Tractor operation soil compaction degree judgment method based on machine tool real-time parameters

Abstract

The invention relates to a tractor operation soil compaction detection and evaluation method based on real-time operation parameters, and the method comprises the following steps: S1, according to a GNSS sensor, a vehicle speed sensor, an air pressure sensor, an acceleration sensor, an angular motion detection sensor, an engine speed sensor and an engine load sensor which are disposed in a tractor body, carrying out the real-time operation parameters; the method comprises the steps of S1, acquiring related data of a GNSS sensor, a vehicle speed sensor, an air pressure sensor, an acceleration sensor, an angular motion detection sensor, an engine rotating speed sensor and an engine load sensor during operation of a tractor and transmitting the data to a vehicle-mounted computer, S2, monitoring the slip rate, S3, monitoring the contact area between tires and the ground, S4, monitoring the running stability of the tractor, and S5, monitoring the running stability of the tractor. S5, monitoring the turning stability of the tractor; and S6, monitoring the condition of an engine of the tractor. The method has the advantage that the sensor purchase and arrangement cost of a traditional detection method can be remarkably reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural mechanization, and in particular to a method for determining the degree of soil compaction during tractor operation based on real-time parameters of implements. Background Art

[0002] Soil compaction refers to the process in which the bulk density of soil increases and the porosity decreases accordingly when it is subjected to external forces. When agricultural machinery is operating in farmland, the weight of the machinery will press on the soil, resulting in a decrease in soil porosity. Excessive compaction of farmland soil will deteriorate the physical properties of the soil, significantly affect its aeration and air permeability, reduce biological activity and nutrient conversion efficiency, inhibit the root growth of crops, and increase the operating resistance of tillage equipment, thus affecting the quality of farmland. Most traditional methods for detecting the degree of soil compaction during tractor operation are to arrange pressure sensors in the farmland and on the wheels to collect pressure data in order to evaluate the degree of soil compaction during tractor operation. Although such methods have high detection accuracy, they all require the modification of farmland and tractors in the early stage, which significantly increases the cost of operation. Summary of the invention

[0003] In view of the above problems, the purpose of the present invention is to provide a method for determining the degree of soil compaction during tractor operation based on real-time parameters of the implement, without the need to install additional sensors, so as to overcome the deficiencies of the above-mentioned prior art.

[0004] The present invention provides a method for determining the degree of soil compaction during tractor operation based on real-time parameters of the implement, comprising the following steps:

[0005] Step S1: According to the GNSS sensor, vehicle speed sensor, air pressure sensor, acceleration sensor, angular motion detection sensor, engine speed sensor and engine load sensor configured in the tractor body, relevant data of the GNSS sensor, vehicle speed sensor, air pressure sensor, acceleration sensor, angular motion detection sensor, engine speed sensor and engine load sensor when the tractor is operating are obtained and transmitted to the on-board computer, wherein:

[0006] GNSS sensor collects the geographical location data of the tractor during operation, which is expressed in the form of coordinates, i.e. (X t ,Y t ), where t is the timestamp in rad, indicating the longitude and latitude coordinates of the tractor at time t when it is working in the field;

[0007] The vehicle speed sensor collects the wheel speed n of the tractor during operation. wheel , unit is m / s;

[0008] Air pressure sensor, collects tire pressure P of the tractor during operation tire , unit is Pa;

[0009] The acceleration sensor collects the longitudinal acceleration and lateral acceleration of the tractor during operation, which are a and long and a lat , unit is m / s 2 ;

[0010] Angular motion detection sensor, collects the angular acceleration α of the tractor during operation trachtor , in rad / s 2 ;

[0011] Engine speed sensor, collects the engine speed N when the tractor is working engine , the unit is rpm;

[0012] Engine load sensor, collects the engine load T when the tractor is working engine , unit is N m;

[0013] Step S2: Slip rate monitoring. When the tractor has a slip rate that is too high during operation, it will cause more serious damage and compaction to the soil. Therefore, the slip rate of the tractor needs to be monitored.

[0014] Step S21: The actual tractor speed v in a short time interval Δt when the tractor is working t (m / s) is calculated from the geographic location data using the great circle distance formula (1):

[0015]

[0016] Where R is the average radius of the earth, usually R = 6371000, in meters;

[0017] d t is the distance between two points, in meters;

[0018] Δt is the time interval, in seconds;

[0019] Step S22: The linear speed v of the wheel of the tractor during operation wheel , calculated from the vehicle speed data using formula (2):

[0020]

[0021] Among them, v wheel is the linear speed of the wheel, in m / s;

[0022] r wheel is the radius of the wheel, in m;

[0023] Step S23: The slip rate Slip of the tractor is calculated by formula (3):

[0024]

[0025] Step S3: Monitoring the contact area between the tire and the ground. When the tractor is operating, if the tire pressure is too high, the contact area between the tire and the ground will become smaller, increasing the compaction degree of the machine on the soil. It is necessary to monitor the contact area A between the tire and the ground. contact (Unit: m 2 ) for monitoring; the specific calculation process is as follows:

[0026]

[0027] Where m is the mass of the tractor in kg;

[0028] g is the acceleration due to gravity, which is 9.8 and is expressed in m / s 2 ;

[0029] n is the number of wheels, which is determined according to the tractor conditions;

[0030] Step S4: Tractor driving stability monitoring. The tractor's left-right swaying instability and sudden acceleration and deceleration during operation will cause damage to the soil and more serious compaction. It is necessary to monitor the tractor's lateral acceleration fluctuation. (Unit: m / s 2 ) and longitudinal acceleration fluctuation (Unit: m / s 2 ) is used for monitoring, and the specific calculation process is as follows:

[0031]

[0032] in, is the lateral acceleration of the tractor at the i-th time, in m / s 2 ;

[0033] is the longitudinal acceleration of the tractor at the i-th time, in m / s 2 ;

[0034] is the average value of the tractor's lateral acceleration, in m / s 2 ;

[0035] is the average longitudinal acceleration of the tractor, in m / s 2 ;

[0036] N is the number of measurements;

[0037] Step S5: Monitoring the turning stability of the tractor. When the tractor is in an unstable turning state, over-turning, or under-turning, repeated turning will lead to soil compaction. It is necessary to monitor the angular acceleration fluctuation σ of the tractor.α (Unit: rad / s 2 ) is used for monitoring, and the specific calculation process is as follows:

[0038]

[0039] Among them, α i is the angular acceleration of the tractor at the i-th time, in rad / s 2 ;

[0040] is the average value of the tractor's angular acceleration, in rad / s 2 ;

[0041] N is the number of measurements;

[0042] Step S6: Monitoring the tractor engine condition. Sudden changes in the tractor speed and load during operation will increase the degree of soil compaction. It is necessary to monitor the tractor speed N engine (in rpm) and load T engine (Unit: N m) to monitor the situation;

[0043] Step S61: Tractor power P engine (Unit: kW) and speed N engine The relationship between (in rpm) is expressed by formula (8):

[0044]

[0045] Among them, P engine is the power of the tractor engine in kW;

[0046] T engine is the torque of the tractor engine in N m;

[0047] 9550 is the unit conversion factor;

[0048] Step S62: Increasing the engine power will lead to more severe soil compaction. Ideally, the engine power is P when the soil is not over-compacted. ideal (Unit: kW), the engine power detected during operation is P engine (Unit: kW), the engine power overload EPO is expressed by formula (9):

[0049]

[0050] Step S63: Too frequent changes in engine power will lead to more severe soil compaction. (Unit: kW), the specific calculation process is as follows:

[0051]

[0052] in, is the power value of the tractor engine at the i-th moment, in kW;

[0053] is the average value of tractor engine power, in kW;

[0054] N is the number of measurements;

[0055] Step S64: The slip ratio Slip and the contact area A between the tire and the ground during the operation of the tractor contact , lateral acceleration fluctuation Longitudinal acceleration fluctuation Angular acceleration fluctuation σ α , engine power overload EPO and engine power fluctuation To detect and evaluate the degree of soil compaction during operation, the physical quantity is first dimensioned and unified. The calculation process is as follows:

[0056]

[0057] Among them, C is the physical quantity to be standardized when the tractor is working, including the slip rate Slip when the tractor is working, the contact area A between the tire and the ground contact , lateral acceleration fluctuation Longitudinal acceleration fluctuation Angular acceleration fluctuation σ α , engine power overload EPO and engine power fluctuation C max C is the physical value of the maximum soil compaction when the tractor is working. min is the physical quantity value when the soil compaction is the minimum when the tractor is working. Now the physical quantities are dimensionally eliminated and unified to obtain the standardized slip rate Slip and the contact area A between the tire and the ground when the tractor is working. contact , lateral acceleration fluctuation Longitudinal acceleration fluctuation Angular acceleration fluctuation σ α , engine power overload EPO and engine power fluctuation Numeric value;

[0058] Step S65: Finally, the soil compaction degree SCI of the tractor during operation is obtained, and the formula is as follows:

[0059]

[0060] Among them, ω1, ω2, ω3, ω4, ω5, ω6 and ω7 are the weight coefficients of each standardized physical quantity (indicator), which can be obtained by data fitting based on experiments carried out according to tractor models and working farmland conditions.

[0061] N in the full text is the number of detections in a very short time interval, which is related to the detection frequency of each sensor.

[0062] The beneficial effects of the present invention are as follows:

[0063] 1. The present invention can detect and evaluate the degree of soil compaction during operation through the operation data collected by the sensors equipped on the tractor itself, so that when excessive soil compaction occurs, the staff can adjust the state of the machine or repair the soil.

[0064] 2. The present invention can significantly reduce the cost of purchasing and deploying sensors in traditional detection methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] By referring to the following description in conjunction with the accompanying drawings, and with a more comprehensive understanding of the present invention, other objects and results of the present invention will become more apparent and easy to understand. In the accompanying drawings:

[0066] Figure 1 is a flow chart of this embodiment. DETAILED DESCRIPTION

[0067] See also Figure 1 As shown, this embodiment provides a method for determining the degree of soil compaction during tractor operation based on real-time parameters of the implement, comprising the following steps:

[0068] Step S1: According to the GNSS sensor, vehicle speed sensor, air pressure sensor, acceleration sensor, angular motion detection sensor, engine speed sensor and engine load sensor configured in the tractor body, relevant data of the GNSS sensor, vehicle speed sensor, air pressure sensor, acceleration sensor, angular motion detection sensor, engine speed sensor and engine load sensor when the tractor is operating are obtained and transmitted to the on-board computer, wherein:

[0069] GNSS sensor collects the geographical location data of the tractor during operation, which is expressed in the form of coordinates, i.e. (X t ,Y t ), where t is the timestamp in rad, indicating the longitude and latitude coordinates of the tractor at time t when it is working in the field;

[0070] The vehicle speed sensor collects the wheel speed n of the tractor during operation. wheel , unit is m / s;

[0071] Air pressure sensor, collects tire pressure P of the tractor during operationtire , unit is Pa;

[0072] The acceleration sensor collects the longitudinal acceleration and lateral acceleration of the tractor during operation, which are a and long and a lat , unit is m / s 2 ;

[0073] Angular motion detection sensor, collects the angular acceleration α of the tractor during operation trachtor , in rad / s 2 ;

[0074] Engine speed sensor, collects the engine speed N when the tractor is working engine , the unit is rpm;

[0075] Engine load sensor, collects the engine load T when the tractor is working engine , unit is N m;

[0076] Step S2: Slip rate monitoring. When the tractor has a slip rate that is too high during operation, it will cause more serious damage and compaction to the soil. Therefore, the slip rate of the tractor needs to be monitored.

[0077] Step S21: The actual tractor speed v in a short time interval Δt when the tractor is working t (m / s) is calculated from the geographic location data using the great circle distance formula (1):

[0078]

[0079] Where R is the average radius of the earth, usually R = 6371000, in meters;

[0080] d t is the distance between two points, in meters;

[0081] Δt is the time interval, in seconds;

[0082] Step S22: The linear speed v of the wheel of the tractor during operation wheel , calculated from the vehicle speed data using formula (2):

[0083]

[0084] Among them, v wheel is the linear speed of the wheel, in m / s;

[0085] r wheel is the radius of the wheel, in m;

[0086] Step S23: The slip rate Slip of the tractor is calculated by formula (3):

[0087]

[0088] Step S3: Monitoring the contact area between the tire and the ground. When the tractor is operating, if the tire pressure is too high, the contact area between the tire and the ground will become smaller, increasing the compaction degree of the machine on the soil. It is necessary to monitor the contact area A between the tire and the ground. contact (Unit: m 2 ) for monitoring; the specific calculation process is as follows:

[0089]

[0090] Where m is the mass of the tractor in kg;

[0091] g is the acceleration due to gravity, which is 9.8 and is expressed in m / s 2 ;

[0092] n is the number of wheels, which is determined according to the tractor conditions;

[0093] Step S4: Tractor driving stability monitoring. The tractor's left-right swaying instability and sudden acceleration and deceleration during operation will cause damage to the soil and more serious compaction. It is necessary to monitor the tractor's lateral acceleration fluctuation. (Unit: m / s 2 ) and longitudinal acceleration fluctuation (Unit: m / s 2 ) is used for monitoring, and the specific calculation process is as follows:

[0094]

[0095]

[0096] in, is the lateral acceleration of the tractor at the i-th time, in m / s 2 ;

[0097] is the longitudinal acceleration of the tractor at the i-th time, in m / s 2 ;

[0098] is the average value of the tractor's lateral acceleration, in m / s 2 ;

[0099] is the average longitudinal acceleration of the tractor, in m / s 2 ;

[0100] N is the number of measurements;

[0101] Step S5: Monitoring the turning stability of the tractor. When the tractor is in an unstable turning state, over-turning, or under-turning, repeated turning will lead to soil compaction. It is necessary to monitor the angular acceleration fluctuation σ of the tractor. α (Unit: rad / s 2 ) is used for monitoring, and the specific calculation process is as follows:

[0102]

[0103] Among them, α i is the angular acceleration of the tractor at the i-th time, in rad / s 2 ;

[0104] is the average value of the tractor's angular acceleration, in rad / s 2 ;

[0105] N is the number of measurements;

[0106] Step S6: Monitoring the tractor engine condition. Sudden changes in the tractor speed and load during operation will increase the degree of soil compaction. It is necessary to monitor the tractor speed N engine (in rpm) and load T engine (Unit: N m) to monitor the situation;

[0107] Step S61: Tractor power P engine (Unit: kW) and speed N engine The relationship between (in rpm) is expressed by formula (8):

[0108]

[0109] Among them, P engine is the power of the tractor engine in kW;

[0110] T engine is the torque of the tractor engine in N m;

[0111] 9550 is the unit conversion factor;

[0112] Step S62: Increasing the engine power will lead to more severe soil compaction. Ideally, the engine power is P when the soil is not over-compacted. ideal (Unit: kW), the engine power detected during operation is P engine (Unit: kW), the engine power overload EPO is expressed by formula (9):

[0113]

[0114] Step S63: Too frequent changes in engine power will lead to more severe soil compaction. (Unit: kW), the specific calculation process is as follows:

[0115]

[0116] in, is the power value of the tractor engine at the i-th moment, in kW;

[0117] is the average value of tractor engine power, in kW;

[0118] N is the number of measurements;

[0119] Step S64: The slip ratio Slip and the contact area A between the tire and the ground during the operation of the tractor contact , lateral acceleration fluctuation Longitudinal acceleration fluctuation Angular acceleration fluctuation σ α , engine power overload EPO and engine power fluctuation To detect and evaluate the degree of soil compaction during the operation, the physical quantities are first dimensioned and unified. The calculation process is as follows:

[0120]

[0121] Among them, C is the physical quantity to be standardized when the tractor is working, including the slip rate Slip when the tractor is working, the contact area A between the tire and the ground contact , lateral acceleration fluctuation Longitudinal acceleration fluctuation Angular acceleration fluctuation σ α , engine power overload EPO and engine power fluctuation C max C is the physical value of the maximum soil compaction when the tractor is working. min is the physical quantity value when the soil compaction is the minimum when the tractor is working. Now the physical quantities are dimensionally eliminated and unified to obtain the standardized slip rate Slip and the contact area A between the tire and the ground when the tractor is working. contact , lateral acceleration fluctuation Longitudinal acceleration fluctuation Angular acceleration fluctuation σ α , engine power overload EPO and engine power fluctuation Numeric value;

[0122] Step S65: Finally, the soil compaction degree SCI of the tractor during operation is obtained, and the formula is as follows:

[0123]

[0124] Among them, ω1, ω2, ω3, ω4, ω5, ω6 and ω7 are the weight coefficients of each standardized physical quantity (indicator), which can be obtained by data fitting based on the tractor model and the working farmland conditions. N in the full text is the number of detections in a very short time interval, which is related to the detection frequency of each sensor.

[0125] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for determining the degree of soil compaction during tractor operation based on real-time parameters of the implement, characterized in that: The following steps are involved: Step S1: According to the GNSS sensor, vehicle speed sensor, air pressure sensor, acceleration sensor, angular motion detection sensor, engine speed sensor and engine load sensor configured in the tractor body, relevant data of the GNSS sensor, vehicle speed sensor, air pressure sensor, acceleration sensor, angular motion detection sensor, engine speed sensor and engine load sensor when the tractor is operating are obtained and transmitted to the on-board computer, wherein: GNSS sensor collects the geographical location data of the tractor during operation, which is expressed in the form of coordinates, i.e. (X t ,Y t ), where t is the timestamp in rad, indicating the longitude and latitude coordinates of the tractor at time t when it is working in the field; The vehicle speed sensor collects the wheel speed n of the tractor during operation. wheel , unit is m / s; Air pressure sensor, collects tire pressure P of the tractor during operation tire , unit is Pa; The acceleration sensor collects the longitudinal acceleration and lateral acceleration of the tractor during operation, which are a and long and a lat , unit is m / s 2 ; Angular motion detection sensor, collects the angular acceleration α of the tractor during operation trachtor , in rad / s 2 ; Engine speed sensor, collects the engine speed N when the tractor is working engine , the unit is rpm; Engine load sensor, collects the engine load T when the tractor is working engine , unit is N m; Step S2: Slip rate monitoring. When the tractor has a slip rate that is too high during operation, it will cause more serious damage and compaction to the soil. Therefore, the slip rate of the tractor needs to be monitored. Step S21: The actual tractor speed v in a short time interval Δt when the tractor is working t (m / s) is calculated from the geographic location data using the great circle distance formula (1): Where R is the average radius of the earth, usually R = 6371000, in meters; d t is the distance between two points, in meters; Δt is the time interval, in seconds; Step S22: The linear speed v of the wheel of the tractor during operation wheel , calculated from the vehicle speed data using formula (2): Among them, v wheel is the linear speed of the wheel, in m / s; r wheel is the radius of the wheel, in m; Step S23: The slip rate Slip of the tractor is calculated by formula (3): Step S3: Monitoring the contact area between the tire and the ground. When the tractor is operating, if the tire pressure is too high, the contact area between the tire and the ground will become smaller, increasing the compaction degree of the machine on the soil. It is necessary to monitor the contact area A between the tire and the ground. contact (Unit: m 2 ) for monitoring; the specific calculation process is as follows: Where m is the mass of the tractor in kg; g is the acceleration due to gravity, which is 9.8 and is expressed in m / s 2 ; n is the number of wheels, which is determined according to the tractor conditions; Step S4: Tractor driving stability monitoring. The tractor's left-right swaying instability and sudden acceleration and deceleration during operation will cause soil damage and more severe compaction. It is necessary to monitor the tractor's lateral acceleration fluctuation σ ax (Unit: m / s 2 ) and longitudinal acceleration fluctuation σ ay (Unit: m / s 2 ) is used for monitoring, and the specific calculation process is as follows: in, is the lateral acceleration of the tractor at the i-th time, in m / s 2 ; is the longitudinal acceleration of the tractor at the i-th time, in m / s 2 ; is the average value of the tractor's lateral acceleration, in m / s 2 ; is the average longitudinal acceleration of the tractor, in m / s 2 ; N is the number of measurements; Step S5: Monitoring the turning stability of the tractor. When the tractor is in an unstable turning state, over-turning, or under-turning, repeated turning will lead to soil compaction. It is necessary to monitor the angular acceleration fluctuation σ of the tractor. α (Unit: rad / s 2 ) is used for monitoring, and the specific calculation process is as follows: Among them, α i is the angular acceleration of the tractor at the i-th time, in rad / s 2 ; is the average value of the tractor's angular acceleration, in rad / s 2 ; N is the number of measurements; Step S6: Monitoring the tractor engine condition. Sudden changes in the tractor speed and load during operation will increase the degree of soil compaction. It is necessary to monitor the tractor speed N engine (in rpm) and load T engine (Unit: N m) to monitor the situation; Step S61: Tractor power P engine (Unit: kW) and speed N engine The relationship between (in rpm) is expressed by formula (8): Among them, P engine is the power of the tractor engine in kW; T engine is the torque of the tractor engine in N m; 9550 is the unit conversion factor; Step S62: Increasing the engine power will lead to more severe soil compaction. Ideally, the engine power is P when the soil is not over-compacted. ideal (Unit: kW), the engine power detected during operation is P engine (Unit: kW), the engine power overload EPO is expressed by formula (9): Step S63: Too frequent changes in engine power will lead to more severe soil compaction. (Unit: kW), the specific calculation process is as follows: in, is the power value of the tractor engine at the i-th moment, in kW; is the average value of tractor engine power, in kW; N is the number of measurements; Step S64: The slip ratio Slip and the contact area A between the tire and the ground during the operation of the tractor contact , lateral acceleration fluctuation Longitudinal acceleration fluctuation Angular acceleration fluctuation σ α , engine power overload EPO and engine power fluctuation To detect and evaluate the degree of soil compaction during operation, the physical quantity is first dimensioned and unified. The calculation process is as follows: Among them, C is the physical quantity to be standardized when the tractor is working, including the slip rate Slip when the tractor is working, the contact area A between the tire and the ground contact , lateral acceleration fluctuation Longitudinal acceleration fluctuation Angular acceleration fluctuation σ α , engine power overload EPO and engine power fluctuation C max C is the physical value of the maximum soil compaction when the tractor is working. min is the physical quantity value when the soil compaction is the minimum when the tractor is working. Now the physical quantities are dimensionally eliminated and unified to obtain the standardized slip rate Slip and the contact area A between the tire and the ground when the tractor is working. contact , lateral acceleration fluctuation Longitudinal acceleration fluctuation Angular acceleration fluctuation σ α , engine power overload EPO and engine power fluctuation Numeric value; Step S65: Finally, the soil compaction degree SCI of the tractor during operation is obtained, and the formula is as follows: Among them, ω1, ω2, ω3, ω4, ω5, ω6 and ω7 are the weight coefficients of each standardized physical quantity, which can be obtained by data fitting through experiments based on tractor models and farmland conditions.

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