Multi-plough management-oriented agricultural machine operation quality multi-dimensional perception device

Abstract

The application discloses a kind of multi-dimensional sensing device for agricultural operation quality facing multi-plough management, and is related to multi-dimensional sensing of agricultural operation quality.The technical solution points are as follows: including: main machine equipment installed on agricultural vehicle body, multiple plough terminals installed on different ploughs, operation vehicle-mounted terminal;The main machine equipment obtains main machine IMU data;The main machine equipment is used for scanning broadcast packet;The main machine equipment is also used for outputting operation data according to main machine IMU data, plough terminal IMU data and multi-dimensional detection method;The plough terminal obtains plough terminal IMU data;Anti-disassembly switch is installed on the plough terminal, and the anti-disassembly switch is used to detect the anti-disassembly state of the plough terminal installed on the plough, and the anti-disassembly state includes normal and disassembled;The plough terminal is powered by self-contained battery, and broadcasts at a certain frequency after starting;The main machine equipment is used for transmitting operation data to operation vehicle-mounted terminal.The application realizes stable, continuous and multi-dimensional monitoring of plough operation, and effectively eliminates system error.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery operation technology, and in particular to a multi-dimensional sensing device for agricultural machinery operation quality management for multiple plows. Background Technology

[0002] The following problems still prevalent in current agricultural machinery operations: Invisible operation quality: Operation depth and height often rely on manual experience or later spot checks, lacking real-time verification methods. Complex operation process with multiple sources of disturbance: During machinery operation, factors such as vehicle vibration, road potholes, and uneven soil texture prevent static angle sensors from accurately reflecting the actual plow position. Single sensors cannot meet the requirements of multi-dimensional operation quality monitoring: Agricultural machinery operation status includes multiple parameters (machine posture, tilt angle, vibration, plow depth, plow suspension height, plow lifting height). Traditional equipment often only measures a single physical quantity, failing to achieve data fusion and judgment. Significant need for multi-plow management: Tractors, combine harvesters, subsoilers, etc., often use multiple plows on a single machine, making identification, matching, and quality tracking of different plows difficult. Regulatory departments need "operational responsibility traceability" capabilities. Therefore, the industry urgently needs a new agricultural machinery operation quality detection solution with a unified platform, multi-dimensional sensing, and intelligent algorithm compensation to achieve real-time, accurate, and automated monitoring of the agricultural machinery operation process.

[0003] Currently, one existing technology employs a wired RS485 device for plow management. Each plow is equipped with a RS485 communication device (slave). Each device has a unique built-in ID to identify the plow type or number. It connects to the tractor's onboard terminal via a multi-core cable. The onboard terminal matches the corresponding plow based on the ID, enabling simple management functions. It also uses traditional multi-axis angle sensors for depth / height detection: a 3-axis or 6-axis angle sensor is installed on the plow. The vertical position of the plow is calculated by measuring changes in tilt and pitch angles. The data directly determines whether the plow meets or fails to meet the standards, without considering the vehicle's condition.

[0004] However, the above technologies still have the following drawbacks: The wired 485 device-based plow management method relies entirely on wired connections: In muddy and high-vibration environments, cables are easily damaged and plugs oxidize, resulting in high maintenance costs; expansion is difficult: when a machine has multiple plows, the wiring harness is complex, and adding new plows requires rewiring, making it unsuitable for rapid installation; dynamic management capabilities are lacking: it cannot automatically identify whether a plow is installed, removed, or moved; it can only provide "one-dimensional ID" information and lacks attitude perception and operational parameter detection capabilities. Using traditional multi-axis angle sensors for depth / height detection cannot eliminate the cumulative errors caused by machine body vibrations: when the machine is running on muddy or potholed roads, the machine's posture changes drastically, and traditional angle sensors lack body compensation algorithms, leading to severely distorted measurement data; it cannot cope with complex multi-axis dynamic disturbances, and single-angle sensors cannot handle instantaneous impact sign changes caused by soil hardening or discontinuous displacement states caused by component deformation; static calibration is not applicable to dynamic working conditions: most devices use flat calibration, which cannot cope with dynamic farmland environments. Lack of data fusion algorithm: Existing equipment cannot fuse data such as acceleration, angular velocity, angle, and vibration, and only makes simple threshold judgments, resulting in frequent false alarms. Summary of the Invention

[0005] To address the above shortcomings, this invention provides a multi-dimensional sensing device for agricultural machinery operation quality management with multiple plows. It can achieve stable, continuous, and multi-dimensional monitoring of plow operation depth, stubble height, and plow action behavior through a set multi-dimensional detection method. It adopts a dual IMU differential compensation model of host + terminal to effectively eliminate systematic errors caused by vehicle tilt, vehicle body sway, and ground slope.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A multi-dimensional sensing device for agricultural machinery operation quality management for multi-plow management includes: a main unit installed on the agricultural machinery body, multiple plow terminals installed on different plows, and an on-vehicle terminal.

[0008] The host device acquires host IMU data; the host IMU data is real-time data of the agricultural machinery body posture collected by the IMU. The host device is used to scan broadcast packets to realize automatic terminal identification, automatic access management, multi-terminal parallel management, terminal anti-tamper status reception, and terminal data synchronization of the plow terminal; the host device is also used to output operation data based on the host IMU data, plow terminal IMU data, and multi-dimensional detection methods.

[0009] The plow terminal acquires plow terminal IMU data, which includes the acceleration, angular velocity, and attitude angle of the plow collected by the plow terminal IMU. The plow terminal is equipped with an anti-tamper switch, used to detect the anti-tamper status of the plow terminal mounted on the plow. The anti-tamper status includes normal and disassembled. The plow terminal is powered by its own battery and, upon power-on, broadcasts the following information at a certain frequency: the plow terminal ID, plow terminal IMU data, anti-tamper status, and battery voltage data.

[0010] The host device is used to transmit work data to the on-board terminal of the work vehicle.

[0011] Furthermore, the multidimensional detection method includes the following steps:

[0012] (1) Define the parameters of the host IMU data and the plow terminal IMU data: L is the fixed length from the plow rotation axis to the plow tip; φ_raw is the real-time attitude angle of the plow IMU; φ_body is the real-time attitude angle of the vehicle body IMU; φ is the net swing angle of the plow relative to the vehicle body; φ_ground is the relative angle when the plow is in contact with the ground; Δh is the change value of the actual depth / height of the plow.

[0013] (2) Body-plow angle difference compensation φ: that is, the calculation of the net swing angle φ of the plow relative to the body: φ=φraw-φbody;

[0014] (3) Plow lifting curve identification: Identification is performed by the rate of change of the net swing angle φ of the plow relative to the vehicle body, including descent phase identification and grounding point calibration; descent phase identification is used to identify the plow lifting condition; grounding point calibration is used to identify the grounding point of the reference "0 cm";

[0015] (4) Working depth / height calculation formula: The depth calculation formula is: Δh=L (sin(φ)-sin(φ_ground));

[0016] (5) Turning detection; Turning detection is used to determine whether agricultural machinery is in a turning condition;

[0017] (6) Freeze output: When both the plow lifting condition identified in step (3) and the turning condition in step (5) are met, output is locked; otherwise, the operation data is output in real time; the operation data is Δh; the output lock is specifically: when in the turning condition, it is kept at the depth Δh before entering the turning condition, and after the turning condition ends, the real-time depth Δh is automatically restored.

[0018] (7) After receiving the operation data, perform anti-tamper switch testing.

[0019] Furthermore, the descent phase identification specifically refers to: when φ(t) continuously decreases and |Δφ|> the system's preset angle threshold, it is determined to be a descent action; the grounding point identification specifically refers to: simultaneously satisfying: |angular velocity|< the system's preset low-speed threshold, and the change in φ within 2S< the system's preset stability threshold, then the point φ_ground is used as the reference for depth calculation.

[0020] Furthermore, the U-turn detection includes the following steps:

[0021] Ψ is the horizontal rotation angle Yaw measured by the vehicle's IMU; dψ / dt is the angular velocity of Yaw, in rad / s; agricultural machinery turning characteristic: |dψ / dt|>ω_turn, where ω_turn is a system preset threshold. If this condition is met, the agricultural machinery is determined to be in a turning condition.

[0022] Furthermore, the tamper switch detection is specifically as follows: when the tamper status is normal, the operation data is marked as "trustworthy" and output as trustworthy operation data; when the tamper status is disassembled, the operation data is marked as "untrustworthy" and output as untrustworthy operation data.

[0023] Furthermore, the host device includes: a main control microcontroller for performing BLE communication, receiving agricultural machinery body attitude data, and RS485 communication tasks; a 9-axis inertial measurement unit, including a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, for acquiring the agricultural machinery body attitude, including roll angle, pitch angle, and yaw angle; and a power management module for supplying power to the host device.

[0024] The plow terminal includes: a plow terminal microcontroller for collecting sensor data, performing anti-tamper detection, and sending BLE broadcasts; a 9-axis IMU inertial sensor for simultaneously collecting the plow's acceleration, angular velocity, and magnetic field data to calculate the plow's attitude and change curves; and a high-capacity, low-internal-resistance lithium battery power supply system to ensure working stability under harsh agricultural machinery conditions and extend standby time due to low internal resistance.

[0025] Furthermore, the host device and the vehicle-mounted terminal are connected via an RS485 bus; the plow terminal and the host device communicate via a BLE wireless communication link for wireless broadcast identification and data transmission; the BLE wireless communication link includes a BLE module on the host device and a BLE broadcast module on the plow; the BLE module uses a Bluetooth module to scan broadcast packets, and the BLE broadcast module uses a Bluetooth Low Energy broadcast module to broadcast at a certain frequency.

[0026] Furthermore, the main unit is fixed to the frame or cover of the agricultural machinery body with screws, and a mechanical anti-tamper switch is designed at the bottom. The mechanical anti-tamper switch is connected to a mechanical anti-tamper detection circuit, which is connected to the main control microcontroller. When the mechanical anti-tamper switch is installed normally, the switch is closed. Once it is disassembled, it triggers a "main unit has been disassembled" command to the main control microcontroller.

[0027] Furthermore, the anti-tamper switch adopts an anti-tamper mechanical switch with a clamp fixing structure, which is suitable for the rods and plow frames of different farming tools. The clamp is tightened and ensures the consistency of the terminal posture. The anti-tamper switch is connected to a low-power detection circuit. The low-power detection circuit is connected to the plow terminal microcontroller. When the anti-tamper switch is installed, the switch is closed. When it is removed, the switch is released, and the plow terminal microcontroller automatically marks the anti-tamper status.

[0028] The working principle and beneficial effects of this invention are as follows:

[0029] 1. This invention is a wireless management technology for multiple plows that requires no wired connection and can automatically identify them. It enables the host to automatically identify multiple terminals via Bluetooth Low Energy, achieving one-machine management of multiple plows.

[0030] 2. This invention achieves high-precision tillage depth / stubble height detection technology that can stably output data even under complex working conditions such as bumps, turns, and potholes. It utilizes a combination of "dual IMU attitude compensation + a rotation center equal-length rod model" to resist interference and stably output depth and height.

[0031] 3. This invention provides an engineering-applicable model for calculating the actual depth / height of a plow, calculating the depth Δh, and achieving accurate, calibrable, and repeatable quantification of depth / height.

[0032] 4. This invention solves the problem of depth and height error caused by changes in vehicle body posture. It compensates the angle of the plow IMU by using the vehicle body IMU, so that the depth calculation only reflects the movement of the plow itself and is unrelated to vehicle body vibration.

[0033] 5. This invention achieves a safe and reliable anti-tamper protection and data credibility mechanism. Once the terminal is disassembled, this invention can: trigger the anti-tamper switch, actively record the "disassembled" status on the plow terminal, and automatically mark the data as "untrustworthy", thus fundamentally preventing cheating.

[0034] 6. This invention forms a complete unified system framework of wireless terminal + host + multi-dimensional fusion algorithm: multi-terminal connection, multi-dimensional sensor fusion, multi-parameter output (depth, height, change curve, operation status), strong generalization ability across plows, easy installation, easy maintenance, and can be mass-produced and matched with agricultural machinery. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0036] Figure 1 This is a system structure block diagram of a multi-dimensional sensing device for agricultural machinery operation quality for multi-plow management according to the present invention;

[0037] Figure 2 This is a hardware block diagram of the host device of a multi-dimensional sensing device for agricultural machinery operation quality for multi-plow management according to the present invention.

[0038] Figure 3 This is a hardware block diagram of a plow terminal for a multi-dimensional sensing device for agricultural machinery operation quality management based on the present invention.

[0039] Figure 4 This is an illustration of the installation structure of the anti-tamper switch for the plow terminal of a multi-dimensional sensing device for agricultural machinery operation quality management based on the present invention.

[0040] Figure 5 This is a circuit diagram of a low-power detection circuit for a multi-dimensional sensing device for agricultural machinery operation quality management based on multiple plowing implements, according to the present invention.

[0041] Figure 6 This is a flowchart of a multi-dimensional detection method for a plow terminal in a multi-dimensional sensing device for agricultural machinery operation quality management based on the present invention. Detailed Implementation

[0042] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0043] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element 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 invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0044] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0045] like Figure 1 As shown in the figure, this embodiment of a multi-dimensional sensing device for agricultural machinery operation quality for multi-plow management includes: a main unit installed on the agricultural machinery body, multiple plow terminals installed on different plows, and an on-vehicle terminal.

[0046] The host device and the vehicle-mounted terminal are connected via an RS485 bus; the plow terminal and the host device communicate via a BLE wireless communication link for wireless broadcast identification and data transmission; the BLE wireless communication link includes a BLE module on the host device and a BLE broadcast module on the plow; the BLE module uses a Bluetooth module to scan broadcast packets, and the BLE broadcast module uses a Bluetooth Low Energy broadcast module to broadcast at a certain frequency.

[0047] The host device acquires host IMU data; the host IMU data is real-time data collected from the agricultural machinery's body posture via the IMU. The host device is used to scan broadcast packets to achieve automatic terminal identification, automatic access management, multi-terminal parallel management, terminal anti-tamper status reception, and terminal data synchronization for the plow terminal. The host device is also used to output operational data based on the host IMU data, plow terminal IMU data, and multi-dimensional detection methods. For example... Figure 2 As shown, the main unit includes: a main control microcontroller for performing BLE communication, receiving agricultural machinery body attitude data, and RS485 communication tasks; a 9-axis inertial measurement unit (IMU), including a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer, for acquiring the agricultural machinery body attitude, including roll angle, pitch angle, and yaw angle; and a power management module for supplying power to the main unit. The main unit is fixed to the frame or cover of the agricultural machinery body with screws. A mechanical anti-tamper switch is designed at the bottom, connected to a mechanical anti-tamper detection circuit, which is connected to the main control microcontroller. When normally installed, the mechanical anti-tamper switch is closed; upon removal, it triggers a "main unit removed" command to the main control microcontroller.

[0048] The plow terminal acquires plow terminal IMU data, which includes the plow's acceleration, angular velocity, and attitude angle collected by the plow terminal IMU. The plow terminal is equipped with an anti-tamper switch to detect the anti-tamper status of the plow terminal mounted on the plow; the anti-tamper status includes normal and disassembled. The plow terminal is powered by its own battery and, upon power-on, broadcasts the following information at a certain frequency: the plow terminal's terminal ID, plow terminal IMU data, anti-tamper status, and battery voltage data. Figure 3 As shown, the plow terminal includes: a plow terminal microcontroller for collecting sensor data, performing tamper detection, and sending BLE broadcasts; a 9-axis IMU inertial sensor for simultaneously collecting the plow's acceleration, angular velocity, and magnetic field data to calculate the plow's attitude and change curves; and a high-capacity, low-internal-resistance lithium battery power supply system to ensure operational stability under harsh agricultural machinery conditions and extend standby time due to low internal resistance. Figure 4 As shown, the tamper-proof switch is a mechanical tamper-proof switch with a clamp-fixing structure, suitable for the handles and plow frames of various farming tools. The clamp is securely fastened and ensures consistent terminal posture. The tamper-proof switch is connected to a low-power detection circuit; the circuit diagram of the low-power detection circuit is shown below. Figure 5 As shown. The low-power detection circuit is connected to the plow terminal microcontroller. The anti-tamper switch is closed when installed; it is released when removed, and the plow terminal microcontroller automatically marks the anti-tamper status.

[0049] The host device is used to transmit work data to the on-board terminal of the work vehicle.

[0050] like Figure 6 As shown, the multidimensional detection method includes the following steps:

[0051] (1) Define the parameters of the host IMU data and the plow terminal IMU data: L is the fixed length from the plow rotation axis to the plow tip; φ_raw is the real-time attitude angle of the plow IMU; φ_body is the real-time attitude angle of the vehicle body IMU; φ is the net swing angle of the plow relative to the vehicle body; φ_ground is the relative angle when the plow is in contact with the ground; Δh is the change value of the actual depth / height of the plow; This embodiment also includes the steps of vehicle body attitude calculation and plow calculation, using complementary filtering method to obtain the required host IMU data and plow terminal IMU data.

[0052] (2) Body-plow angle difference compensation φ: that is, the calculation of the net swing angle φ of the plow relative to the body: φ=φraw-φbody;

[0053] (3) Plow lifting curve identification: Identification is performed by the rate of change of the net swing angle φ of the plow relative to the vehicle body, including descent phase identification and grounding point calibration; descent phase identification is also used to identify plow lifting conditions; grounding point calibration is used to identify the grounding point of the reference "0 cm"; descent phase identification is specifically: when φ(t) continuously decreases and |Δφ|> the system's preset angle threshold, it is determined to be a descent action. Grounding point identification is specifically: if the following conditions are met simultaneously: |angular velocity|< the system's preset low-speed threshold, and the change in φ within 2 seconds< the system's preset stability threshold, then the point φ_ground is used as the reference for depth calculation.

[0054] (4) Working depth / height calculation formula: The depth calculation formula is: Δh=L (sin(φ)-sin(φ_ground));

[0055] (5) Turning detection; Turning detection is used to determine whether the agricultural machinery is in a turning condition; Turning detection includes the following steps:

[0056] Ψ is the horizontal rotation angle Yaw measured by the vehicle's IMU; dψ / dt is the angular velocity of Yaw, in rad / s; agricultural machinery turning characteristic: |dψ / dt|>ω_turn, where ω_turn is a system preset threshold. If this condition is met, the agricultural machinery is determined to be in a turning condition.

[0057] (6) Freeze output: When both the plow lifting condition identified in step (3) and the turning condition in step (5) are met, output is locked; otherwise, the operation data is output in real time; the operation data is Δh; the output lock is specifically: when in the turning condition, it is kept at the depth Δh before entering the turning condition, and after the turning condition ends, the real-time depth Δh is automatically restored.

[0058] (7) After receiving the operation data, perform anti-tamper switch detection. The anti-tamper switch detection is as follows: when the anti-tamper status is normal, mark the operation data as "trustworthy" and output it as trustworthy operation data; when the anti-tamper status is disassembled, mark the operation data as "untrustworthy" and output it as untrustworthy operation data.

[0059] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-dimensional sensing device for agricultural machinery operation quality management oriented towards multi-plow management, characterized in that, include: The main equipment installed on the body of the agricultural machinery, multiple plow terminals installed on different plows, and the on-vehicle terminal for operation; The host device acquires host IMU data; the host IMU data is the real-time acquisition of agricultural machinery body posture data through IMU. The host device is used to scan broadcast packets to realize automatic terminal identification, automatic access management, multi-terminal parallel management, terminal anti-tamper status reception, and terminal data synchronization of plow terminals; the host device is also used to output operation data based on host IMU data, plow terminal IMU data, and multi-dimensional detection methods. The plow terminal acquires plow terminal IMU data, which includes the acceleration, angular velocity, and attitude angle of the plow collected by the plow terminal IMU. The plow terminal is equipped with an anti-tamper switch, used to detect the anti-tamper status of the plow terminal mounted on the plow. The anti-tamper status includes normal and disassembled. The plow terminal is powered by its own battery and, upon power-on, broadcasts the following information at a certain frequency: the plow terminal ID, plow terminal IMU data, anti-tamper status, and battery voltage data. The host device is used to transmit work data to the on-board terminal of the work vehicle; The multidimensional detection method includes the following steps: (1) Define the parameters of the host IMU data and the plow terminal IMU data: L is the fixed length from the plow rotation axis to the plow tip; φ_raw is the real-time attitude angle of the plow IMU; φ_body is the real-time attitude angle of the vehicle body IMU; φ is the net swing angle of the plow relative to the vehicle body; φ_ground is the relative angle when the plow is in contact with the ground; Δh is the change value of the actual depth / height of the plow. (2) Body-plow angle difference compensation φ: that is, the calculation of the net swing angle φ of the plow relative to the body: φ=φraw-φbody; (3) Plow lifting curve identification: Identification is performed by the rate of change of the net swing angle φ of the plow relative to the vehicle body, including descent phase identification and grounding point calibration; descent phase identification is used to identify the plow lifting condition; grounding point calibration is used to identify the grounding point of the reference "0 cm"; (4) Working depth / height calculation formula: The depth calculation formula is: Δh=L (sin(φ)-sin(φ_ground)); (5) Turning detection; Turning detection is used to determine whether agricultural machinery is in a turning condition; (6) Freeze output: When both the plow lifting condition identified in step (3) and the turning condition in step (5) are met, output is locked; otherwise, the operation data is output in real time; the operation data is Δh; the output locking is specifically: when in the turning condition, it is kept at the depth Δh before entering the turning condition, and after the turning condition ends, the real-time depth Δh is automatically restored. (7) After receiving the operation data, perform anti-tamper switch testing.

2. The multi-dimensional sensing device for agricultural machinery operation quality management according to claim 1, characterized in that, The descent phase identification is specifically defined as follows: when φ(t) decreases continuously and |Δφ|> the system's preset angle threshold, it is determined to be a descent action; the grounding point identification is specifically defined as follows: if |angular velocity|< the system's preset low-speed threshold and the change in φ within 2S< the system's preset stability threshold, then the point φ_ground is used as the reference for depth calculation.

3. The multi-dimensional sensing device for agricultural machinery operation quality management according to claim 1, characterized in that, The U-turn detection includes the following steps: Ψ is the horizontal rotation angle Yaw measured by the vehicle's IMU; dψ / dt is the angular velocity of Yaw, in rad / s; agricultural machinery turning characteristic: |dψ / dt|>ω_turn, where ω_turn is a system preset threshold. If this condition is met, the agricultural machinery is determined to be in a turning condition.

4. The multi-dimensional sensing device for agricultural machinery operation quality management according to claim 1, characterized in that, The tamper switch detection process is as follows: when the tamper status is normal, the operation data is marked as "trustworthy" and output as trustworthy operation data; when the tamper status is disassembled, the operation data is marked as "untrustworthy" and output as untrustworthy operation data.

5. A multi-dimensional sensing device for agricultural machinery operation quality management based on multi-plow management, as described in claim 1, is characterized in that... The main equipment includes: a main control microcontroller, used to perform BLE communication, agricultural machinery body attitude data reception and RS485 communication tasks; a 9-axis inertial measurement unit, including a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer, used to collect the attitude of the agricultural machinery body, including roll angle, pitch angle and yaw angle; and a power management module, used to supply power to the main equipment. The plow terminal includes: a plow terminal microcontroller for collecting sensor data, performing anti-tamper detection, and sending BLE broadcasts; a 9-axis IMU inertial sensor for simultaneously collecting the plow's acceleration, angular velocity, and magnetic field data to calculate the plow's attitude and change curves; and a high-capacity, low-internal-resistance lithium battery power supply system to ensure working stability under harsh agricultural machinery conditions and extend standby time due to low internal resistance.

6. The multi-dimensional sensing device for agricultural machinery operation quality management according to claim 1, characterized in that, The host device and the vehicle-mounted terminal are connected via an RS485 bus; the plow terminal and the host device communicate via a BLE wireless communication link for wireless broadcast identification and data transmission; the BLE wireless communication link includes a BLE module on the host device and a BLE broadcast module on the plow; the BLE module uses a Bluetooth module to scan broadcast packets, and the BLE broadcast module uses a Bluetooth Low Energy broadcast module to broadcast at a certain frequency.

7. The multi-dimensional sensing device for agricultural machinery operation quality management according to claim 1, characterized in that, The main unit is fixed to the frame or cover of the agricultural machinery body with screws. A mechanical anti-tamper switch is designed at the bottom. The mechanical anti-tamper switch is connected to a mechanical anti-tamper detection circuit, which is connected to the main control microcontroller. When the mechanical anti-tamper switch is installed normally, the switch is closed. Once it is disassembled, it triggers a "main unit has been disassembled" command to the main control microcontroller.

8. A multi-dimensional sensing device for agricultural machinery operation quality management according to claim 1, characterized in that, The anti-tamper switch is an anti-tamper mechanical switch with a clamp fixing structure, suitable for the rods and plow frames of different farming tools. The clamp is tightened and ensures the consistency of the terminal posture. The anti-tamper switch is connected to a low-power detection circuit. The low-power detection circuit is connected to the plow terminal microcontroller. The anti-tamper switch is closed when installed. When the switch is released during disassembly, the microcontroller at the plow terminal automatically marks the tamper-proof status.

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