Man-machine-environment collaborative mechanized operation comprehensive benefit evaluation method

Abstract

The application relates to a man-machine-environment collaborative mechanical operation comprehensive benefit evaluation method, and relates to the field of agricultural mechanical operation evaluation. The application solves the problems of man-machine-environment information fragmentation and incomplete index system construction in the existing agricultural mechanical operation benefit evaluation. The application constructs a "man-machine-environment" ternary collaborative evaluation index system, considers man factor level indexes, mechanical performance level indexes and environment level indexes, and realizes collaborative total benefit evaluation of the evaluation unit by fusing the three, the system construction is comprehensive, the benefit evaluation is high in accuracy, and the application has good engineering practicability, decision guidance and popularization prospect. The application is mainly used for evaluating operation comprehensive benefit.

Description

Technical Field

[0001] This invention relates to the field of evaluation of agricultural mechanization operations. Background Technology

[0002] With the continuous improvement of agricultural mechanization, the application of mechanized operations in agricultural production is expanding. Especially in major grain-producing areas, such as the production of field crops like rice, wheat, and corn, mechanized operations have become an important means of ensuring operational efficiency and the quality of agricultural products.

[0003] Currently, most methods for evaluating the operational efficiency of agricultural machinery focus on a single dimension, such as operational efficiency, energy consumption cost, or mechanical equipment performance, while neglecting the synergistic relationship between people (operator safety, comfort, and fatigue), machines (agricultural machinery), and the environment (operating environment, such as energy consumption, carbon emissions, and noise pollution).

[0004] In the existing technology, common evaluation methods for mechanized operations mainly include cost-benefit analysis, data envelopment analysis (DEA), and fuzzy comprehensive evaluation. These methods usually rely on mechanical performance parameters or economic benefit indicators for evaluation.

[0005] In addition, some studies have begun to attempt to introduce multi-source data for job evaluation, but the following shortcomings still exist in practical applications:

[0006] (1) The indicator system is not comprehensive, lacks a systematic consideration from the perspective of human-machine-environment collaboration, and suffers from information fragmentation;

[0007] (2) The data acquisition process has a weak ability to integrate multi-source heterogeneous data, making it difficult to support the accurate assessment of comprehensive benefits;

[0008] (3) The lack of a diagnostic and feedback mechanism for the evaluation results makes it difficult to guide the organization of operations and the optimal allocation of resources.

[0009] Therefore, there is an urgent need for a comprehensive evaluation method for the benefits of mechanized operations that can systematically integrate the three elements of humans, machines, and environment, and possess the capabilities of data fusion, comprehensive diagnosis, and decision support, in order to improve the scientific decision-making level and resource allocation efficiency of agricultural operations. Summary of the Invention

[0010] To address the problems of fragmented information on humans, machines, and the environment, and incomplete indicator system construction in existing evaluation methods for the benefits of agricultural mechanization operations, this invention provides a comprehensive evaluation method for the benefits of mechanized operations that integrates humans, machines, and the environment.

[0011] A comprehensive evaluation method for the benefits of mechanized operations involving human-machine-environment collaboration, comprising:

[0012] S1. Obtain the indicators of all evaluation units under a task. The indicators of each evaluation unit include three levels of indicators, and the first to third level indicators are the human factors level indicators, mechanical performance level indicators and environmental level indicators corresponding to the current plot, respectively.

[0013] S2. Normalize the acquired indicators to obtain the indicator standard matrix for each evaluation unit. , As an evaluation unit Medium indicators The standardized value; , The total number of all indicators within the evaluation unit. , The total number of evaluation units;

[0014] S3. Determine the subjective weights of each indicator within the evaluation unit. and according to the matrix Determine the objective weights of each indicator within the evaluation unit. ,according to and , obtain indicators Combined weights This yields the combined weight set for the current evaluation unit. ;

[0015] S4. Determine the total human benefit, total mechanical performance benefit, and total environmental benefit of the evaluation unit based on the combined weights of each evaluation unit.

[0016] S5. Based on the total human factor benefits, total mechanical performance benefits, and total environmental benefits of each evaluation unit, determine the total synergistic benefits of the current evaluation unit and complete the benefit evaluation.

[0017] Preferably, the human factors indicators include one or more combinations of the following: operational proficiency at the current site, work fatigue index, work duration, operational reaction time, and work posture stability.

[0018] Mechanical performance indicators include one or more combinations of the following: current site operation efficiency, energy consumption rate, failure rate, operation trajectory deviation rate, and operation completion quality.

[0019] Environmental indicators include one or more combinations of soil moisture, soil anti-sliding strength, air temperature during operation, wind speed, and plot slope.

[0020] Preferably, in step S3, the subjective weights of each indicator within the evaluation unit are determined. The implementation methods include:

[0021] Constructing a pairwise comparison matrix using the AHP method ;in, As an indicator relative to indicators Importance rating , ;

[0022] The pairwise comparison matrix is ​​obtained by eigenvalue decomposition or power method iteration. The indicators are processed to obtain the indicators. Subjective weight ,and .

[0023] Preferably, in step S3, based on the matrix Determine the objective weights of each indicator within the evaluation unit. The implementation methods include:

[0024] Calculation indicators In the current evaluation unit The proportion of ;

[0025] according to Calculation indicators Information entropy ;

[0026] according to Determine indicators Difference ;

[0027] according to Determine indicators objective weight .

[0028] The preferred option is ;

[0029] ;

[0030] ;

[0031] ;

[0032] in, This is the normalization constant.

[0033] Preferably, ;

[0034] This represents the subjective weighting coefficient, and .

[0035] Preferably, in step S4, the method for determining the realization of the total human factor benefits, total mechanical performance benefits, and total environmental benefits of the evaluation unit based on the combined weights of each evaluation unit includes:

[0036] S41, From the combined weight set In the process, extract the set of weights for human factors level indicators. Set of weights for mechanical performance indicators and set of environmental indicators weights ;in,

[0037] For set Chinese people's indicators The combined weights, , The total number of human factors indicators at the human factors level;

[0038] For set China Machinery Indicators The combined weights, , This refers to the total number of mechanical performance indicators.

[0039] For set Medium environmental indicators The combined weights, , This represents the total number of environmental indicators at the environmental level.

[0040] S42, from the matrix In the process, extract the standardized set at the human factors level. Standardized set of mechanical performance aspects and environmental standardization set ;in,

[0041] For set Medium evaluation unit In human factors indicators Standardized values;

[0042] For set Medium evaluation unit In terms of mechanism indicators Standardized values;

[0043] For set Medium evaluation unit In environmental indicators Standardized values;

[0044] S43, According to the set and Calculation evaluation unit Total human cost ;

[0045] According to the set and Calculation evaluation unit Total mechanical performance benefits ;

[0046] According to the set and Calculation evaluation unit Total environmental benefits .

[0047] Preferably, in step S5, the method for determining the realization of the total collaborative benefit of the current evaluation unit is as follows:

[0048] ;

[0049] in, As an evaluation unit The overall synergistic benefits The contribution weights of human factors, mechanical performance, and environmental factors to the total benefit are respectively determined to meet the requirements. .

[0050] Preferably, S2, the method for normalizing the acquired indicators is as follows:

[0051] When the indicator When it is a positive indicator, ;

[0052] When the indicator When it is a negative indicator, ;

[0053] in, As an evaluation unit Medium indicators The value of , and Indicators in all evaluation units The maximum and minimum values.

[0054] The beneficial effects of this invention are:

[0055] This invention provides a comprehensive evaluation method for mechanized operations that integrates human, machine, and environment. Starting from the three core dimensions of "human, machine, and environment", it constructs a multi-dimensional comprehensive indicator system that includes operational efficiency, resource consumption, and environmental impact. This system is broad in coverage and rigorous in structure, solving the problem that traditional evaluations focus on a single dimension and lack comprehensive indicators.

[0056] By adopting a weighting mechanism that integrates subjective and objective factors, and combining AHP and entropy weighting, the responsiveness to changes in professional experience and objective data is improved, thereby enhancing the objectivity and robustness of the evaluation results.

[0057] Adaptable to multi-source heterogeneous data processing: Through standardization and weighted integration technology, it can effectively integrate sensor-collected data, manually entered data and platform scheduling data, realize the fusion processing of data from different sources, with different dimensions, and improve the model's versatility and practicality.

[0058] Applicable to a variety of operational scenarios: This method has good scalability and adaptability. It can be used for harvesting operation evaluation of field crops such as rice, wheat, and corn, and can also be extended to the benefit evaluation of mechanized links such as tillage, fertilization, and plant protection. It has broad application value.

[0059] In summary, this invention can effectively solve the problems of single evaluation perspective, difficulty in data fusion, and inconsistent evaluation standards in the prior art, and has good engineering applicability, decision-making guidance and promotion prospects. Attached Figure Description

[0060] Figure 1 This is a flowchart of a comprehensive benefit evaluation method for mechanized operations that involve human-machine-environment collaboration, as described in this invention. Detailed Implementation

[0061] 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. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0063] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0064] Specific Implementation Method 1: Combination Figure 1 As shown, this embodiment provides a comprehensive benefit evaluation method for mechanized operations involving human-machine-environment collaboration. The method includes:

[0065] S1. Obtain the indicators of all evaluation units under a task. The indicators of each evaluation unit include three levels of indicators, and the first to third level indicators are the human factors level indicators, mechanical performance level indicators and environmental level indicators corresponding to the current plot, respectively.

[0066] S2. Normalize the acquired indicators to obtain the indicator standard matrix for each evaluation unit. , As an evaluation unit Medium indicators The standardized value; , The total number of all indicators within the evaluation unit. , The total number of evaluation units;

[0067] S3. Determine the subjective weights of each indicator within the evaluation unit. and according to the matrix Determine the objective weights of each indicator within the evaluation unit. ,according to and , obtain indicators Combined weights This yields the combined weight set for the current evaluation unit. ;

[0068] S4. Determine the total human benefit, total mechanical performance benefit, and total environmental benefit of the evaluation unit based on the combined weights of each evaluation unit.

[0069] S5. Based on the total human factor benefits, total mechanical performance benefits, and total environmental benefits of each evaluation unit, determine the total synergistic benefits of the current evaluation unit and complete the benefit evaluation.

[0070] This invention constructs a three-dimensional collaborative evaluation index system of "human-machine-environment", which considers human factors, mechanical performance and environmental factors, and integrates the three to achieve the overall collaborative benefit evaluation of the evaluation unit. The system is comprehensive, the benefit evaluation is accurate, and it has good engineering applicability, decision-making guidance and promotion prospects.

[0071] In practical applications, data cleaning, removal of invalid values, error codes, and breakpoint completion are performed before normalization. Missing data filling is achieved by using time-series interpolation or KNN to fill in missing index values.

[0072] Furthermore, human factors indicators include one or more combinations of the following: operational proficiency at the current site (the operator's proficiency in completing standard operating procedures), work fatigue index (fatigue state reflected by heart rate variability or EEG signals, etc.), work duration, operational reaction time (the delay time in human reaction to abnormal environmental changes), and work posture stability (frequency of reaction posture changes).

[0073] Mechanical performance indicators include one or more combinations of the following: current plot operation efficiency (operation area per unit time), energy consumption rate (fuel or electricity consumption per unit area), failure rate (number of failures), operation trajectory deviation rate (average deviation from the ideal operation trajectory), and operation completion quality (such as sowing depth consistency, fertilizer spreading uniformity, harvest loss rate, etc.).

[0074] Environmental indicators include one or more combinations of the following: soil moisture (topsoil moisture content of the work site), soil anti-sliding strength (reflecting surface compressibility and adhesion coefficient), air temperature during operation (temperature changes may affect machine performance or human-machine response), wind speed, and site slope.

[0075] In practical applications, raw data is collected and calculated using basic physical formulas to obtain work efficiency and trajectory deviation rate. Energy consumption rate is calculated using fuel consumption meter / electricity meter (BMS / CAN). Work completion quality is obtained by determining the corresponding threshold range using mechanical vibration / accelerometer (airborne IMU). Failure rate is obtained by airborne status monitoring / fault recording (ECU / CAN). Work fatigue index, work posture stability, operation reaction time, and operation proficiency are collected using wearable devices (wristband / chest strap HR, body sensing IMU). Safety event records (button / APP / video AI) are used to count the number / severity of safety events in a single operation. The operation time is obtained when an evaluation unit is completed. Temperature / humidity sensor (environment) can collect the air temperature during operation. Most of the test wind speed, humidity, and soil moisture are collected through remote environmental monitoring stations and agricultural IoT sensor nodes.

[0076] Furthermore, in step S3, the subjective weights of each indicator within the evaluation unit are determined. The implementation methods include:

[0077] Constructing a pairwise comparison matrix using the AHP method ;in, As an indicator relative to indicators Importance rating , ;

[0078] The pairwise comparison matrix is ​​obtained by eigenvalue decomposition or power method iteration. The indicators are processed to obtain the indicators. Subjective weight ,and .

[0079] In step S3, according to the matrix Determine the objective weights of each indicator within the evaluation unit. The implementation methods include:

[0080] Calculation indicators In the current evaluation unit The proportion of ;

[0081] according to Calculation indicators Information entropy , , This is the normalization constant.

[0082] according to Determine indicators Difference ;

[0083] according to Determine indicators objective weight .

[0084] In this preferred embodiment, step S3 provides the method for obtaining subjective weights. and objective weight The implementation method involves two main steps. First, in practical applications, a pairwise comparison matrix is ​​constructed using the Analytic Hierarchy Process (AHP). Based on actual management objectives such as safety, operational efficiency, energy conservation and emission reduction, and soil protection, the importance of various indicators related to human factors, machine factors, and the environment is scored and a consistency check is performed to obtain subjective weights that reflect decision-making preferences and production experience. Second, based on a standardized indicator matrix obtained from multiple plots and multiple operations, entropy values ​​are calculated to assess the fluctuation and discriminative ability of each indicator across different evaluation units, thus obtaining objective weights that reflect the objective differences in the data. This weight acquisition process avoids the problem of relying solely on excessive subjectivity and inconsistencies with the data, and overcomes the shortcomings of assigning weights based solely on data dispersion while ignoring management needs. This results in better objectivity, stability, and interpretability of the human-machine-environment synergy benefit score and comprehensive benefit index, demonstrating stronger discriminative power and application value in horizontal comparisons of multiple plots and multiple operation records, bottleneck identification, and operation parameter optimization.

[0085] Obtain subjective weight During the process, the Analytic Hierarchy Process (AHP) was used to reflect the degree of subjective importance.

[0086] Furthermore, ;

[0087] This represents the subjective weighting coefficient, and .

[0088] Furthermore, in step S4, based on the combined weights of each evaluation unit, the methods for realizing the total human factor benefits, total mechanical performance benefits, and total environmental benefits of that evaluation unit are determined, including:

[0089] S41, From the combined weight set In the process, extract the set of weights for human factors level indicators. Set of weights for mechanical performance indicators and set of environmental indicators weights ;in,

[0090] For set Chinese people's indicators The combined weights, , The total number of human factors indicators at the human factors level;

[0091] For set China Machinery Indicators The combined weights, , This refers to the total number of mechanical performance indicators.

[0092] For set Medium environmental indicators The combined weights, , This represents the total number of environmental indicators at the environmental level.

[0093] S42, from the matrix In the process, extract the standardized set at the human factors level. Standardized set of mechanical performance aspects and environmental standardization set ;in,

[0094] For set Medium evaluation unit In human factors indicators Standardized values;

[0095] For set Medium evaluation unit In terms of mechanism indicators Standardized values;

[0096] For set Medium evaluation unit In environmental indicators Standardized values;

[0097] S43, According to the set and Calculation evaluation unit Total human cost ;

[0098] According to the set and Calculation evaluation unit Total mechanical performance benefits ;

[0099] According to the set and Calculation evaluation unit Total environmental benefits .

[0100] In this preferred embodiment, by constructing total human-factor benefits, total mechanical performance benefits, and total environmental benefits separately, the multi-source indicators of human-machine-environment collected after the operation are normalized and weighted under the same evaluation framework. The advantages are: First, the total human-factor benefits comprehensively consider indicators such as operator labor intensity, posture stability, operational error, operation time, and fatigue level during calculation, thus comprehensively reflecting whether "this operation is safe, reliable, and sustainable on the human side," providing a quantitative basis for determining whether there are risks such as excessive fatigue or "rushing to meet deadlines without considering the site conditions"; secondly, The overall mechanical performance benefit integrates machine operation indicators such as operating efficiency, energy consumption per unit area, failure rate, work quality pass rate, and driving stability. While evaluating the overall benefits, it distinguishes different types of problems such as "high efficiency but high energy consumption" and "low energy consumption but insufficient work quality," which facilitates targeted adjustments to machine configuration and operating parameters. Secondly, the overall environmental benefit focuses on environmental suitability indicators such as soil moisture content, firmness, slope, and meteorological conditions. It can reflect the degree of constraint of soil and environmental conditions on the work effect within the current working window and is used to identify situations where "the land is not suitable for machine entry."

[0101] This construction method, which involves "weighted aggregation within subsystems followed by cross-system integration," decomposes complex multi-indicator problems into three clear total benefit quantities: human factors, machine factors, and environment. This allows managers to identify which aspect constitutes the limiting factor, improving the interpretability and diagnostic capability of the results. Furthermore, in scenarios involving multiple plots and multiple operations, the same evaluation model allows for horizontal comparison of the total human, machine, and environmental benefits of different operation records. This identifies patterns such as "strong environmental constraints on certain types of plots," "stable performance of certain types of machinery on specific soils," and "better adaptability of certain types of operators under complex conditions," providing targeted decision support for task allocation, operation window selection, machinery selection, and operator training. Simultaneously, because all three types of total benefits are obtained based on a unified standardized matrix and a combination of subjective and objective weights, the evaluation results are sensitive to changes in actual data while also considering the management objectives of "safety first, efficiency and environmental coordination," making the comprehensive benefit evaluation more objective, stable, and easily applicable in production practice.

[0102] Furthermore, in step S5, the method for realizing the overall collaborative benefit of the current evaluation unit is determined as follows:

[0103] ;

[0104] in, As an evaluation unit The overall synergistic benefits The contribution weights of human factors, mechanical performance, and environmental factors to the total benefit are respectively determined to meet the requirements. .

[0105] In practical applications, if human safety and comfort are emphasized: settings can be configured. ;

[0106] If device performance is emphasized: [Settings can be made] ;

[0107] If the emphasis is on green and low-carbon: appropriately increase .

[0108] Furthermore, S2, the method for normalizing the acquired indicators is as follows:

[0109] When the indicator When it is a positive indicator, ;

[0110] When the indicator When it is a negative indicator, ;

[0111] in, As an evaluation unit Medium indicators The value of , and Indicators in all evaluation units The maximum and minimum values.

[0112] In practical applications, since the physical meanings and numerical ranges of various indicators are different (such as "energy consumption" being a negative indicator and "operational efficiency" being a positive indicator), they need to be unified into the dimensionless [0,1] interval. Therefore, different normalization methods are used to unify them into the [0,1] interval.

[0113] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A method for evaluating the comprehensive benefits of mechanized operations involving human-machine-environment collaboration, characterized in that, The method includes: S1. Obtain the indicators of all evaluation units under a task. The indicators of each evaluation unit include three levels of indicators, and the first to third level indicators are the human factors level indicators, mechanical performance level indicators and environmental level indicators corresponding to the current plot, respectively. S2. Normalize the acquired indicators to obtain the indicator standard matrix for each evaluation unit. , As an evaluation unit Medium indicators The standardized value; , The total number of all indicators within the evaluation unit. , The total number of evaluation units; S3. Determine the subjective weights of each indicator within the evaluation unit. and according to the matrix Determine the objective weights of each indicator within the evaluation unit. ,according to and , obtain indicators Combined weights This yields the combined weight set for the current evaluation unit. ; S4. Determine the total human benefit, total mechanical performance benefit, and total environmental benefit of the evaluation unit based on the combined weights of each evaluation unit. S5. Based on the total human factor benefits, total mechanical performance benefits, and total environmental benefits of each evaluation unit, determine the total synergistic benefits of the current evaluation unit and complete the benefit evaluation.

2. The method for evaluating the comprehensive benefits of mechanized operations involving human-machine-environment collaboration according to claim 1, characterized in that, Human factors indicators include one or more combinations of the following: operational proficiency at the current site, work fatigue index, work duration, operational reaction time, and stability of work posture. Mechanical performance indicators include one or more combinations of the following: current site operation efficiency, energy consumption rate, failure rate, operation trajectory deviation rate, and operation completion quality. Environmental indicators include one or more combinations of soil moisture, soil anti-sliding strength, air temperature during operation, wind speed, and plot slope.

3. The method for evaluating the comprehensive benefits of mechanized operations involving human-machine-environment collaboration according to claim 1, characterized in that, In step S3, the subjective weights of each indicator within the evaluation unit are determined. The implementation methods include: Constructing a pairwise comparison matrix using the AHP method ;in, As an indicator relative to indicators Importance rating , ; The pairwise comparison matrix is ​​obtained by eigenvalue decomposition or power method iteration. The indicators are processed to obtain the indicators. Subjective weight ,and .

4. The method for evaluating the comprehensive benefits of mechanized operations involving human-machine-environment collaboration according to claim 1, characterized in that, In step S3, according to the matrix Determine the objective weights of each indicator within the evaluation unit. The implementation methods include: Calculation indicators In the current evaluation unit The proportion of ; according to Calculation indicators Information entropy ; according to Determine indicators Difference ; according to Determine indicators objective weight .

5. The method for evaluating the comprehensive benefits of mechanized operations involving human-machine-environment collaboration according to claim 4, characterized in that, ； ； ； ； in, This is the normalization constant.

6. The method for evaluating the comprehensive benefits of mechanized operations involving human-machine-environment collaboration according to claim 1, characterized in that, ； This represents the subjective weighting coefficient, and .

7. The method for evaluating the comprehensive benefits of mechanized operations involving human-machine-environment collaboration according to claim 1, characterized in that, In step S4, based on the combined weights of each evaluation unit, the methods for realizing the total human factor benefits, total mechanical performance benefits, and total environmental benefits of that evaluation unit are determined, including: S41, From the combined weight set In the process, extract the set of weights for human factors level indicators. Set of weights for mechanical performance indicators and set of environmental indicators weights ;in, For set Chinese people's indicators The combined weights, , The total number of human factors indicators at the human factors level; For set China Machinery Indicators The combined weights, , This refers to the total number of mechanical performance indicators. For set Medium environmental indicators The combined weights, , This represents the total number of environmental indicators at the environmental level. S42, from the matrix In the process, extract the standardized set at the human factors level. Standardized set of mechanical performance aspects and environmental standardization set ;in, For set Medium evaluation unit In human factors indicators Standardized values; For set Medium evaluation unit In terms of mechanism indicators Standardized values; For set Medium evaluation unit In environmental indicators Standardized values; S43, According to the set and Calculation evaluation unit Total human cost ; According to the set and Calculation evaluation unit Total mechanical performance benefits ; According to the set and Calculation evaluation unit Total environmental benefits .

8. The method for evaluating the comprehensive benefits of mechanized operations involving human-machine-environment collaboration according to claim 1, characterized in that, In step S5, the method for realizing the overall collaborative benefit of the current evaluation unit is determined as follows: ； in, As an evaluation unit The overall synergistic benefits The contribution weights of human factors, mechanical performance, and environmental factors to the total benefit are respectively determined to meet the requirements. .

9. The method for evaluating the comprehensive benefits of mechanized operations involving human-machine-environment collaboration according to claim 1, characterized in that, S2. The method for normalizing the acquired indicators is as follows: When the indicator When it is a positive indicator, ; When the indicator When it is a negative indicator, ; in, As an evaluation unit Medium indicators The value of , and Indicators in all evaluation units The maximum and minimum values.

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