CN114175875A - System and method for correcting working mode of soil preparation agricultural machinery - Google Patents
System and method for correcting working mode of soil preparation agricultural machinery Download PDFInfo
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- CN114175875A CN114175875A CN202111150815.4A CN202111150815A CN114175875A CN 114175875 A CN114175875 A CN 114175875A CN 202111150815 A CN202111150815 A CN 202111150815A CN 114175875 A CN114175875 A CN 114175875A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/02—Combined machines with two or more soil-working tools of different kind
- A01B49/022—Combined machines with two or more soil-working tools of different kind at least one tool being actively driven
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B79/00—Methods for working soil
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Abstract
The invention relates to a land preparation farm machinery working mode correction system, which comprises: the automatic soil preparation farm machinery comprises a frame assembly, a lifting mechanism, a first disc target group assembly, a second disc target group assembly, a compacting mechanism, a travelling mechanism, a photoelectric sensing mechanism and a main controller; the numerical resolution mechanism is used for acquiring the arithmetic mean value of each depth of field data, taking the absolute value of the difference value between each depth of field data and the arithmetic mean value as the reference difference value of the depth of field data, and accumulating the reference difference values respectively corresponding to each depth of field data and then dividing the accumulated reference difference values by the number of each depth of field data to obtain flatness data; and the command distribution mechanism is used for sending a second control command when the received flatness data exceeds the limit. The invention also relates to a method for correcting the working mode of the soil preparation agricultural machinery. By the method and the device, whether leveling operation needs to be performed on the current farmland soil can be determined based on the leveling degree of the current farmland soil, so that the intelligent level of land preparation agricultural machinery control is improved.
Description
Technical Field
The invention relates to the field of agricultural machinery facilities, in particular to a system and a method for correcting a working mode of soil preparation agricultural machinery.
Background
Agricultural machinery refers to various machines used in the production process of crop planting and animal husbandry, as well as in the primary processing and treatment process of agricultural and animal products. Agricultural machinery includes agricultural power machinery, farmland construction machinery, soil farming machinery, planting and fertilizing machinery, plant protection machinery, farmland irrigation and drainage machinery, crop harvesting machinery, agricultural product processing machinery, animal husbandry machinery, agricultural transportation machinery and the like.
The generalized agricultural machinery also comprises forestry machinery, fishery machinery and rural subsidiary machinery such as silkworm, beekeeping, edible fungus cultivation and the like. Agricultural machinery belongs to relative concept, refers to a general term for all machinery used in agriculture, animal husbandry, forestry and fishery, and belongs to the category of agricultural implements. The popularization of agricultural machinery is called agricultural mechanization.
At present, carry out soil preparation agricultural machinery and carry out soil arrangement in order to make farmland ground level when carrying out the soil preparation agricultural machinery, generally adopt the soil arrangement mode of an integrated form, the soil preparation agricultural machinery keeps in the soil arrangement state always promptly, and this kind of working mode is comparatively simple and convenient although operating logic, still carries out soil arrangement operation to originally smooth ground to cause the waste of unnecessary power.
Disclosure of Invention
In order to solve the technical problems in the related field, the invention provides a land preparation farm machinery working mode correction system and method, which can determine whether to perform leveling operation on current farmland soil or not based on the leveling degree of the current farmland soil, thereby avoiding performing unnecessary leveling operation on originally leveled land while ensuring effective integration on rugged terrain.
Therefore, the invention has at least the following key points:
(1) the method comprises the following steps that a purposefully designed automatic soil preparation farm machinery comprising a rack assembly, a lifting mechanism, a first disc target group assembly, a second disc target group assembly, a pressing mechanism, a traveling mechanism, a photoelectric sensing mechanism and a main controller is adopted, and hardware resources are provided for intelligent triggering of integration operation of soil below;
(2) the method comprises the steps of obtaining an arithmetic mean value of each depth of field data of each pixel point forming a soil detection area, taking an absolute value of a difference value between each depth of field data and the arithmetic mean value as a reference difference value of the depth of field data, accumulating each reference difference value corresponding to each depth of field data respectively, and dividing the accumulated value by the number of each depth of field data to obtain flatness data, determining that the flatness of the soil below is insufficient when the received flatness data exceeds a limit, automatically putting down a first disc target group assembly and a second disc target group assembly to perform integration operation on the soil below, and otherwise, automatically lifting the first disc target group assembly and the second disc target group assembly to avoid performing unnecessary soil integration operation.
According to an aspect of the present invention, there is provided a system for modifying an operation mode of a soil preparation agricultural machine, the system comprising:
automatic soil preparation farm machinery comprises a frame assembly, a lifting mechanism, a first disc target group assembly, a second disc target group assembly, a pressing mechanism, a traveling mechanism, a photoelectric sensing mechanism and a main controller, wherein the lifting mechanism is internally provided with a driving motor and is connected with the frame assembly, and is used for lifting the pressing mechanism to enable the first disc target group assembly and the second disc target group assembly to leave the farmland ground when receiving a first control command, and is also used for lowering the pressing mechanism to enable the first disc target group assembly and the second disc target group assembly to be in contact with the current soil of the farmland ground when receiving a second control command so as to complete the soil preparation operation of the current soil of the farmland ground under the driving of the traveling mechanism, the photoelectric sensing mechanism is arranged below the frame assembly and is used for executing the photoelectric sensing operation on the current soil of the farmland ground, to obtain a current sensing picture;
the soil extraction mechanism is arranged in a frame body of the frame assembly, is electrically connected with the photoelectric sensing mechanism and is used for identifying a soil detection area in the current sensing picture based on soil brightness imaging characteristics;
the parameter judging mechanism is connected with the soil extracting mechanism and used for obtaining each constituent pixel point of the soil detection area and obtaining each depth of field data corresponding to each constituent pixel point;
the numerical resolution mechanism is connected with the parameter judging mechanism and is used for acquiring the arithmetic mean value of each depth of field data, taking the absolute value of the difference value of each depth of field data and the arithmetic mean value as the reference difference value of the depth of field data, and accumulating each reference difference value corresponding to each depth of field data and dividing the accumulated value by the number of each depth of field data to acquire flatness data;
the command distribution mechanism is respectively connected with the numerical value distinguishing mechanism and the lifting mechanism and is used for sending a second control command when the received flatness data exceeds the limit;
the parameter judging mechanism, the numerical value distinguishing mechanism and the command distributing mechanism are arranged in a frame body of the frame assembly.
According to another aspect of the invention, there is also provided a method for correcting the working mode of a soil preparation agricultural machine, the method comprising:
the automatic land preparation farm machinery comprises a frame assembly, a lifting mechanism, a first disc target group assembly, a second disc target group assembly, a pressing mechanism, a traveling mechanism, a photoelectric sensing mechanism and a main controller, wherein a driving motor is arranged in the lifting mechanism, the lifting mechanism is connected with the frame assembly and used for lifting the pressing mechanism to enable the first disc target group assembly and the second disc target group assembly to leave the farmland ground when receiving a first control command, the pressing mechanism is also used for lowering the pressing mechanism to enable the first disc target group assembly and the second disc target group assembly to be in contact with the current soil of the farmland ground when receiving a second control command so as to complete the turning operation of the current soil of the farmland ground under the driving of the traveling mechanism, the photoelectric sensing mechanism is arranged below the frame assembly and used for executing the photoelectric sensing operation on the current soil of the farmland ground, to obtain a current sensing picture;
the soil extraction mechanism is arranged in a frame body of the frame assembly, is electrically connected with the photoelectric sensing mechanism and is used for identifying a soil detection area in the current sensing picture based on soil brightness imaging characteristics;
the using parameter judging mechanism is connected with the soil extracting mechanism and used for obtaining each constituent pixel point of the soil detection area and obtaining each depth of field data corresponding to each constituent pixel point;
a numerical resolution mechanism is used and connected with the parameter judging mechanism and used for acquiring the arithmetic mean value of each depth of field data, the absolute value of the difference value between each depth of field data and the arithmetic mean value is used as the reference difference value of the depth of field data, and each reference difference value corresponding to each depth of field data is accumulated and then is divided by the number of each depth of field data to acquire flatness data;
the use command distribution mechanism is respectively connected with the numerical value distinguishing mechanism and the lifting mechanism and is used for sending a second control command when the received flatness data exceeds the limit;
the parameter judging mechanism, the numerical value distinguishing mechanism and the command distributing mechanism are arranged in a frame body of the frame assembly.
Drawings
Embodiments of the invention will now be described with reference to the accompanying drawings, in which:
fig. 1 is a configuration view of an automatic soil preparation implement of the soil preparation implement operation mode modification system according to the embodiment of the present invention.
Detailed Description
Embodiments of the method for modifying the mode of operation of a land preparation agricultural machine according to the present invention will be described in detail with reference to the accompanying drawings.
At present, carry out soil preparation agricultural machinery and carry out soil arrangement in order to make farmland ground level when carrying out the soil preparation agricultural machinery, generally adopt the soil arrangement mode of an integrated form, the soil preparation agricultural machinery keeps in the soil arrangement state always promptly, and this kind of working mode is comparatively simple and convenient although operating logic, still carries out soil arrangement operation to originally smooth ground to cause the waste of unnecessary power.
In order to overcome the defects, the invention builds a system and a method for correcting the working mode of the soil preparation agricultural machinery, and can effectively solve the corresponding technical problem.
Fig. 1 is a configuration view of an automatic soil preparation agricultural machine of a soil preparation agricultural machine operation mode modification system according to an embodiment of the present invention, the system including:
automatic soil preparation farm machinery comprises a frame assembly, a lifting mechanism, a first disc target group assembly, a second disc target group assembly, a pressing mechanism, a traveling mechanism, a photoelectric sensing mechanism and a main controller, wherein the lifting mechanism is internally provided with a driving motor and is connected with the frame assembly, and is used for lifting the pressing mechanism to enable the first disc target group assembly and the second disc target group assembly to leave the farmland ground when receiving a first control command, and is also used for lowering the pressing mechanism to enable the first disc target group assembly and the second disc target group assembly to be in contact with the current soil of the farmland ground when receiving a second control command so as to complete the soil preparation operation of the current soil of the farmland ground under the driving of the traveling mechanism, the photoelectric sensing mechanism is arranged below the frame assembly and is used for executing the photoelectric sensing operation on the current soil of the farmland ground, to obtain a current sensing picture;
the soil extraction mechanism is arranged in a frame body of the frame assembly, is electrically connected with the photoelectric sensing mechanism and is used for identifying a soil detection area in the current sensing picture based on soil brightness imaging characteristics;
the parameter judging mechanism is connected with the soil extracting mechanism and used for obtaining each constituent pixel point of the soil detection area and obtaining each depth of field data corresponding to each constituent pixel point;
the numerical resolution mechanism is connected with the parameter judging mechanism and is used for acquiring the arithmetic mean value of each depth of field data, taking the absolute value of the difference value of each depth of field data and the arithmetic mean value as the reference difference value of the depth of field data, and accumulating each reference difference value corresponding to each depth of field data and dividing the accumulated value by the number of each depth of field data to acquire flatness data;
the command distribution mechanism is respectively connected with the numerical value distinguishing mechanism and the lifting mechanism and is used for sending a second control command when the received flatness data exceeds the limit;
the parameter judging mechanism, the numerical value distinguishing mechanism and the command distributing mechanism are arranged in a frame body of the frame assembly.
Next, the detailed structure of the land preparation agricultural machine operation mode correction system according to the present invention will be further described.
In the land preparation agricultural machinery working mode correction system:
the command distribution mechanism is also used for sending a first control command when the received flatness data is not over-limit;
wherein, the soil detection area in the current induction picture is identified based on soil brightness imaging characteristics comprises: and taking pixel points matched with the soil brightness imaging characteristics in the current sensing picture as constituent pixel points of the soil detection area.
In the land preparation agricultural machinery working mode correction system:
the first disk target group assembly and the second disk target group assembly are fixed below the rack assembly;
wherein the second disk target set assembly is closer to the traveling mechanism than the first disk target set assembly.
In the land preparation agricultural machinery working mode correction system:
the suppression mechanism sets up the second disc target group assembly with between the running gear and with the lifting mechanism is connected.
In the land preparation agricultural machinery working mode correction system:
the main controller is respectively connected with the lifting mechanism and the photoelectric sensing mechanism and is used for respectively realizing parameter configuration of the lifting mechanism and the photoelectric sensing mechanism;
wherein, respectively realizing the parameter configuration of the lifting mechanism and the photoelectric sensing mechanism comprises: and realizing the configuration of various parameters of the photoelectric sensing mechanism, including exposure duration, shutter speed and frame rate.
The method for correcting the working mode of the soil preparation farm machinery shown according to the embodiment of the invention comprises the following steps:
the automatic land preparation farm machinery comprises a frame assembly, a lifting mechanism, a first disc target group assembly, a second disc target group assembly, a pressing mechanism, a traveling mechanism, a photoelectric sensing mechanism and a main controller, wherein a driving motor is arranged in the lifting mechanism, the lifting mechanism is connected with the frame assembly and used for lifting the pressing mechanism to enable the first disc target group assembly and the second disc target group assembly to leave the farmland ground when receiving a first control command, the pressing mechanism is also used for lowering the pressing mechanism to enable the first disc target group assembly and the second disc target group assembly to be in contact with the current soil of the farmland ground when receiving a second control command so as to complete the turning operation of the current soil of the farmland ground under the driving of the traveling mechanism, the photoelectric sensing mechanism is arranged below the frame assembly and used for executing the photoelectric sensing operation on the current soil of the farmland ground, to obtain a current sensing picture;
the soil extraction mechanism is arranged in a frame body of the frame assembly, is electrically connected with the photoelectric sensing mechanism and is used for identifying a soil detection area in the current sensing picture based on soil brightness imaging characteristics;
the using parameter judging mechanism is connected with the soil extracting mechanism and used for obtaining each constituent pixel point of the soil detection area and obtaining each depth of field data corresponding to each constituent pixel point;
a numerical resolution mechanism is used and connected with the parameter judging mechanism and used for acquiring the arithmetic mean value of each depth of field data, the absolute value of the difference value between each depth of field data and the arithmetic mean value is used as the reference difference value of the depth of field data, and each reference difference value corresponding to each depth of field data is accumulated and then is divided by the number of each depth of field data to acquire flatness data;
the use command distribution mechanism is respectively connected with the numerical value distinguishing mechanism and the lifting mechanism and is used for sending a second control command when the received flatness data exceeds the limit;
the parameter judging mechanism, the numerical value distinguishing mechanism and the command distributing mechanism are arranged in a frame body of the frame assembly.
Next, the concrete steps of the method for modifying the soil preparation agricultural machine operation mode according to the present invention will be further described.
In the land preparation agricultural machinery working mode correction method:
the command distribution mechanism is also used for sending a first control command when the received flatness data is not over-limit;
wherein, the soil detection area in the current induction picture is identified based on soil brightness imaging characteristics comprises: and taking pixel points matched with the soil brightness imaging characteristics in the current sensing picture as constituent pixel points of the soil detection area.
In the land preparation agricultural machinery working mode correction method:
the first disk target group assembly and the second disk target group assembly are fixed below the rack assembly;
wherein the second disk target set assembly is closer to the traveling mechanism than the first disk target set assembly.
In the land preparation agricultural machinery working mode correction method:
the suppression mechanism sets up the second disc target group assembly with between the running gear and with the lifting mechanism is connected.
In the land preparation agricultural machinery working mode correction method:
the main controller is respectively connected with the lifting mechanism and the photoelectric sensing mechanism and is used for respectively realizing parameter configuration of the lifting mechanism and the photoelectric sensing mechanism;
wherein, respectively realizing the parameter configuration of the lifting mechanism and the photoelectric sensing mechanism comprises: and realizing the configuration of various parameters of the photoelectric sensing mechanism, including exposure duration, shutter speed and frame rate.
In addition, in the land preparation agricultural machinery working mode correction method: the walking mechanism comprises a plurality of driving wheels and a plurality of follower wheels, the driving wheels are driven by a motor to provide power for walking, and the follower wheels move along with the driving wheels. The first disk target group assembly and the second disk target group assembly are identical in structure and are symmetrically arranged.
By adopting the system and the method for correcting the working mode of the land preparation farm machinery, the technical problem that the land preparation farm machinery in the prior art performs unnecessary integration operation on originally leveled farmland soil is solved, and whether leveling operation needs to be performed on the current farmland soil is determined based on the leveling degree of the current farmland soil, so that the intelligent level of land preparation farm machinery control is improved.
While the invention has been described with considerable particularity, it will be recognized that elements thereof may be altered by persons skilled in the art without departing from the spirit and scope of the invention. It is believed that the system of the present invention and its attendant advantages will be understood by the foregoing description, and it will be apparent that various changes may be made in the form, construction and arrangement of the components thereof without departing from the scope and spirit of the invention or without sacrificing all of its material advantages, the form herein before described being merely an explanatory embodiment thereof, and further without providing substantial change thereto. It is intended that the claims cover and encompass such modifications.
Claims (10)
1. A system for modifying a work mode of a soil preparation implement, the system comprising:
automatic soil preparation farm machinery comprises a frame assembly, a lifting mechanism, a first disc target group assembly, a second disc target group assembly, a pressing mechanism, a traveling mechanism, a photoelectric sensing mechanism and a main controller, wherein the lifting mechanism is internally provided with a driving motor and is connected with the frame assembly, and is used for lifting the pressing mechanism to enable the first disc target group assembly and the second disc target group assembly to leave the farmland ground when receiving a first control command, and is also used for lowering the pressing mechanism to enable the first disc target group assembly and the second disc target group assembly to be in contact with the current soil of the farmland ground when receiving a second control command so as to complete the soil preparation operation of the current soil of the farmland ground under the driving of the traveling mechanism, the photoelectric sensing mechanism is arranged below the frame assembly and is used for executing the photoelectric sensing operation on the current soil of the farmland ground, to obtain a current sensing picture;
the soil extraction mechanism is arranged in a frame body of the frame assembly, is electrically connected with the photoelectric sensing mechanism and is used for identifying a soil detection area in the current sensing picture based on soil brightness imaging characteristics;
the parameter judging mechanism is connected with the soil extracting mechanism and used for obtaining each constituent pixel point of the soil detection area and obtaining each depth of field data corresponding to each constituent pixel point;
the numerical resolution mechanism is connected with the parameter judging mechanism and is used for acquiring the arithmetic mean value of each depth of field data, taking the absolute value of the difference value of each depth of field data and the arithmetic mean value as the reference difference value of the depth of field data, and accumulating each reference difference value corresponding to each depth of field data and dividing the accumulated value by the number of each depth of field data to acquire flatness data;
the command distribution mechanism is respectively connected with the numerical value distinguishing mechanism and the lifting mechanism and is used for sending a second control command when the received flatness data exceeds the limit;
the parameter judging mechanism, the numerical value distinguishing mechanism and the command distributing mechanism are arranged in a frame body of the frame assembly.
2. The land preparation agricultural machine operation mode modification system of claim 1, wherein:
the command distribution mechanism is also used for sending a first control command when the received flatness data is not over-limit;
wherein, the soil detection area in the current induction picture is identified based on soil brightness imaging characteristics comprises: and taking pixel points matched with the soil brightness imaging characteristics in the current sensing picture as constituent pixel points of the soil detection area.
3. The land preparation agricultural machine operation mode modification system of claim 1, wherein:
the first disk target group assembly and the second disk target group assembly are fixed below the rack assembly;
wherein the second disk target set assembly is closer to the traveling mechanism than the first disk target set assembly.
4. The land preparation agricultural machine operation mode modification system of claim 3, wherein:
the suppression mechanism sets up the second disc target group assembly with between the running gear and with the lifting mechanism is connected.
5. The land preparation agricultural machine operation mode modification system of claim 1, wherein:
the main controller is respectively connected with the lifting mechanism and the photoelectric sensing mechanism and is used for respectively realizing parameter configuration of the lifting mechanism and the photoelectric sensing mechanism;
wherein, respectively realizing the parameter configuration of the lifting mechanism and the photoelectric sensing mechanism comprises: and realizing the configuration of various parameters of the photoelectric sensing mechanism, including exposure duration, shutter speed and frame rate.
6. A method for correcting the working mode of a soil preparation agricultural machine is characterized by comprising the following steps:
the automatic land preparation farm machinery comprises a frame assembly, a lifting mechanism, a first disc target group assembly, a second disc target group assembly, a pressing mechanism, a traveling mechanism, a photoelectric sensing mechanism and a main controller, wherein a driving motor is arranged in the lifting mechanism, the lifting mechanism is connected with the frame assembly and used for lifting the pressing mechanism to enable the first disc target group assembly and the second disc target group assembly to leave the farmland ground when receiving a first control command, the pressing mechanism is also used for lowering the pressing mechanism to enable the first disc target group assembly and the second disc target group assembly to be in contact with the current soil of the farmland ground when receiving a second control command so as to complete the turning operation of the current soil of the farmland ground under the driving of the traveling mechanism, the photoelectric sensing mechanism is arranged below the frame assembly and used for executing the photoelectric sensing operation on the current soil of the farmland ground, to obtain a current sensing picture;
the soil extraction mechanism is arranged in a frame body of the frame assembly, is electrically connected with the photoelectric sensing mechanism and is used for identifying a soil detection area in the current sensing picture based on soil brightness imaging characteristics;
the using parameter judging mechanism is connected with the soil extracting mechanism and used for obtaining each constituent pixel point of the soil detection area and obtaining each depth of field data corresponding to each constituent pixel point;
a numerical resolution mechanism is used and connected with the parameter judging mechanism and used for acquiring the arithmetic mean value of each depth of field data, the absolute value of the difference value between each depth of field data and the arithmetic mean value is used as the reference difference value of the depth of field data, and each reference difference value corresponding to each depth of field data is accumulated and then is divided by the number of each depth of field data to acquire flatness data;
the use command distribution mechanism is respectively connected with the numerical value distinguishing mechanism and the lifting mechanism and is used for sending a second control command when the received flatness data exceeds the limit;
the parameter judging mechanism, the numerical value distinguishing mechanism and the command distributing mechanism are arranged in a frame body of the frame assembly.
7. The soil preparation agricultural machinery working mode correction method of claim 6, characterized in that:
the command distribution mechanism is also used for sending a first control command when the received flatness data is not over-limit;
wherein, the soil detection area in the current induction picture is identified based on soil brightness imaging characteristics comprises: and taking pixel points matched with the soil brightness imaging characteristics in the current sensing picture as constituent pixel points of the soil detection area.
8. The soil preparation agricultural machinery working mode correction method of claim 6, characterized in that:
the first disk target group assembly and the second disk target group assembly are fixed below the rack assembly;
wherein the second disk target set assembly is closer to the traveling mechanism than the first disk target set assembly.
9. The soil preparation agricultural machinery working mode correction method of claim 8, characterized in that:
the suppression mechanism sets up the second disc target group assembly with between the running gear and with the lifting mechanism is connected.
10. The soil preparation agricultural machinery working mode correction method of claim 6, characterized in that:
the main controller is respectively connected with the lifting mechanism and the photoelectric sensing mechanism and is used for respectively realizing parameter configuration of the lifting mechanism and the photoelectric sensing mechanism;
wherein, respectively realizing the parameter configuration of the lifting mechanism and the photoelectric sensing mechanism comprises: and realizing the configuration of various parameters of the photoelectric sensing mechanism, including exposure duration, shutter speed and frame rate.
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