Bionic residual film recovery device based on fuzzy adaptive control system

Abstract

A bionic residual film recovery device based on a fuzzy adaptive control system belongs to the technical field of intelligent agricultural equipment, and is characterized in that a vibration film lifting mechanism adopts bionic film lifting shovel teeth, and the contour curve of a soil-penetrating part of the bionic film lifting shovel teeth is similar to the contour curve of a first claw toe of a forefoot of a Chinese mole cricket; an air spring and a floating four-bar mechanism are combined to realize dynamic adjustment of the buried depth; the detection mechanism monitors operation parameters in real time through an attitude sensor and an ultrasonic sensor, and adjusts an air pressure transmission system based on a fuzzy PID control algorithm to ensure stable operation of the film stripping shovel teeth; a main body of the residual film conveying mechanism is designed to be a picking chain net, residual film picking and separating are completed through spike teeth and a film removing plate, and the film rolling mechanism efficiently collects films through a film rolling chain net. The plastic film residue recycling machine can solve the problems that an existing plastic film residue recycling machine is non-adjustable in buried depth and low in soil and film separation efficiency, can remarkably improve the plastic film residue recycling rate and operation adaptability, and is high in automation degree and working efficiency and low in energy consumption.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent agricultural equipment, and in particular relates to a bionic residual film recovery device based on a fuzzy adaptive control system. Background Art

[0002] Currently, conventional mulch films are still the predominant method of agricultural production both domestically and internationally. As mulch film use expands, the phenomenon of prioritizing recycling over reuse has not improved. Residual mulch film in the soil increases soil bulk density, decreases porosity, and weakens permeability, impairing soil solute transport and microbial activity. This residual film isolates cotton seeds from germination and stunts root growth, hindering crop absorption and utilization of soil moisture and nutrients, and consequently, impacting overall cotton yield. Residual mulch film in the soil not only impacts crop growth and farmers' incomes but also causes severe white pollution, hindering the sustainable development of agriculture.

[0003] Currently, the methods of mulch film recycling are mainly divided into manual picking, mechanized picking and the use of degradable mulch film.

[0004] Manually picking up mulch film has a good recycling effect, but it is inefficient and costly. Degradable mulch film can degrade on its own in the field after use and does not require recycling, but its manufacturing process is complex, costly, and expensive. Its degradation performance and impact on crops still require further research, and it has not yet been widely promoted. Mechanized picking can recycle residual film over a large area with high efficiency and has become the best means of recycling residual film pollution. However, the residual film recovered by mechanization contains a large amount of impurities such as straw and soil, making it difficult to reuse. After being collected, the residual film is mostly burned on site or buried in wasteland, causing secondary pollution to the environment and soil. Therefore, when designing mechanized residual film recovery operations, it is necessary to study equipment that can separate residual film from impurities such as straw and soil, reduce the impurity content of residual film, and increase the recovery rate of residual film.

[0005] The operating stability and energy consumption of existing residual film recovery machines are generally poor, and the current film removal devices mostly use rigid blades or fixed-frequency vibration mechanisms. Their working parameters (such as soil penetration angle, vibration amplitude, etc.) cannot be dynamically adjusted according to the real-time working conditions in the field, resulting in poor soil adaptability, low soil separation efficiency, and excessive energy consumption. Technical defects.

[0006] The design of the film-removing devices in mainstream film recycling machines generally draws on the design principles of deep-soiling blades and ridge-loosening cutters. However, with the advancements in mechanical control precision, automation, response speed, and transmission efficiency, mechanical and hydraulic control alone are no longer sufficient to meet the demands of agricultural machinery. Mechanical transmission complicates the overall structure, is susceptible to environmental influences, and has low reliability. Hydraulic transmission offers ease of operation, fast response, and excellent safety, but still presents challenges in remote control and controllability. Therefore, the application of electro-hydraulic control systems in agricultural machinery to enhance its automation has become an inevitable trend.

[0007] Depth control technology is widely used in agricultural machinery, primarily for fertilization, deep tillage and tillage, crop sowing, and harvesting subsoil fruits. Depth control technologies can be categorized by principle: mechanical, hydraulic, and automatic. Mechanical adjustment is difficult or impossible to readjust during operation, resulting in low precision. Hydraulic adjustment has high labor costs and relies entirely on operator experience, resulting in similarly low precision. With the advent of the intelligent era, research on both mechanical and hydraulic depth control technologies has declined. Summary of the Invention

[0008] The purpose of the present invention is to address the problem that the depth of burial in the soil cannot be adjusted in real time during the current residual film recovery and film removal operations, to develop a control system for a vibration film removal device of a residual film recovery machine, to design bionic shovel teeth using the concept of bionics, to develop a vibration film removal device to reduce the burial pressure and film removal resistance, and to develop a residual film picking and recycling operation machine based on this.

[0009] The present invention relates to a bionic residual film recovery device based on a fuzzy adaptive control system, which is composed of a vibrating film-lifting mechanism A, a frame assembly B, a film-rolling mechanism C, a residual film conveying mechanism D, and a detection component E, wherein the detection component E is composed of a power supply circuit 49 and a data storage and processor 50; the detection component E is arranged on the upper crossbeam 2 of the main support arm A1 in the vibrating film-lifting mechanism A, and is connected to the data storage and processor 50 through the power supply circuit 49 of the detection component E; the vibration component IA2 of the vibrating film-lifting mechanism A and The horizontal plate of the vibration component ⅡA4 is fixedly connected to the front of the frame plate pair Ⅰ28 of the frame assembly B; the two vertical plates of the vertical plate pair 36 of the film rolling mechanism C are fixedly connected to the rear ends of the two frame plates of the frame plate pair Ⅰ28 of the frame assembly B; the two ends of the roller Ⅲ47 of the residual film conveying mechanism D are fixedly connected to the lower part of the two frame plates of the frame plate pair Ⅰ28 of the frame assembly B near the front, and the two ends of the roller Ⅰ42 of the residual film conveying mechanism D are fixedly connected to the upper rear part of the two frame plates of the frame plate pair Ⅰ28 of the frame assembly B, and the overall posture is low in the front and high in the back.

[0010] The vibration membrane-forming mechanism A is composed of a main support arm A1, a vibration component IA2, a bionic membrane-forming component A3 and a vibration component IA4, wherein the main support arm A1 is composed of an air spring component IA5, an air spring component IA6, a left longitudinal beam 1, an upper cross beam 2, a lower cross beam 3 and a right longitudinal beam 4, wherein the air spring component IA5 and the air spring component IA6 have the same structure, both consisting of an ultrasonic sensor 5 and an air spring 6, and the ultrasonic sensor 5 is fixedly connected to the bottom of the air spring 6; the left longitudinal beam 1 and the right longitudinal beam 4 are respectively fixedly connected to the two ends of the lower cross beam 3, and the air spring component IA5 and the air spring component IA6 are respectively movably connected to the upper cross beam 2 and the lower cross beam 3; the bionic membrane-forming component A3 is composed of a central axis 16 and 15 membrane-forming teeth of a membrane-forming tooth group 17, and the 15 membrane-forming teeth are evenly distributed and fixed on the central axis 16; the vibration component IA2 and the vibration component IA4 have the same structure, and the left and right directions are opposite, both consisting of a spring 7, a support rod 8, a cross plate, and a plurality of support rods. 9, rear vertical plate 10, attitude sensor 11, cross tube 12, front vertical plate 13, support 14 and connecting rod pair 15, wherein the upper end of the rear vertical rod 10 is fixed to the rear of the cross plate 9; the lower end of the front vertical plate 13 is fixed to the upper part of the cross tube 12; the upper and lower ends of the two connecting rods of the connecting rod pair 15 are movably connected with the rear vertical rod 10 and the middle part of the front vertical plate 13 respectively; the spring 7 is limited by the support rod 8, the upper end of the support rod 8 is pin-connected to the lower front part of the cross plate 9, and the lower end of the support rod 8 is pin-connected to the support 14; attitude sensor 11, cross tube 12, front vertical plate 13, support 14 and connecting rod pair 15, wherein the upper end of the rear vertical rod 10 is fixed to the rear of the cross plate 9; the lower end of the front vertical plate 13 is fixed to the upper part of the cross tube 12; the upper and lower ends of the two connecting rods of the connecting rod pair 15 are pin-connected to the rear vertical rod 10 and the middle part of the front vertical plate 13 respectively; the spring 7 is limited by the support rod 8, the upper end of the support rod 8 is pin-connected to the lower front part of the cross plate 9, and the lower end of the support rod 8 is pin-connected to the support 14; attitude sensor 11, cross tube 12, front vertical plate 13, support 14 and connecting rod pair 15, wherein the upper end of the rear vertical rod 10 is fixed to the rear of the cross plate 9; the lower end of the front vertical plate 13 is pin-connected to the support 14; attitude sensor 11, cross tube 12, front vertical plate 13 The state sensor 11 is fixed to the upper end of the front vertical plate 13; the front ends of the two horizontal plates of the vibration component IIA4 and the vibration component IIA2 are respectively fixed to the left and right ends behind the rear vertical rod 10 in the main support arm A1; the two supports of the vibration component IIA2 and the vibration component IIA4 are respectively fixed to the left longitudinal beam 1 and the right longitudinal beam 4 in the main support arm A1; the left and right ends of the central axis 16 of the bionic membrane component A3 are respectively fixed to the two horizontal tubes of the vibration component IIA2 and the vibration component IIA4.

[0011] The frame assembly B is composed of a wheel frame 18, a base 19, a connecting rod 20, a hydraulic cylinder 21, a suspension frame 22, a pin 23, a rear suspension 24, a pair of vertical plates 25, a rear suspension pair 26, a rear depth-limiting roller 27, a pair of frame plates Ⅰ28, a front depth-limiting roller 29, an axle 30, a wheel pair 31, a front suspension pair 32, a front pair of vertical plates 33 and a rear pair of vertical plates 34. The suspension frame 22, the hydraulic cylinder 21, the connecting rod 20, the base 19, the rear suspension 24 and the wheel frame 18 are arranged and fixed in sequence from back to front; the two vertical plates of the pair of vertical plates 25 and the two frames of the pair of frame plates Ⅰ28 are fixed to the left and right sides of the rear suspension 24; the center of the axle 30 is fixed Connected to the bottom of the wheel frame 18, the two wheels of the wheel pair 31 are movably connected on the left and right sides of the wheel axle 30; the two rear uprights of the rear upright plate pair 34 are respectively fixed to the inner sides of the rear parts of the two frames of the frame plate pair Ⅰ28, and the two rear suspensions of the rear suspension pair 26 are respectively fixed to the outer sides of the two rear uprights; the two ends of the rear depth limiting roller 27 are movably connected to the lower ends of the two rear suspensions; the two front uprights of the front upright plate pair 33 are respectively fixed to the inner sides of the rear parts of the two frames of the frame plate pair Ⅰ28, and the two front suspensions of the front suspension pair 32 are respectively fixed to the inner sides of the two front upright plates; the two ends of the front depth limiting roller 29 are movably connected to the lower ends of the two front suspensions; the pin 23 is provided at the rear end of the suspension frame 22.

[0012] The film rolling mechanism C is composed of a frame C1, a film rolling shaft assembly C2, a film rolling chain net shaft group C3 and a film rolling chain net 35, wherein the frame C1 is composed of a pair of vertical plates 36 and a connecting rod group 37, and the two vertical plates of the vertical plate pair 36 are fixedly connected through the three connecting rods of the connecting rod group 37; a slide groove 38 is provided on the vertical plate; the film rolling shaft assembly C2 is composed of a film rolling shaft 39 and a baffle pair 40, and the two baffles of the baffle pair 40 are fixedly connected to the middle part of the film rolling shaft 39, and the film rolling shaft 39 of the film rolling shaft assembly C2 is slidably connected to the slide groove of the frame C1; the film rolling chain net shaft group C3 is composed of three film rolling chain net shafts, and the three film rolling chain net shafts are movably connected at the upper rear, lower rear and front positions between the pair of vertical plates 36; the film rolling chain net 35 is sleeved on the outside of the three film rolling chain net shafts, the film rolling shaft 39 of the film rolling shaft assembly C2 is located above the film rolling chain net 35, and the two baffles of the baffle pair 40 are located on the left and right sides of the film rolling chain net 35.

[0013] The residual film conveying mechanism D is composed of a cover plate 41, roller I 42, a frame plate pair II 43, a cleaning plate 44, roller II 45, an auger blade 46, roller III 47 and a spiked film stripping belt 48, wherein roller I 42, roller II 45 and roller III 47 are arranged in sequence from back to front, and the left and right ends of roller I 42, roller II 45 and roller III 47 are movably connected to the two plates of the frame plate pair II 43; the inner edge of the auger blade 46 is fixed to the outer ring of roller II 45, and the spiked film stripping belt 48 is sleeved on roller I 42, roller II 45 and roller III 47 to which the auger blade 46 is fixed, and is rollingly connected; the cover plate 41 is located above roller I 42; the cleaning plate 44 is obliquely fixed to the lower side of the two frame plates of the frame plate pair II 43; roller II 45 to which the auger blade 46 is fixed is located above the cleaning plate 44 and is connected to the front of the two frame plates of the frame plate pair II 43 through roller II 45.

[0014] The contour curve of the soil-entering end 17a of the membrane-forming tooth is inspired by the contour curve of the first claw of the front foot of the mole cricket in North China. The fitting Gaussian equations of the front and back contours of the first claw of the front foot of the mole cricket are:

[0015]

[0016] Where: a is the amplitude coefficient, which represents the peak height of the Gaussian function; b is the center position, which represents the symmetry center of the Gaussian function; c is the width parameter. The two Gaussian peaks of the inner contour are defined by the amplitude coefficients a1=0.126, a2=0.146, the center positions b1=0.464, b2=0.656 and the width parameters c1=0.0635, c2=0.465, respectively. The fitting effect is SSE=1.742, R 2 =0.99959; the two Gaussian peaks of the outer contour are defined by the amplitude coefficients a1=2062.908, a2=-2.811, the center position b1=0.32721, b2=1.278 and the width parameters c1=-0.759, c2=-2.755, respectively. The fitting effect is SSE=6.574, R 2 =0.99927.

[0017] The posture sensor 11 provides data on the burying posture of the scraper. The ultrasonic sensor 5 is used to measure the extension of the air spring. The received change signal is converted into the burying depth information of the scraper teeth through a certain conversion relationship.

[0018] The data storage and processor 50 primarily includes a main control module, a data acquisition module, a communication module, a power supply module, a solenoid valve drive module, and other modules. The main control module coordinates and manages the other modules to ensure the system can perform its intended functions. The data acquisition module focuses on measuring the ground height and the distance between the tip of the shovel teeth and the frame, providing key data for the system. The communication module ensures smooth communication between the control system's host computer and the main control module. The power supply module ensures that each module can operate stably at its rated voltage. The solenoid valve drive module bridges the main control module and the solenoid valve. Other modules include a buzzer and an emergency stop switch. During the operation of the residual film recovery machine, if the film removal device control system fails, the buzzer will sound an alarm.

[0019] The control system described is based on the operation process of the residual film recovery machine, and a fuzzy controller designed to meet the requirements of this study is used. The difference between the actual burial depth and the set burial depth is defined as E, and the error rate of change is defined as EC. E and EC serve as the two inputs of the fuzzy controller, and the PID parameter corrections Δkp, Δki, and Δkd serve as the fuzzy controller's outputs. First, E and EC are fuzzified. Fuzzy rules and membership functions are formulated to perform fuzzy reasoning on E and EC. Finally, the fuzzy values ​​are clarified to derive the corrections to the PID control algorithm. These corrections are applied to the PID controller, resulting in a PID control algorithm tuned for the fuzzy control algorithm. Finally, the air pressure control system adjusts the air spring to adjust the burial depth of the film shovel.

[0020] During operation, the film-lifting device follows the ground's contours under the influence of gravity and spring pressure, with the bionic film-lifting teeth always placed in the soil. During field operations, a sensor connected to the contouring rod receives angle change signals, which are then converted into information about the depth of the film-lifting teeth's penetration into the soil through a certain conversion relationship. The air pressure control system, based on a PID control algorithm tuned by a fuzzy control algorithm, then adjusts the spring's compression deformation to control the spring's pressure on the film-lifting device, thereby adjusting the depth of the film-lifting teeth's penetration into the soil. As the machine advances, the bionic film-lifting teeth loosen the film close to the surface. As the bionic film-lifting teeth slide across loose and compacted soil, the deformation caused by the bionic film-lifting teeth squeezes the soil, causing any remaining film to peel off. As the bionic film-lifting teeth advance, the remaining film is gradually lifted by adjacent bionic film-lifting teeth. The film pickup chain picks up the film, which then rotates under power. The picked-up film is transported diagonally upward along with the chain's motion, and then removed by the film stripping device. During this process, the film completes a 180° flip. When the film reaches the film stripping device, the film's integrity and strength are such that the remaining film on the picks is overcome by the outer diameter of the stripping device, gradually breaking away from the picks and clinging to the device, completing the film stripping process. The remaining film ultimately falls from the film stripping device into the film roll-up device, where its hydraulic cylinder drives the roll-up device to flip and unload the film. The film eventually falls to the ground, completing the film recovery process.

[0021] The beneficial effects of the present invention are:

[0022] 1. The automatic control system of the present invention can effectively improve the film removal rate and residual film recovery rate during the operation of the residual film recovery machine, and the film removal quality is greatly improved.

[0023] 2. The film-lifting efficiency of the bionic film-lifting shovel's teeth is significantly higher than that of the ordinary film-lifting shovel.

[0024] 3. The film rolling chain network can significantly improve the film rolling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is the isometric view of the bionic residual film recovery device based on the fuzzy adaptive control system; Figure 2 This is an isometric view of the vibration membrane mechanism (A);

[0026] Figure 3 is an isometric view of the main support arm (A1) of the vibrating membrane mechanism (A);

[0027] Figure 4 An isometric view of the air spring assembly I (A5) of the main support arm (A1);

[0028] Figure 5 This is an isometric view of the vibration component I (A2) of the vibration membrane mechanism (A);

[0029] Figure 6 It is an isometric view of the bionic membrane-forming component (A3) of the vibration membrane-forming mechanism (A);

[0030] Figure 7 This is the axonometric view of the biomimetic membrane shovel tooth;

[0031] Figure 8 This is the left side view of the vibration membrane mechanism (A);

[0032] Figure 9 The coordinates of the front and back contours of the first claw of the forefoot of the mole cricket of North China and the fitting curve diagram;

[0033] Figure 10 is an axonometric view of the frame assembly (B);

[0034] Figure 11 is an axonometric view of the film rolling mechanism (C);

[0035] Figure 12 It is an axonometric view of the main support of the film rolling mechanism (C);

[0036] Figure 13 is an isometric view of the film winding shaft assembly (C2);

[0037] Figure 14 It is the axonometric view of the film roll chain mesh axis group (C3);

[0038] Figure 15 It is an axonometric view of the push auger (46) and the frame body of the residual film conveying mechanism (D);

[0039] Figure 16 is an axonometric view of the residual film conveying mechanism (D);

[0040] Figure 17 is an isometric view of the test component (E);

[0041] Figure 18 It is a block diagram of the hardware system;

[0042] Figure 19 It is a schematic diagram of the fuzzy PID algorithm model;

[0043] Wherein: A. Vibration Film Lifting Mechanism A1. Main Support Arm A2. Vibration Assembly I A3. Film Lifting Assembly A4. Vibration Assembly II A5. Air Spring Assembly I A6. Air Spring Assembly II B. Frame Assembly C. Film Rolling Mechanism C1. Frame C2. Film Rolling Shaft Assembly C3. Film Rolling Chain Shaft Assembly D. Residual Film Conveyor Mechanism E. Detection Components 1. Left Longitudinal Beam 2. Upper Crossbeam 3. Lower Crossbeam 4. Right Longitudinal Beam 5. Ultrasonic Sensor 6. Air Spring 7. Spring 8. Support Rod 9. Cross Plate 10. Rear Vertical Plate 11. Attitude Sensor 12. Cross Tube 13. Front Vertical Plate 14. Support 15. Connecting Rod Pair 16. Center Shaft 17. Film Lifting Gear Assembly 17a. Soil Entry End 18. Wheel frame 19. Base 20. Connecting rod 21. Hydraulic cylinder 22. Suspension frame 23. Pin 24. Rear suspension 25. Vertical plate pair 26. Rear suspension pair 27. Rear depth-limiting roller 28. Frame plate pair I 29. Front depth-limiting roller 30. Axle 31. Wheel pair 32. Front suspension pair 33. Front vertical plate pair 34. Rear vertical plate pair 35. Film winding chain 36. Vertical plate pair 37. Connecting rod assembly 38. Chute 39. Film winding shaft 40. Baffle pair 41. Cover plate 42. Roller I 43. Frame plate pair II 44. Debris removal plate 45. Roller II 46. Auger blades 47. Roller III 48. Spike-tooth film stripping belt 49. Power supply circuit 50. Data storage and processor DETAILED DESCRIPTION

[0044] The present invention will be described below with reference to the accompanying drawings.

[0045] As attached Figure 1 As shown, a bionic residual film recovery device based on a fuzzy adaptive control system of the present invention is composed of a vibrating film-lifting mechanism A, a frame assembly B, a film-rolling mechanism C, a residual film conveying mechanism D and a detection component E, wherein the detection component E is composed of a power supply circuit 49 and a data storage and processor 50; the detection component E is arranged on the upper crossbeam 2 near the left end of the main support arm A1 in the vibrating film-lifting mechanism A, and is connected to the data storage and processor 50 through the power supply circuit 49 of the detection component E; the vibration component IA of the vibrating film-lifting mechanism A 2 and the horizontal plate of the vibration component ⅡA4 are fixedly connected to the front of the frame plate pair Ⅰ28 of the frame assembly B; the two vertical plates of the vertical plate pair 36 of the film rolling mechanism C are fixedly connected to the rear ends of the two frame plates of the frame plate pair Ⅰ28 of the frame assembly B; the two ends of the roller Ⅲ47 of the residual film conveying mechanism D are fixedly connected to the lower part of the two frame plates of the frame plate pair Ⅰ28 of the frame assembly B near the front, and the two ends of the roller Ⅰ42 of the residual film conveying mechanism D are fixedly connected to the upper rear part of the two frame plates of the frame plate pair Ⅰ28 of the frame assembly B, and the overall posture is low in front and high in the back.

[0046] like Figures 2 to 8As shown, the vibration membrane-forming mechanism A is composed of a main support arm A1, a vibration component IA2, a bionic membrane-forming component A3 and a vibration component IA4, wherein the main support arm A1 is composed of an air spring component IA5, an air spring component IA6, a left longitudinal beam 1, an upper cross beam 2, a lower cross beam 3 and a right longitudinal beam 4, wherein the air spring component IA5 and the air spring component IA6 have the same structure, both consisting of an ultrasonic sensor 5 and an air spring 6, and the ultrasonic sensor 5 is fixedly connected to the bottom of the air spring 6; the left longitudinal beam 1 and the right longitudinal beam 4 are respectively fixedly connected to the two ends of the lower cross beam 3, and the air spring component IA5 and the air spring component IA6 are respectively movably connected to the upper cross beam 2 and the lower cross beam 3; the bionic membrane-forming component A3 is composed of a central axis 16 and 15 membrane-forming teeth of a membrane-forming tooth group 17, and the 15 membrane-forming teeth are evenly distributed and fixed on the central axis 16; the vibration component IA2 and the vibration component IA4 have the same structure, and the left and right directions are opposite, both consisting of a spring 7, a support rod 8, a cross beam 8, and a spring 9. The sprocket 1 is composed of a plate 9, a rear vertical plate 10, a posture sensor 11, a transverse tube 12, a front vertical plate 13, a support 14 and a connecting rod pair 15, wherein the upper end of the rear vertical rod 10 is fixed to the rear part of the transverse plate 9; the lower end of the front vertical plate 13 is fixed to the upper part of the transverse tube 12; the upper and lower ends of the two connecting rods of the connecting rod pair 15 are movably connected to the middle part of the rear vertical rod 10 and the front vertical plate 13 respectively; the spring 7 is limited by the support rod 8, the upper end of the support rod 8 is pin-connected to the lower front part of the transverse plate 9, and the lower end of the support rod 8 is pin-connected to the support 14; The posture sensor 11 is fixed to the upper end of the front vertical plate 13; the front ends of the two horizontal plates of the vibration component IIA4 and the vibration component IIA2 are respectively fixed to the left and right ends behind the rear vertical rod 10 in the main support arm A1; the two supports of the vibration component IIA2 and the vibration component IIA4 are respectively fixed to the left longitudinal beam 1 and the right longitudinal beam 4 in the main support arm A1; the left and right ends of the central axis 16 of the bionic membrane component A3 are respectively fixed to the two horizontal tubes of the vibration component IIA2 and the vibration component IIA4.

[0047] like Figure 9 As shown, a high-definition camera was used to collect information on the structure of the first claw of the foreleg of the mole cricket North China, and the two-dimensional contour curve of the first claw was obtained through image processing related software. Then, the two-dimensional contour curve was imported into AutoCAD to assign horizontal and vertical coordinate values. The coordinate data was imported into the data processing software ORIGIN and scatter plots of the front and back contours of the first claw were drawn respectively. The peak fitting in the data analysis tool was used to fit and analyze the two groups of scatter plots respectively, and the coordinates of the front and back contours of the first claw of the foreleg of the mole cricket North China and the fitting curve were obtained.

[0048] like Figure 10As shown, the frame assembly B is composed of a wheel frame 18, a base 19, a connecting rod 20, a hydraulic cylinder 21, a suspension frame 22, a pin 23, a rear suspension 24, a vertical plate pair 25, a rear suspension pair 26, a rear depth-limiting roller 27, a frame plate pair I28, a front depth-limiting roller 29, an axle 30, a wheel pair 31, a front suspension pair 32, a front vertical plate pair 33 and a rear vertical plate pair 34. The suspension frame 22, the hydraulic cylinder 21, the connecting rod 20, the base 19, the rear suspension 24 and the wheel frame 18 are arranged in sequence from back to front and fixedly connected; the two vertical plates of the vertical plate pair 25 and the two frames of the frame plate pair I28 are fixedly connected to the left and right sides of the rear suspension 24; the axle 30 is arranged in sequence from back to front and fixedly connected. The center is fixed to the bottom of the wheel frame 18, and the left and right sides of the wheel axle 30 are movably connected to the two wheels of the wheel pair 31; the two rear uprights of the rear upright plate pair 34 are respectively fixed to the inner sides of the rear parts of the two frames of the frame plate pair Ⅰ28, and the two rear suspensions of the rear suspension pair 26 are respectively fixed to the outer sides of the two rear upright plates; the two ends of the rear depth limiting roller 27 are movably connected to the lower ends of the two rear suspensions; the two front uprights of the front upright plate pair 33 are respectively fixed to the inner sides of the rear parts of the two frames of the frame plate pair Ⅰ28, and the two front suspensions of the front suspension pair 32 are respectively fixed to the inner sides of the two front upright plates; the two ends of the front depth limiting roller 29 are movably connected to the lower ends of the two front suspensions; the pin 23 is provided at the rear end of the suspension frame 22.

[0049] like Figures 11 to 14 As shown, the film winding mechanism C is composed of a frame C1, a film winding shaft assembly C2, a film winding chain net shaft assembly C3 and a film winding chain net 35, wherein the frame C1 is composed of a vertical plate pair 36 and a connecting rod assembly 37, the two vertical plates of the vertical plate pair 36 are fixedly connected by three connecting rods of the connecting rod assembly 37; a slide groove 38 is provided on the vertical plate; the film winding shaft assembly C2 is composed of a film winding shaft 39 and a baffle pair 40, the two baffles of the baffle pair 40 are fixedly connected to the middle part of the film winding shaft 39, The film roll shaft 39 of the film roll shaft assembly C2 is slidably connected to the slide groove of the frame C1; the film roll chain net shaft group C3 is composed of three film roll chain net shafts, and the three film roll chain net shafts are movably connected to the upper rear, lower rear and front positions between the vertical plate pair 36; the film roll chain net 35 is sleeved on the outside of the three film roll chain net shafts, the film roll shaft 39 of the film roll shaft assembly C2 is located on the film roll chain net 35, and the two baffles of the baffle pair 40 are located on the left and right sides of the film roll chain net 35.

[0050] like Figure 15As shown, the film winding mechanism C is composed of a frame C1, a film winding shaft assembly C2, a film winding chain net shaft assembly C3 and a film winding chain net 35, wherein the frame C1 is composed of a vertical plate pair 36 and a connecting rod assembly 37, the two vertical plates of the vertical plate pair 36 are fixedly connected by three connecting rods of the connecting rod assembly 37; a slide groove 38 is provided on the vertical plate; the film winding shaft assembly C2 is composed of a film winding shaft 39 and a baffle pair 40, the two baffles of the baffle pair 40 are fixedly connected to the middle part of the film winding shaft 39, The film roll shaft 39 of the film roll shaft assembly C2 is slidably connected to the slide groove of the frame C1; the film roll chain net shaft group C3 is composed of three film roll chain net shafts, and the three film roll chain net shafts are movably connected to the upper rear, lower rear and front positions between the vertical plate pair 36; the film roll chain net 35 is sleeved on the outside of the three film roll chain net shafts, the film roll shaft 39 of the film roll shaft assembly C2 is located on the film roll chain net 35, and the two baffles of the baffle pair 40 are located on the left and right sides of the film roll chain net 35.

[0051] like Figure 16 and Figure 17 As shown, the detection component E consists of a power supply line 49 and a data storage and processor 50. The data storage and processor mainly includes a main control module, a data acquisition module, a communication module, a power supply module, a solenoid valve drive module and other modules. The main control module is responsible for coordinating and managing other modules to ensure that the system can perform its intended functions; the data acquisition module focuses on measuring the ground height and the distance from the tip of the shovel tooth to the frame, providing key data for the system; the communication module ensures smooth communication between the host computer of the control system and the main control module; the power supply module is used to ensure that each module can operate stably at its rated voltage; the solenoid valve drive module is used to bridge the main control module and the solenoid valve; other modules include a buzzer and an emergency stop switch. During the operation of the residual film recovery machine, if the film removal device control system fails, the buzzer will sound an alarm.

[0052] like Figure 18 As shown, the control system defines the difference between the actual and set burial depths as E, and the error rate of change as EC. E and EC serve as the two inputs of the fuzzy controller, and the PID parameter corrections Δkp, Δki, and Δkd serve as the fuzzy controller's outputs. First, E and EC are fuzzified. Fuzzy rules and membership functions are developed to perform fuzzy reasoning on E and EC. Finally, the fuzzy values ​​are clarified to derive the corrections to the PID control algorithm. These corrections are applied to the PID controller, resulting in a PID control algorithm tuned for the fuzzy control algorithm. Finally, the air pressure control system adjusts the air spring to adjust the burial depth of the membrane shovel.

Claims

1. A bionic residual film recovery device based on a fuzzy adaptive control system, characterized in that: The invention is composed of a vibrating film-forming mechanism (A), a frame assembly (B), a film-rolling mechanism (C), a residual film conveying mechanism (D) and a detection component (E), wherein the detection component (E) is composed of a power supply circuit (49) and a data storage and processor (50); the detection component (E) is arranged on the upper crossbeam (2) of the main support arm (A1) in the vibrating film-forming mechanism (A) and is connected to the data storage and processor (50) through the power supply circuit (49) of the detection component (E); the crossbeams of the vibration component I (A2) and the vibration component II (A4) of the vibrating film-forming mechanism (A) are connected to the data storage and processor (50); The plate is fixedly connected to the front of the frame plate pair I (28) of the frame assembly (B); the two vertical plates of the vertical plate pair (36) of the film rolling mechanism (C) are fixedly connected to the rear ends of the two frame plates of the frame plate pair I (28) of the frame assembly (B); the two ends of the roller III (47) of the residual film conveying mechanism (D) are fixedly connected to the lower part of the two frame plates of the frame plate pair I (28) of the frame assembly (B), and the two ends of the roller I (42) of the residual film conveying mechanism (D) are fixedly connected to the upper part of the rear part of the two frame plates of the frame plate pair I (28) of the frame assembly (B), and the overall posture is low in the front and high in the back.

2. The bionic residual film recovery device based on fuzzy adaptive control system according to claim 1 is characterized in that: The vibration membrane mechanism (A) is composed of a main support arm (A1), a vibration component I (A2), a bionic membrane component (A3) and a vibration component II (A4), wherein the main support arm (A1) is composed of an air spring component I (A5), an air spring component II (A6), a left longitudinal beam (1), an upper cross beam (2), a lower cross beam (3) and a right longitudinal beam (4), wherein the air spring component I (A5) and the air spring component II (A6) have the same structure, both consisting of an ultrasonic sensor (5) and an air spring (6), and the ultrasonic sensor (5) is fixed to the air spring. Below the gas spring (6); the left longitudinal beam (1) and the right longitudinal beam (4) are respectively fixed to the two ends of the lower cross beam (3); the air spring assembly I (A5) and the air spring assembly II (A6) are respectively connected to the upper cross beam (2) and the lower cross beam (3) through distribution; the bionic membrane assembly (A3) is composed of a central axis (16) and 15 membrane teeth of a membrane tooth group (17), and the 15 membrane teeth are evenly distributed and fixed on the central axis (16); the structure of the vibration assembly I (A2) and the vibration assembly II (A4) is the same, and the left and right directions are opposite, and both are composed of a spring (7), a support rod (8), a cross plate (9 ), a rear vertical plate (10), a posture sensor (11), a transverse tube (12), a front vertical plate (13), a support (14) and a connecting rod pair (15), wherein the upper end of the rear vertical rod (10) is fixed to the rear of the transverse plate (9); the lower end of the front vertical plate (13) is fixed to the upper part of the transverse tube (12); the upper and lower ends of the two connecting rods of the connecting rod pair (15) are movably connected to the middle of the rear vertical rod (10) and the front vertical plate (13) respectively through a pin; the spring (7) is limited by the support rod (8), the upper end of the support rod (8) is pin-connected to the lower front part of the transverse plate (9), and the lower end of the support rod (8) is pin-connected to the support (14). Connection; the attitude sensor (11) is fixed to the upper end of the front vertical plate (13); the front ends of the two horizontal plates of the vibration component II (A4) and the vibration component I (A2) are respectively fixed to the left and right ends behind the rear vertical rod (10) in the main support arm (A1); the bottoms of the two supports of the vibration component I (A2) and the vibration component II (A4) are respectively fixed to the upper sides of the left longitudinal beam (1) and the right longitudinal beam (4) in the main support arm (A1); the left and right ends of the central axis (16) of the bionic membrane component (A3) are respectively fixed to the two horizontal tubes of the vibration component I (A2) and the vibration component II (A4).

3. The bionic residual film recovery device based on fuzzy adaptive control system according to claim 1 is characterized in that: The frame assembly (B) is composed of a wheel frame (18), a base (19), a connecting rod (20), a hydraulic cylinder (21), a suspension frame (22), a pin (23), a rear suspension (24), a pair of vertical plates (25), a rear suspension pair (26), a rear depth-limiting roller (27), a frame plate pair I (28), a front depth-limiting roller (29), a wheel axle (30), a wheel pair (31), a front suspension pair (32), a front pair of vertical plates (33) and a rear pair of vertical plates (34). The suspension frame (22), the hydraulic cylinder (21), the connecting rod (20), the base (19), the rear suspension (24) and the wheel frame (18) are arranged in sequence from back to front and fixedly connected; the two vertical plates of the pair of vertical plates (25) and the two frames of the frame plate pair I (28) are fixedly connected to the rear suspension (24). The center of the wheel axle (30) is fixed to the bottom of the wheel frame (18), and the left and right sides of the wheel axle (30) are movably connected to the two wheels of the wheel pair (31); the two rear vertical plates of the rear vertical plate pair (34) are respectively fixed to the inner sides of the rear parts of the two frames of the frame plate pair I (28), and the two rear suspensions of the rear suspension pair (26) are respectively fixed to the outer sides of the two rear vertical plates; the two ends of the rear depth limiting roller (27) are movably connected to the lower ends of the two rear suspensions; the two front vertical plates of the front vertical plate pair (33) are respectively fixed to the inner sides of the rear parts of the two frames of the frame plate pair I (28), and the two front suspensions of the front suspension pair (32) are respectively fixed to the inner sides of the two front vertical plates; the two ends of the front depth limiting roller (29) are movably connected to the lower ends of the two front suspensions; the pin (23) is provided at the rear end of the suspension frame (22).

4. The bionic residual film recovery device based on fuzzy adaptive control system according to claim 1 is characterized in that: The film rolling mechanism (C) is composed of a frame (C1), a film rolling shaft assembly (C2), a film rolling chain net shaft assembly (C3) and a film rolling chain net (35), wherein the frame (C1) is composed of a vertical plate pair (36) and a connecting rod assembly (37), the two vertical plates of the vertical plate pair (36) are fixedly connected through three connecting rods of the connecting rod assembly (37); and a slide groove (38) is provided on the vertical plate; The film roll shaft assembly (C2) is composed of a film roll shaft (39) and a baffle pair (40), the two baffles of the baffle pair (40) are fixed to the middle of the film roll shaft (39), and the film roll shaft (39) of the film roll shaft assembly (C2) is slidably connected to the slide groove of the frame (C1); the film roll chain net shaft group (C3) is composed of three film roll chain net shafts, and the three film roll chain net shafts are movably connected to the upper rear, lower rear and front positions between the vertical plate pair (36); the film roll chain net (35) is sleeved on the outside of the three film roll chain net shafts, the film roll shaft (39) of the film roll shaft assembly (C2) is located on the film roll chain net (35), and the two baffles of the baffle pair (40) are located on the left and right sides of the film roll chain net (35).

5. The bionic residual film recovery device based on fuzzy adaptive control system according to claim 1 is characterized in that: The residual film conveying mechanism (D) is composed of a cover plate (41), roller I (42), a frame plate pair II (43), a debris removal plate (44), roller II (45), an auger blade (46), roller III (47) and a nail tooth film stripping belt (48), wherein roller I (42), roller II (45) and roller III (47) are arranged in sequence from back to front, and the left and right ends of roller I (42), roller II (45) and roller III (47) are movably connected to the two plates of the frame plate pair II (43); the inner edge of the auger blade (46) is fixed The nail-toothed stripping belt (48) is connected to the outer ring of the roller II (45), and is sleeved on the roller I (42), the roller II (45) fixed with the auger blade (46), and the roller III (47), and is connected in a rolling manner; the cover plate (41) is located above the roller I (42); the cleaning plate (44) is fixedly connected to the lower side of the two frame plates of the frame plate pair II (43); the roller II (45) fixed with the auger blade (46) is located above the cleaning plate (44) and is connected to the front of the two frame plates of the frame plate pair II (43) through the roller II (45).

6. The bionic residual film recovery device based on fuzzy adaptive control system according to claim 2 is characterized in that: The contour curve of the soil-entering end (17a) of the membrane-forming tooth is inspired by the contour curve of the first claw of the front foot of the mole cricket in North China. The fitting Gaussian equations of the front and rear contours of the first claw of the front foot of the mole cricket are: Where: a is the amplitude coefficient, which represents the peak height of the Gaussian function; b is the center position, which represents the symmetry center of the Gaussian function; c is the width parameter. The two Gaussian peaks of the inner contour are defined by the amplitude coefficients a1=0.126, a2=0.146, the center positions b1=0.464, b2=0.656 and the width parameters c1=0.0635, c2=0.465, respectively. The fitting effect is SSE=1.742, R 2 =0.99959; the two Gaussian peaks of the outer contour are defined by the amplitude coefficients a1=2062.908, a2=-2.811, the center position b1=0.32721, b2=1.278 and the width parameters c1=-0.759, c2=-2.755, respectively. The fitting effect is SSE=6.574, R 2 =0.99927.

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