receiving cavity 12A;

[0114] It can be understood that the signal conditioning module 21, the speed sensor 80 and the gyro acceleration sensor 90 are all installed in the receiving cavity 12A and encapsulated in the receiving cavity 12A by a sealing gasket, thereby protecting the signal conditioning module 21, the speed sensor 80 and the gyro acceleration sensor 90. In particular, the provision of the sealing gasket can prevent external impurities (dust particles, rainwater, etc.) from entering the receiving cavity 12A to prevent the signal conditioning module 21, the speed sensor 80 and the gyro acceleration sensor 90 located therein from being affected.

[0115] A testing method of a power consumption testing device 100 according to the second aspect of the present invention comprises the following steps:

[0116] S10: Connect the first end surface 101 of the frame 10 to the agricultural machine, and adjust the six-dimensional force sensor 20 of the frame 10 to a suitable position according to the span of the agricultural machine suspension frame and the height of the column, and connect the agricultural machine to the six-dimensional force sensor 20;

[0117] S20: The first connection end 31 of the output shaft of the torque and speed sensor 30 is connected to the power output shaft of the agricultural machine, and the second connection end 32 is connected to the power output shaft of the agricultural implement; at the same time, the speed sensor 80 and the gyro acceleration sensor 90 are installed on the frame 10;

[0118] S30: placing the control terminal 120, the data collector 110, and the mobile power supply in the cab of the agricultural machine;

[0119] S40: Connect the six-dimensional force sensor 20, the torque and speed sensor 30, the speed sensor 80 and the gyro acceleration sensor 90 to the data collector 110, the data collector 110 is connected to the control terminal 120 via a network cable, and the data collector 110 is connected to the control terminal 120 via a synchronous trigger line;

[0120] S50: According to the test requirements, set the parameters of each sensor, sampling parameters and test item parameters, lift the agricultural machinery off the ground, and perform an idling test run to ensure that the agricultural machinery can run flexibly without abnormal noise and that the data collection of each sensor is normal;

[0121] S60: The agricultural machine with the power consumption test device 100 moves to the field to perform operations, and collects data during the operation. The control terminal 120 displays a real-time collected data curve until the sampling is completed.

[0122] The data acquisition and processing part located in the cab of the agricultural machine is provided with power excitation by the power module for the control terminal 120 and the data acquisition device 110. The data acquisition device 110 provides power excitation for each sensor. The six-dimensional force sensor 20, the torque speed sensor 30, the speed sensor 80, and the gyro acceleration sensor 90 can be connected to the data acquisition device 110 through RS-422, RS-485 serial port, CAN bus, frequency signal port, etc. The data acquisition device 110 is connected to the control terminal 120 through a network cable. The control terminal 120 transmits a synchronous control signal to the data acquisition device 110 through the I / O port. The control terminal 120 can Set measurement parameters, read sensor data, display, store and output data processing results; the control terminal 120 can generate an inverse matrix based on the calibration result of the six-dimensional force sensor 20 according to the superposition principle, perform software decoupling on the measurement results, and at the same time, can fuse the linear acceleration and angular acceleration of the agricultural machinery measured by the gyro acceleration sensor 90 to obtain the angle difference between the agricultural machinery and the tractor, and convert the traction force from the sensor device coordinate system to the tractor coordinate system; the control terminal 120 can calculate the traction power consumption result based on the traction force and speed, and can calculate the drive power consumption result based on the real-time torque and speed at the power input shaft of the agricultural machinery. Through the above test method, the calculation of traction power consumption and drive power consumption can be completed.

[0123] The exemplary implementation of the power consumption testing device 100 proposed in the present invention is described in detail above with reference to the preferred embodiments. However, those skilled in the art will appreciate that, without departing from the concept of the present invention, various modifications and variations can be made to the above-mentioned specific embodiments, and various technical features and structures proposed in the present invention can be combined in various ways without exceeding the protection scope of the present invention, which is determined by the attached claims.

Claims

1. A power consumption test device, characterized in that: include: A frame (10) having a first end surface (101) and a second end surface (102) opposite to each other, and the first end surface (101) is connected to the agricultural machine; A plurality of six-dimensional force sensors (20), one end of each of the six-dimensional force sensors (20) being connected to the second end surface (102) and the other end being hinged to the agricultural implement, for collecting traction force signals of the agricultural implement; A torque and speed sensor (30) is fixedly connected to the frame (10), and its output shaft has a first connection end (31) and a second connection end (32); wherein the first connection end (31) is connected to the power output shaft of the agricultural machine, and the second connection end (32) is connected to the power output shaft of the agricultural implement, and is used to collect torque signals and speed signals of the agricultural implement; A speed sensor (80) mounted on the frame (10) and used to measure an operating speed signal of the agricultural machine; a data collector (110), which is respectively coupled to the six-dimensional force sensor (20), the torque and speed sensor (30), and the speed sensor (80), and is used to receive a traction force signal, a torque signal, a speed signal, and an operating speed signal of the agricultural implement; and A control terminal (120) coupled to the data collector (110), capable of calculating traction power consumption according to the traction force signal and the operating speed signal, and calculating driving power consumption according to the torque and speed signal; a gyro acceleration sensor (90) coupled to the data collector (110) and used to collect linear acceleration and angular acceleration of the agricultural implement, wherein the control terminal (120) is capable of performing data fusion processing on the linear acceleration and the angular acceleration to obtain an angular difference between the agricultural implement and the agricultural machine; The six-dimensional force sensor (20) is connected to the frame (10) via an adapter flange (40), and the adapter flange (40) is capable of moving in the lateral direction and / or longitudinal direction of the frame (10).

2. The power consumption test device according to claim 1, characterized in that: The gyro acceleration sensor (90) comprises: a Kalman filter or a complementary filter, It is used to eliminate the cumulative error generated by the angular acceleration during the integration process, and can also eliminate the influence of motion acceleration on the angle measurement of the linear accelerometer.

3. The power consumption test device according to claim 1, characterized in that: The adapter flange (40) is connected to the frame (10) via a first set of waist holes (121) and a first set of fasteners to allow the six-dimensional force sensor (20) to move in a lateral direction of the frame (10).

4. The power consumption test device according to claim 3, characterized in that: The adapter flange (40) is connected to the frame (10) via a second set of waist holes (122) and a second set of fasteners to allow the six-dimensional force sensor (20) to move along the longitudinal direction of the frame (10).

5. The power consumption test device according to claim 1, characterized in that: Also includes: Ruler (50), It is installed on the frame (10) and is capable of measuring the movement of the adapter flange (40) in the transverse direction and / or the longitudinal direction.

6. The power consumption test device according to claim 4, characterized in that: The frame (10) comprises: A frame portion (11), wherein the torque and speed sensor (30) is fixedly mounted in the frame; An extension portion (12) is formed outside the frame portion (11), and the six-dimensional force sensor (20) is mounted on the extension portion (12); Wherein, the first group of waist holes (121) and the second group of waist holes (122) are arranged on the extension part (12).

7. The power consumption test device according to claim 1, characterized in that: The frame (10) further comprises: A receiving cavity (12A) formed on the frame (10); A cover plate (12B) disposed on the receiving cavity (12A); Wherein, a sealing gasket is arranged between the cover plate (12B) and the receiving cavity (12A).

8. A method for testing a power consumption test device according to any one of claims 1 to 7, characterized in that: The steps include: S10: connecting the first end surface (101) of the frame (10) to the agricultural machine, and adjusting the six-dimensional force sensor (20) on the frame (10) to a suitable position according to the span of the agricultural machine suspension frame and the height of the column, and connecting the agricultural machine to the six-dimensional force sensor (20); S20: The first connection end (31) of the output shaft of the torque and speed sensor (30) is connected to the power output shaft of the agricultural machine, and the second connection end (32) is connected to the power output shaft of the agricultural implement, and the speed sensor (80) and the gyro acceleration sensor (90) are installed on the frame (10); S30: placing the control terminal (120), the data collector (110), and the mobile power supply in the cab of the agricultural machine; S40: connecting the six-dimensional force sensor (20), the torque and speed sensor (30), the speed sensor (80), and the gyro acceleration sensor (90) to the data acquisition device (110); the data acquisition device (110) is connected to the control terminal (120) via a network cable; and the data acquisition device (110) is connected to the control terminal (120) via a synchronous trigger line. S50: According to the test requirements, set the parameters of each sensor, sampling parameters and test item parameters, lift the agricultural machinery off the ground, and perform an idling test run to ensure that the agricultural machinery can run flexibly without abnormal noise and that the data collection of each sensor is normal; S60: The agricultural machine with the power consumption test device (100) moves to the field to perform operations, and collects data during the operation. The control terminal (120) displays a real-time collected data curve until the sampling is completed.

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