Design Optimization and Performance Evaluation of a Tillage Depth Precision Measurement System

  • Kang NiuEmail author
  • Yanwei Yuan
  • Junning Zhang
  • Fengzhu Wang
  • Yangchun Liu
  • Xianfa Fang
  • Hong Cheng
Conference paper
Part of the IFIP Advances in Information and Communication Technology book series (IFIPAICT, volume 509)


Tillage depth measuring is essential in modernization of agricultural production, including tillage depth, seed germination, plant growth and soil conservation. At present, there are no reliable measuring method or equipment for on-line tillage depth data acquisition. To solve this problem, equipment for real-time measuring tillage depth was designed based on ultrasonic sensing technology. This system comprises mainly mechanical constructions, hardware structure, software, specific measurement process and data processing technology. To improve the measuring accuracy, Kalman filter method is used to reduce the influence of uneven surface, weed, and stubble in field. This device was installed on subsoiler, and a field test was conducted. The test results show that: The accuracy of the ultrasonic measuring depth is comparable with the manual measuring method in the field condition of ploughed field, bare field and stubble field.


Agricultural machinery Automation Tillage depth Subsoiler Real time measurement Kalman filter 



Funds for this research was provided by the National Key research and development Plan Projects (2017YFD0700101, 2017YFD0700205). The author acknowledges the co-operation of Chinese Academy of Agricultural Mechanization Sciences and College of Engineering in China Agricultural University for their assistance.


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Copyright information

© IFIP International Federation for Information Processing 2019

Authors and Affiliations

  • Kang Niu
    • 1
    Email author
  • Yanwei Yuan
    • 1
  • Junning Zhang
    • 1
  • Fengzhu Wang
    • 1
  • Yangchun Liu
    • 1
  • Xianfa Fang
    • 1
  • Hong Cheng
    • 2
  1. 1.Chinese Academy of Agricultural Mechanization SciencesBeijingChina
  2. 2.Management Center of Agricultural Mechanization in JiLin ProvinceChangchunChina

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