A tillage depth online monitoring system and method for a towed tillage machine

Abstract

The present invention relates to the field of data monitoring technology, and is an online monitoring system and method for the tillage depth of a towed tillage machine. The specific method includes: obtaining real-time operation status data of the tillage machine through a sensor network, and obtaining real-time point cloud data of the soil surface through a laser scanning device, calculating and obtaining the real-time machine tillage depth uniform value of the tillage machine, and calculating and obtaining the real-time soil disturbance uniform value of the tillage machine; according to the real-time machine tillage depth uniform value and the real-time soil disturbance uniform value, the first round of tillage quality of the towed tillage machine is coupled and evaluated, and the operation guidance of the second round of turning the tillage land is provided according to the first round tillage quality coefficient. The present invention solves the problem in the prior art that the tillage depth is uneven, the soil disturbance is inconsistent, and the soil structure and fertility are affected, which ultimately leads to a decrease in crop growth and yield.

Description

Technical Field

[0001] The invention relates to the technical field of data monitoring, and relates to an online monitoring system and method for the tillage depth of a towed tillage machine. Background Art

[0002] Land preparation machines are mechanical equipment used for agricultural land preparation and cultivation, mainly used for operations such as plowing, leveling and loosening. These machines are usually towed by tractors or other power sources, and the soil is cut and turned by the plowing blades installed on them to improve the soil structure, increase soil aeration and water permeability, and thus create a good soil environment for crop growth. Land preparation machines play a vital role in modern agricultural production and can significantly improve farming efficiency and land utilization. Plowing depth refers to the depth to which the plowing blade of the land preparation machine cuts into the soil during operation. The significance of plowing depth monitoring is to ensure the consistency and stability of the tillage quality. The appropriate plowing depth can ensure that the soil is fully turned and loosened, which is conducive to the root growth and nutrient absorption of crops. In addition, plowing depth monitoring can also help farmers adjust the tillage depth according to soil type and crop needs, thereby optimizing the tillage effect and increasing crop yields.

[0003] In the traditional farming process, the tillage depth usually depends on the operator's experience and feeling. The existing tillage process lacks real-time monitoring of tillage depth and soil disturbance, resulting in uneven tillage depth and inconsistent soil disturbance, which in turn affects soil structure and fertility, and ultimately leads to a decrease in crop growth and yield. In addition, inaccurate tillage depth control will also cause energy waste and increase farming costs. Therefore, online monitoring of tillage depth for traction tillage machines not only helps to improve tillage quality and crop yields, but also optimizes energy utilization, which is an indispensable technical means in modern agricultural production. Summary of the invention

[0004] The technical problem to be solved by the present invention is that in the prior art, due to the lack of real-time monitoring of tillage depth and soil disturbance, uneven tillage depth and inconsistent soil disturbance occur, which in turn affects soil structure and fertility, and ultimately leads to decreased crop growth and yield. An online tillage depth monitoring system and method for a towed tillage machine are proposed.

[0005] In order to achieve the above object, the technical solution of a method for online monitoring of tillage depth of a towed tillage machine of the present invention comprises the following steps:

[0006] S1: A sensor device is embedded in each tillage blade of the tillage machine, and a laser scanning device is configured on the support cover of the tillage machine;

[0007] S2: The real-time operation status data of the tillage and preparation machinery during the first round of tillage turning process is obtained through the sensor network, and the real-time point cloud data of the soil surface of the tillage and preparation machinery during the first round of tillage turning process is obtained through the laser scanning equipment;

[0008] S3: Importing the real-time operation status data of the tillage and land preparation machine into the real-time tillage depth uniformity evaluation strategy, and calculating and obtaining the real-time tillage depth uniformity value of the tillage and land preparation machine;

[0009] S4: A soil digital elevation model is established based on the real-time point cloud data of the soil surface, and the data collected from each data sampling point in the soil digital elevation model is imported into the real-time soil disturbance uniformity evaluation strategy to calculate and obtain the real-time soil disturbance uniformity value of the tillage and land preparation equipment;

[0010] S5: Based on the real-time average tillage depth of the machine and the real-time average soil disturbance value, the first round of tillage quality of the towed tillage machine is coupled and evaluated, and the operation guidance for the second round of turning the tillage land is provided according to the first round tillage quality coefficient.

[0011] Specifically, in S2, the real-time operating status data of the tillage machine specifically includes: the flipping speed data of each tillage blade on the tillage machine, the soil resistance data of the cutting edge of the tillage blade, and the displacement data of the hydraulic rod connected to the end of each tillage blade.

[0012] Specifically, S3 includes the following specific steps:

[0013] S31: extracting the turning speed data of each tilling blade and the soil resistance data of the cutting edge of the tilling blade;

[0014] S32: Importing the flipping speed data of each tilling blade and the soil resistance data of the cutting edge of the tilling blade into the real-time tillage depth deviation coefficient calculation strategy, and calculating and obtaining the real-time tillage depth deviation coefficient. The real-time tillage depth deviation coefficient calculation strategy is specifically as follows: Wherein, the traction tillage machine includes M tillage blades, and the tillage blades include cutting edge; is the real-time tillage depth deviation coefficient of the traction tillage machine when the tillage time point of the first round of turning the tillage land is t; are subscripts, representing the mth tiller blade and the cutting edge; They represent the time points of the first round of tillage turning at t and t-1, respectively, and the time points of the first tillage turning at t and t-1, respectively, on the mth tillage blade. The soil resistance of each cutting edge; They represent the number of The maximum and minimum soil resistance of each cutting edge; They represent the turning speed of the mth tillage blade at the time points t and t-1 of the first round of turning the tillage land respectively; They respectively represent the maximum turning speed and the minimum turning speed of the mth tillage blade when the tillage time point is t in the first round of tillage.

[0015] Specifically, S3 also includes the following specific steps:

[0016] S33: extracting displacement data of hydraulic rods connected to the ends of each tilling blade from the real-time operating status data of the tilling machine, and synchronously extracting the real-time tilling depth deviation coefficient of the tilling machine;

[0017] S34: The hydraulic rod displacement data and the real-time tillage depth deviation coefficient are introduced into the real-time tillage depth uniformity evaluation strategy to calculate and obtain the real-time tillage depth uniformity value of the tillage machine. The real-time tillage depth uniformity evaluation strategy is specifically as follows: ;in, It is the real-time average tillage depth of the towed tillage machine; is the deviation proportionality coefficient; The real-time ground height data of the hydraulic rod connected to the end of the mth tillage blade when the tillage time point of the first round of turning the tillage land is t; Indicates the starting value of the height of the hydraulic rod from the ground when the towed tillage implement is initially started; It represents the average height above the ground of the hydraulic rod connected to the mth tillage blade when the tillage time is t in the first round of tillage.

[0018] Specifically, S4 includes the following specific steps:

[0019] S41: extracting real-time point cloud data of multiple data sampling points on the soil surface during the first round of turning over of the tillage machine, and preprocessing the real-time point cloud data, wherein the preprocessing includes: noise removal, smoothing and coordinate conversion; wherein the real-time point cloud data of the data sampling points includes: point cloud coordinates of the data sampling points;

[0020] S42: Use point cloud processing software to analyze the pre-processed real-time point cloud data and construct a soil digital elevation model.

[0021] Specifically, S4 also includes the following specific steps:

[0022] S43: importing the real-time elevation data of each data sampling point in the soil digital elevation model into the real-time soil disturbance uniformity evaluation strategy, and calculating and obtaining the real-time soil disturbance uniformity value of the tillage and land preparation tool; ;in, is the real-time soil disturbance average value of the towed tillage machine; I is the total number of data sampling points, i is a subscript, indicating the i-th data sampling point; Respectively represent the real-time elevation data collected by the i-th, i-1-th and i+1-th data collection points; Represents the real-time average elevation of I data sampling points.

[0023] Specifically, S5 includes the following specific steps:

[0024] S51: extracting the real-time average value of tillage depth of machine tools and the real-time average value of soil disturbance;

[0025] S52: According to S51, a coupling evaluation is performed on the first round of tillage quality of the trailed tillage machine, and the coupling evaluation is specifically as follows: ;in, is the first round tillage quality coefficient of the traction tillage machine when the first round of turning the tilled land is at time t; exp is the exponential operation.

[0026] Specifically, S5 also includes the following steps:

[0027] S53: extracting the first round tillage quality coefficients of the traction tillage machine at each tillage time point during the first round of tillage turning process to form a first round tillage quality coefficient set;

[0028] S54: preset a tillage quality assessment threshold, screen the first-round tillage quality coefficients that are lower than the tillage quality assessment threshold from the first-round tillage quality coefficient set, and mark the screened first-round tillage quality coefficients as substandard tillage quality coefficients;

[0029] S55: according to the time point of the cultivated land corresponding to the non-standard cultivation quality coefficient, searching for the cultivated soil area of ​​the traction tillage machine within the time point of the cultivated land, and marking the cultivated soil area as the non-standard cultivated soil area;

[0030] S56: The substandard tillage soil areas and the first round tillage quality coefficients of each substandard tillage soil area are visualized on the operation control platform of the towed tillage machine. During the second round of tillage turning, when the towed tillage machine reaches the above-mentioned substandard tillage soil areas, suggestions for extending the tillage time and adjusting the tillage depth will pop up on the operation control platform of the towed tillage machine.

[0031] In addition, the present invention provides an online monitoring system for tillage depth of a tractive tillage machine, which includes the following modules:

[0032] Acquisition equipment configuration module, data acquisition and storage module, tillage depth uniformity assessment module, disturbance uniformity assessment module, tillage quality coefficient calculation module;

[0033] The acquisition device configuration module is used to embed sensor devices in each tillage blade of the tillage machine, and configure a laser scanning device on the support cover of the tillage machine;

[0034] The data acquisition and storage module obtains the real-time operation status data of the tillage and preparation machine during the first round of turning over the tillage land through the sensor network, and obtains the real-time point cloud data of the soil surface during the first round of turning over the tillage land through the laser scanning device;

[0035] The tillage depth uniformity evaluation module imports the real-time operation status data of the tillage and land preparation machine into the real-time tillage depth uniformity evaluation strategy, and calculates and obtains the real-time tillage depth uniformity value of the tillage and land preparation machine;

[0036] The disturbance uniformity evaluation module establishes a soil digital elevation model based on the real-time point cloud data of the soil surface, and imports the data collected from each data sampling point in the soil digital elevation model into the real-time soil disturbance uniformity evaluation strategy to calculate and obtain the real-time soil disturbance uniformity value of the tillage and land preparation equipment;

[0037] The tillage quality coefficient calculation module performs coupled evaluation on the first round tillage quality of the traction tillage machine according to the real-time machine tillage depth uniform value and the real-time soil disturbance uniform value, and provides operation guidance for the second round of turning the tillage land according to the first round tillage quality coefficient.

[0038] Compared with the prior art, the technical effects of the present invention are as follows:

[0039] 1. The present invention can acquire the operation status data of the tillage machine and the point cloud data of the soil surface in real time by embedding the sensor device in the tillage blade and configuring the laser scanning device on the support cover. The present invention can also accurately control the tillage depth through real-time tillage depth deviation coefficient calculation and soil disturbance uniformity evaluation, improve the consistency and stability of tillage quality, ensure that the soil is fully turned over and loosened, and realize real-time and accurate monitoring of the tillage process.

[0040] 2. The precise tillage depth control of the present invention avoids over-tillage and unnecessary energy consumption, reduces tillage costs, and improves energy utilization efficiency.

[0041] 3. Through the coupled evaluation of the first round of tillage quality, the present invention can provide operation guidance for the second round of turning over the cultivated land, ensure the continuous improvement of tillage quality, and provide real-time feedback on substandard tillage areas and make adjustment suggestions. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0043] Figure 1 It is a flow chart of an online monitoring method of tillage depth of a towed tillage machine according to the present invention;

[0044] Figure 2 The present invention is a schematic structural diagram of an online monitoring system for tillage depth of a towed tillage machine. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0046] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0047] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments. Embodiment 1

[0048] like Figure 1 As shown, an online monitoring method for tillage depth of a traction tillage machine according to an embodiment of the present invention is as follows: Figure 1 As shown, the specific steps include:

[0049] S1: A sensor device is embedded in each tillage blade of the tillage machine, and a laser scanning device is configured on the support cover of the tillage machine;

[0050] S2: The real-time operation status data of the tillage and preparation machinery during the first round of tillage turning process is obtained through the sensor network, and the real-time point cloud data of the soil surface of the tillage and preparation machinery during the first round of tillage turning process is obtained through the laser scanning equipment;

[0051] In S2, the real-time operating status data of the tillage machine specifically includes: the flipping speed data of each tillage blade on the tillage machine, the soil resistance data of the cutting edge of the tillage blade, and the displacement data of the hydraulic rod connected to the end of each tillage blade.

[0052] S3: Importing the real-time operation status data of the tillage and land preparation machine into the real-time tillage depth uniformity evaluation strategy, and calculating and obtaining the real-time tillage depth uniformity value of the tillage and land preparation machine;

[0053] S3 includes the following specific steps:

[0054] S31: extracting the turning speed data of each tilling blade and the soil resistance data of the cutting edge of the tilling blade;

[0055] S32: Importing the flipping speed data of each tilling blade and the soil resistance data of the cutting edge of the tilling blade into the real-time tillage depth deviation coefficient calculation strategy, and calculating and obtaining the real-time tillage depth deviation coefficient. The real-time tillage depth deviation coefficient calculation strategy is specifically as follows: Wherein, the traction tillage machine includes M tillage blades, and the tillage blades include A cutting edge; is the real-time tillage depth deviation coefficient of the traction tillage machine when the tillage time point of the first round of turning the tillage land is t; are subscripts, representing the mth tiller blade and the A cutting edge; They represent the time points of the first round of tillage turning at t and t-1, respectively, and the time points of the first tillage turning at t and t-1, respectively, on the mth tillage blade. The soil resistance of each cutting edge; They represent the number of The maximum and minimum soil resistance of each cutting edge; They represent the turning speed of the mth tillage blade at the time points t and t-1 of the first round of turning the tillage land respectively; They respectively represent the maximum turning speed and the minimum turning speed of the mth tillage blade when the tillage time point is t in the first round of tillage.

[0056] S3 also includes the following specific steps:

[0057] S33: extracting displacement data of hydraulic rods connected to the ends of each tilling blade from the real-time operating status data of the tilling machine, and synchronously extracting the real-time tilling depth deviation coefficient of the tilling machine;

[0058] S34: The hydraulic rod displacement data and the real-time tillage depth deviation coefficient are introduced into the real-time tillage depth uniformity evaluation strategy to calculate and obtain the real-time tillage depth uniformity value of the tillage machine. The real-time tillage depth uniformity evaluation strategy is specifically as follows: ;in, It is the real-time average tillage depth of the towed tillage machine; is the deviation proportionality coefficient; The real-time ground height data of the hydraulic rod connected to the end of the mth tillage blade when the tillage time point of the first round of turning the tillage land is t; Indicates the starting value of the height of the hydraulic rod from the ground when the towed tillage implement is initially started; It represents the average height above the ground of the hydraulic rod connected to the mth tillage blade when the tillage time is t in the first round of tillage.

[0059] S4: A soil digital elevation model is established based on the real-time point cloud data of the soil surface, and the data collected from each data sampling point in the soil digital elevation model is imported into the real-time soil disturbance uniformity evaluation strategy to calculate and obtain the real-time soil disturbance uniformity value of the tillage and land preparation equipment;

[0060] S4 includes the following specific steps:

[0061] S41: extracting real-time point cloud data of multiple data sampling points on the soil surface during the first round of turning over of the tillage machine, and preprocessing the real-time point cloud data, wherein the preprocessing includes: noise removal, smoothing and coordinate conversion; wherein the real-time point cloud data of the data sampling points includes: point cloud coordinates of the data sampling points;

[0062] S42: Use point cloud processing software to analyze the pre-processed real-time point cloud data and construct a soil digital elevation model.

[0063] S4 also includes the following specific steps:

[0064] S43: importing the real-time elevation data of each data sampling point in the soil digital elevation model into the real-time soil disturbance uniformity evaluation strategy, and calculating and obtaining the real-time soil disturbance uniformity value of the tillage and land preparation tool; ;in, is the real-time soil disturbance average value of the towed tillage machine; I is the total number of data sampling points, i is a subscript, indicating the i-th data sampling point; Respectively represent the real-time elevation data collected by the i-th, i-1-th and i+1-th data collection points; Represents the real-time average elevation of I data sampling points.

[0065] S5: Based on the real-time average tillage depth of the machine and the real-time average soil disturbance value, the first round of tillage quality of the towed tillage machine is coupled evaluated, and the operation guidance for the second round of turning the tillage land is provided according to the first round of tillage quality coefficient.

[0066] S5 includes the following specific steps:

[0067] S51: extracting the real-time average value of tillage depth of machine tools and the real-time average value of soil disturbance;

[0068] S52: According to S51, a coupling evaluation is performed on the first round of tillage quality of the trailed tillage machine, and the coupling evaluation is specifically as follows: ;in, is the first round tillage quality coefficient of the traction tillage machine when the first round of turning the tilled land is at time t; exp is the exponential operation.

[0069] S5 also includes the following steps:

[0070] S53: extracting the first round tillage quality coefficients of the traction tillage machine at each tillage time point during the first round of tillage turning process to form a first round tillage quality coefficient set;

[0071] S54: preset a tillage quality assessment threshold, screen the first-round tillage quality coefficients that are lower than the tillage quality assessment threshold from the first-round tillage quality coefficient set, and mark the screened first-round tillage quality coefficients as substandard tillage quality coefficients;

[0072] S55: according to the time point of the cultivated land corresponding to the non-standard cultivation quality coefficient, searching for the cultivated soil area of ​​the traction tillage machine within the time point of the cultivated land, and marking the cultivated soil area as the non-standard cultivated soil area;

[0073] S56: The substandard tillage soil areas and the first round tillage quality coefficients of each substandard tillage soil area are visualized on the operation control platform of the towed tillage machine. During the second round of tillage turning, when the towed tillage machine reaches the above-mentioned substandard tillage soil areas, suggestions for extending the tillage time and adjusting the tillage depth will pop up on the operation control platform of the towed tillage machine. Embodiment 2

[0074] like Figure 2 As shown, an online monitoring system for tillage depth of a traction tillage machine according to an embodiment of the present invention is as follows: Figure 2 As shown, it includes the following modules:

[0075] Acquisition equipment configuration module, data acquisition and storage module, tillage depth uniformity assessment module, disturbance uniformity assessment module, tillage quality coefficient calculation module;

[0076] The acquisition device configuration module is used to embed sensor devices in each tillage blade of the tillage machine, and configure a laser scanning device on the support cover of the tillage machine;

[0077] The data acquisition and storage module obtains the real-time operation status data of the tillage and preparation machine during the first round of turning over the tillage land through the sensor network, and obtains the real-time point cloud data of the soil surface during the first round of turning over the tillage land through the laser scanning device;

[0078] The tillage depth uniformity evaluation module imports the real-time operation status data of the tillage and land preparation machine into the real-time tillage depth uniformity evaluation strategy, and calculates and obtains the real-time tillage depth uniformity value of the tillage and land preparation machine;

[0079] The disturbance uniformity evaluation module establishes a soil digital elevation model based on the real-time point cloud data of the soil surface, and imports the data collected from each data sampling point in the soil digital elevation model into the real-time soil disturbance uniformity evaluation strategy to calculate and obtain the real-time soil disturbance uniformity value of the tillage and land preparation equipment;

[0080] The tillage quality coefficient calculation module performs coupled evaluation on the first round tillage quality of the traction tillage machine according to the real-time machine tillage depth uniform value and the real-time soil disturbance uniform value, and provides operation guidance for the second round of turning the tillage land according to the first round tillage quality coefficient. Embodiment 3

[0081] This embodiment provides an electronic device, including: a processor and a memory, wherein the memory stores a computer program that can be called by the processor;

[0082] The processor executes the above-mentioned online monitoring method of tillage depth for a towed tillage machine by calling a computer program stored in the memory.

[0083] The electronic device may have relatively large differences due to different configurations or performances, and may include one or more processors (Central Processing Units, CPU) and one or more memories, wherein the memory stores at least one computer program, and the computer program is loaded and executed by the processor to implement a method for online monitoring of tillage depth of a traction tillage machine provided in the above method embodiment. The electronic device may also include other components for realizing the functions of the device, for example, the electronic device may also have components such as a wired or wireless network interface and an input and output interface to input and output data. This embodiment will not be described in detail here. Embodiment 4

[0084] This embodiment provides a computer-readable storage medium having a rewritable computer program stored thereon;

[0085] When the computer program is executed on a computer device, the computer device is enabled to execute the above-mentioned method for online monitoring of tillage depth of a towed tillage machine.

[0086] For example, the computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0087] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0088] It should be understood that determining B based on A does not mean determining B only based on A. B can also be determined based on A and / or other information.

[0089] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When a computer instruction or computer program is loaded or executed on a computer, a process or function according to an embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center through a wired network or / and a wireless network. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0090] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present invention can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0091] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0092] In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only one, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0093] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0094] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0095] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0096] In summary, compared with the prior art, the technical effects of the present invention are as follows:

[0097] 1. The present invention can acquire the operation status data of the tillage machine and the point cloud data of the soil surface in real time by embedding the sensor device in the tillage blade and configuring the laser scanning device on the support cover. The present invention can also accurately control the tillage depth through real-time tillage depth deviation coefficient calculation and soil disturbance uniformity evaluation, improve the consistency and stability of tillage quality, ensure that the soil is fully turned over and loosened, and realize real-time and accurate monitoring of the tillage process.

[0098] 2. The precise tillage depth control of the present invention avoids over-tillage and unnecessary energy consumption, reduces tillage costs, and improves energy utilization efficiency.

[0099] 3. Through the coupled evaluation of the first round of tillage quality, the present invention can provide operation guidance for the second round of turning over the cultivated land, ensure the continuous improvement of tillage quality, and provide real-time feedback on substandard tillage areas and make adjustment suggestions.

[0100] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A method for online monitoring of tillage depth of a towed tillage machine, characterized in that: The method comprises the following specific steps: S1: A sensor device is embedded in each tillage blade of the tillage machine, and a laser scanning device is configured on the support cover of the tillage machine; S2: The real-time operation status data of the tillage and preparation machinery during the first round of tillage turning process is obtained through the sensor network, and the real-time point cloud data of the soil surface of the tillage and preparation machinery during the first round of tillage turning process is obtained through the laser scanning equipment; The real-time operation status data of the tillage machine specifically includes: the turning speed data of each tillage blade on the tillage machine, the soil resistance data of the cutting edge of the tillage blade, and the displacement data of the hydraulic rod connected to the end of each tillage blade; S3: Importing the real-time operation status data of the tillage and land preparation machine into the real-time tillage depth uniformity evaluation strategy, and calculating and obtaining the real-time tillage depth uniformity value of the tillage and land preparation machine; S31: extracting the turning speed data of each tilling blade and the soil resistance data of the cutting edge of the tilling blade; S32: Importing the flipping speed data of each tilling blade and the soil resistance data of the cutting edge of the tilling blade into the real-time tillage depth deviation coefficient calculation strategy, and calculating and obtaining the real-time tillage depth deviation coefficient. The real-time tillage depth deviation coefficient calculation strategy is specifically as follows: The traction tillage machine includes M tillage blades, each of which includes N m A cutting edge; p t is the real-time tillage depth deviation coefficient of the traction tillage machine when the tillage time point of the first round of turning the tillage land is t; m,n m are subscripts, representing the mth tiller blade and the nth m A cutting edge; They represent the time points of the first round of tillage turning at t and t-1, respectively, and the time points of the nth tillage blade on the mth tillage blade at t and t-1. m The soil resistance of each cutting edge; They represent the number of m The maximum soil resistance and minimum soil resistance of each cutting edge; v m,t ,v m,t-1 They represent the turning speed of the mth tillage blade at the time points t and t-1 of the first round of turning the tillage land respectively; They respectively represent the maximum turning speed and the minimum turning speed of the mth tillage blade when the tillage time point is t in the first round of tillage; S33: extracting displacement data of hydraulic rods connected to the ends of each tilling blade from the real-time operating status data of the tilling machine, and synchronously extracting the real-time tilling depth deviation coefficient of the tilling machine; S34: The hydraulic rod displacement data and the real-time tillage depth deviation coefficient are introduced into the real-time tillage depth uniformity evaluation strategy to calculate and obtain the real-time tillage depth uniformity value of the tillage machine. The real-time tillage depth uniformity evaluation strategy is specifically as follows: Among them, J 1,t It is the real-time average tillage depth of the towed tillage machine; α1, α2 are deviation proportional coefficients; α1+α2=1 X m,t The real-time ground height data of the hydraulic rod connected to the end of the mth tillage blade when the tillage time point of the first round of turning the tillage land is t; X qs Indicates the starting value of the height of the hydraulic rod from the ground when the towed tillage implement is initially started; It represents the average height of the hydraulic rod connected to the mth tillage blade from the ground when the tillage time is t in the first round of tillage. S4: A soil digital elevation model is established based on the real-time point cloud data of the soil surface, and the data collected from each data sampling point in the soil digital elevation model is imported into the real-time soil disturbance uniformity evaluation strategy to calculate and obtain the real-time soil disturbance uniformity value of the tillage and land preparation equipment; S41: extracting real-time point cloud data of multiple data sampling points on the soil surface during the first round of turning over of the tillage machine, and preprocessing the real-time point cloud data, wherein the preprocessing includes: noise removal, smoothing and coordinate conversion; wherein the real-time point cloud data of the data sampling points includes: point cloud coordinates of the data sampling points; S42: using point cloud processing software to perform data analysis on the pre-processed real-time point cloud data and construct a soil digital elevation model; S43: importing the real-time elevation data of each data sampling point in the soil digital elevation model into the real-time soil disturbance uniformity evaluation strategy, and calculating and obtaining the real-time soil disturbance uniformity value of the tillage and land preparation tool; Among them, J 2,t It is the real-time soil disturbance average value of the towed tillage machine; I is the total number of data sampling points, i is a subscript, indicating the i-th data sampling point; h i ,h i-1 ,h i+1 Respectively represent the real-time elevation data collected by the i-th, i-1-th and i+1-th data collection points; Represents the real-time average elevation of I data sampling points; S5: According to the real-time average tillage depth of the machine and the real-time average soil disturbance value, the first round of tillage quality of the traction tillage machine is coupled and evaluated, and the operation guidance of the second round of turning the tillage land is provided according to the first round of tillage quality coefficient; S51: extracting the real-time average value of tillage depth of machine tools and the real-time average value of soil disturbance; S52: According to S51, a coupling evaluation is performed on the first round of tillage quality of the trailed tillage machine, and the coupling evaluation is specifically as follows: J t =expJ 1,t +expJ 2,t ; Among them, J t is the first round tillage quality coefficient of the traction tillage machine when the first round of tillage is at time t; exp is exponential operation; S53: extracting the first round tillage quality coefficients of the traction tillage machine at each tillage time point during the first round of tillage turning process to form a first round tillage quality coefficient set; S54: preset a tillage quality assessment threshold, screen the first-round tillage quality coefficients that are lower than the tillage quality assessment threshold from the first-round tillage quality coefficient set, and mark the screened first-round tillage quality coefficients as substandard tillage quality coefficients; S55: according to the time point of the cultivated land corresponding to the non-standard cultivation quality coefficient, searching for the cultivated soil area of ​​the traction tillage machine within the time point of the cultivated land, and marking the cultivated soil area as the non-standard cultivated soil area; S56: The substandard tillage soil areas and the first round tillage quality coefficients of each substandard tillage soil area are visualized on the operation control platform of the towed tillage machine. During the second round of tillage, when the towed tillage machine reaches the substandard tillage soil areas, suggestions for extending the tillage time and adjusting the tillage depth will pop up on the operation control platform of the towed tillage machine.

2. A tillage depth online monitoring system for a towed tillage machine, used to implement the tow depth online monitoring method for a towed tillage machine as claimed in claim 1, characterized in that: The system includes the following modules: Acquisition equipment configuration module, data acquisition and storage module, tillage depth uniformity assessment module, disturbance uniformity assessment module, tillage quality coefficient calculation module; The acquisition device configuration module is used to embed sensor devices in each tillage blade of the tillage machine, and configure a laser scanning device on the support cover of the tillage machine; The data acquisition and storage module obtains the real-time operation status data of the tillage and preparation machine during the first round of turning over the tillage land through the sensor network, and obtains the real-time point cloud data of the soil surface during the first round of turning over the tillage land through the laser scanning device; The tillage depth uniformity evaluation module imports the real-time operation status data of the tillage and land preparation machine into the real-time tillage depth uniformity evaluation strategy, and calculates and obtains the real-time tillage depth uniformity value of the tillage and land preparation machine; The disturbance uniformity evaluation module establishes a soil digital elevation model based on the real-time point cloud data of the soil surface, and imports the data collected from each data sampling point in the soil digital elevation model into the real-time soil disturbance uniformity evaluation strategy to calculate and obtain the real-time soil disturbance uniformity value of the tillage and land preparation equipment; The tillage quality coefficient calculation module is based on the real-time machine tillage depth uniformity value and the real-time The soil disturbance average value is used to couple the first round of tillage quality of the trailed tillage equipment. And provide operational guidance for the second round of turning the cultivated land based on the quality coefficient of the first round of tillage.

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