技术领域Technical Field
本发明属于智能化农业机械技术领域，尤其涉及一种基于自适应耕深调节的后悬挂调平系统。The invention belongs to the technical field of intelligent agricultural machinery, and in particular relates to a rear suspension leveling system based on adaptive tillage depth adjustment.
背景技术Background Art
当前在农业耕作机械技术领域，传统耕作机具通常依靠操作员手动控制液压调平装置进行姿态调节，容易受到地形和工作负载变化的影响，姿态调节不稳定，适应性较差，影响工作效率和作业质量；并且传统耕作机具缺乏实时的耕作质量监测反馈系统，无法及时发现和调整工作质量不均匀的问题，影响农作物的生长和产量；一般拖拉机的后悬挂耕作机具由于姿态调节不稳定和耕作质量不均匀，在工作过程中可能会产生能源浪费现象，降低了能源利用效率，增加了生产成本。针对上述技术缺陷，本发明提出一种基于自适应耕深调节的后悬挂调平系统来适应复杂的农场环境，实现良好的调平效果。Currently in the field of agricultural tillage machinery technology, traditional tillage tools usually rely on operators to manually control hydraulic leveling devices for posture adjustment, which are easily affected by changes in terrain and workload, unstable posture adjustment, poor adaptability, and affect work efficiency and work quality; and traditional tillage tools lack a real-time tillage quality monitoring feedback system, and cannot promptly detect and adjust the problem of uneven work quality, affecting the growth and yield of crops; the rear suspension tillage tools of general tractors may waste energy during work due to unstable posture adjustment and uneven tillage quality, which reduces energy utilization efficiency and increases production costs. In view of the above technical defects, the present invention proposes a rear suspension leveling system based on adaptive tillage depth adjustment to adapt to complex farm environments and achieve good leveling effects.
发明内容Summary of the invention
针对现有技术中存在的不足，本发明提供了一种基于自适应耕深调节的后悬挂调平系统及方法，解决了农业生产中耕作机具受稳定性环境影响大且调平控制精度不高的问题。In view of the deficiencies in the prior art, the present invention provides a rear suspension leveling system and method based on adaptive tillage depth adjustment, which solves the problem that tillage implements in agricultural production are greatly affected by the stability environment and the leveling control accuracy is not high.
本发明通过以下技术手段实现上述技术目的。The present invention achieves the above technical objectives through the following technical means.
一种基于自适应耕深调节的后悬挂调平系统，包括信息采集模块、中央处理模块、控制输出模块、耕作检测模块、后悬挂调平装置，信息采集模块、耕作检测模块、控制输出模块均与中央处理模块信号连接，后悬挂调平装置与控制输出模块信号连接；信息采集模块用于采集拖拉机底部四个轮子的倾斜角度指数、拖拉机后悬挂耕作机具的实时姿态角度值并传递至中央处理模块；耕作检测模块用于采集耕作图像数据、耕深数据并传递至中央处理模块，同时用于对耕作质量进行评估并实时预警；中央处理模块基于模糊PID算法，对接收到的数据进行分析处理并生成最佳规划，发送调节指令至控制输出模块；控制输出模块用于接收指令并解析，发送控制信号至后悬挂调平装置的执行机构，控制后悬挂调平装置进行调平操作，实现耕深调节。A rear suspension leveling system based on adaptive tillage depth adjustment comprises an information acquisition module, a central processing module, a control output module, a tillage detection module and a rear suspension leveling device, wherein the information acquisition module, the tillage detection module and the control output module are all connected to the central processing module by signal, and the rear suspension leveling device is connected to the control output module by signal; the information acquisition module is used to collect the inclination angle index of the four wheels at the bottom of the tractor and the real-time attitude angle value of the tillage implement of the rear suspension of the tractor and transmit them to the central processing module; the tillage detection module is used to collect tillage image data and tillage depth data and transmit them to the central processing module, and is also used to evaluate the tillage quality and provide real-time warning; the central processing module analyzes and processes the received data based on a fuzzy PID algorithm and generates an optimal plan, and sends an adjustment instruction to the control output module; the control output module is used to receive and parse the instruction, send a control signal to an actuator of the rear suspension leveling device, control the rear suspension leveling device to perform a leveling operation, and realize tillage depth adjustment.
进一步地，所述信息采集模块包括倾角传感器、陀螺仪传感器；耕作检测模块包括摄像头、深度传感器、位置传感器、控制单元，摄像头安装在耕作机具尾部，深度传感器安装在耕作机具下方，位置传感器安装在拖拉机底盘上，控制单元位于拖拉机驾驶舱控制面板位置；控制输出模块硬件集成在一个控制盒中，安装在拖拉机驾驶舱内控制面板位置；中央处理模块安装在耕作机械驾驶舱控制面板位置。Furthermore, the information acquisition module includes a tilt sensor and a gyroscope sensor; the tillage detection module includes a camera, a depth sensor, a position sensor, and a control unit, the camera is installed at the tail of the tillage tool, the depth sensor is installed under the tillage tool, the position sensor is installed on the tractor chassis, and the control unit is located at the control panel position of the tractor cab; the control output module hardware is integrated in a control box and installed at the control panel position in the tractor cab; the central processing module is installed at the control panel position of the tillage machinery cab.
进一步地，所述后悬挂调平装置包括上支撑横梁，上支撑横梁一端通过螺栓固定在拖拉机车身上，另一端分别与左长液压杆、右长液压杆铰接，左长液压杆、右长液压杆另一端分别与调平平台上的两个万向节连接；左长液压杆、右长液压杆均由液压系统驱动；Furthermore, the rear suspension leveling device comprises an upper support crossbeam, one end of which is fixed to the tractor body by bolts, and the other end is respectively hinged to a left long hydraulic rod and a right long hydraulic rod, and the other ends of the left long hydraulic rod and the right long hydraulic rod are respectively connected to two universal joints on the leveling platform; the left long hydraulic rod and the right long hydraulic rod are both driven by a hydraulic system;
后悬挂调平装置还包括一端通过螺栓固定在拖拉机车身左右两侧的左下支撑横梁、右下支撑横梁，左下支撑横梁、右下支撑横梁另一端分别与左支撑杆、右支撑杆铰接，且还通过连接件连接至调平平台，左支撑杆、右支撑杆的另一端分别与左旋转臂、右旋转臂铰接，左旋转臂、右旋转臂另一端分别铰接在拖拉机车身左右两侧。The rear suspension leveling device also includes a left lower supporting beam and a right lower supporting beam, one end of which is fixed to the left and right sides of the tractor body by bolts, the other ends of the left lower supporting beam and the right lower supporting beam are respectively hinged to the left supporting rod and the right supporting rod, and are also connected to the leveling platform through a connecting piece, the other ends of the left supporting rod and the right supporting rod are respectively hinged to the left rotating arm and the right rotating arm, and the other ends of the left rotating arm and the right rotating arm are respectively hinged to the left and right sides of the tractor body.
一种利用上述基于自适应耕深调节的后悬挂调平系统的后悬挂调平方法，包括如下过程：A rear suspension leveling method using the above rear suspension leveling system based on adaptive tillage depth adjustment includes the following process:
步骤1：倾角传感器采集拖拉机底部四个轮子的倾斜角度指数并传递至中央处理模块，中央处理模块首先计算获取拖拉机车身倾斜角度值，然后计算获得田间工况信息，然后在单位时间内仿真生成角度影响系数；Step 1: The inclination sensor collects the inclination angle index of the four wheels at the bottom of the tractor and transmits it to the central processing module. The central processing module first calculates the inclination angle value of the tractor body, then calculates the field working condition information, and then simulates and generates the angle influence coefficient in unit time;
步骤2：陀螺仪传感器采集拖拉机后悬挂耕作机具的实时姿态角度值并传递至中央处理模块，中央处理模块仿真生成姿态影响系数；Step 2: The gyroscope sensor collects the real-time attitude angle value of the rear-hung tillage implement of the tractor and transmits it to the central processing module, which simulates and generates the attitude influence coefficient;
步骤3：中央处理模块将拖拉机车身倾斜角度值与角度影响系数结合，将拖拉机后悬挂耕作机具的实时姿态角度值与姿态影响系数结合，分析得出自适应姿态调节偏差角度；Step 3: The central processing module combines the tractor body tilt angle value with the angle influence coefficient, combines the real-time attitude angle value of the rear-hung tillage implement of the tractor with the attitude influence coefficient, and analyzes and obtains the adaptive attitude adjustment deviation angle;
然后再根据单位时间内田间工况信息的变化量，预测出需要调整的理论机械耕作深度差；Then, according to the change of field working condition information per unit time, the theoretical mechanical tillage depth difference that needs to be adjusted is predicted;
然后通过耕作质量检测模块中深度传感器实时反馈的实际耕作深度，中央处理模块利用模糊PID算法对耕深调节指令ZL1进行反复修正，并在PID控制器设计范围内调整参数，最终生成最佳规划ZL1，并发送目标耕作机具后悬挂平台调整位置指令ZL1至控制器输出模块，调整实时作业姿态；Then, through the actual tillage depth fed back in real time by the depth sensor in the tillage quality detection module, the central processing module uses the fuzzy PID algorithm to repeatedly correct the tillage depth adjustment command ZL1, and adjusts the parameters within the design range of the PID controller, and finally generates the optimal plan ZL1, and sends the target tillage implement rear suspension platform adjustment position command ZL1 to the controller output module to adjust the real-time working posture;
步骤4：耕作质量检测模块实时分析评估拖拉机耕作机具作业质量并进行预警。Step 4: The tillage quality detection module analyzes and evaluates the operating quality of the tractor tillage equipment in real time and issues early warning.
进一步地，所述步骤1中，Furthermore, in step 1,
中央处理模块通过获取的四个倾斜角度指数Q1、Q2、Q3、Q4以及拖拉机车身倾斜角度值A1计算获得田间工况信息，包括土壤坡度指数q1，土壤平整度指数q2，土壤松软度指数q3，q3＝β0+β1(q1-A1)+d、土坡填方高度指数h、边坡底宽指数b，其中，Qi表示拖拉机底部四个轮子的倾斜角度指数，i代表每个轮子的编号，取值为1、2、3、4，β0和β1是最小化损失函数估计出的模型参数，d是误差，Q1、Q2、Q3、Q4中的最大值然后在单位时间t0内仿真生成角度影响系数μ1：α1为角度影响系数的预设权重因子，且α1＞0。The central processing module obtains the field working condition information by calculating the four tilt angle indices Q1, Q2, Q3, Q4 and the tilt angle value A1 of the tractor body, including the soil slope index q1, Soil flatness index q2, Soil softness index q3, q3 = β0 + β1 (q1 -A1) + d, soil slope fill height index h, slope bottom width index b, whereQi represents the inclination angle index of the four wheels at the bottom of the tractor, i represents the number of each wheel, and the values are 1, 2, 3, and 4. β0 and β1 are model parameters estimated by minimizing the loss function, d is the error, and the maximum value among Q1, Q2, Q3, and Q4 is Then the angle influence coefficient μ1 is generated by simulation within unit time t0 : α1 is a preset weight factor of the angle influence coefficient, and α1＞0.
进一步地，所述步骤2中，姿态影响系数μ2为：α2为姿态影响系数的预设权重因子，且α2＞0，t0表示单位时间，A2为拖拉机后悬挂耕作机具的实时姿态角度值。Furthermore, in step 2, the attitude influence coefficient μ2 is: α2 is a preset weight factor of the attitude influence coefficient, and α2>0,t0 represents unit time, and A2 is the real-time attitude angle value of the tillage implement mounted behind the tractor.
进一步地，所述步骤3中，自适应姿态调节偏差角度δkA为：δkA＝μ1·A1-μ2·A2。Furthermore, in step 3, the adaptive posture adjustment deviation angle δkA is: δkA=μ1·A1-μ2·A2.
进一步地，所述步骤3中，根据单位时间内田间工况信息的变化量，预测出需要调整的理论机械耕作深度差的具体过程如下：Furthermore, in step 3, the specific process of predicting the theoretical mechanical tillage depth difference that needs to be adjusted according to the change amount of the field working condition information per unit time is as follows:
根据单位时间内田间工况信息的变化量，获得土壤坡度、平整度和松软度随时间变化的函数qi(t)、填方高度随时间的变化函数h(t)、边坡底宽随时间的变化函数b(t)、角度影响系数随时间的变化函数δkA(t)以及平整度的变化率通过信息融合与数据分析算法预测出需要调整的理论机械耕作深度差δH，j表示所考虑的土壤参数的索引，其范围是从1到n，n表示所考虑的土壤参数的总数量，θ表示用于土壤和拖拉机姿态调整计算的角度参数，x表示沿土壤床宽度的空间变量，q3(θ)表示土壤平整度作为角度θ的函数，t表示时间。According to the change of field working condition information per unit time, the function of soil slope, flatness and softness changing with time qi(t), the function of fill height changing with time h(t), the function of slope bottom width changing with time b(t), the function of angle influence coefficient changing with time δkA(t) and the rate of change of flatness are obtained. The theoretical mechanical tillage depth difference δH that needs to be adjusted is predicted through information fusion and data analysis algorithms. j represents the index of the soil parameter considered, which ranges from 1 to n, n represents the total number of soil parameters considered, θ represents the angle parameter used for soil and tractor attitude adjustment calculation, x represents the spatial variable along the width of the soil bed, q3 (θ) represents the soil flatness as a function of the angle θ, and t represents time.
进一步地，所述步骤4的具体过程如下：Furthermore, the specific process of step 4 is as follows:
步骤4.1：通过检测耕深合格率和耕深均匀度获取作业质量评估系数：Step 4.1: Obtain the operation quality assessment coefficient by testing the tillage depth qualification rate and tillage depth uniformity:
针对基于自适应耕深调节的后悬挂调平系统，耕作质量检测模块的控制单元从当前摄像头拍摄的耕作效果图片中取m个像素位点，计算得到耕深均匀度nmmax、nmmin分别表示当前拍摄的耕作效果图里取的像素点中耕深最大像素点位置的耕深、耕深最小像素点位置的耕深；在当前耕作效果图片的m个像素点中，耕作深度合格点数为p个，则耕深合格率For the rear suspension leveling system based on adaptive tillage depth adjustment, the control unit of the tillage quality detection module takes m pixel locations from the tillage effect picture taken by the current camera and calculates the tillage depth uniformity. nmmax and nmmin represent the tillage depth of the pixel with the maximum tillage depth and the pixel with the minimum tillage depth in the current tillage effect image. If there are p qualified tillage depth points among the m pixels in the current tillage effect image, the qualified tillage depth rate is
再次通过摄像头图像反馈获取新的耕深均匀度b1*、耕深合格率b2*，分别与上一次计算得到的b1和b2相减得到耕深均匀度提高值△b1、耕深合格率提高值△b2；进一步计算得到耕深均匀度影响系数耕深合格度影响系数并由X1与X2综合得出基于自适应耕深调节的后悬挂调平系统的作业质量评估系数B1，B1＝b1X1+b2X2；The new tillage depth uniformity b1* and tillage depth qualified rate b2* are obtained again through the camera image feedback, and the tillage depth uniformity improvement value △b1 and tillage depth qualified rate improvement value △b2 are obtained by subtracting them from the b1 and b2 calculated last time respectively; the tillage depth uniformity influence coefficient is further calculated. Tillage depth qualification coefficient The operation quality evaluation coefficient B1 of the rear suspension leveling system based on adaptive tillage depth adjustment is obtained by combining X1 and X2, B1＝b1X1+b2X2;
最后采用同样的方法试验得到传统耕作机具的作业质量评估系数B0；Finally, the same method was used to test and obtain the operation quality evaluation coefficient B0 of traditional tillage implements;
获取作业质量提高系数δB：δB＝B1-B0；Obtain the operation quality improvement coefficient δB: δB = B1-B0;
步骤4.2：通过设定合格工作状态阈值，判定异常状态并预警：Step 4.2: Determine abnormal status and issue an early warning by setting the qualified working status threshold:
从每轮拍摄的耕作效果图片中获得一组耕深均匀度最大值b1max、耕深均匀度最小值b1min、耕深合格率最大值b2max、耕深合格率最小值b2min，共获得Z组数据，则系统最大均匀度参数系统最小均匀度参数系统最大合格率参数系统最小合格率参数然后计算最小合格工作状态指数Bmin＝b1min*·X1+b2min*·X2，计算最大合格工作状态指数Bmax＝b1max*·X1+b2max*·X2；From the tillage effect pictures taken in each round, a set of maximum tillage depth uniformity b1max , minimum tillage depth uniformity b1min , maximum tillage depth qualified rate b2max , and minimum tillage depth qualified rate b2min are obtained, and a total of Z sets of data are obtained. The maximum uniformity parameter of the system is System minimum uniformity parameter System maximum pass rate parameters System minimum pass rate parameters Then the minimum qualified working state index Bmin=b1min* ·X1+b2min* ·X2 is calculated, and the maximum qualified working state index Bmax=b1max* ·X1+b2max* ·X2 is calculated;
当δB位于区间[Bmin,Bmax]时，则判定系统处于正常工作状态；当δB＜Bmin或δB＞Bmax时，则判定系统处于异常工作状态，控制单元生成异常指示信号，并通过异常指示信号控制异常指示灯闪烁报警，提醒操作员。When δB is in the interval [Bmin, Bmax], the system is judged to be in a normal working state; when δB＜Bmin or δB＞Bmax, the system is judged to be in an abnormal working state, and the control unit generates an abnormal indication signal, and controls the abnormal indicator light to flash an alarm through the abnormal indication signal to remind the operator.
本发明具有如下有益效果：The present invention has the following beneficial effects:
本发明通过设计一种基于自适应耕深调节的后悬挂调平系统模型，通过信息采集模块采集耕作机具的实时工况数据发送到中央处理模块进行分析计算后输出指令到控制输出模块进行后悬挂液压装置的调平操作，可以根据实时工作负载以及田间情况对后悬挂液压调平装置进行精确控制，使得耕作机具在不同地形和工作条件下的姿态调节更加稳定和精确；The present invention designs a rear suspension leveling system model based on adaptive tillage depth adjustment, collects real-time working condition data of tillage implements through an information collection module, sends the data to a central processing module for analysis and calculation, and then outputs instructions to a control output module to perform a leveling operation of a rear suspension hydraulic device. The rear suspension hydraulic leveling device can be precisely controlled according to the real-time workload and field conditions, so that the posture adjustment of the tillage implements under different terrains and working conditions is more stable and precise.
本发明利用陀螺仪倾角传感器相比传统倾角传感器在实时测量旋耕机作业土壤条件时可以提供更高的精确度和稳定性、更快的响应速度、更广泛的适用范围和更强的抗干扰能力；Compared with the traditional inclination sensor, the present invention can provide higher accuracy and stability, faster response speed, wider application range and stronger anti-interference ability when measuring the soil conditions of the rotary tiller in real time.
本发明通过设计耕作质量实时监测反馈系统，可以实时监测到耕作机具的工作质量，并根据监测结果对液压调平装置进行调节，从而保证耕作质量更高，提高农作物的生产效率和质量；The present invention designs a real-time monitoring feedback system for tillage quality, which can monitor the working quality of tillage implements in real time and adjust the hydraulic leveling device according to the monitoring results, thereby ensuring higher tillage quality and improving the production efficiency and quality of crops.
本发明通过设计模糊PID控制器，使耕深控制具有较强的自适应性，能够根据不同的工作条件和环境变化自动调节控制参数，使得系统对于外部干扰和变化具有更好的适应性和稳定性；The present invention designs a fuzzy PID controller to make the tillage depth control have strong adaptability, and can automatically adjust the control parameters according to different working conditions and environmental changes, so that the system has better adaptability and stability to external interference and changes;
本发明总体设计通过精确的自适应耕深调节，可以减少耕作机具在工作过程中的能源消耗，提高能源利用效率，降低生产成本。The overall design of the present invention can reduce the energy consumption of tillage tools during operation, improve energy utilization efficiency, and reduce production costs through precise adaptive tillage depth adjustment.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明所述基于自适应耕深调节的后悬挂调平系统的工作流程示意图；FIG1 is a schematic diagram of the working process of the rear suspension leveling system based on adaptive tillage depth adjustment according to the present invention;
图2是本发明所述后悬挂调平装置结构示意图；FIG2 is a schematic structural diagram of the rear suspension leveling device of the present invention;
图3为本发明所述基于自适应耕深调节的后悬挂调平系统工作示意图；FIG3 is a schematic diagram of the working of the rear suspension leveling system based on adaptive tillage depth adjustment according to the present invention;
图中：101-上支撑横梁；102-左支撑杆；103-右支撑杆；104-左下支撑横梁；105-右下支撑横梁；201-左旋转臂；202-右旋转臂；203-左长液压杆；204-右长液压杆；301-调平平台；401-万向节；501-液压泵；502-液压缸；503-液压阀。In the figure: 101-upper supporting beam; 102-left supporting rod; 103-right supporting rod; 104-left lower supporting beam; 105-right lower supporting beam; 201-left rotating arm; 202-right rotating arm; 203-left long hydraulic rod; 204-right long hydraulic rod; 301-leveling platform; 401-universal joint; 501-hydraulic pump; 502-hydraulic cylinder; 503-hydraulic valve.
具体实施方式DETAILED DESCRIPTION
下面结合附图以及具体实施例对本发明作进一步的说明，但本发明的保护范围并不限于此。The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.
本发明所述一种基于自适应耕深调节的后悬挂调平系统，包括信息采集模块、中央处理模块、控制输出模块、耕作检测模块、后悬挂调平装置；信息采集模块、中央处理模块、控制输出模块、耕作检测模块之间信号连接。The present invention discloses a rear suspension leveling system based on adaptive tillage depth adjustment, comprising an information acquisition module, a central processing module, a control output module, a tillage detection module, and a rear suspension leveling device; the information acquisition module, the central processing module, the control output module, and the tillage detection module are signal-connected.
信息采集模块包括倾角传感器、陀螺仪传感器；倾角传感器、陀螺仪传感器用于采集耕作机械的实时工况数据，并将采集到的数据实时发送到中央处理模块。所述实时工况数据包括角度参数和姿态参数；角度参数包括拖拉机底部四个轮子的倾斜角度指数，姿态参数包括拖拉机后悬挂耕作机具的实时姿态角度值。The information collection module includes an inclination sensor and a gyroscope sensor; the inclination sensor and the gyroscope sensor are used to collect real-time working condition data of the farming machinery and send the collected data to the central processing module in real time. The real-time working condition data includes angle parameters and posture parameters; the angle parameters include the inclination angle index of the four wheels at the bottom of the tractor, and the posture parameters include the real-time posture angle value of the farming implements hung behind the tractor.
控制输出模块硬件集成在一个控制盒中，安装在拖拉机驾驶舱内控制面板位置，以确保操作员能够方便地对调平操作进行控制和监控；控制输出模块接收中央处理模块输出的耕作深度差调整指令，解析为具体的目标位置状态、液压杆的伸缩长度、调平平台301的倾斜角度，并根据当前机械部件的位置和目标位置，计算所需的控制信号，同时使用模糊PID控制算法，以确保机械部件平稳且精确地达到目标位置；将计算出的控制信号发送到具体的执行机构液压杆和驱动电路，并通过实时监控传感器数据，获取当前机械部件位置和状态，比较实时数据与目标位置，持续调整控制信号，确保机械部件按预期运动，即控制后悬挂调平装置的调平操作。The control output module hardware is integrated in a control box and installed at the control panel position in the tractor cab to ensure that the operator can easily control and monitor the leveling operation; the control output module receives the tillage depth difference adjustment instruction output by the central processing module, and parses it into a specific target position state, the telescopic length of the hydraulic rod, and the inclination angle of the leveling platform 301, and calculates the required control signal according to the current position of the mechanical component and the target position, and uses the fuzzy PID control algorithm to ensure that the mechanical component reaches the target position smoothly and accurately; the calculated control signal is sent to the specific actuator hydraulic rod and drive circuit, and the current position and state of the mechanical component are obtained by real-time monitoring of sensor data, and the real-time data is compared with the target position, and the control signal is continuously adjusted to ensure that the mechanical component moves as expected, that is, the leveling operation of the rear suspension leveling device is controlled.
耕作检测模块包括摄像头、深度传感器、位置传感器、控制单元；摄像头安装在耕作机具尾部，以便获取图像数据；深度传感器可选用超声波传感器或者激光传感器，安装在耕作机具下方，以便准确测量耕作深度；位置传感器安装在拖拉机底盘上，以便确定拖拉机行驶速度和位置，对图像数据进行校正；控制单元位于拖拉机驾驶舱控制面板位置，用于实现耕作检测综合分析控制。耕作检测模块用于实时监测与评估当前实际作业质量，生成作业质量评估数据并反馈到中央处理模块。The tillage detection module includes a camera, a depth sensor, a position sensor, and a control unit; the camera is installed at the tail of the tillage implement to obtain image data; the depth sensor can be an ultrasonic sensor or a laser sensor, installed under the tillage implement to accurately measure the tillage depth; the position sensor is installed on the tractor chassis to determine the tractor's driving speed and position and correct the image data; the control unit is located at the control panel of the tractor's cockpit to achieve comprehensive analysis and control of tillage detection. The tillage detection module is used to monitor and evaluate the current actual operation quality in real time, generate operation quality evaluation data and feed it back to the central processing module.
中央处理模块安装在耕作机械驾驶舱控制面板位置；中央处理模块用于实时接收信息采集模块发送的田间作业实时工况数据、耕作检测模块收集的实时耕作质量检测数据以及作业质量评估数据，同时还用于发送作业状态调整指令到控制输出模块。The central processing module is installed at the control panel of the tillage machinery cockpit; the central processing module is used to receive real-time field operation real-time working condition data sent by the information acquisition module, real-time tillage quality detection data collected by the tillage detection module, and operation quality assessment data, and is also used to send operation status adjustment instructions to the control output module.
如图2所示，后悬挂调平装置，包括三点支撑机构、四杆式液压执行机构、调平悬挂机构、传动连接机构和液压系统。As shown in FIG2 , the rear suspension leveling device includes a three-point support mechanism, a four-rod hydraulic actuator, a leveling suspension mechanism, a transmission connection mechanism and a hydraulic system.
如图2所示，三点支撑机构包括上支撑横梁101、左支撑杆102、右支撑杆103、左下支撑横梁104、右下支撑横梁105。上支撑横梁101位于三点支撑机构的顶部，是整个结构的主要支撑梁，它通过螺栓固定方式牢固地安装在拖拉机的车身上，上支撑横梁101主要功能是提供一个稳定的支撑平台，为其他部件的连接和支撑提供基础。左支撑杆102的一端连接到左旋转臂201，左旋转臂201通过其铰接点与拖拉机车身连接并支撑，允许左支撑杆102在垂直和水平平面内有一定的活动范围，左支撑杆102的另一端连接到左下支撑横梁104，形成一个稳定的三角形支撑结构。右支撑杆103的一端连接到右旋转臂202，右旋转臂202通过其铰接点与拖拉机车身连接并支撑，允许右支撑杆103在垂直和水平平面内活动，右支撑杆103的另一端连接到右下支撑横梁105，与左支撑杆102对称排列，形成平衡的支撑结构。左下支撑横梁104固定在拖拉机车身的左下侧，通过螺栓固定方式与拖拉机车身连接，提供侧向支撑，增强稳定性；右下支撑横梁105固定在拖拉机车身的右下侧，通过螺栓固定方式与拖拉机车身连接，提供侧向支撑，与左下支撑横梁104一起增强稳定性。As shown in FIG2 , the three-point support mechanism includes an upper support beam 101, a left support rod 102, a right support rod 103, a left lower support beam 104, and a right lower support beam 105. The upper support beam 101 is located at the top of the three-point support mechanism and is the main support beam of the entire structure. It is firmly mounted on the body of the tractor by bolting. The main function of the upper support beam 101 is to provide a stable support platform and provide a basis for the connection and support of other components. One end of the left support rod 102 is connected to the left rotating arm 201, which is connected and supported by the tractor body through its hinge point, allowing the left support rod 102 to have a certain range of motion in the vertical and horizontal planes. The other end of the left support rod 102 is connected to the left lower support beam 104, forming a stable triangular support structure. One end of the right support rod 103 is connected to the right rotating arm 202, which is connected and supported by the tractor body through its hinge point, allowing the right support rod 103 to move in the vertical and horizontal planes. The other end of the right support rod 103 is connected to the right lower support beam 105, which is symmetrically arranged with the left support rod 102 to form a balanced support structure. The left lower support beam 104 is fixed to the lower left side of the tractor body and connected to the tractor body by bolts to provide lateral support and enhance stability; the right lower support beam 105 is fixed to the lower right side of the tractor body and connected to the tractor body by bolts to provide lateral support and enhance stability together with the left lower support beam 104.
如图2所示，四杆式液压执行机构包括左旋转臂201、右旋转臂202、左长液压杆203、右长液压杆204。左旋转臂201的一端与左支撑杆102连接，另一端与拖拉机车身连接，其通过铰链和轴承与拖拉机车身固定，允许其在一定范围内旋转；右旋转臂202的一端与右支撑杆103连接，另一端与拖拉机车身连接，其通过铰链和轴承与拖拉机车身固定，允许其在一定范围内旋转。左长液压杆203的一端连接到上支撑横梁101的末端，另一端连接到调平平台301，其通过液压系统(液压缸502)驱动，控制调平平台301的高度和角度；右长液压杆204的一端连接到上支撑横梁101的末端，另一端连接到调平平台301，其通过液压系统(液压缸502)驱动，配合左长液压杆203共同控制调平平台301的高度和角度。As shown in FIG2 , the four-bar hydraulic actuator includes a left rotating arm 201, a right rotating arm 202, a left long hydraulic rod 203, and a right long hydraulic rod 204. One end of the left rotating arm 201 is connected to the left support rod 102, and the other end is connected to the tractor body. It is fixed to the tractor body through hinges and bearings, allowing it to rotate within a certain range; one end of the right rotating arm 202 is connected to the right support rod 103, and the other end is connected to the tractor body. It is fixed to the tractor body through hinges and bearings, allowing it to rotate within a certain range. One end of the left long hydraulic rod 203 is connected to the end of the upper supporting beam 101, and the other end is connected to the leveling platform 301. It is driven by the hydraulic system (hydraulic cylinder 502) to control the height and angle of the leveling platform 301; one end of the right long hydraulic rod 204 is connected to the end of the upper supporting beam 101, and the other end is connected to the leveling platform 301. It is driven by the hydraulic system (hydraulic cylinder 502) to cooperate with the left long hydraulic rod 203 to control the height and angle of the leveling platform 301.
具体地，左旋转臂201一端通过铰链和轴承连接到车身，提供旋转支点，另一端通过铰链和轴承连接到左支撑杆102，使左支撑杆102能够随左旋转臂201的运动而运动；左长液压杆203的一端连接到上支撑横梁101的末端，提供驱动力，右旋转臂202一端通过铰链和轴承连接到车身，提供旋转支点，另一端通过铰链或轴承连接到右支撑杆103，使右支撑杆103能够随右旋转臂202的运动而运动，右长液压杆204的一端连接到上支撑横梁101的末端，提供驱动力。左长液压杆203一端连接到上支撑横梁101的末端，通过铰链方式固定，使其能够在旋转臂运动时保持连接，另一端连接到调平平台301，通过液压系统提供的动力，实现调平平台的高度和角度调节；右长液压杆204一端连接到上支撑横梁101的末端，通过铰链方式固定，使其能够在旋转臂运动时保持连接，另一端连接到调平平台301，通过液压系统提供的动力，与左长液压杆203配合，实现调平平台的高度和角度调节。Specifically, one end of the left rotating arm 201 is connected to the vehicle body through a hinge and a bearing to provide a rotating fulcrum, and the other end is connected to the left support rod 102 through a hinge and a bearing, so that the left support rod 102 can move with the movement of the left rotating arm 201; one end of the left long hydraulic rod 203 is connected to the end of the upper supporting beam 101 to provide a driving force, one end of the right rotating arm 202 is connected to the vehicle body through a hinge and a bearing to provide a rotating fulcrum, and the other end is connected to the right support rod 103 through a hinge or a bearing, so that the right support rod 103 can move with the movement of the right rotating arm 202, and one end of the right long hydraulic rod 204 is connected to the end of the upper supporting beam 101 to provide a driving force. One end of the left long hydraulic rod 203 is connected to the end of the upper supporting beam 101 and is fixed by a hinge so that it can remain connected when the rotating arm moves. The other end is connected to the leveling platform 301, and the height and angle adjustment of the leveling platform is achieved through the power provided by the hydraulic system; one end of the right long hydraulic rod 204 is connected to the end of the upper supporting beam 101 and is fixed by a hinge so that it can remain connected when the rotating arm moves. The other end is connected to the leveling platform 301, and the height and angle adjustment of the leveling platform is achieved in cooperation with the left long hydraulic rod 203 through the power provided by the hydraulic system.
如图2所示，调平悬挂机构包括调平平台301，左长液压杆203和右长液压杆204通过万向节401连接到调平平台301的两侧，提供驱动力来调整调平平台301的高度和角度；调平平台301与万向节401相连接：万向节401连接在调平平台301的顶面，允许调平平台301在多个角度进行运动和调节，确保调平平台301的平稳性和灵活性。As shown in FIG2 , the leveling suspension mechanism includes a leveling platform 301. A left long hydraulic rod 203 and a right long hydraulic rod 204 are connected to both sides of the leveling platform 301 through a universal joint 401, providing a driving force to adjust the height and angle of the leveling platform 301. The leveling platform 301 is connected to the universal joint 401: the universal joint 401 is connected to the top surface of the leveling platform 301, allowing the leveling platform 301 to move and adjust at multiple angles, thereby ensuring the stability and flexibility of the leveling platform 301.
传动连接机构包括万向节401，万向节401连接在调平平台301上，允许调平平台301在不同的角度进行调整和运动，其连接到左长液压杆203和右长液压杆204，确保调平平台301在液压系统的驱动下能够平稳运行。The transmission connection mechanism includes a universal joint 401, which is connected to the leveling platform 301 to allow the leveling platform 301 to be adjusted and moved at different angles. It is connected to the left long hydraulic rod 203 and the right long hydraulic rod 204 to ensure that the leveling platform 301 can run smoothly under the drive of the hydraulic system.
如图2所示，液压系统包括液压泵501、液压缸502、液压阀503。液压泵501提供液压动力，其连接到液压缸502，为液压缸502提供所需的液压流体，液压泵501通过液压管路连接到液压缸502和液压阀503，确保液压系统的正常运行；液压缸502是液压系统的执行元件，两侧的液压缸502分别与左长液压杆203、右长液压杆204连接，其通过液压泵501提供的液压流体驱动，实现调平平台301的高度和角度调节；液压阀503控制液压流体的流动，其连接在液压泵501和液压缸502之间，通过控制液压流体的流动方向和压力，实现对液压缸502的精确控制，液压阀503还连接到液压系统的其他部分，如液压管路，确保整个液压系统的协调运行。As shown in FIG2 , the hydraulic system includes a hydraulic pump 501, a hydraulic cylinder 502, and a hydraulic valve 503. The hydraulic pump 501 provides hydraulic power, which is connected to the hydraulic cylinder 502 to provide the required hydraulic fluid for the hydraulic cylinder 502. The hydraulic pump 501 is connected to the hydraulic cylinder 502 and the hydraulic valve 503 through a hydraulic pipeline to ensure the normal operation of the hydraulic system; the hydraulic cylinder 502 is the actuator of the hydraulic system. The hydraulic cylinders 502 on both sides are respectively connected to the left long hydraulic rod 203 and the right long hydraulic rod 204. They are driven by the hydraulic fluid provided by the hydraulic pump 501 to achieve the height and angle adjustment of the leveling platform 301; the hydraulic valve 503 controls the flow of the hydraulic fluid. It is connected between the hydraulic pump 501 and the hydraulic cylinder 502. By controlling the flow direction and pressure of the hydraulic fluid, the hydraulic cylinder 502 is precisely controlled. The hydraulic valve 503 is also connected to other parts of the hydraulic system, such as hydraulic pipelines, to ensure the coordinated operation of the entire hydraulic system.
参照图1、3，本发明所述基于自适应耕深调节的后悬挂调平系统的基于自适应耕深调节的后悬挂调平方法，包括如下过程：1 and 3 , the rear suspension leveling method based on adaptive tillage depth adjustment of the rear suspension leveling system according to the present invention includes the following process:
步骤1：倾角传感器采集拖拉机底部四个轮子的倾斜角度指数并传递至中央处理模块，中央处理模块将拖拉机底部四个轮子的倾斜角度指数分别标记为Q1、Q2、Q3、Q4，通过拖拉机底部四个轮子的倾斜角度指数计算获取拖拉机车身倾斜角度值A1，以水平线为基准，当轮子逆时针向上旋转时，所获取的A1值为正，当轮子顺时针向下旋转时，所获取的A1值为负；其中，通过倾角传感器输出的变化趋势，中央处理模块可以确定轮子是顺时针还是逆时针旋转；Step 1: The tilt sensor collects the tilt angle index of the four wheels at the bottom of the tractor and transmits it to the central processing module. The central processing module marks the tilt angle index of the four wheels at the bottom of the tractor as Q1, Q2, Q3, and Q4 respectively, and calculates the tilt angle value A1 of the tractor body through the tilt angle index of the four wheels at the bottom of the tractor. With the horizontal line as the reference, when the wheel rotates counterclockwise upward, the obtained A1 value is positive, and when the wheel rotates clockwise downward, the obtained A1 value is negative; wherein, through the change trend of the tilt sensor output, the central processing module can determine whether the wheel rotates clockwise or counterclockwise;
中央处理模块通过Q1、Q2、Q3、Q4以及A1计算获得田间工况信息，包括土壤坡度指数q1，土壤平整度指数q2，土壤松软度指数q3，q3＝β0+β1(q1-A1)+d、土坡填方高度指数h、边坡底宽指数b，其中，Qi表示拖拉机底部四个轮子的倾斜角度指数，i代表每个轮子的编号，取值为1、2、3、4，β0和β1是最小化损失函数估计出的模型参数，d是误差，Q1、Q2、Q3、Q4中的最大值然后在单位时间t0内仿真生成角度影响系数μ1：α1为角度影响系数μ1的预设权重因子，且α1＞0。The central processing module obtains field working condition information through Q1, Q2, Q3, Q4 and A1 calculations, including soil slope index q1, Soil flatness index q2, Soil softness index q3, q3 = β0 + β1 (q1 -A1) + d, soil slope fill height index h, slope bottom width index b, whereQi represents the inclination angle index of the four wheels at the bottom of the tractor, i represents the number of each wheel, and the values are 1, 2, 3, and 4. β0 and β1 are model parameters estimated by minimizing the loss function, d is the error, and the maximum value among Q1, Q2, Q3, and Q4 is Then the angle influence coefficient μ1 is generated by simulation within unit time t0 : α1 is a preset weight factor of the angle influence coefficient μ1, and α1＞0.
步骤2：陀螺仪传感器采集拖拉机后悬挂耕作机具的实时姿态角度值A2，并传递至中央处理模块，中央处理模块接收实时姿态角度值A2后，以水平线为基准，当轮子逆时针向上旋转时，判定所获取的A2值为正，当轮子顺时针向下旋转时，判定所获取的A2值为负，然后在单位时间t0内，根据A2仿真生成姿态影响系数μ2：α2为姿态影响系数μ2的预设权重因子，且α2＞0；其中，陀螺仪传感器基于惯性原理进行测量，通过检测旋转速度和加速度的变化，可以以更快的响应速度精确地测量倾斜角度，并且陀螺仪传感器可以通过滤波和算法处理来降低震动、振动和其他环境因素的干扰对测量结果的影响；陀螺仪传感器检测物体的旋转和倾斜，通过传感器输出的变化趋势，中央处理模块可以确定轮子是顺时针还是逆时针旋转。Step 2: The gyroscope sensor collects the real-time attitude angle value A2 of the rear-mounted tillage implement of the tractor and transmits it to the central processing module. After receiving the real-time attitude angle value A2, the central processing module uses the horizontal line as a reference. When the wheel rotates counterclockwise upward, the obtained A2 value is determined to be positive. When the wheel rotates clockwise downward, the obtained A2 value is determined to be negative. Then, within the unit timet0 , the attitude influence coefficient μ2 is generated according to the A2 simulation: α2 is a preset weight factor of the attitude influence coefficient μ2, and α2>0; wherein, the gyroscope sensor performs measurements based on the principle of inertia, and by detecting changes in rotation speed and acceleration, the tilt angle can be accurately measured with a faster response speed, and the gyroscope sensor can reduce the impact of vibration, vibration and other environmental factors on the measurement results through filtering and algorithm processing; the gyroscope sensor detects the rotation and tilt of the object, and through the changing trend of the sensor output, the central processing module can determine whether the wheel rotates clockwise or counterclockwise.
步骤3：中央处理模块将拖拉机车身倾斜角度值A1与角度影响系数μ1结合，将拖拉机后悬挂耕作机具的实时姿态角度值A2与姿态影响系数μ2结合，共同计算分析得出自适应姿态调节偏差角度δkA：δkA＝μ1·A1-μ2·A2；Step 3: The central processing module combines the tractor body tilt angle value A1 with the angle influence coefficient μ1, and combines the real-time posture angle value A2 of the tractor rear suspension tillage implement with the posture influence coefficient μ2, and jointly calculates and analyzes to obtain the adaptive posture adjustment deviation angle δkA: δkA＝μ1·A1-μ2·A2;
然后再根据单位时间内土壤坡度指数q1、土壤平整度指数q2、土壤松软度指数q3、土坡填方高度指数h、边坡底宽指数b的变化量，获得土壤坡度、平整度和松软度随时间变化的函数qi(t)、填方高度随时间的变化函数h(t)、边坡底宽随时间的变化函数b(t)、角度影响系数随时间的变化函数δkA(t)以及平整度的变化率通过信息融合与数据分析算法预测出需要调整的理论机械耕作深度差δH，j表示所考虑的土壤参数的索引(平整度、压实度和松软度等)，其范围是从1到n，n表示所考虑的土壤参数的总数量，θ表示用于土壤和拖拉机姿态调整计算的角度参数，x表示沿土壤床宽度的空间变量，q3(θ)表示土壤平整度作为角度θ的函数，t表示时间；Then, according to the changes in soil slope index q1, soil flatness index q2, soil softness index q3, soil fill height index h, and slope bottom width index b in unit time, the function of soil slope, flatness and softness changing with time qi(t), the function of fill height changing with time h(t), the function of slope bottom width changing with time b(t), the function of angle influence coefficient changing with time δkA(t) and the rate of change of flatness are obtained. The theoretical mechanical tillage depth difference δH that needs to be adjusted is predicted through information fusion and data analysis algorithms. j represents the index of the soil parameter considered (flatness, compaction, and softness, etc.), which ranges from 1 to n, n represents the total number of soil parameters considered, θ represents the angle parameter used for soil and tractor attitude adjustment calculations, x represents the spatial variable along the width of the soil bed, q3 (θ) represents the soil flatness as a function of the angle θ, and t represents time;
然后通过耕作质量检测模块中深度传感器实时反馈的实际耕作深度δh，中央处理模块利用模糊PID算法对耕深调节指令ZL1进行反复修正，并在PID控制器设计范围内调整参数(包括比例系数Kp、积分系数Ki、微分系数Kd)，最终生成最佳规划ZL1，并发送目标耕作机具后悬挂平台调整位置指令ZL1至控制器输出模块，来调整实时作业姿态。Then, the actual tillage depth δh is fed back in real time by the depth sensor in the tillage quality detection module. The central processing module uses the fuzzy PID algorithm to repeatedly correct the tillage depth adjustment instruction ZL1, and adjusts the parameters (including the proportional coefficient Kp, the integral coefficient Ki, and the differential coefficient Kd) within the design range of the PID controller. Finally, the optimal plan ZL1 is generated, and the target tillage machine rear suspension platform adjustment position instruction ZL1 is sent to the controller output module to adjust the real-time working posture.
步骤4：耕作质量检测模块实时分析评估作业质量并进行预警，具体过程如下：Step 4: The tillage quality detection module analyzes and evaluates the operation quality in real time and issues early warnings. The specific process is as follows:
步骤4.1：通过检测耕深合格率和耕深均匀度获取作业质量评估系数：Step 4.1: Obtain the operation quality assessment coefficient by testing the tillage depth qualification rate and tillage depth uniformity:
针对本发明的自适应耕深调节的后悬挂调平系统，耕作质量检测模块的控制单元从当前摄像头拍摄的耕作效果图片中取m个像素位点，则计算得到耕深均匀度nmmax、nmmin分别表示当前拍摄的耕作效果图里取的像素点中耕深最大像素点位置的耕深、耕深最小像素点位置的耕深；在当前耕作效果图片的m个像素点中，设定耕作深度合格点数为p个，则耕深合格率For the self-adaptive tillage depth adjustment rear suspension leveling system of the present invention, the control unit of the tillage quality detection module takes m pixel locations from the tillage effect picture taken by the current camera, and calculates the tillage depth uniformity. nmmax and nmmin represent the tillage depth at the maximum pixel position and the minimum pixel position in the current tillage effect image. In the m pixels of the current tillage effect image, the number of qualified tillage depth points is set to p, then the tillage depth qualified rate is
由自适应电控液压式后悬挂调平装置输出后，再次通过摄像头图像反馈获取新的耕深均匀度b1*、耕深合格率b2*，分别与上一次计算得到的b1和b2相减得到耕深均匀度提高值△b1、耕深合格率提高值△b2；进一步计算得到耕深均匀度影响系数耕深合格度影响系数并由X1与X2综合得出本发明所述自适应耕深调节的后悬挂调平系统的作业质量评估系数B1，B1＝b1X1+b2X2；After the output from the adaptive electronically controlled hydraulic rear suspension leveling device, the new tillage depth uniformity b1* and tillage depth qualified rate b2* are obtained again through the camera image feedback, and the tillage depth uniformity improvement value △b1 and tillage depth qualified rate improvement value △b2 are obtained by subtracting them from the b1 and b2 calculated last time respectively; the tillage depth uniformity influence coefficient is further calculated Tillage depth qualification coefficient The operation quality evaluation coefficient B1 of the rear suspension leveling system with adaptive tillage depth adjustment of the present invention is obtained by combining X1 and X2, B1=b1X1+b2X2;
最后采用上述同样的方法试验得到传统耕作机具的作业质量评估系数B0(即B0是通过在传统耕作机具后方安装摄像头拍摄其作业图片，并根据上述分析过程计算得出的数据)；Finally, the same method as above was used to test and obtain the operation quality evaluation coefficient B0 of the traditional tillage implement (that is, B0 is the data obtained by installing a camera behind the traditional tillage implement to take its operation picture and calculating it according to the above analysis process);
对比传统耕作机具在上述操作运行下的作业质量评估系数B0与本发明的自适应耕深调节后悬挂调平系统的作业质量评估系数B1，获取作业质量提高系数δB：δB＝B1-B0。By comparing the operation quality evaluation coefficient B0 of the conventional tillage implement under the above operation and operation quality evaluation coefficient B1 of the adaptive tillage depth adjustment rear suspension leveling system of the present invention, the operation quality improvement coefficient δB is obtained: δB=B1-B0.
步骤4.2：通过设定合格工作状态阈值，判定异常状态并预警：Step 4.2: Determine abnormal status and issue an early warning by setting the qualified working status threshold:
从每轮拍摄的耕作效果图片中获得一组耕深均匀度最大值b1max、耕深均匀度最小值b1min、耕深合格率最大值b2max、耕深合格率最小值b2min，共获得Z组数据，则系统最大均匀度参数系统最小均匀度参数系统最大合格率参数系统最小合格率参数然后计算最小合格工作状态指数Bmin＝b1min*·X1+b2min*·X2，计算最大合格工作状态指数Bmax＝b1max*·X1+b2max*·X2；From the tillage effect pictures taken in each round, a set of maximum tillage depth uniformity b1max , minimum tillage depth uniformity b1min , maximum tillage depth qualified rate b2max , and minimum tillage depth qualified rate b2min are obtained, and a total of Z sets of data are obtained. The maximum uniformity parameter of the system is System minimum uniformity parameter System maximum pass rate parameters System minimum pass rate parameters Then the minimum qualified working state index Bmin=b1min* ·X1+b2min* ·X2 is calculated, and the maximum qualified working state index Bmax=b1max* ·X1+b2max* ·X2 is calculated;
当δB位于区间[Bmin,Bmax]时，则判定系统处于正常工作状态；当δB＜Bmin或δB＞Bmax时，则判定系统处于异常工作状态，生成异常指示信号，并通过异常指示信号控制异常指示灯闪烁报警，从而提醒操作员进行监测与维修。When δB is in the interval [Bmin, Bmax], the system is judged to be in normal working condition; when δB＜Bmin or δB＞Bmax, the system is judged to be in abnormal working condition, an abnormal indication signal is generated, and the abnormal indicator light is controlled to flash an alarm through the abnormal indication signal, thereby reminding the operator to monitor and repair.
综上所述，本发明能够通过信息采集模块采集耕作机具的实时工况数据发送到中央处理模块进行分析计算，而后输出指令到控制输出模块，进行后悬挂液压装置的调平操作，最后对自适应调节后的耕作质量进行图像识别检测，能够实现稳定、精准的耕深控制效果。In summary, the present invention can collect real-time working condition data of the tillage implement through the information acquisition module and send it to the central processing module for analysis and calculation, and then output instructions to the control output module to perform leveling operations of the rear suspension hydraulic device, and finally perform image recognition detection on the tillage quality after adaptive adjustment, so as to achieve stable and accurate tillage depth control effect.
本实施例中区间、阈值的大小的设定是为了便于比较，关于阈值的大小，取决于样本数据的多少及本领域技术人员对每一组样本数据设定基数数量；只要不影响参数与量化后数值的比例关系即可。本实施例中的公式均是去量纲取其数值计算，公式中的预设参数由本领域的技术人员根据实际情况进行设置。The interval and threshold values in this embodiment are set for the convenience of comparison. The size of the threshold depends on the amount of sample data and the number of bases set by technicians in this field for each group of sample data; as long as it does not affect the proportional relationship between the parameter and the quantized value. The formulas in this embodiment are all dimensionless and calculated by taking their numerical values. The preset parameters in the formulas are set by technicians in this field according to actual conditions.
所述实施例为本发明的优选的实施方式，但本发明并不限于上述实施方式，在不背离本发明的实质内容的情况下，本领域技术人员能够做出的任何显而易见的改进、替换或变型均属于本发明的保护范围。The embodiments are preferred implementations of the present invention, but the present invention is not limited to the above-mentioned implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.
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| CN202410899840.XACN118749245B (en) | 2024-07-05 | 2024-07-05 | Rear suspension leveling system and method based on self-adaptive tilling depth adjustment |
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