A corn ear picking process parameter online monitoring and intelligent control test bench

Abstract

The application discloses a kind of corn earing process parameter on-line monitoring and intelligent control test bench, belong to the field of agricultural engineering technology, including frame, stem conveying mechanism is arranged in the middle of frame, earing mechanism is hinged on frame, image perception unit is fixedly arranged in the rear of frame, angle adjusting mechanism is hinged between frame and earing mechanism, angle adjusting mechanism is symmetrically arranged, one side of frame is provided with intelligent control platform, system can realize multi-parameter linkage regulation and control. Through central controller and host computer software communication, operator can set or adjust stem roller speed, earing plate gap adjusting mechanism gap, header frame angle, stem feeding speed and other parameters on man-machine interface, realize multi-factor combination control based on test demand, system can automatically record the working state data under different parameters, for subsequent data analysis and algorithm optimization.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of agricultural engineering, in particular to a corn earing process parameter online monitoring and intelligent control test bed. BACKGROUND

[0002] Corn mechanized harvesting is an important link to ensure national food security and production efficiency, and the earing operation quality directly affects the ear loss rate and damage rate. The effect mainly depends on the matching degree of operation parameters such as stem roller speed, earing plate gap, header angle and crop phenotypic characteristics. However, the existing earing test device mostly adopts manual setting or fixed parameter mode, lacks real-time recognition of crop phenotypic information and dynamic adjustment mechanism of operation parameters, resulting in uneven stress on ears, high damage rate, and obvious deviation between test results and actual operation performance.

[0003] More prominent problems are that the existing technology is generally difficult to obtain key mechanical parameters such as ear collision force and stem stress, which directly reflect the operation quality, so that parameter optimization lacks data basis. At the same time, the relationship model between crop phenotype, earing mechanism operation parameters and mechanical response has not been established, it is difficult to realize parameter self-learning and intelligent optimization based on historical operation data, and it is difficult to effectively reduce ear damage. SUMMARY

[0004] The purpose of the present application is to solve the problem that the existing corn earing test device is difficult to realize real-time monitoring and intelligent control of key earing parameters, and to provide a corn earing process parameter online monitoring and intelligent control test bed, so as to realize real-time collection, analysis and adaptive adjustment of key parameters in the corn earing process, and to provide a reliable experimental platform and data support for revealing the corn earing mechanism and optimizing operation parameters.

[0005] A corn earing process parameter online monitoring and intelligent control test bed, comprising a rack, a stem conveying mechanism is arranged in the middle of the rack, an earing mechanism is hinged on the rack, an image perception unit is fixedly arranged at the rear of the rack, an angle adjusting mechanism is hinged between the rack and the earing mechanism, the angle adjusting mechanism is symmetrically arranged, and an intelligent control platform is arranged on one side of the rack.

[0006] The intelligent control platform comprises a control cabinet, a man-machine interface is arranged on the control cabinet, a central controller, an image processing module, a mechanics and motion parameter processing module and a cutting platform angle processing module are arranged in the control cabinet, the image processing module identifies fruit cluster position and height information and extracts phenotype parameters by using a depth image algorithm according to image information fed back by an image sensing unit; the mechanics and motion parameter processing module performs fusion analysis on force, torque and motion data fed back from a stem conveying mechanism and a fruit picking mechanism; the cutting platform angle processing module adjusts an angle adjusting mechanism in real time according to an angle sensor signal, so as to realize adaptive posture adjustment of the fruit picking mechanism; and the central controller performs fusion calculation on multi-source sensing information according to a preset coupling model, automatically outputs an optimal working parameter combination, and realizes adaptive regulation and control of working parameters.

[0007] The rack comprises a whole mounting frame and a U-shaped angle adjusting plate, and the U-shaped angle adjusting plate is fixed on the whole mounting frame by bolts.

[0008] The stem conveying mechanism comprises a conveying motor, a shaft coupling, a conveying base, a rotating lead screw, a conveying slider, a six-component force sensor and a stem clamping device, the conveying base is fixedly arranged on the whole mounting frame, the conveying motor is fixedly arranged at the front end of the conveying base, the rotating lead screw is rotatably arranged on the conveying base, the conveying motor shaft is connected with the rotating lead screw through the shaft coupling, the conveying slider is slidably arranged on the conveying base, the conveying slider is screwed on the rotating lead screw, the conveying motor drives the rotating lead screw to rotate forward and reverse, thereby driving the conveying slider to slide forward and backward on the conveying base, the six-component force sensor is fixed on the conveying slider, and the stem clamping device is fixed on the six-component force sensor.

[0009] The stem clamping device comprises a mounting seat and a stem tube clamp, the mounting seat is fixed on the six-component force sensor, and the stem tube clamp is fixed on the mounting seat by bolts.

[0010] The ear picking mechanism comprises an angle adjusting frame, a driving motor, a fruit cluster collecting device, a gearbox, a weeding chain, an ear picking plate gap adjusting mechanism, a cutter frame, a stalk pulling roller gap adjusting plate, a stalk pulling roller, a torque sensor, a gearbox extension shaft, a cutter angle sensor and a tensioning shaft, the angle adjusting frame comprises a U-shaped frame, a mounting bottom plate and a stalk pulling roller side edge fixing plate, the U-shaped frame is hingedly connected with a U-shaped angle adjusting plate at the front end, the mounting bottom plate is arranged at the rear end of the U-shaped frame, and the stalk pulling roller side edge fixing plate is arranged at the front end of the U-shaped frame; the driving motor and the torque sensor are fixed below the mounting bottom plate, and the driving motor and the torque sensor are connected through a shaft coupling; the fruit cluster collecting device and the gearbox are fixed above the mounting bottom plate; the torque sensor is directly connected with the gearbox through a transmission chain; the cutter frame is symmetrically fixed on both sides of the angle adjusting frame; the gearbox extension shaft is symmetrically arranged on the gearbox; the tensioning shaft is symmetrically arranged on the cutter frame on both sides of the angle adjusting frame; the weeding chain is arranged between the gearbox extension shaft and the tensioning shaft; the stalk pulling roller gap adjusting plate and the stalk pulling roller side edge fixing plate are connected through bolts; the tail end of the stalk pulling roller is connected with the output shaft of the gearbox; the stalk pulling rollers are symmetrically arranged, and the front end of the stalk pulling roller is rotatably arranged on the stalk pulling roller gap adjusting plate; the ear picking plate gap adjusting mechanism is arranged on the cutter frame on both sides of the angle adjusting frame; the weeding chain is located above the ear picking plate gap adjusting mechanism; and the cutter angle sensor is arranged on the cutter frame.

[0011] The ear picking plate gap adjusting mechanism comprises a sliding rail, a sliding block, an ear picking plate, a three-component force sensor, a three-component force sensor mounting seat, a three-component force sensor mounting plate, a lead screw nut, a lead screw and a gap adjusting motor, the sliding rail is symmetrically arranged on the cutter frame, the sliding block is slidingly arranged on the sliding rail, the three-component force sensor mounting plate is fixedly connected with the sliding block, the three-component force sensor mounting seats are connected to the upper and lower sides of the three-component force sensor, the three-component force sensor is connected with the three-component force sensor mounting plate through the lower three-component force sensor mounting seat, the ear picking plate is fixedly connected with the three-component force sensor through the upper three-component force sensor mounting seat of the three-component force sensor, the gap adjusting motor is fixed on one side of the cutter frame, the main shaft of the gap adjusting motor is connected with the lead screw through a shaft coupling, the lead screws at both ends are symmetrically helical, the lead screw nuts are screwed at both ends of the lead screw, and the lead screw nuts are fixedly connected with the three-component force sensor mounting plate.

[0012] The fruit cluster collecting device comprises a fruit cluster collecting box and a buffer guide plate, the fruit cluster collecting box is arranged on the mounting bottom plate and located at the rear of the gearbox, and the buffer guide plate is arranged in the fruit cluster collecting box in an inclined manner and abuts against the front end of the ear picking plate.

[0013] The image sensing unit comprises a depth camera and a fixed rod, the fixed rod is fixed at the rear of the rack, the depth camera is arranged above the fixed rod, and the fixed rod is a telescopic rod with damping.

[0014] The angle adjusting mechanism comprises a lower mounting angle code, a servo cylinder and an upper mounting angle code, the two ends of the servo cylinder are respectively hinged with the lower mounting angle code and the servo cylinder, the lower mounting angle code is fixedly connected with the rack, and the upper mounting angle code is fixedly connected with the angle adjusting frame.

[0015] The present application has the following beneficial effects:

[0016] The system can realize multi-parameter linkage control. Through the communication between the central controller and the upper computer software, the operator can set or adjust the parameters such as the speed of the stem pulling roller, the gap of the ear picking plate gap adjusting mechanism, the angle of the header frame, the stem feeding speed, etc. on the man-machine interface, realize the multi-factor combination control based on the test requirements, and the system can automatically record the working state data under different parameters for subsequent data analysis and algorithm optimization. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present application;

[0018] Figure 2 It is a schematic diagram of the stem conveying mechanism of the present application;

[0019] Figure 3 It is a schematic diagram of the angle adjusting frame of the present application;

[0020] Figure 4 It is a schematic diagram of the ear picking mechanism of the present application from the first perspective;

[0021] Figure 5 It is a schematic diagram of the ear picking mechanism of the present application from the second perspective;

[0022] Figure 6 It is a schematic diagram of the ear picking plate gap adjusting mechanism of the present application;

[0023] Figure 7 It is a schematic diagram of the angle adjusting mechanism of the present application;

[0024] Figure 8 It is a schematic diagram of the image perception unit of the present application;

[0025] Figure 9 It is a schematic diagram of the control logic of the intelligent control platform of the present application.

[0026] In the figure: 1, rack, 2, stem conveying mechanism, 3, ear picking mechanism, 4, image sensing unit, 5, angle adjusting mechanism, 6, intelligent control platform; 1-1, overall mounting rack, 1-2, U-shaped angle adjusting plate; 2-1, conveying motor, 2-2, coupling, 2-3, conveying base, 2-4, rotating lead screw, 2-5, conveying slider, 2-6, six-component force sensor, 2-7, stem clamping device, 2-7-1, mounting seat, 2-7-2, stem tube clamp; 3-1, angle adjusting frame, 3-1-1, U-shaped frame, 3-1-2, puller side edge fixing plate, 3-1-3, mounting bottom plate, 3-2, drive motor, 3-3, ear collecting device, 3-3-1, buffer guide plate, 3-3-2, ear collecting box, 3-4, gearbox, 3-5, reed chain, 3-6, ear picking plate gap adjusting mechanism, 3-6-1, slide rail, 3-6-2, slide block, 3-6-3, ear picking plate, 3-6-4, three-component force sensor, 3-6-5, three-component force sensor mounting seat, 3-6-6, three-component force sensor mounting plate, 3-6-7, lead screw nut, 3-6-8, lead screw, 3-6-9, gap adjusting motor, 3-7, header frame, 3-8, puller gap adjusting plate, 3-9, puller, 3-10, torque sensor, 3-11, gearbox extension shaft, 3-12, header angle sensor, 3-13, tensioning shaft; 4-1, fixed rod, 4-2, depth camera; 5-1, lower mounting angle code, 5-2, servo cylinder, 5-3, upper mounting angle code; 6-1, control cabinet, 6-2, human-computer interaction interface. DETAILED DESCRIPTION

[0027] To make the purpose, technical scheme and advantages of the present application clearer, further detailed description will be made to the present application with reference to the accompanying drawings and examples.

[0028] Please refer to Figures 1 to 9 shown, a corn ear picking process parameter online monitoring and intelligent control test bench, comprising a rack 1, a stem conveying mechanism 2 is arranged in the middle of the rack 1, an ear picking mechanism 3 is hinged on the rack 1, an image sensing unit 4 is fixedly arranged at the rear part of the rack 1, an angle adjusting mechanism 5 is hinged between the rack 1 and the ear picking mechanism 3, the angle adjusting mechanism 5 is symmetrically arranged, an intelligent control platform 6 is arranged on one side of the rack 1.

[0029] The intelligent control platform 6 comprises a control cabinet 6-1, a man-machine interface 6-2 is arranged on the control cabinet 6-1, and a central controller, an image processing module, a mechanics and motion parameter processing module and a cutting platform angle processing module are arranged in the control cabinet 6-1; the image processing module identifies fruit cluster position and height information and extracts phenotype parameters by using a depth image algorithm according to image information fed back by the image sensing unit 4; the mechanics and motion parameter processing module performs fusion analysis on force, torque and motion data fed back from the stem conveying mechanism 2 and the fruit picking mechanism 3; the cutting platform angle processing module adjusts the angle adjusting mechanism 5 in real time according to an angle sensor signal, so as to realize adaptive posture adjustment of the fruit picking mechanism 3; and the central controller performs fusion calculation on multi-source sensing information according to a preset coupling model, automatically outputs an optimal working parameter combination, and realizes adaptive regulation and control of working parameters.

[0030] The rack 1 comprises a whole mounting frame 1-1 and a U-shaped angle adjusting plate 1-2, and the U-shaped angle adjusting plate 1-2 is fixed on the whole mounting frame 1-1 by bolts.

[0031] The stem conveying mechanism 2 comprises a conveying motor 2-1, a shaft coupling 2-2, a conveying base 2-3, a rotating lead screw 2-4, a conveying sliding block 2-5, a six-component force sensor 2-6 and a stem clamping device 2-7; the conveying base 2-3 is fixedly arranged on the whole mounting frame 1-1; the conveying motor 2-1 is fixedly arranged at the front end of the conveying base 2-3; the rotating lead screw 2-4 is rotatably arranged on the conveying base 2-3; the main shaft of the conveying motor 2-1 is connected with the rotating lead screw 2-4 through the shaft coupling 2-2; the conveying sliding block 2-5 is slidably arranged on the conveying base 2-3; the conveying sliding block 2-5 is screwed on the rotating lead screw 2-4; the conveying motor 2-1 drives the rotating lead screw 2-4 to rotate forward and reverse, thereby driving the conveying sliding block 2-5 to slide forward and backward on the conveying base 2-3; the six-component force sensor 2-6 is fixed on the conveying sliding block 2-5; and the stem clamping device 2-7 is fixed on the six-component force sensor 2-6.

[0032] The stem clamping device 2-7 comprises a mounting seat 2-7-1 and a stem tube clamp 2-7-2; the mounting seat 2-7-1 is fixed on the six-component force sensor 2-6; and the stem tube clamp 2-7-2 is fixed on the mounting seat 2-7-1 by bolts.

[0033] The stem conveying mechanism 2 is used for simulating uniform conveying movement of stems under field working conditions, realizing a dynamic contact process between fruit clusters and the fruit picking mechanism 3; the conveying motor 2-1 drives the rotating lead screw 2-4 to drive the conveying sliding block 2-5 to move linearly along the conveying base 2-3 through the shaft coupling 2-2, and the conveying speed is 0-3 m / s, so as to realize stable conveying of the stem clamping device 2-7; and the six-component force sensor 2-6 is used for monitoring three-way force and three-way torque changes of fruit clusters in a conveying process in real time, so as to obtain force and posture change information of the fruit clusters.

[0034] The ear picking mechanism 3 comprises an angle adjusting frame 3-1, a driving motor 3-2, a fruit cluster collecting device 3-3, a gearbox 3-4, a weeding chain 3-5, an ear picking plate gap adjusting mechanism 3-6, a cutter frame 3-7, a stalk pulling roller gap adjusting plate 3-8, a stalk pulling roller 3-9, a torque sensor 3-10, a gearbox extension shaft 3-11, a cutter angle sensor 3-12 and a tensioning shaft 3-13, the angle adjusting frame 3-1 comprises a U-shaped frame 3-1-1, a mounting bottom plate 3-1-3 and a stalk pulling roller side edge fixing plate 3-1-2, the front end of the U-shaped frame 3-1-1 is hinged to the U-shaped angle adjusting plate 1-2, the mounting bottom plate 3-1-3 is arranged at the rear end of the U-shaped frame 3-1-1, the stalk pulling roller side edge fixing plate 3-1-2 is arranged at the front end of the U-shaped frame 3-1-1, the driving motor 3-2 and the torque sensor 3-10 are fixed below the mounting bottom plate 3-1-3, the driving motor 3-2 and the torque sensor 3-10 are connected through a shaft coupling, the fruit cluster collecting device 3-3 and the gearbox 3-4 are fixed above the mounting bottom plate 3-1-3, the torque sensor 3-10 is directly connected with the gearbox 3-4 through a transmission chain, the cutter frame 3-7 is symmetrically fixed on both sides of the angle adjusting frame 3-1, the gearbox extension shaft 3-11 is symmetrically arranged on the gearbox 3-4, the tensioning shaft 3-13 is symmetrically arranged on the cutter frame 3-7 on both sides of the angle adjusting frame 3-1, the weeding chain 3-5 is arranged between the gearbox extension shaft 3-11 and the tensioning shaft 3-13, the stalk pulling roller gap adjusting plate 3-8 and the stalk pulling roller side edge fixing plate 3-1-2 are connected through bolts, the tail end of the stalk pulling roller 3-9 is connected with the output shaft of the gearbox 3-4, the stalk pulling rollers 3-9 are symmetrically arranged, the front end of the stalk pulling roller 3-9 is rotatably arranged on the stalk pulling roller gap adjusting plate 3-8, the ear picking plate gap adjusting mechanism 3-6 is arranged on the cutter frame 3-7 on both sides of the angle adjusting frame 3-1, the weeding chain 3-5 is located above the ear picking plate gap adjusting mechanism 3-6, and the cutter angle sensor 3-12 is arranged on the cutter frame 3-7.

[0035] The snoot plate gap adjusting mechanism 3-6 comprises a sliding rail 3-6-1, a sliding block 3-6-2, a snoot plate 3-6-3, a three-component force sensor 3-6-4, a three-component force sensor mounting seat 3-6-5, a three-component force sensor mounting plate 3-6-6, a lead screw nut 3-6-7, a lead screw 3-6-8, and a gap adjusting motor 3-6-9. The sliding rail 3-6-1 is symmetrically arranged on the header frame 3-7. The sliding block 3-6-2 is slidingly arranged on the sliding rail 3-6-1. The three-component force sensor mounting plate 3-6-6 is fixedly connected with the sliding block 3-6-2. The three-component force sensor 3-6-4 is connected with the three-component force sensor mounting seat 3-6-5 on the upper and lower sides. The three-component force sensor 3-6-4 is connected with the three-component force sensor mounting plate 3-6-6 through the lower three-component force sensor mounting seat 3-6-5. The snoot plate 3-6-3 is fixedly connected with the three-component force sensor 3-6-4 through the upper three-component force sensor mounting seat 3-6-5 of the three-component force sensor 3-6-4. The gap adjusting motor 3-6-9 is fixed on one side of the header frame 3-7. The main shaft of the gap adjusting motor 3-6-9 is connected with the lead screw 3-6-8 through a coupling. The lead screw 3-6-8 is symmetrically screwed at both ends. The lead screw nut 3-6-7 is screwed at both ends of the lead screw 3-6-8. The lead screw nut 3-6-7 is fixedly connected with the three-component force sensor mounting plate 3-6-6.

[0036] The fruit cluster collecting device 3-3 comprises a fruit cluster collecting box 3-3-2 and a buffer guide plate 3-3-1. The fruit cluster collecting box 3-3-2 is arranged on the mounting bottom plate 3-1-3 and located at the rear of the gearbox 3-4. The buffer guide plate 3-3-1 is arranged in the fruit cluster collecting box 3-3-2 and the front end is abutted with the snoot plate 3-6-3.

[0037] The fruit picking mechanism 3 is used to simulate the fruit picking process of the actual harvester. The driving motor 3-2 is connected with the gearbox 3-4 through the torque sensor 3-10, so as to realize the accurate control of the rotating speed of the stem pulling roller 3-9 and the torque feedback monitoring. The stem pulling roller gap adjusting plate 3-8 can finely adjust the roller gap through the bolt, and the gap can be finely adjusted in the range of 5-30 mm to adapt to different stem sizes. The snoot plate gap adjusting mechanism 3-6 adjusts the gap of 10-40 mm through the motor driven lead screw 3-6-8 system, and different snoot plates 3-6-3 can be replaced, so as to simulate the fruit picking under different working conditions.

[0038] The image sensing unit 4 comprises a depth camera 4-2 and a fixed rod 4-1. The fixed rod 4-1 is fixed at the rear of the rack 1. The depth camera 4-2 is arranged above the fixed rod 4-1. The fixed rod 4-1 is a telescopic rod with damping.

[0039] The image perception unit 4 is used to obtain the spatial phenotype and motion state information of the fruit cluster during the picking process. The camera is installed on the rear part of the frame 1 through a fixed rod 4-1, the installation angle of which can be freely changed, and the height of the fixed rod 4-1 is above 1500 mm, so that the crop phenotype information can be extracted in real time.

[0040] The angle adjusting mechanism 5 includes a lower installation angle code 5-1, a servo cylinder 5-2 and an upper installation angle code 5-3. The two ends of the servo cylinder 5-2 are respectively hinged with the lower installation angle code 5-1 and the servo cylinder 5-2. The lower installation angle code 5-1 is fixedly connected with the frame 1, and the upper installation angle code 5-3 is fixedly connected with the angle adjusting frame 3-1.

[0041] The upper installation angle code 5-3 and the lower installation angle code 5-1 of the angle adjusting mechanism 5 connect the picking mechanism 3 with the frame 1. The angle adjustment of the picking mechanism 3 is realized through the driving of the servo cylinder 5-2. The adjustment range is 0°~35°, and the adjustment accuracy is ±0.2°. The extension amount of the servo cylinder 5-2 is fed back through the header angle sensor 3-12, so that the closed-loop control of the angle of the picking mechanism 3 can be realized, and the influence of the change of the picking angle on the force and damage of the fruit cluster can be studied.

[0042] The intelligent control platform 6 is the core control and data processing center of the whole system. The central controller is responsible for coordinating the work of each execution and sensing unit, realizing the synchronous control of motor driving, mechanical signal acquisition and angle adjustment. The image processing module uses deep learning algorithm to identify crop phenotype information and output crop phenotype feature parameters. The mechanical and motion parameter processing module is used to monitor the torque, force value and motion state in real time. The header angle processing module adjusts the cylinder output according to the angle sensor signal, realizes the self-adaptive angle adjustment function.

[0043] The working process of the present application is divided into two working links according to the working links of the device, which are stem conveying link and ear picking link respectively. When the test starts, the stem conveying mechanism 2 is driven by the conveying motor 2-1 to rotate the rotating lead screw 2-4 through the coupling 2-2, so that the conveying slider 2-5 moves linearly along the conveying base 2-3, thereby realizing uniform conveying of the clamped corn stem. The stem tube clamp 2-7-2 in the stem clamping device 2-7 stably clamps the stem, and is connected with the six-component force sensor 2-6 through the mounting seat 2-7-1, for real-time monitoring of the three-directional force and three-directional moment changes of the ear during conveying and ear picking, and for obtaining the dynamic characteristics of the force and attitude of the ear. When the stem moves to the working area of the ear picking mechanism 3, the driving motor 3-2 drives the stem pulling roller 3-9 to rotate through the torque sensor 3-10 and the gearbox 3-4, thereby driving the stem to pass through the ear picking channel. The torque sensor 3-10 feeds back the load change of the stem pulling roller 3-9 in real time. The ear picking plate gap adjusting mechanism 3-6 is driven by the gap adjusting motor 3-6-9 to realize precise adjustment of the distance between the ear picking plates 3-6-3 through linkage of the lead screw 3-6-8 and the lead screw nut 3-6-7. The three-component force sensor 3-6-4 installed on the ear picking plate 3-6-3 can measure the normal force and tangential force when the ear contacts the plate surface in real time, thereby monitoring the magnitude and direction of the force acting on the ear during ear picking. The raking chain 3-5 and the extended shaft 3-11 of the gearbox run synchronously to guide the stem and ear to stably pass through the ear picking area, and the picked ear falls onto the buffer guide plate 3-3-1 under the action of the raking chain 3-5 and enters the ear collecting box 3-3-2. The angle adjusting mechanism 5 is driven by the servo cylinder 5-2, and is connected with the upper mounting angle code 5-3 and the lower mounting angle code 5-1 to realize precise adjustment of the angle of the header frame 3-7. The header angle sensor 3-12 detects the current attitude of the ear picking mechanism 3 in real time and feeds back to the central control system, thereby realizing closed-loop control of the angle adjustment and simulating the ear picking operation state under different angles of the ear picking mechanism 3. During ear picking, the image sensing unit 4 installs the depth camera 4-2 on the rear part of the rack 1 through the fixing rod 4-1, and can collect the height, attitude and spatial phenotype information of the ear in real time. The collected visual information and the mechanical sensing unit (six-component force sensor 2-6, three-component force sensor 3-6-4 and torque sensor 3-10) are transmitted to the intelligent control platform 6 synchronously. The intelligent control platform 6 is the core control and decision module of the whole machine, including a central controller, an image processing module, a mechanical and motion parameter processing module and a header angle processing module. The image processing module uses a depth image algorithm to identify the position and height information of the ear and extract the phenotype parameters. The mechanical and motion parameter processing module analyzes the force, torque and motion data from the sensor. The header angle processing module adjusts the output of the servo cylinder 5-2 according to the angle sensor signal in real time, thereby realizing adaptive adjustment of the attitude of the ear picking mechanism 3.The central controller fuses the multi-source sensing information according to a preset "fruit cluster height-rolling speed of the stem pulling roller-clearance of the fruit picking plate-angle of the fruit picking mechanism-collision force" coupling model, automatically outputs an optimal working parameter combination, and realizes self-adaptive regulation and control of the working parameters through the control of the driving motor 3-2, the clearance adjusting motor 3-6-9, the servo electric cylinder 5-2 and other actuators; during the test, the system can record multi-source signal data such as force, image, angle and rotating speed in real time, transmit the data results to the preset coupling model, realize learning and updating of the model, and display the working state, the force curve and the fruit cluster movement trajectory through the man-machine interaction interface 6-2; all the test data are collected by the control cabinet 6-1 and automatically stored, and can be used for subsequent fruit picking mechanism analysis and working parameter optimization research.

[0044] The above specific embodiments are only specific solutions of the present application, and are not intended to limit the present application in other forms. Any person skilled in the art can modify or change the above disclosed technical content into equivalent embodiments with equivalent changes. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present application without departing from the technical principles of the present application shall fall within the scope of patent protection of the present application.

Claims

1. An online monitoring and intelligent control test bench for parameters in the corn ear-picking process, characterized in that: The application relates to a fruit picking device, which comprises a rack, a stem conveying mechanism arranged in the middle of the rack, a fruit picking mechanism hinged to the rack, an image sensing unit fixedly arranged at the rear of the rack, an angle adjusting mechanism hinged between the rack and the fruit picking mechanism, and an intelligent control platform arranged on one side of the rack. The intelligent control platform comprises a control cabinet, a man-machine interaction interface arranged on the control cabinet, a central controller, an image processing module, a mechanical and motion parameter processing module and a cutting platform angle processing module arranged in the control cabinet, the image processing module uses a depth image algorithm to identify fruit cluster position and height information and extract phenotype parameters according to image information fed back by the image sensing unit, the mechanical and motion parameter processing module performs fusion analysis on force, torque and motion data fed back by the stem conveying mechanism and the fruit picking mechanism, the cutting platform angle processing module adjusts the angle adjusting mechanism in real time according to an angle sensor signal to realize self-adaptive posture adjustment of the fruit picking mechanism, and the central controller performs fusion calculation on multi-source sensing information according to a preset coupling model, automatically outputs an optimal working parameter combination and realizes self-adaptive regulation and control of working parameters. The fruit picking mechanism comprises an angle adjusting frame, a driving motor, a fruit cluster collecting device, a gearbox, a weeding chain, a fruit picking plate gap adjusting mechanism, a cutting platform frame, a stalk pulling roller gap adjusting plate, stalk pulling rollers, a torque sensor, a gearbox extension shaft, a cutting platform angle sensor and a tensioning shaft, the angle adjusting frame comprises a U-shaped frame, a mounting bottom plate and stalk pulling roller side edge fixing plates, the U-shaped frame is hinged to a U-shaped angle adjusting plate at the front end, the mounting bottom plate is arranged at the rear end of the U-shaped frame, the stalk pulling roller side edge fixing plates are arranged at the front end of the U-shaped frame, the driving motor and the torque sensor are fixed below the mounting bottom plate, the driving motor and the torque sensor are connected through a shaft coupling, the fruit cluster collecting device and the gearbox are fixed above the mounting bottom plate, the torque sensor is directly connected with the gearbox through a transmission chain, the cutting platform frame is symmetrically fixed on both sides of the angle adjusting frame, the gearbox extension shaft is symmetrically arranged on the gearbox, the tensioning shaft is symmetrically arranged on the cutting platform frame on both sides of the angle adjusting frame, the weeding chain is arranged between the gearbox extension shaft and the tensioning shaft, the stalk pulling roller gap adjusting plate and the stalk pulling roller side edge fixing plates are connected through bolts, the tail end of the stalk pulling roller is connected with a gearbox output shaft, the stalk pulling rollers are symmetrically arranged, the front end of the stalk pulling roller is rotatably arranged on the stalk pulling roller gap adjusting plate, the fruit picking plate gap adjusting mechanism is arranged on the cutting platform frame on both sides of the angle adjusting frame, the weeding chain is arranged above the fruit picking plate gap adjusting mechanism, and the cutting platform angle sensor is arranged on the cutting platform frame. The ear picking plate gap adjusting mechanism comprises slide rails, slide blocks, ear picking plates, three-component force sensors, three-component force sensor mounting seats, three-component force sensor mounting plates, screw nut, screw rods and gap adjusting motors, the slide rails are symmetrically arranged on the header frame, the slide blocks are slidingly arranged on the slide rails, the three-component force sensor mounting plates are fixedly connected with the slide blocks, the three-component force sensors are connected with the three-component force sensor mounting seats on the upper and lower sides, the three-component force sensors are connected with the three-component force sensor mounting plates through the three-component force sensor mounting seats on the lower sides, the ear picking plates are fixedly connected with the three-component force sensors through the three-component force sensor mounting seats on the upper sides of the three-component force sensors, the gap adjusting motors are fixed on one side of the header frame, the main shafts of the gap adjusting motors are connected with the screw rods through couplings, the screw rods are symmetrically screwed at the two ends, the screw nuts are screwed at the two ends of the screw rods, and the screw nuts are fixedly connected with the three-component force sensor mounting plates.

2. The corn earing process parameter online monitoring and intelligent control test bench according to claim 1, characterized in that: The rack comprises a whole mounting frame and a U-shaped angle adjusting plate, and the U-shaped angle adjusting plate is fixed on the whole mounting frame by bolts.

3. The corn earing process parameter online monitoring and intelligent control test bench according to claim 2, characterized in that: The stem conveying mechanism comprises a conveying motor, a coupling, a conveying base, a rotating screw rod, a conveying slide block, a six-component force sensor and a stem clamping device, the conveying base is fixedly arranged on the whole mounting frame, the conveying motor is fixedly arranged at the front end of the conveying base, the rotating screw rod is rotatably arranged on the conveying base, the main shaft of the conveying motor is connected with the rotating screw rod through the coupling, the conveying slide block is slidingly arranged on the conveying base, and the conveying slide block is screwed on the rotating screw rod; the conveying motor drives the rotating screw rod to rotate in the positive direction and the reverse direction, so as to drive the conveying slide block to slide on the conveying base; the six-component force sensor is fixed on the conveying slide block; and the stem clamping device is fixed on the six-component force sensor. The stem clamping device comprises a mounting seat and a stem pipe clamp, the mounting seat is fixed on the six-component force sensor, and the stem pipe clamp is fixed on the mounting seat by bolts.

4. The corn earing process parameter online monitoring and intelligent control test bench according to claim 3, characterized in that: The fruit cluster collecting device comprises a fruit cluster collecting box and a buffer guide plate, the fruit cluster collecting box is arranged on the mounting bottom plate and located at the rear of the gearbox, and the buffer guide plate is arranged in the fruit cluster collecting box in an inclined manner and abuts against the ear picking plate at the front end.

5. The corn ear plucking process parameter online monitoring and intelligent control test bench according to claim 4, characterized in that: The image sensing unit comprises a depth camera and a fixed rod, the fixed rod is fixed at the rear of the rack, the depth camera is arranged above the fixed rod, and the fixed rod is a telescopic rod with damping.

6. The corn ear plucking process parameter online monitoring and intelligent control test bench according to claim 5, characterized in that: The angle adjusting mechanism comprises a lower mounting angle code, a servo cylinder and an upper mounting angle code, the two ends of the servo cylinder are respectively hinged with the lower mounting angle code and the servo cylinder, the lower mounting angle code is fixedly connected with the rack, and the upper mounting angle code is fixedly connected with the angle adjusting frame.

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