A multi-channel automated measurement device for tillage depth array

Abstract

The application discloses a kind of ploughing depth array type multichannel automated measuring device, including, multichannel measuring device, be equipped with following probe vertical downward pressure sensor and displacement sensor, for obtaining probe into the real-time pressure signal and real-time displacement signal after farmland layer;Multichannel signal acquisition and processing system, for obtaining the real-time measurement signal of multichannel measuring device and conversion into digital signal;Data processing and visualization system, for receiving digital signal and with the first extreme point of the second derivative of real-time pressure signal in digital signal as farmland layer demarcation point, fusion real-time displacement signal at this farmland layer demarcation point, i.e. obtain ploughing depth data.The application simultaneously measures the ploughing depth of multichannel by multichannel array arrangement sensor, and comprehensive ploughing depth data of different positions, automatically corrects abnormal data, reduces the influence of environmental interference, improves the reliability and accuracy of ploughing depth data, and then improves the precision and efficiency of farmland deep loosening operation.

Description

Technical Field

[0001] This invention relates to the field of measurement technology, and more particularly to the field of tillage depth performance monitoring technology. Specifically, it relates to a multi-channel automated tillage depth array measuring device that integrates pressure and displacement data to simultaneously acquire tillage depth at multiple spatial locations. Background Technology

[0002] In the field of agricultural mechanization testing technology, existing methods for measuring tillage depth include: (1) manual sampling and testing, and (2) the use of automated tillage depth testing devices. Manual sampling and testing requires manual sampling at multiple points after tillage, which is labor-intensive and inefficient. In contrast, automated tillage depth testing devices measure the tillage depth by means of sensors installed on subsoilers or rotary tillers, avoiding the time-consuming manual testing and making them suitable for large-scale mechanized operations. However, existing automated tillage depth testing devices have some problems. For example, they mainly obtain the tillage depth indirectly by detecting the soil penetration depth of subsoilers or rotary tillers through sensors installed on them, which cannot effectively measure the true tillage depth. Especially under complex environmental conditions, the detection accuracy is difficult to meet the requirements of agricultural machinery appraisal. Summary of the Invention

[0003] The purpose of this invention is to address the problems existing in the prior art by providing a multi-channel automated measurement device for tillage depth array.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A multi-channel automated measurement device for tillage depth array, comprising,

[0006] The multi-channel measuring device is equipped with a pressure sensor and a displacement sensor that follow the probe vertically downwards. It is used to obtain real-time pressure signals and real-time displacement signals after the probe enters the tillage layer and send them to the multi-channel signal acquisition and processing system.

[0007] A multi-channel signal acquisition and processing system is used to acquire real-time measurement signals from a multi-channel measuring device and convert them into digital signals for transmission to a data processing and visualization system.

[0008] The data processing and visualization system is used to receive digital signals and take the first extreme point of the second derivative of the real-time pressure signal in the digital signal as the tillage layer boundary point. By integrating the real-time displacement signal at the tillage layer boundary point, the tillage depth data can be obtained.

[0009] The multi-channel measuring device can simultaneously provide the multi-channel signal acquisition and processing system with multiple sets of single-channel real-time measurement signals, consisting of real-time pressure signals containing time information and real-time displacement signals containing time information. The multi-channel signal acquisition and processing system can simultaneously provide the data processing and visualization system with multiple sets of corresponding single-channel digital signals based on the multiple sets of single-channel real-time measurement signals. The data processing and visualization system analyzes the continuously received multiple sets of single-channel digital signals to determine the tillage layer boundary point and the real-time displacement signal at the tillage layer boundary point provided by each set of single-channel digital signals. The average value of each set of real-time displacement signals is the tillage depth data obtained in this measurement.

[0010] The multi-channel measuring device can simultaneously provide a multi-channel signal acquisition and processing system with multiple sets of single-channel real-time measurement signals, consisting of real-time pressure signals and real-time displacement signals containing time information. The multi-channel signal acquisition and processing system can simultaneously provide a multi-channel digital signal to the data processing and visualization system based on the multiple sets of single-channel real-time measurement signals. The data processing and visualization system analyzes the continuously received multiple sets of single-channel digital signals. When the tillage layer boundary point is obtained first based on a certain set of single-channel digital signals, the real-time displacement signal at the tillage layer boundary point is compared with the real-time displacement signals corresponding to other sets at the same time. If the comparison result exceeds 3cm, the real-time displacement signal at the tillage layer boundary point obtained first is determined to be an abnormal value. At this time, the measurement work of the multi-channel measuring device needs to be paused, and the abnormal value is removed and marked.

[0011] The probe, pressure sensor, and displacement sensor are configured as a set in a single-channel measurement mechanism within a multi-channel measurement device, and the multi-channel measurement device is configured with two or more single-channel measurement mechanisms.

[0012] The multi-channel signal acquisition and processing system includes a sensor module, a transmitter, an I / O control module, a signal conversion module, and a power supply module. The sensor module includes a pressure sensor and a displacement sensor. The transmitter receives real-time pressure signals containing time information from the pressure sensor and converts them into standard electrical signals, which are then transmitted to the signal conversion module. The I / O control module controls the drive mechanisms in the multi-channel measuring device one-to-one, receives the switching signals from the drive mechanisms, and transmits them to the signal conversion module. The signal conversion module can directly receive real-time displacement signals containing time information from the displacement sensor. The signal conversion module converts the received real-time measurement signals into digital signals and transmits them to the data processing and visualization system. The power supply module supplies power to the sensor module, transmitter, I / O control module, signal conversion module, and drive mechanisms in the multi-channel measuring device.

[0013] The data processing and visualization system includes an industrial control computer with an integrated algorithm processing module and a visualization interface. The industrial control computer installed in the cab of the agricultural machinery is used to receive digital signals output by the multi-channel signal acquisition and processing system and determine the tillage depth data. The visualization interface installed in the cab of the agricultural machinery or on the remote control platform is used to display the tillage depth data determined by the industrial control computer.

[0014] The multi-channel measuring device includes an adjustable support base, a movable multi-component bracket, and multiple sets of tillage depth measuring devices. The tillage depth measuring devices, equipped with probes, pressure sensors, and displacement sensors, are mounted on the movable multi-component bracket. The movable multi-component bracket is mounted on one end of the adjustable support base, and the movable multi-component bracket can adjust its positioning angle relative to the adjustable support base to extend and retract the tillage depth measuring devices. The other end of the adjustable support base is mounted on agricultural machinery.

[0015] The adjustable support base includes a side-mounted connecting plate, locking bolts, a rotating connecting shaft, and a positioning pin. The tail end of the side-mounted connecting plate is fixedly installed on the agricultural machinery by the locking bolts. The front end of the side-mounted connecting plate is provided with a rotating connecting shaft for connecting a movable multi-component bracket and a positioning pin for positioning the movable multi-component bracket. The front end of the side-mounted connecting plate around the rotating connecting shaft is provided with multiple limiting holes that can limit the rotation angle. The positioning pin can be inserted into the limiting holes and the positioning holes at the end of the movable multi-component bracket.

[0016] The movable multi-component support includes a main support beam, side plates, a top plate, fixed baffles, movable baffles, and hinges. One end of the main support beam is mounted on an adjustable support base via a rotating connecting shaft. Two side plates are welded to the main support beam, and the top of the two side plates is closed by the top plate. The two side plates, the top plate, and the top surface of the corresponding main support beam form a closed frame. Fixed baffles and movable baffles are respectively installed on the front and rear of the closed frame to form a closed box. The movable baffles are mounted on the top plate, the main support beam, or the side plates via hinges. The movable multi-component support also includes corner connecting plates, which are installed at the connection between the side plates and the top plate. The closed box is used to install the drive mechanism of the multi-channel signal acquisition and processing system and the tillage depth measurement device. The bottom of the main support beam is also provided with reflective sheets corresponding to the displacement sensors.

[0017] The tillage depth measuring device is a single-channel measuring mechanism. The tillage depth measuring device arranged in an array includes an electric push rod, a pressure sensor, a displacement sensor, a probe, and an integrated mounting plate. The electric push rod is installed in the closed box of the movable multi-component bracket, and the piston rod of the electric push rod can pass downward through the supporting main beam of the movable multi-component bracket. The tail end of the probe is fixed to the front end of the piston rod, and an L-shaped integrated mounting plate is sleeved on the tail end of the probe. The pressure sensor is sleeved on the inner side of the flat plate of the integrated mounting plate, and the displacement sensor is installed on the outer side of the vertical plate.

[0018] The present invention has the following advantages over the prior art:

[0019] The multi-channel automated tillage depth measurement device provided by this invention uses a multi-channel array of sensors to simultaneously measure the tillage depth of multiple channels. It integrates tillage depth data from different locations, automatically corrects abnormal data, reduces the impact of environmental interference, and improves the reliability and accuracy of tillage depth data. It is suitable for detection after field tillage, thereby evaluating the tillage quality of agricultural machinery, providing feedback to agricultural machinery operators, and ultimately improving the accuracy and efficiency of deep tillage operations in farmland.

[0020] The array-type multi-channel automated measurement device for tillage depth provided by this invention integrates a modular multi-channel measurement device, a multi-channel signal acquisition and processing system, and a data processing and visualization system. It adopts a multi-sensor data fusion algorithm to achieve accurate measurement of tillage layer depth, providing a high-precision digital solution for agricultural machinery operation quality assessment, and solving the problems of low efficiency, insufficient accuracy, and poor environmental adaptability in traditional tillage depth measurement. Attached Figure Description

[0021] Appendix Figure 1 A schematic diagram of the combined structure of the multi-channel measurement device and the multi-channel signal acquisition and processing system of the array-type multi-channel automated measurement device for tillage depth provided by the present invention;

[0022] Appendix Figure 2 This is a schematic diagram of the adjustable support base provided by the present invention;

[0023] Appendix Figure 3 A three-dimensional structural diagram of the movable multi-component support provided by the present invention;

[0024] Appendix Figure 4 A schematic diagram of the planar structure of the movable multi-component support provided by the present invention;

[0025] Appendix Figure 5 A schematic diagram of the array arrangement structure of the three single-channel measurement mechanisms provided by the present invention;

[0026] Appendix Figure 6 A schematic diagram of the planar structure of a set of single-channel measuring mechanisms provided by the present invention;

[0027] Appendix Figure 7 This is a schematic diagram of the installation layout of the multi-channel signal acquisition and processing system provided by the present invention;

[0028] Appendix Figure 8 The signal transmission relationship diagram of the multi-channel measurement device of the array-type multi-channel automated measurement device for tillage depth provided by the present invention;

[0029] Appendix Figure 9A comparison chart showing the processing of real-time pressure signals using median filtering and Gaussian filtering algorithms provided by the processing algorithm module of this invention;

[0030] Appendix Figure 10 A schematic diagram of tillage layer boundary point identification provided for an embodiment of the present invention;

[0031] Appendix Figure 11 The visual interface (GUI) provided for this invention;

[0032] Appendix Figure 12 Tillage depth data stored in an Excel spreadsheet provided for embodiments of the present invention;

[0033] Appendix Figure 13 A three-dimensional bar chart of tillage depth data provided for embodiments of the present invention;

[0034] Appendix Figure 14 A line graph of tillage depth data provided for embodiments of the present invention.

[0035] The components are as follows: 1—Adjustable support base; 101—Side-mounted connecting plate; 102—Locking bolt; 103—Rotary connecting shaft; 104—Positioning pin; 2—Modible multi-component bracket; 201—Main support beam; 202—Side plate; 203—Top plate; 204—Fixed baffle; 205—Modible baffle; 206—Corner connecting plate; 207—Hinge; 208—Reflector; 3—Tillage depth measuring device; 301—Electric push rod; 302—Pressure sensor; 303—Displacement sensor; 304—Probe; 305—Integrated mounting plate; 4—Multi-channel signal acquisition and processing system; 401—Transmitter; 402—IO control module; 403—Signal conversion module; 404—Power supply module; 5—Data processing and visualization system. Detailed Implementation

[0036] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0037] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended meaning of inclusion and that other elements / components / etc. may exist in addition to the listed elements / components / etc.

[0038] like Figure 1-14As shown: A multi-channel automated tillage depth measurement device includes a multi-channel measurement device equipped with a pressure sensor 302 and a displacement sensor 303 that follow a probe 304 vertically downwards, used to obtain real-time pressure signals and real-time displacement signals after the probe 304 enters the tillage layer and send them to a multi-channel signal acquisition and processing system 4; the multi-channel signal acquisition and processing system 4 is used to obtain the real-time measurement signals of the multi-channel measurement device and convert them into digital signals to send to a data processing and visualization system 5; the data processing and visualization system 5 is used to receive the digital signals and use the first extreme point of the second derivative of the real-time pressure signal in the digital signals as the tillage layer boundary point, and fuse the real-time displacement signal at the tillage layer boundary point to obtain tillage depth data.

[0039] Specifically, the multi-channel measuring device can simultaneously provide the multi-channel signal acquisition and processing system 4 with multiple sets of single-channel real-time measurement signals, consisting of real-time pressure signals containing time information and real-time displacement signals containing time information. The multi-channel signal acquisition and processing system 4 can simultaneously provide the data processing and visualization system 5 with multiple sets of corresponding single-channel digital signals based on the multiple sets of single-channel real-time measurement signals. The data processing and visualization system 5 analyzes the continuously received multiple sets of single-channel digital signals to determine the tillage layer boundary point and the real-time displacement signal at the tillage layer boundary point provided by each set of single-channel digital signals. The average value of each set of real-time displacement signals is the tillage depth data obtained in this measurement. When the data processing and visualization system 5 analyzes the continuously received multiple sets of single-channel digital signals and finds that the tillage layer boundary point is obtained first based on a certain set of single-channel digital signals, it compares the real-time displacement signal at the tillage layer boundary point with the real-time displacement signals corresponding to other sets at the same time. If the comparison result exceeds 3cm, the real-time displacement signal at the tillage layer boundary point obtained first is determined to be an abnormal value. At this time, it is necessary to pause the measurement work of the multi-channel measuring device, remove and mark the abnormal value.

[0040] like Figure 1-8 As shown, the present invention provides a multi-channel automated measurement device for tillage depth array, comprising: a multi-channel measurement device, a multi-channel signal acquisition and processing system 4, and a data processing and visualization system 5.

[0041] The multi-channel measurement device includes Figure 2 The adjustable support base 1 shown Figure 3 and Figure 4 The movable multi-component bracket shown is 2. Figure 5 and Figure 6The tillage depth measuring device 3 shown is an adjustable support base 1, which includes a side-mounted connecting plate 101, a locking bolt 102, a rotating connecting shaft 103, and a positioning pin 104. The tail end of the side-mounted connecting plate 101 is fixedly mounted on the agricultural machinery by the locking bolt 102. The front end of the side-mounted connecting plate 101 is provided with a rotating connecting shaft 103 for connecting the movable multi-component bracket 2 and a positioning pin 104 for positioning the movable multi-component bracket 2. Multiple limiting holes that can limit the rotation angle are arranged at the front end of the side-mounted connecting plate 101 around the rotating connecting shaft 103. The positioning pin 104 can be inserted into the limiting holes and the positioning holes at the end of the movable multi-component bracket 2. The movable multi-component bracket 2 includes a supporting main beam 201, side plates 202, a top plate 203, a fixed baffle 204, a movable baffle 205, a corner connecting plate 206, a hinge 207, and a reflector 208. Two side plates 202 are welded to the supporting main beam 201, the top plate 203 is installed above the side plates 202, the fixed baffle 204 with ventilation holes and the movable baffle 205 are installed on both sides of the side plates 202, the corner connecting plate 206 is installed at the diagonal connection between the side plates 202 and the top plate 203, and the hinge 207 is installed on the top plate 203 and the movable baffle 205. Three sets of tillage depth measuring devices 3 are installed in an array inside the enclosed box of the movable multi-component bracket 2. Each set of tillage depth measuring devices 3 consists of an electric push rod 301, a pressure sensor 302, a displacement sensor 303, a probe 304, and an integrated mounting plate 305. The pressure sensor 302 and the displacement sensor 303 are integrated and mounted on the tail end of the probe 304 through the integrated mounting plate 305.

[0042] like Figure 7 The multi-channel signal acquisition and processing system 4 shown includes a sensor module, a transmitter 401, an I / O control module 402, a signal conversion module 403, and a power supply module 404. The sensor module includes a pressure sensor 302 and a displacement sensor 303. The transmitter 401 is mounted on a fixed baffle 204 to receive signals from the pressure sensor 302. The I / O control module 402 is mounted on the fixed baffle 204 to receive signals from the electric actuator 301 and control the electric actuator 301. The signal conversion module 403 is mounted on the fixed baffle 204 to receive signals from the displacement sensor 303 and connect the transmitter 401 to the industrial computer of the data processing and visualization system 5. The power supply module 404 includes a 24V DC power supply and a 12V DC power supply. The sensor module, transmitter 401, I / O control module 402, and signal conversion module 403 are all powered by the 24V DC power supply, while the electric actuator 301 is powered by the 12V DC power supply.

[0043] like Figure 11As shown, the data processing and visualization system 5 consists of an industrial control computer with an integrated algorithm processing module and a visualization interface. The industrial control computer, installed in the agricultural machinery cab, receives digital signals output from the multi-channel signal acquisition and processing system. Through data preprocessing, filtering correction, outlier removal, and other operations, it determines the tillage depth data and transmits the processed data to the visualization interface installed in the agricultural machinery cab or on a remote control platform for display. The visualization interface has real-time display and data storage functions, supports multi-angle viewing of tillage depth distribution, and provides agricultural machinery operators with efficient data analysis tools and operational optimization references. It should be noted that the data preprocessing, filtering correction, outlier removal, and other operations employed by the algorithm processing module provided in this invention are conventional technical methods.

[0044] The structure, function, and effect of each part of the array-type multi-channel automated measurement device for tillage depth provided by the present invention will be described in detail below with reference to the accompanying drawings.

[0045] like Figure 2 As shown: The adjustable support base 1 is 550mm long, 220mm wide, and 130mm high. The side-mounted connecting plate 101 and locking bolt 102 are used to fasten the connection with the agricultural machinery and to fix the entire tillage depth array type multi-channel automated measurement device. The rotating connecting shaft 103 is used to connect the adjustable support base 1 and the movable multi-component bracket 2, so that the movable multi-component bracket 2 can rotate stably around the adjustable support base 1. The positioning pin 104 is inserted into the limiting hole on the adjustable support base 1 and the corresponding positioning hole on the movable multi-component bracket 2, so that the movable multi-component bracket 2 can be fixed at a position of 90°, 0°, and -90° relative to the adjustable support base 1. The movable multi-component bracket 2 can be stably unfolded when working and can be easily folded and stored when not working.

[0046] like Figure 3 , Figure 4 As shown: The movable multi-component bracket 2 is 880mm long, 80mm wide, and 630mm high. Holes are opened in the main support beam 201 to both fix the electric push rod 301 and allow the piston rod of the electric push rod 301 to extend. Three reflective sheets 208 are arranged at the bottom of the main support beam 201, all facing the measurement direction of the displacement sensor 303 to reflect the laser emitted by the displacement sensor 303. Multiple holes are opened in the fixed baffle 204 and the movable baffle 205 to reduce resonance and provide heat dissipation. A multi-channel signal acquisition and processing system 4 is installed on the fixed baffle 204. The movable baffle 205 is connected to the top plate 203 via a hinge 207, allowing the movable baffle 205 to be opened for easy debugging.

[0047] like Figure 5 , Figure 6As shown: In the tillage depth measuring device 3, the bottom of the electric push rod 301 is fixed to the bottom surface of the top plate 203, and the piston rod end of the electric push rod 301 is fixed to the supporting main beam 201. The piston rod can extend downward through the supporting main beam 201. The pressure sensor 302, displacement sensor 303, and probe 304 are integrated and installed at the top of the piston rod. The electric push rod 301 is a 12V DC electric push rod with a working stroke of 500mm. It can output a thrust of 300N at a speed of 30mm / s and is controlled by an independent drive controller to achieve lifting. The pressure sensor 302 is a spoke-type pressure sensor with a maximum range of 500N and an accuracy of 1N. The displacement sensor 303 is a laser displacement sensor that can emit a laser beam at a frequency of 20Hz and obtain distance data within the range of 0.05~80m, with a measurement accuracy of 1.0mm. The probe 304 is made of high-strength steel and is 50cm long (generally, the maximum tillage depth will not exceed 35cm). The probe 304 has a hard alloy tip, which is suitable for different soil conditions, wear-resistant and reliable.

[0048] like Figure 8 As shown: Transmitter 401 converts the analog signal collected by pressure sensor 302 into a standard electrical signal, and ensures the accuracy and stability of signal transmission through linearization processing, noise suppression and anti-interference design; IO control module 402 receives the switching signal of electric actuator 301 through a centralized controller and outputs control commands to drive electric actuator 301 to achieve forward and reverse rotation, and accurately controls the lifting position and operating status of electric actuator 301; Signal conversion module 403 is used to convert the received signal into a digital signal that can be recognized by the industrial control computer, and has multi-protocol compatibility to ensure efficient and smooth data acquisition and communication with electric actuator 301.

[0049] like Figure 9 As shown: The processing algorithm module uses a combination of median filtering and Gaussian filtering algorithms to process the real-time pressure signal collected by pressure sensor 302, in order to eliminate impulse noise and smooth random interference, thereby improving the stability of tillage depth control. Figure 9 In the diagram, the red curve represents the original data, and the green curve represents the filtered data.

[0050] The specific implementation is as follows: The median filtering algorithm performs nonlinear processing on the pressure signal through a sliding window, with the window size set to 11 (covering 5 sampling points before and after the current point). The formula is:

[0051]

[0052] in, x This is the raw pressure sequence, representing unprocessed pressure data; y The filtered output sequence represents the pressure data after filtering. nThis is the index for the current time. median The median function sorts the data within the window and takes the median value; the median filtering algorithm takes the median value of the data within the window as the output value at the current moment, effectively suppressing sudden pulse interference.

[0053] The Gaussian filtering algorithm smooths the signal by weighted averaging, where the weights are determined by the Gaussian kernel function, as shown in the formula:

[0054]

[0055] based on σ The formula for calculating the Gaussian kernel is:

[0056]

[0057] in σ The standard deviation controls the width of the Gaussian kernel (i.e., the degree of diffusion of the weight distribution). This is achieved by comparing different... σ The value of the tillage depth control error was finally selected. σ =1.0 is used as the default parameter. The symmetry of the Gaussian kernel ensures that the signal trend is preserved, while attenuating high-frequency noise. μ The center position (mean) of the Gaussian kernel is usually set to... μ =0, indicating that the center of the core corresponds to the current point. n (That is, the offset is 0); x i For the Gaussian kernel, the first i The offset of each point represents the kernel point relative to the center. μ Location; m This is the radius of the window. Since the window size is set to 11, therefore... m =5 means extending 5 points to the left and 5 points to the right from the current point; k The summation variable represents the offset within the window (from - m arrive m ); x [ n - k [The original pressure sequence is in the index] n - k The value at; This is a normalization constant, ensuring that the weights of the Gaussian kernel sum to 1, thus not changing the DC component of the signal; The weighting function is Gaussian; based on the offset. k Calculate the weights, and the weights vary with | k |Increases while decays exponentially, with the center point having the largest weight.

[0058] For example: Input raw data: [102, 105, **67**, 107, 106, 108, **89**, 109, 107, 110], Filtered output sequence: [102.0, 104.8, 106.5, 106.9, 107.2, 107.5, 107.8, 108.1, 107.9, 108.0]. Normal values ​​for the raw input data are 102, 105, 107, etc. The values ​​*highlighted are 67 and 89, which are outliers and may be caused by sensor malfunction, external interference, or signal transmission errors. After filtering, impulse noise (67, 89) is completely suppressed, and the data fluctuation range converges from the original [67, 110] to [102, 108], enhancing data stability and maintaining a linear trend in the output signal.

[0059] like Figure 10 , Figure 11 , Figure 12 , Figure 13 As shown: In the filtered pressure data (red dashed line), the system determines the position of probe 304 by analyzing its slope. Figure 10 When the slope of the filtered pressure curve (green curve) is small, the system determines that the current probe 304 has entered the tillage layer; when the slope of the filtered pressure curve rises sharply, the system determines that the probe 304 has reached the bottom of the tillage depth. By capturing the inflection point of two curves with different slopes, that is, identifying the first extreme point of the second derivative of the pressure data (blue curve) as the tillage layer boundary point, the system triggers the corresponding control signal to stop the probe 304. By fusing the real-time displacement signals at the same time, the tillage depth value of each channel can be obtained. The average of the tillage depth values ​​of each channel can obtain the tillage depth data obtained from a single measurement. By combining the active avoidance algorithm for soil-damaging hard foreign objects, the system monitors pressure changes in real time during the detection process. When the slope of the filtered pressure curve increases sharply, the system compares the real-time displacement data of the other two probes 304 at the same time. If the displacement difference of the probe 304 with the sharply increasing slope of the filtered pressure curve increases significantly by more than 3 cm, it is determined that the probe 304 has encountered a hard foreign object. The abnormal value is removed and marked, and the movement of the electric push rod 301 is stopped to avoid damage to the tillage depth measuring device 3. Figure 12 Tillage depth data is stored in Excel in real time. Data marked in red are outliers, and data marked in yellow is the average tillage depth after removing outliers. Finally, based on the processed real-time pressure and displacement data, a dynamic tillage depth model is constructed in real time. Figure 11 The provided visualization interface (GUI) allows users to view tillage depth data, which can be displayed in [various formats]. Figure 13 and Figure 14The graphical representation shown is displayed on the graphical user interface (GUI), providing users with an intuitive data presentation.

[0060] The working process of the array-type multi-channel automated measurement device for tillage depth provided by this invention includes a preparation stage, equipment installation and debugging.

[0061] The automated tillage depth array type multi-channel measuring device is securely connected to the agricultural machinery pedal or other suitable installation position via the side-mounted connecting plate 101 and locking bolt 102 of the adjustable support base 1. The tillage depth measuring device 3 is installed inside the movable multi-component bracket 2, which is connected to the adjustable support base 1 via the rotating connecting shaft 103. In the working state, the movable multi-component bracket 2 can be fixed in the 0° unfolded state via the positioning pin 104. In the non-working state, the mechanism can be folded forward or backward 90°. The automated tillage depth array type multi-channel measuring device provided by this invention is installed on the left (or right) side of the agricultural machinery, and the agricultural machinery performs tillage operations according to the set working direction. For example, after the agricultural machinery completes tillage on the right side, it turns and adjusts its position at the edge of the field to ensure that the automated tillage depth array type multi-channel measuring device provided by this invention can accurately measure the tillage depth of the tilled land. Before measurement, the user needs to set the displacement reference on the visual interface (GUI), that is, the height of the side-mounted connecting plate 101 above the ground, and then start the measurement function.

[0062] During operation, the user presses the down button on the industrial control computer to control three independent tillage depth measuring devices 3 to simultaneously measure downwards. When the slope of the filtered pressure curve slowly increases, the system determines that the current probe 304 has entered the tillage layer. When the slope of the filtered pressure curve increases sharply, it is determined that the probe 304 has reached the bottom of the tillage depth. The system automatically stops the electric push rod 301, records and stores the tillage depth data at that position at the same moment, and then automatically retracts the electric push rod 301. The agricultural machinery then moves forward to continue measuring the next point. During the detection process, pressure changes are monitored in real time. When the slope of the filtered pressure curve increases sharply, the system compares the real-time displacement data of the other two probes 304 at the same moment. If the displacement difference of the probe 304 with the sharply increasing slope of the filtered pressure curve significantly increases by more than 3 cm, it is determined that the probe 304 has encountered a hard foreign object. The object is removed and marked as an anomaly, and the movement of the electric push rod 301 is stopped to avoid damage to the tillage depth measuring device 3. After measurement, the tillage depth data is automatically stored in an Excel spreadsheet. The data analysis can be viewed on a graphical user interface (GUI), which also provides soil condition statistics and anomaly marking functions. Users can obtain information on the tillage layer status, soil characteristics, and anomalies in the work area through the intuitive data display and analysis interface on the GUI, and optimize subsequent operations based on the prompts.

[0063] The automated tillage depth array-type multi-channel measurement device provided by this invention achieves high-precision tillage depth measurement through the scientific deployment of multi-channel sensors. Compared with the traditional single-point detection method, it adopts a multi-point collaborative acquisition strategy. By using a reverse-mounted displacement sensor 303, its laser beam is directed towards the reflector 208 at the bottom of the supporting main beam 201, significantly reducing the interference of straw on data accuracy and providing more reliable data support for field operations. The tillage depth determination algorithm abandons the traditional fixed threshold method and innovatively establishes a dynamic pressure gradient model. By analyzing the change in the slope of the pressure curve after filtering, it determines that the probe 304 has reached the bottom of the tillage depth, thereby effectively avoiding pressure fluctuations caused by uneven soil moisture or changes in soil type, ensuring high accuracy in tillage depth determination. In addition, the integrated active avoidance algorithm for soil-damaging hard foreign objects can quickly identify pressure abrupt changes caused by hard stones in the field and remove outliers through an intelligent filtering mechanism. This dynamic correction function effectively enhances the adaptability of the automated measurement device under complex terrain and variable soil conditions, ensuring the stability and reliability of the measurement data. Meanwhile, the characteristics of this automated measuring device also provide accurate basis for the quantitative evaluation of agricultural machinery performance and the identification of its operating status, further expanding the application scenarios and technical value of the equipment.

[0064] In this embodiment of the invention, the term "multiple" refers to two or more, unless otherwise explicitly defined. The terms "install," "connect," and "fix" should be interpreted broadly. For example, "connect" can mean a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention based on the specific circumstances.

[0065] In the description of the embodiments of the present invention, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0066] In the description of this specification, the terms "an embodiment," "a preferred embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0067] The above embodiments are merely illustrative of the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solutions based on the technical concept proposed in this invention shall fall within the scope of protection of this invention. Technologies not covered in this invention can be implemented using existing technologies.

Claims

1. A depth array multi-channel automated measuring device, characterized by: The utility model relates to a kind of multi-channel measuring device, multi-channel signal acquisition and processing system (4) and data processing and visualization system (5). Multi-channel measuring device is equipped with following probe (304) vertical downward pressure sensor (302) and displacement sensor (303), for obtaining probe (304) enters the real-time pressure signal and real-time displacement signal after plough layer and sends to multi-channel signal acquisition and processing system (4); Multi-channel signal acquisition and processing system (4) is used to obtain the real-time measurement signal of multi-channel measuring device and is converted into digital signal and sent to data processing and visualization system (5); Data processing and visualization system (5) is used to receive digital signal and with the first extreme point of the second derivative of real-time pressure signal in digital signal as plough layer demarcation point, fusion real-time displacement signal at this plough layer demarcation point obtains plough depth data; The multi-channel measuring device can provide multiple groups of single-channel real-time measurement signals containing time information of real-time pressure signal and containing time information of real-time displacement signal to multi-channel signal acquisition and processing system (4) simultaneously, multi-channel signal acquisition and processing system (4) can provide corresponding multiple groups of single-channel digital signals to data processing and visualization system (5) based on multiple groups of single-channel real-time measurement signals, data processing and visualization system (5) analyzes continuously received multiple groups of single-channel digital signals, determines the plough layer demarcation point provided by each group of single-channel digital signals and the real-time displacement signal at this plough layer demarcation point, and the average of each group of real-time displacement signal is the plough depth data obtained by this measurement;When the plough layer demarcation point is obtained based on a group of single-channel digital signals first, the real-time displacement signal at this plough layer demarcation point is compared with the real-time displacement signal corresponding to other groups at the same time, and the comparison result exceeds 3cm, then the real-time displacement signal at the plough layer demarcation point obtained first is determined as abnormal value, at this time, the measurement work of multi-channel measuring device needs to be suspended, and the abnormal value is rejected and marked.

2. The multi-pass automated measurement device of claim 1, wherein: The probe (304), pressure sensor (302) and displacement sensor (303) are configured in a single-channel measuring mechanism in the multi-channel measuring device, and the multi-channel measuring device is configured with more than two single-channel measuring mechanisms.

3. The multi-pass automated measurement device of claim 1, wherein: The multi-channel signal acquisition and processing system (4) comprises a sensor module, a transmitter (401), an IO control module (402), a signal conversion module (403) and a power supply module (404), the sensor module comprises a pressure sensor (302) and a displacement sensor (303), the transmitter (401) is used for receiving a real-time pressure signal containing time information provided by the pressure sensor (302) and converting the real-time pressure signal into a standard electric signal to be transmitted to the signal conversion module (403), the IO control module (402) is used for one-to-one corresponding control of driving mechanisms in the multi-channel measuring device, receiving on-off signals of the driving mechanisms and transmitting the on-off signals to the signal conversion module (403), the signal conversion module (403) can directly receive a real-time displacement signal containing time information provided by the displacement sensor (303), and the signal conversion module (403) transmits the digital signal converted from the received real-time measuring signals to the data processing and visualization system (5); and the power supply module (404) supplies power to the sensor module, the transmitter (401), the IO control module (402), the signal conversion module (403) and the driving mechanisms in the multi-channel measuring device.

4. The multi-pass automated measurement device of claim 1, wherein: The data processing and visualization system (5) comprises an industrial computer integrated with an algorithm processing module and a visualization interface, the industrial computer installed in the cab of the agricultural machine is used for receiving the digital signal output by the multi-channel signal acquisition and processing system (4) and determining the plowing depth data, and the visualization interface installed in the cab of the agricultural machine or the remote control platform is used for displaying the plowing depth data determined by the industrial computer.

5. The multi-pass automated measurement device of any of claims 1-4, wherein: The multi-channel measuring device comprises an adjustable support base (1), a movable multi-component support (2) and a plurality of plowing depth measuring devices (3), the plowing depth measuring device (3) which is completely configured with a probe (304), a pressure sensor (302) and a displacement sensor (303) is installed on the movable multi-component support (2), the movable multi-component support (2) is installed at one end of the adjustable support base (1) and can adjust the positioning angle relative to the adjustable support base (1), and the other end of the adjustable support base (1) is installed on the agricultural machine.

6. The multi-pass automated measurement device of claim 5, wherein: The adjustable support base (1) comprises a side-hung connecting clamping plate (101), a locking bolt (102), a rotary connecting shaft (103) and a positioning pin (104), the tail end of the side-hung connecting clamping plate (101) is fixedly installed on the agricultural machine through the locking bolt (102), the front end of the side-hung connecting clamping plate (101) is provided with the rotary connecting shaft (103) connected with the movable multi-component support (2) and the positioning pin (104) used for positioning the movable multi-component support (2), a plurality of limiting holes capable of limiting the rotation angle are arranged at the front end of the side-hung connecting clamping plate (101) on the side of the rotary connecting shaft (103), and the positioning pin (104) can be inserted into the limiting hole and the positioning hole at the end of the movable multi-component support (2).

7. The multi-pass automated measurement device of claim 5, wherein: The movable multi-component support (2) comprises a support main beam (201), side plates (202), a top plate (203), fixed baffles (204), movable baffles (205), hinge hinges (207), one end of the support main beam (201) is installed on the adjustable support base (1) through a rotating connecting shaft (103), two side plates (202) are welded on the support main beam (201), and the top of the two side plates (202) is closed by a top plate (203), the top surfaces of the two side plates (202), the top plate (203) and the corresponding support main beam (201) form a closed frame, the front and rear surfaces of the closed frame are respectively provided with fixed baffles (204) and movable baffles (205) to form a closed box body, wherein the movable baffles (205) are installed on the top plate (203), the support main beam (201) or the side plate (202) through the hinge hinges (207); the movable multi-component support (2) further comprises corner connecting plates (206), which are installed at the connection between the side plates (202) and the top plate (203); the closed box body is used for installing a multi-channel signal acquisition and processing system (4) and a driving mechanism of a plowing depth measuring device (3); the bottom of the support main beam (201) is further provided with a reflection sheet (208) corresponding to a displacement sensor (303).

8. The multi-pass automated measurement device of claim 5, wherein: The plowing depth measuring device (3) is a single-channel measuring mechanism, and comprises an electric push rod (301), a pressure sensor (302), a displacement sensor (303), a probe (304) and an integrated mounting plate (305), the electric push rod (301) is installed in the closed box body of the movable multi-component support (2), and the piston rod of the electric push rod (301) can pass downward from the support main beam (201) of the movable multi-component support (2), the tail end of the probe (304) is fixed on the front end of the piston rod, and the tail end of the probe (304) is sleeved and installed with an L-shaped integrated mounting plate (305), the pressure sensor (302) is sleeved and installed on the inner side of the flat plate of the integrated mounting plate (305), and the displacement sensor (303) is installed on the outer side of the vertical plate.

Images