Ditching parameter detection method, device and system

Abstract

The invention provides a ditching parameter detection method, device and system, and belongs to the technical field of agricultural mechanical property identification. The ditching parameter detection method comprises the following steps: S1, acquiring field section data of field ditching; step S2, grouping the field cross section data; step S3, fitting is carried out on the grouped field cross section data; and S4, calculating field ditching parameters according to the fitted data. The invention aims to reduce the labor intensity of identification personnel, reduce man-made interference, realize safe storage and traceability of various data in the ditching mechanical operation identification process, improve the identification efficiency, and enable the ditching mechanical operation performance detection and identification to be informationized, normalized, scientific and intelligent.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery performance identification, and in particular to a ditching parameter detection method, device and system. Background Art

[0002] As a key link in agricultural planting, trenching operation will have a great impact on farming efficiency and the subsequent growth of crops. Mechanized trenching operation has been vigorously promoted by the state and local governments due to its advantages such as high efficiency and low labor costs. With the widespread popularization of trenching machinery, the performance evaluation of trenching machinery before leaving the factory has also become a hot research topic. The evaluation method is to measure various indicators of trenching after the trenching machinery is operated, and judge whether the operating performance of the trenching machinery meets the requirements based on the measurement results.

[0003] There are currently two main detection methods: one is to measure the trenching manually using a ruler, and the other is to measure by installing a measuring sensor on the trenching machine.

[0004] Manual measurement is to take several measuring points in the trenching operation area and measure the relevant indicators with the help of a ruler. However, the manual measurement method is easily affected by human subjective factors, with large errors, low efficiency, and poor real-time performance. It cannot meet the needs of real-time and accurate monitoring of trenching operation quality parameters, and does not meet the current development needs of smart agriculture in my country. Installing measurement sensors on trenching machinery for measurement will cause the sensors to shake with the trenching machinery, resulting in poor stability and large measurement errors. Moreover, neither of these two measurement methods can effectively save the detection data, which is not convenient for later tracing. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a trenching parameter detection method, aiming to reduce the labor intensity of identification personnel, reduce human interference, ensure the safe storage and traceability of various data in the trenching machinery operation identification process, improve the identification efficiency, and make the trenching machinery operation performance detection and certification move towards informationization, standardization, scientificization and intelligence.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions.

[0007] In one aspect, the present invention provides a method for detecting ditching parameters, comprising:

[0008] Step S1, obtaining field cross-sectional data of field trenching;

[0009] Step S2, grouping the field cross-section data;

[0010] Step S3, fitting the grouped field cross-section data;

[0011] Step S4, calculating the actual trenching parameters based on the fitted data.

[0012] Preferably, the field cross-sectional data are the polar coordinates of all acquisition points on the field trenching section, the polar diameter of the polar coordinates is the distance from each acquisition point to the trenching parameter detection device, the polar angle of the polar coordinates is the angle of the trenching parameter detection device corresponding to each acquisition point, and the field trenching parameters include the field trench surface width, the field trench bottom width and the field trenching depth.

[0013] Preferably, step S2 comprises:

[0014] Each field cross-section data was grouped by forward difference method and forward product method;

[0015] Step S3 includes:

[0016] Select the data to be fitted in each group of data;

[0017] Perform a straight line fit on the data to be fitted.

[0018] Preferably, the grouping of each field cross-section data by forward difference method and forward product method comprises:

[0019] The five characteristic points of the polar diameter increase and decrease trend change are determined in sequence through the forward difference method and the forward product method. The collection points before the first characteristic point are the first groove surface group, the collection points between the first and second characteristic points are the first side surface group, the collection points between the second and third characteristic points are the first groove bottom group, the collection points between the third and fourth characteristic points are the second groove bottom group, the collection points between the fourth and fifth characteristic points are the second side surface group, and the collection points after the fifth characteristic point are the second groove surface group.

[0020] Preferably, selecting the data to be fitted from each set of data comprises:

[0021] In the first groove surface group, the polar coordinates of all the collected points are selected as the data to be fitted for the first groove surface;

[0022] In the second groove surface group, the polar coordinates of all the collected points are selected as the data to be fitted for the second groove surface;

[0023] In the first trench bottom group and the second trench bottom group, the polar coordinates of all the acquisition points with a polar angle of 90°±predetermined angle are selected as the data to be fitted on the trench bottom surface;

[0024] In the first side surface group, the height of the horizontal plane where the third feature point is located is 0, the height of the horizontal plane where the first feature point is located is H, and the polar coordinates of the collection points with heights between H / 3 and 2H / 3 are selected as the data to be fitted for the first side surface;

[0025] In the second side surface group, the polar coordinates of all acquisition points with heights between H / 3 and 2H / 3 are selected as the data to be fitted for the second side surface.

[0026] Preferably, performing straight line fitting on the data to be fitted comprises:

[0027] Convert the polar coordinates of the data to be fitted into rectangular coordinates;

[0028] The transformed rectangular coordinate data were fitted with a straight line using the square method.

[0029] The present invention also provides a ditching parameter detection device, which is characterized by comprising:

[0030] Reference plate;

[0031] A bracket, one end of which is connected to the reference plate;

[0032] A measuring part, the measuring part is arranged at the other end of the bracket;

[0033] An embedded device is arranged at the other end of the bracket and is electrically connected to the measuring part, and is used to control the measuring part, receive data sent by the measuring part, and send the data to a cloud server and a host computer for storage and calculation.

[0034] Preferably, the ditching parameter detection device further comprises:

[0035] A level, the level being arranged on the reference plate;

[0036] The measuring unit comprises:

[0037] A joint motor, the joint motor is connected to the other end of the bracket and is electrically connected to the embedded device, and the embedded device controls the joint motor;

[0038] A laser distance measuring sensor is connected to the joint motor and electrically connected to the embedded device.

[0039] The present invention also provides a ditching parameter detection system, comprising:

[0040] The above-mentioned trenching parameter detection device is used to collect field cross-sectional data of field trenching;

[0041] A cloud server, used for receiving and storing the field cross-section data sent by the trenching parameter detection device;

[0042] The host computer is used to receive the field cross-section data sent by the cloud server, calculate the field trenching parameters according to the above trenching parameter detection method, and send the field trenching parameters to the cloud server for storage.

[0043] Preferably, the trenching parameter detection system further comprises a trenching simulation device for performing a simulation experiment, wherein the simulation experiment comprises the steps of:

[0044] Collecting simulation cross-sectional data of the trenching simulation device through the trenching parameter detection device;

[0045] Sending the simulated cross-section data to the cloud server for storage;

[0046] Sending the simulated cross-section data in the cloud server to the host computer;

[0047] The host computer calculates the simulation trenching parameters according to the simulation cross-section data and sends the calculation results to the cloud server for storage;

[0048] Fitting and comparing the simulated trenching parameters with the actual structural data of the trenching simulation device, calculating the detection error and analyzing the cause of the error;

[0049] Adjust the computing parameters of the host computer according to the cause of the error, and send the adjusted data to the cloud server for storage;

[0050] Repeat the above steps several times until the error is less than the set value.

[0051] Compared with the prior art, the above technical solution of the present invention has at least the following beneficial effects:

[0052] The present invention collects data through an embedded system, uses cloud services to transmit and save data, and analyzes and processes data through a terminal host computer. In the work of trenching machinery operation performance appraisal and detection, it can help appraisal personnel to collect and detect data, and can retrieve historical data from the cloud server on the terminal host computer and print an appraisal report. It realizes the automated detection and management of trenching machinery operation performance parameters, reduces the labor intensity of appraisal personnel, reduces human interference, ensures that all data in the trenching machinery operation appraisal process are safe and traceable, improves appraisal efficiency, and makes trenching machinery operation performance testing and certification move towards informatization, standardization, scientificization and intelligence. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A flow chart showing a method for detecting trenching parameters according to an embodiment of the present invention is shown;

[0054] Figure 2 Another flow chart of the trenching parameter detection method according to an embodiment of the present invention is shown;

[0055] Figure 3 A schematic diagram showing a rectangular trench according to an embodiment of the present invention;

[0056] Figure 4A schematic diagram showing the trapezoidal trenching according to an embodiment of the present invention is shown;

[0057] Figure 5 A graph showing a change trend of the collection point data according to an embodiment of the present invention is shown;

[0058] Figure 6 A fitting diagram of a trenching cross section according to an embodiment of the present invention is shown;

[0059] Figure 7 The human-computer interaction interface of the host computer according to the embodiment of the present invention is shown;

[0060] Figure 8 A three-dimensional visualization effect diagram showing the ditching detection result according to an embodiment of the present invention;

[0061] Fig. 9 A schematic diagram of the structure of a ditching parameter detection device according to an embodiment of the present invention is shown;

[0062] Fig.10 A framework diagram of a trenching parameter detection system according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0063] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0064] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0065] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0066] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0067] Embodiment 1

[0068] like Figure 1-2 As shown, this embodiment provides a ditching parameter detection method, including:

[0069] Step S1, obtaining field cross-sectional data of field trenching.

[0070] According to different farming needs, the cross-sectional shapes of field trenches are classified into various types, such as Figure 3-4 As shown, it mainly includes rectangles and trapezoids, wherein the width of the upper base of the trapezoid is greater than the width of the lower base.

[0071] During the data collection process, the laser distance sensor on the trenching parameter detection device scans from one end of the trenching section to the other end in a clockwise or counterclockwise direction to collect polar coordinate data of each collection point on the path. The polar diameter of the polar coordinates is the distance from each collection point to the trenching parameter detection device, and the polar angle of the polar coordinates is the angle of the trenching parameter detection device corresponding to each collection point. During the scanning process, the horizontal line is calibrated as the 0° reference line, and the polar angle of the polar coordinates is the angle between the laser ray and the horizontal line.

[0072] The actual trenching section includes five characteristic surfaces, which are divided into the first trench surface, the first side surface, the trench bottom surface, the second side surface and the second trench surface in the clockwise (or counterclockwise) direction. The trench bottom surface also includes the first trench bottom surface and the second trench bottom surface. The intersection of the first trench surface and the first side surface is the first characteristic point, the intersection of the first side surface and the trench bottom surface is the second characteristic point, the collection point on the trench bottom surface with a polar angle of 90° is the third characteristic point, the intersection of the trench bottom surface and the second side surface is the fourth characteristic point, and the intersection of the second side surface and the second trench surface is the fifth characteristic point. The trench bottom surface is divided into the first trench bottom surface and the second trench bottom surface with the third characteristic point as the dividing point.

[0073] It should be noted that when building the ditching parameter detection device, it is necessary to set the ditching parameter detection device at a position higher than the ditch surface and between the second characteristic point and the fourth characteristic point. In addition, the angle between the line connecting the ditching parameter detection device and the first characteristic point and the first side surface, and the angle between the line connecting the ditching parameter detection device and the fifth characteristic point and the second side surface should be greater than 90°. On this basis, if Figure 5As shown, during the scanning process from the first groove surface to the second groove surface, the polar diameter size of the collection point changes according to the following rule: when the scanning point moves from the starting position to the first feature point, the polar diameter tends to decrease; when it moves from the first feature point to the second feature point, the polar diameter tends to increase; when it moves from the second feature point to the third feature point, the polar diameter tends to decrease; when it moves from the third feature point to the fourth feature point, the polar diameter tends to increase; when it moves from the fourth feature point to the fifth feature point, the polar diameter tends to decrease; when it moves from the fifth feature point to the end position, the polar diameter tends to increase.

[0074] In order to obtain the performance of the trenching machine on the entire trench, it is necessary to obtain multiple field trenching cross-section data at intervals along the length of the trench. That is, after scanning the first field trenching cross section, the trenching parameter detection device is moved a predetermined distance, and the next field cross-section data is obtained in the same scanning direction, and this is repeated multiple times until a predetermined number of field cross-section data are obtained.

[0075] After the acquisition device obtains the field cross-sectional data, it uploads the data to the cloud server, which saves the data. Saving the data through the cloud server is safe, reliable and convenient for retrieval. After the cloud server saves the field cross-sectional data, it sends it to the host computer so that the host computer can analyze and process the data.

[0076] Step S2, grouping the field cross-section data.

[0077] Before grouping, the field cross-section data is first denoised. A Gaussian filter with a window size of 5 can be used to smooth the data. Then each field cross-section data is grouped using the forward difference method and the forward product method. The specific process is as follows:

[0078] According to the increase and decrease trend of the polar diameter, each field section data is divided into six groups, and the increase and decrease trend of the polar diameter in the data in each group is the same. According to the scanning direction, it is specifically divided into the first groove surface group, the first side group, the first groove bottom group, the second groove bottom group, the second side group, and the second groove surface group. The dividing point between the first groove surface group and the first side group is the first feature point, the dividing point between the first side group and the first groove bottom group is the second feature point, the dividing point between the first groove bottom group and the second groove bottom group is the third feature point, the dividing point between the second groove bottom group and the second side group is the fourth feature point, and the dividing point between the second side group and the second groove surface group is the fifth feature point. In other words, the increase and decrease trend of the polar diameter before the feature point is opposite to the increase and decrease trend of the polar diameter after the feature point. According to this characteristic, the forward difference method and the forward product method can be used to find the feature points, thereby realizing the grouping of the field section data.

[0079] The calculation formula of the forward difference method is as follows:

[0080]

[0081] The calculation formula of the forward product method is as follows:

[0082]

[0083] Where I 1 ……I n+1 Represents the polar diameter of the laser ranging sensor, d 1 ……d n Represents the difference in polar diameter between adjacent polar coordinate points, p 1 …… n-1 The value representing the forward product is the judgment value of the trend of the polar coordinate data table.

[0084] Step S3, fitting the grouped field cross-section data.

[0085] First, select the data to be fitted in each group of data. In the first groove surface group, select the polar coordinates of all the collected points as the data to be fitted for the first groove surface; in the second groove surface group, select the polar coordinates of all the collected points as the data to be fitted for the second groove surface; in the first groove bottom group and the second groove bottom group, select the polar coordinates of all the collected points with a polar angle of 90°±predetermined angle as the data to be fitted for the groove bottom surface; in the first side surface group, take the height of the horizontal plane where the third feature point is located as 0, take the height of the horizontal plane where the first feature point is located as H, select the polar coordinates of the collected points with a height between H / 3 and 2H / 3 as the data to be fitted for the first side surface; in the second side surface group, select the polar coordinates of all the collected points with a height between H / 3 and 2H / 3 as the data to be fitted for the second side surface. The data selection of the first side surface and the second side surface can reduce the impact of the uneven surface of the groove.

[0086] Next, perform a straight line fit on the data to be fitted. After selecting the polar coordinate data to be fitted in each group, convert the polar coordinates into rectangular coordinates. The calculation formula is as follows:

[0087]

[0088] In the formula, x represents the horizontal coordinate with the starting point of the laser ranging sensor as the origin, y represents the vertical coordinate with the starting point of the laser ranging sensor as the origin, and I represents the polar diameter of the laser ranging sensor. represents the polar angle corresponding to the current point, and h is the distance between the laser emission point of the laser ranging sensor and the rotation center.

[0089] After converting the polar coordinate data to be fitted into rectangular coordinates, the straight line segment corresponding to each surface is fitted by the square multiplication method.

[0090] Step S4, calculating the actual trenching parameters based on the fitted data.

[0091] like Figure 6 As shown, the field trenching parameters of each field trenching section are calculated based on the fitted straight line data.

[0092] After fitting the straight line segments of each surface, calculate the coordinates of the intersection points of adjacent line segments, and calculate the actual trenching parameters based on the intersection coordinates, namely the trench surface width, trench bottom width and trenching depth. The calculation formula is as follows:

[0093] Calculation formula for groove width:

[0094]

[0095] The calculation formula of trench bottom width is:

[0096]

[0097] Trench depth calculation formula:

[0098]

[0099] Where h is the distance between the point where the laser ranging sensor emits the laser and the center of rotation;

[0100] , They are the lengths measured by the laser ranging sensor when the laser points at the first feature point and the second feature point respectively;

[0101] , They are the lengths measured when the laser ranging sensor laser points at the fifth and fourth feature points respectively;

[0102] is the angle between the starting position of the laser ranging sensor and the horizontal line on the right;

[0103] It is the angle between the laser distance measuring line when the laser distance measuring sensor hits the first feature point and the starting position;

[0104] It is the angle between the laser distance measuring line when the laser distance measuring sensor hits the second feature point and the laser distance measuring line when the laser distance measuring sensor hits the first feature point.

[0105] is the angle between the end position of the laser ranging sensor and the horizontal line on the left;

[0106] It is the angle between the laser ranging sensor’s point at the fifth feature point and the distance measuring laser line at the end position;

[0107] It is the angle between the laser line when the laser ranging sensor hits the fourth feature point and the fifth feature point.

[0108] like Figure 7 As shown in the figure, the operator can implement the above steps by operating through the human-machine interaction interface of the host computer. Figure 8 As shown, after all the field trenching parameters are calculated, a three-dimensional image of the field trenching can be statistically fitted by the host computer, making the detection data intuitive and visualized.

[0109] Embodiment 2

[0110] like Fig. 9 As shown, this embodiment provides a trenching parameter detection device, including a reference plate 1, a bracket 3, a measuring part and an embedded device. One end of the bracket 3 is connected to the reference plate 1; the measuring part is arranged at the other end of the bracket 3; the embedded device is arranged at the other end of the bracket 3 and is electrically connected to the measuring part, and is used to control the measuring part, receive data sent by the measuring part, and send data to the cloud server and the host computer for storage and calculation. The field cross-section data required by the above method can be collected by this device.

[0111] In this embodiment, the ditching parameter detection device also includes a level 2, and the measuring part includes a joint motor 4 and a laser ranging sensor 5. The level 2 is arranged on the reference plate 1 to assist in adjusting the reference plate 1; the joint motor 4 is connected to the other end of the bracket 3 and electrically connected to the embedded device, and the embedded device controls the joint motor 4; the laser ranging sensor 5 is connected to the joint motor 4 and electrically connected to the embedded device. During the measurement process, the rotation of the joint motor is controlled by the embedded device, thereby driving the laser ranging sensor to rotate. The laser ranging sensor rotates clockwise or counterclockwise once, and scans each collection point on the ditch at a certain interval to obtain the distance from each collection point to the laser ranging sensor and the angle of the laser ranging sensor when scanning the point. After scanning, the collected data is transmitted to the embedded device. The embedded device is responsible for transmitting the data to the cloud server and the host computer for storage and calculation.

[0112] The trenching parameter detection device is a portable device that measures one cross section at a time. After the measurement, the entire device is moved in the extension direction of the trench to measure the second cross section, and so on, to detect multiple cross sections, and then the host computer fits the three-dimensional image of the entire trench.

[0113] Among them, the embedded device can use the ESP32-S3 Internet of Things development board, the joint motor 4 can use the M4215E14B50 joint motor, and the communication module between the embedded device and the cloud server can use the 4G-DTU module. The host computer can use a computer equipped with a Windows 11-64 bit operating system.

[0114] Embodiment 3

[0115] like Fig.10 As shown, this embodiment provides a trenching parameter detection system for detecting the operating performance of a trenching machine, including a trenching parameter detection device, a cloud server, and a host computer. The trenching parameter detection device is used to collect field cross-sectional data of field trenching; the cloud server is used to receive and save the field cross-sectional data sent by the trenching parameter detection device; the host computer is used to receive the field cross-sectional data sent by the cloud server, calculate the field trenching parameters based on the field cross-sectional data, and then send the field trenching parameters to the cloud server for storage. This system can adopt the above method and device.

[0116] Embodiment 4

[0117] This embodiment provides a method for simulation experiment for adjusting operation parameters. In order to improve the accuracy of the calculation results, a simulation experiment can also be performed before collecting field trenching cross-section data, and the relevant parameters of the host computer can be optimized and adjusted through the simulation experiment. The experimental steps include:

[0118] Collecting simulation cross-sectional data of the trenching simulation device through the trenching parameter detection device;

[0119] Sending the simulated cross-section data to the cloud server for storage;

[0120] Sending the simulated cross-section data in the cloud server to the host computer;

[0121] The host computer calculates the simulation trenching parameters according to the simulation cross-section data and sends the calculation results to the cloud server for storage;

[0122] Fitting and comparing the simulated trenching parameters with the actual structural data of the trenching simulation device, calculating the detection error and analyzing the cause of the error;

[0123] Adjust the computing parameters of the host computer according to the cause of the error, and send the adjusted data to the cloud server for storage;

[0124] Repeat the above steps several times until the error is less than the set value.

[0125] Specifically, first select the field trench for the experiment, the surveyor measures the field trench to obtain the actual structural data of the field trench, then build a trench simulation device with the same structure as the field trench, and then collect and calculate the data of the trench simulation device according to the collection and calculation method of the field trench, calculate the result and compare it with the actual structural data, calculate the detection error and analyze the cause of the error, modify the characteristic point selection parameters on the data management and calculation platform of the host computer background, repeat many times until the appropriate experimental results are obtained, and each experimental result is uploaded to the cloud server for storage, and check whether the data storage is complete. This method can be implemented by the above system.

[0126] The present invention collects data through an embedded system, uses cloud services to transmit and save data, and analyzes and processes data through a terminal host computer. In the work of trenching machinery operation performance appraisal and detection, it can help appraisal personnel to collect and detect data, and can retrieve historical data from the cloud server on the terminal host computer and print an appraisal report. It realizes the automated detection and management of trenching machinery operation performance parameters, reduces the labor intensity of appraisal personnel, reduces human interference, ensures that all data in the trenching machinery operation appraisal process are safe and traceable, improves appraisal efficiency, and makes trenching machinery operation performance testing and certification move towards informatization, standardization, scientificization and intelligence.

[0127] The present invention is developed in accordance with the outline for the promotion and appraisal of agricultural machinery, and detects important working indicators of the ditching machinery's operating performance. It realizes fast, accurate and convenient data collection, and can accurately detect three important indicators of the ditch surface width, ditch bottom width and ditch depth after the ditching machinery is operated, and the detection error is kept within 1 cm. The system has good detection effect in actual application scenarios, small error, and complete preservation of historical data.

[0128] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0129] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0130] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0132] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the inspiration of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A trenching parameter detection method, characterized in that: include: Step S1, obtaining field cross-sectional data of field trenching; Step S2, grouping the field cross-section data; Step S3, fitting the grouped field cross-section data; Step S4, calculating the actual trenching parameters based on the fitted data.

2. The trenching parameter detection method according to claim 1, characterized in that: The field cross-section data are the polar coordinates of all the acquisition points on the field trenching section, the polar diameter of the polar coordinates is the distance from each acquisition point to the trenching parameter detection device, the polar angle of the polar coordinates is the angle of the trenching parameter detection device corresponding to each acquisition point, and the field trenching parameters include the field trench surface width, the field trench bottom width and the field trenching depth.

3. The trenching parameter detection method according to claim 2, characterized in that: Step S2 includes: Each field cross-section data was grouped by forward difference method and forward product method; Step S3 includes: Select the data to be fitted in each group of data; Perform a straight line fit on the data to be fitted.

4. The trenching parameter detection method according to claim 3, characterized in that: The grouping of each field cross-section data by forward difference method and forward product method comprises: The five characteristic points of the polar diameter increase and decrease trend change are determined in sequence through the forward difference method and the forward product method. The collection points before the first characteristic point are the first groove surface group, the collection points between the first and second characteristic points are the first side surface group, the collection points between the second and third characteristic points are the first groove bottom group, the collection points between the third and fourth characteristic points are the second groove bottom group, the collection points between the fourth and fifth characteristic points are the second side surface group, and the collection points after the fifth characteristic point are the second groove surface group.

5. The trenching parameter detection method according to claim 4, characterized in that: The step of selecting the data to be fitted from each set of data comprises: In the first groove surface group, the polar coordinates of all the collected points are selected as the data to be fitted for the first groove surface; In the second groove surface group, the polar coordinates of all the collected points are selected as the data to be fitted for the second groove surface; In the first trench bottom group and the second trench bottom group, the polar coordinates of all the acquisition points with a polar angle of 90°±predetermined angle are selected as the data to be fitted on the trench bottom surface; In the first side surface group, the height of the horizontal plane where the third feature point is located is 0, the height of the horizontal plane where the first feature point is located is H, and the polar coordinates of the collection points with heights between H / 3 and 2H / 3 are selected as the data to be fitted for the first side surface; In the second side surface group, the polar coordinates of all acquisition points with heights between H / 3 and 2H / 3 are selected as the data to be fitted for the second side surface.

6. The trenching parameter detection method according to claim 5, characterized in that: The linear fitting of the data to be fitted comprises: Convert the polar coordinates of the data to be fitted into rectangular coordinates; The transformed rectangular coordinate data were fitted with a straight line using the square method.

7. A ditching parameter detection device, characterized in that: include: Reference plate; A bracket, one end of which is connected to the reference plate; A measuring part, the measuring part is arranged at the other end of the bracket; An embedded device is arranged at the other end of the bracket and is electrically connected to the measuring part, and is used to control the measuring part, receive data sent by the measuring part, and send the data to a cloud server and a host computer for storage and calculation.

8. The trenching parameter detection device according to claim 7, characterized in that: Also includes: A level, the level being arranged on the reference plate; The measuring unit comprises: A joint motor, the joint motor is connected to the other end of the bracket and is electrically connected to the embedded device, and the embedded device controls the joint motor; A laser distance measuring sensor is connected to the joint motor and electrically connected to the embedded device.

9. A trenching parameter detection system, characterized in that: include: The trenching parameter detection device according to any one of claims 7 to 8 is used to collect field cross-sectional data of field trenching; A cloud server, used for receiving and storing the field cross-section data sent by the trenching parameter detection device; The host computer is used to receive the field cross-section data sent by the cloud server, calculate the field trenching parameters according to the trenching parameter detection method according to any one of claims 1 to 6, and send the field trenching parameters to the cloud server for storage.

10. The trenching parameter detection system according to claim 9, characterized in that: It also includes a trenching simulation device for performing a simulation experiment, wherein the simulation experiment includes the following steps: Collecting simulation cross-sectional data of the trenching simulation device through the trenching parameter detection device; Sending the simulated cross-section data to the cloud server for storage; Sending the simulated cross-section data in the cloud server to the host computer; The host computer calculates the simulation trenching parameters according to the simulation cross-section data and sends the calculation results to the cloud server for storage; Fitting and comparing the simulated trenching parameters with the actual structural data of the trenching simulation device, calculating the detection error and analyzing the cause of the error; Adjust the computing parameters of the host computer according to the cause of the error, and send the adjusted data to the cloud server for storage; Repeat the above steps several times until the error is less than the set value.

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