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Method for measuring the steering wheel angle of paddy field agricultural machinery by integrating RTK-GNSS and dual-MEMS gyroscope

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International Journal of agricultural and Biological Engineering 2022年第6期15卷 197-205页

作者： Pei Wang Lian Hu Jie He Siqi Ke Zhongxian Man Tuanpeng Tu Luning Yang Yuanyuan Li Yanling Yi Weicong Li Xiwen Luo College of Engineering South China Agricultural UniversityGuangzhou 510642China Key Laboratory of Key Technology on agricultural Machine and Equipment Ministry of EducationSouth China Agricultural UniversityGuangzhou 510642China Guangdong Provincial Key Laboratory for agricultural Artificial Intelligence(GDKL-AAI) Guangzhou 510642China Maoming Branch Guangdong Laboratory for Lingnan Modern AgricultureMaoming 525000GuangdongChina

Aiming at the application environment of paddy agricultural machinery with bumpy and undulating changes,the problems affecting the method for steering wheel angle measurement by MEMS gyroscope were analyzed,and a wheel angle measurement method combining Dual-MEMS gyroscope(dual MEMS gyroscope)and RTK-GNSS was *** adaptive weighting method was used to fuse the heading angle differentiation of RTK-GNSS,the MEMS gyroscope angle rate,and velocity data,and the rod-arm compensation was performed to accurately obtain the angle rates of the body and steering wheels of agricultural machinery;the difference between the combined angular rate of the steering wheel of the agricultural machinery and the angular rate of the agricultural machinery body was obtained,and the integrator is used to integrate the difference to get the wheel steering angle value,and the Kalman filter was designed to make feedback correction for the integration process of angle calculation to eliminate the errors caused by the gyroscope zero bias,random drift,and gyroscope rod arm effect,and to obtain the accurate value of wheel steering angle.A comparative test with the connecting rod wheel angle sensor was designed,and the results show that the maximum deviation is 4.99°,the average absolute average value is 1.61°,and the average standard deviation is 0.98°.The method in this study and the connecting rod wheel angle sensor were used on paddy farm *** wheel angle measurement deviation of the proposed method and the connecting rod wheel angle sensor was not more than 1°,which is relatively *** has good stability,speed adaptability,and dynamic responsiveness that meets the accuracy requirements of steering wheel angle measurement for paddy field agricultural machinery unmanned driving and can be used instead of connecting rod angle sensors for unmanned agricultural machinery.

关键词： steering wheel angle MEMS gyroscope Kalman filter agricultural machinery navigation agricultural machinery

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Convolutional neural network-based automatic image recognition for agricultural machinery

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International Journal of agricultural and Biological Engineering 2018年第4期11卷 200-206页

作者： Kun Yang Hui Liu Pei Wang Zhijun Meng Jingping Chen Information Engineering College Capital Normal UniversityBeijing 100048China National Engineering Research Center for Information Technology in Agriculture Beijing 100097China

An internet of things-based subsoiling operation monitoring system for agricultural machinery is able to identify the type and operating state of a certain machinery by collecting and recognizing its images;however,it does not meet regulatory requirements due to a large image data volume,heavy workload by artificial selective examination,and low *** this study,a dataset containing machinery images of over 100 machines was established,which including subsoilers,rotary cultivators,reversible plows,subsoiling and soil-preparation machines,seeders,and non-machinery *** images were annotated in tensorflow,a deep learning platform from ***,a convolutional neural network(CNN)was designed for targeting actual regulatory demands and image characteristics,which was optimized by reducing overfitting and improving training *** training results showed that the recognition rate of this machinery recognition network to the demonstration dataset reached 98.5%.In comparison,the recognition rates of LeNet and AlexNet under the same conditions were 81%and 98.8%,*** terms of model recognition efficiency,it took AlexNet 60 h to complete training and 0.3 s to recognize 1 image,whereas the proposed machinery recognition network took only half that time to complete training and 0.1 s to recognize 1 *** further verify the practicability of this model,6 types of images,with 200 images in each type,were randomly selected and used for testing;results indicated that the average recognition recall rate of various types of machinery images was 98.8%.In addition,the model was robust to illumination,environmental changes,and small-area occlusion,and thus was competent for intelligent image recognition of subsoiling operation monitoring systems.

关键词： agricultural machinery monitoring system automatic image recognition convolutional neural network

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Analysis on the Mode of Trans-Regional Allocation of agricultural machinery

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American Journal of Plant Sciences 2020年第7期11卷 1049-1056页

作者： Li Liu Tong Chen Shuguo Yang Xinli Wang Heilongjiang Bayi agricultural University Daqing China

With the continuous progress of agricultural technology, agricultural mechanization presents a good development trend after half a century development. But agricultural machinery equipment and the level of agricultural mechanization are imbalances in different regions; the structure of agricultural machinery equipment is unreasonable; there are great differences in agricultural mechanization level of different operations and different crops and the whole level of agricultural mechanization social service is not high. Through cross regional allocation of existing agricultural machinery to improve the working efficiency of agricultural machinery;we can extend the operation time of the agricultural machinery and improve the operation effect and income of agricultural machinery.

关键词： agricultural machinery Trans-Regional Work agricultural machinery Allocation

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Communication Tower based Experiment and Analysis of Differential Augmentation for Auto-steering Guidance of agricultural machinery

Communication Tower based Experiment and Analysis of Differe...

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第九届中国卫星导航学术年会

作者： Bingbing Hu Caicong Wu Jinjiang Li Xiaolong Li Xingtao Liu College of Information and Electrical Engineering China Agricultural University The Eighth & Shihezi Agriculture Mechanization Technology Extension Station Xinjiang Production and Construction Corps Beijing agricultural machinery Experiment Appraisal Popularize Station

UHF based single station RTK is widely used for auto-steering guidance of agricultural machinery in China currently. Too many reference stations in a region will cause serious interference of radio frequency. Moreover, the reliability is very low, since most of the stations were built on the residential buildings. Considering the above problems, we propose to construct the reference station on the communication tower because of the advantages including distribution density, infrastructure guarantee, high quality communication, and relative height compared with ordinary building. We select three communication towers for experiment in Beijing. The average baseline is 43.3 km. We place the GNSS antennas on the roof of communication equipment room, and put the reference receivers(PD318) in the room. An agri-CORS is constructed by using Power Network software. We use 4 G of China Mobile to transfer observation data and ephemeris data in real time. We put the antennas of UHF radio on the tower, which is nearly 50 m high. Results show that the data integrity of three reference stations are better than 99%. The signal-to-noise ratio of L1, L2, B1, B2, and B3 are greater than 46%, 35%, 44%, 46%, and 40% respectively. The multipath of all the bands are less than 0.50. The average accuracy of baseline after adjustment is better than 0.001 m. Both average internal accord accuracy of CORS and single station RTK are better than 0.01 cm, and both average external accord accuracy of CORS and single station RTK are better than 0.025 cm. Therefore, weget the basic conclusion that the selected communication towers are suitable for construction of GNSS reference station and the CORS and single station RTK meet the application requirement of auto-steering guidance of agricultural machinery.

关键词： CORS RTK Communication tower Differential augmentation Auto-steering guidance agricultural machinery

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A study on Human’s Sensibility to agricultural machinery’s Color Base on SD Scale

A study on Human’s Sensibility to Agricultural Machinery’s...

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E-Business·Creative Design·Manufacturing——2009 IEEE 10th International Conference on Computer-Aided Industrial Design & Conceptual Design（CAID&CD’2009）

作者： Liu Sha1 Zou Tao 2 1College of Engineering China agricultural University Beijing 100083 China 2The College of Art Central South University Hunan Province 410083 China

Base on SD Scales,the research try to find out human’s sensibility to large-scale agricultural machinery’s *** dealing with data from the scales by Factor Analysis method,the study extracts two principal components of human’s sensibility to agricultural *** by serving the two components as X＆Y axis,an image scale of agricultural machinery’color is made,which can shows some laws of human’s sensibility to agricultural machinery’s *** by a contrast test,the paper attempts to find whether environment will influence human’s sensibilities to agricultural machinery’s Color.

关键词： agricultural machinery Color Sensibility SD Scales Quantitative Analysis

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An Application of Industrial Design in Large-scale agricultural machinery

An Application of Industrial Design in Large-scale Agricultu...

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2008 IEEE 9th International Conference on Computer-Aided Industrial Design & Conceptual Design

作者： Liu Sha College of Engineering China agricultural University

＜正＞With the development of agricultural modernization and mechanization,industrial design,as an important part of modern product,will play an important role in agricultural Engineering and the design and product of *** first the paper promotes the main three aspects of application of ID in agricultural *** based on the full design process of a self-propelled Forage Harvester,the paper shows how industrial design is applied to Large-scale agricultural *** to"Feature doctrine",we develop various solutions in design process,then judge and compare various solutions by 3d-model,and then test and modify the final solution by solid model in *** final product’s appearance was improved greatly and its usability was improved too,but its cost was not significantly improved.

关键词： agricultural machinery Industrial Design CAID Form Feature Usability

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Formation mechanism for the laying angle of hemp harvester based on ANSYS-ADAMS

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International Journal of agricultural and Biological Engineering 2023年第4期16卷 109-115页

作者： Jicheng Huang Li Tan Kunpeng Tian Bin Zhang Aimin Ji Haolu Liu Cheng Shen Key Laboratory of Modern agricultural Equipment and Technology Jiangsu UniversityMinistry of EducationZhenjiang 212013JiangsuChina Nanjing Institute of agricultural Mechanization Ministry of Agriculture and Rural AffairsNanjing 210014China College of Mechanical and Electrical Engineering Hohai UniversityChangzhou 213022JiangsuChina

Aiming at the problem of large differences in the laying angle and posture of plants cut by the hemp harvester,which is unfavorable for the subsequent picking-up,this paper analyzed the laying process and laying angles,and built a conveyorplant rigid-flexible coupling model for simulating the laying of hemp ***,the operating parameters were tested and optimized based on the central composite design theory,and carried out multi-objective optimization with the minimum laying angle as the response ***,the formation mechanism of the laying angle of hemp harvester was ***,a test was designed with the quadratic orthogonal rotational combination test method,with the data being processed by Design-Expert.A regression mathematical model of the laying angle was built,and the influence of the interactions between factors on the laying angle was analyzed with the response surface ***,multi-objective optimization was conducted on the regression model according to the actual production design *** a result,the best combination was obtained,that is,when the forward speed is 0.7 m/s,speed ratio 1.40,and stubble height 95 mm,the minimum laying angle can be obtained,namely 124.9°.The optimization parameters were verified by the simulation and field *** simulation test showed that the simulated laying angle is 125.2°,with a relative error of 0.24%from the theoretical value,under the best combination of *** field test showed that the average laying angle of hemp plant is 121.8°,with a relative error of 2.5%from the theoretical value,under the best combination of *** results may provide a reference for the structural improvement and operating parameter control of hemp harvesters.

关键词： agricultural machinery hemp laying angle rigid-flexible coupling model optimization response surface analysis

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Adaptabilities of different harvesters to peanut plants after cutting stalks

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International Journal of agricultural and Biological Engineering 2022年第2期15卷 93-101页

作者： Youqing Chen Gongpu Wang Jiangtao Wang Peng Zhang Bing Wang Zhichao Hu Nanjing Institute for agricultural Mechanization Ministry of Agriculture and Rural AffairsNanjing 210014China Henan Nongyouwang agricultural Equipment Technology Co. Ltd.Zhumadian 463100HenanChina

At present,there are no harvesters specifically adapted to process peanuts after cutting *** particular,methods for harvesting peanuts after cutting stalks have not been reported thus ***,to utilize peanut stalks as feed when harvesting plastic-film-grown peanuts,and to improve industry benefits,a three-stage harvesting method is proposed *** view of the three-stage harvesting method,the peanut stalks are cut before digging,with the remaining peanut plants being shorter,thereby increasing the peanut pod-stalk *** investigate the adaptabilities of existing harvesters in harvesting peanuts after cutting stalks,three types of peanut harvesters-the self-propelled pick-up combine harvester,trailed pick-up combine harvester,and peanut picker were used to conduct a comparative test on harvesting intact peanut plants and plants after cutting *** loss,breakage and impurity rates were used as evaluation *** loss rates of these three harvesters were 14.64%,16.44%and 1.33%;the breakage rates were 21.28%,21.92%and 20.00%,and impurity rates were 4.60%,8.76%and 9.06%.Analysis of variance showed that cutting stalks had a significant impact on the work qualities of the three harvesters(p<0.05).With regard to the loss rate,results revealed that:the two peanut combine harvesters could not be adapted to harvest peanut plants after cutting *** three harvesters had good adaptability to harvest peanut plants after cutting stalks,considering the breakage rate;however,based on the impurity rate,the three harvesters could not be adapted to harvest peanut plants after cutting *** losses of the two combine harvesters consisted mainly of dropped and missed picking,with the sum of the losses accounting for 99.87%and 97.99%of the total losses of the two harvesters,respectively;this suggests that the drum pickup of the combine harvesters could not adapt to harvesting the peanut after cutting *** breakage rates of the three harvester

关键词： agricultural machinery peanut peanut harvesting after cutting stalks peanut combine harvester peanut picker adaptability research

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Design and modelling of the full-feed peanut picking device with selfadaptive adjustable working clearance and feeding rate

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International Journal of agricultural and Biological Engineering 2023年第6期16卷 97-106页

作者： Shenying Wang Baoliang Peng Huichang Wu Zhichao Hu Dawei Sun Yongwei Wang Mingzhu Cao College of Biosystems Engineering and Food Science Zhejiang UniversityHangzhou 310058China Nanjing Institute of agricultural Mechanization Ministry of Agriculture and Rural AffairsNanjing 210014China Key Laboratory of Intelligent Equipment and Robotics for Agriculture of Zhejiang Province Hangzhou 310058China Key Laboratory of agricultural Equipment for Hilly and Mountainous Areas in Southeastern China(Co-construction by Ministry and Province) Ministry of Agriculture and Rural AffairsHangzhou 310058China

To improve the declining performance of a full-feed peanut picking device or solve the mechanical failures that occur due to fluctuations in the feeding rate during operation,the 4HLJI-3000 peanut intelligent picking combine harvester,which is a picking device with a self-adaptive adjustment of the working clearance,was developed as the research object in this ***,the key components,such as the picking roller,concave plate sieve and clearance adjustment mechanism of the concave plate sieve,were designed and *** the force analysis of the concave plate sieve of the picking device,the mathematical model of the concave plate sieve displacement of the picking device and feeding rate was *** software system for monitoring,storing and analysing the concave plate sieve displacement of the picking device based on EasyBuilder Pro was designed,and the road monitoring test of displacement variation of concave plate sieve of the picking device and feeding rate was carried *** linear function,power function,exponential function,quadratic function,compound function,logarithmic function and cubic function fitting were used to perform regression analysis of the test results by using IBM SPSS *** results showed that the cubic function model had a higher fitting precision,and its determination coefficient was *** verification experiments were proposed,and the results showed that the established cubic function model had a good *** absolute deviation rate ranged from 0 to 4.83%,and the average deviation rate was 2.22%.The deviation rate increased with an increasing feeding *** field experiments also proved that there was a cubic function relationship between the feeding rate and concave plate sieve displacement,the measured concave plate sieve displacement deviation rate ranged from 0 to 6.19%,and the average deviation rate was 2.73%compared with the calculated *** study can provide a reference for the optimiza

关键词： agricultural machinery peanut picking device feeding rate concave plate sieve displacement EasyBuilder

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Model construction of soybean average diameter and hole parameters of seed-metering wheel based on DEM

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International Journal of agricultural and Biological Engineering 2022年第1期15卷 101-110页

作者： Guoqiang Dun Ning Mao Zhiyong Gao Xingpeng Wu Wenhui Liu Cheng Zhou College of Mechanical and Electrical Engineering Northeast Forestry UniversityHarbin 150040China School of Fundamental Physics and Mathematical Sciences Hangzhou Institute for Advanced StudyUCASHangzhou 310012China School of Information Engineering Huzhou UniversityHuzhou 313000ZhejiangChina

To satisfy the demands of soybean precision sowing,this article starts with statistics of the physical parameters of soybean seeds in Heilongjiang province,*** filling process of soybean seeds was analyzed,and the ratio relationship between the diameter,depth,chamfer length of seed-metering wheel’s holes and the mean diameter of soybean seeds was *** was used to simulate seeding circumstances of hole seed-metering wheel with different holes’*** hole diameter ratio,hole depth ratio,and chamfer length ratio were the test factors,while the percentage of single multiple and the empty seeds were test *** triple quadratic regression orthogonal rotation combination test was designed,and the mathematical model between test indexes and test factors was *** showed that the influence of hole diameter ratio and hole depth ratio was significant(p0.05).The chamfer length ratio was 0.15,the hole diameter ratio was 1.63-1.73,the hole depth ratio was 0.81-1.20,the quality of seeding index was more than 90,and multiple and missing indexes were less than 6%and 4%,*** soybean hole wheel seeding device was produced under the optimal parameter combination,to perform a comparative verification test with non-optimized *** test showed anastomotic simulation results,verified the validity of the *** seeding device after optimization expressed the best operating performance,which might satisfy the demands of soybean precision *** study results can provide a theoretical reference for the optimization design of soybean seeding devices.

关键词： agricultural machinery soybean seed-metering device hole seed-metering wheel EDEM simulation optimization

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