An automatic control device for digging depth used in a vibrating chain cassava harvester

Abstract

The present invention relates to an automatic control device for the digging depth of a vibrating chain cassava harvester, comprising a profiling mechanism, a digging depth detection device, an execution device, a microprocessor, and a human-computer interaction interface. The profiling mechanism is installed about 30 cm in front of the digging shovel of the vibrating chain cassava harvester; the execution device is installed on the vibrating chain cassava harvester and is used to lift or lower the digging shovel. The present invention collects data obtained by the profiling mechanism and the digging depth detection device, obtains the real-time digging depth by calculation, and then compares it with the manually set target depth. The microprocessor gives a control signal through an intelligent control algorithm, thereby controlling the execution device to realize automatic control of the digging depth of the digging shovel. The present invention has the characteristics of simple structure, good working stability, high digging depth control accuracy, converting hysteresis regulation into real-time regulation, making the vibrating chain cassava harvester highly adaptable to uneven terrain, and being able to manually set different target digging depths.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to an automatic control device for digging depth applied to a vibration chain cassava harvester. Background Art

[0002] Cassava, also known as manioc, tree sweet potato, and cassava, is known as the "underground granary", "starch king" and "special crop". It is one of the three major tubers in the world along with sweet potato and potato. It is an important raw material for the production of starch, ethanol, and feed. It is also an important food crop and energy crop in many tropical and subtropical countries. In the southern subtropical region of my country, cassava is the fifth largest crop after rice, sweet potato, sugarcane and corn. It is mainly planted in Guangxi, Yunnan, Guangdong, Hainan and other regions. Cassava harvesting is one of the most important links in cassava production, accounting for the largest proportion of cassava production operations.

[0003] At present, cassava harvesting in my country mainly relies on manual planting. In recent years, mechanization has progressed rapidly and the level of mechanization has been continuously improved. Since the main cassava planting areas in my country are all hilly and mountainous areas, it brings great difficulties to the mechanized harvesting of cassava. The existing excavation harvesters do not have an automatic control part for the excavation depth. When operating in uneven areas such as mountains or hills, it will cause shallow excavation depth, serious damage to cassava, or too deep excavation depth, excessive traction, serious fuel consumption and wear and tear. In order to promote the integration of agricultural machinery and agronomy, Deng Ganran et al. proposed an agronomic model of cassava wide and narrow double-row ridge planting suitable for full mechanized operation, which effectively alleviates the problem of mismatch between the row spacing of traditional cassava flat planting or small ridge even row planting and the wheel spacing of mechanized tractors. Summary of the invention

[0004] In order to overcome the difficulty of harvesting cassava on uneven terrain, the present invention proposes an automatic control device for digging depth applied to a vibrating chain cassava harvester. The device can detect the undulation of the ground, thereby indirectly measuring the digging depth, and displaying the digging depth in real time. The target digging depth can also be set manually, and the control system will automatically adjust the digging depth to keep it within the error range allowed by the target depth.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] An automatic control device for digging depth applied to a vibration chain cassava harvester comprises a profiling mechanism 3, a digging depth detection device 2, a microprocessor, a human-machine interaction interface and two execution devices 5; the digging depth detection device 2 and the profiling mechanism 3 are used to detect the digging depth in real time, and feed the data back to the microprocessor, the microprocessor obtains a signal to control the execution device 5, and adjusts the digging depth through the execution device 5; the human-machine interaction interface is used to display the digging depth and manually set the target depth;

[0007] The excavation depth detection device 2 includes a detection plate A6, a sensor fixing plate A7, a sensor a8, a sensor b9 and a profiling mechanism mounting plate 10; the sensor a8 and the sensor b9 are mounted on the sensor fixing plate A7, the sensor a8 is used to measure the extension length of the hydraulic rod, and the sensor b9 is used to measure the distance between the sensor fixing plate A7 and the ridge ditch; the detection plate A6 is used to cooperate with the sensor a8 to measure the extension length of the hydraulic rod;

[0008] One end of the profiling mechanism mounting plate 10 is connected to the actuator 5, and the other end is connected to the sensor fixing plate A7; the sensor fixing plate A7 is connected to another actuator 5;

[0009] The profiling mechanism 3 is installed in the middle of the profiling mechanism mounting plate 10; a sensor c22 is provided on the profiling mechanism 3, and the sensor c22 is used to measure the distance between the sensor mounting plate A7 and the ridge surface.

[0010] The actuator 5 includes a hydraulic rod anti-rotation device 11, a wheel mounter 12, a wheel 13, a hydraulic cylinder 14, a hydraulic system and a hydraulic cylinder fixing device 15; the hydraulic rod anti-rotation device 11 is used to prevent the wheel 13 from being deflected by external force and driving the hydraulic rod to rotate; the hydraulic system is used to control the movement of the hydraulic cylinder; the wheel 13 is installed below the wheel mounter 12, the hydraulic cylinder fixing device 15 is installed above the wheel mounter 12, and the hydraulic cylinder 14 is installed above the hydraulic cylinder fixing device 15.

[0011] The signal for controlling the actuator 5 is a signal for controlling the hydraulic system.

[0012] The sensor fixing plate A7 is fixedly connected to the wheel mounter 12 , and the detection plate A6 is located between the hydraulic cylinder fixing device 15 and the wheel mounter 12 .

[0013] The profiling mechanism 3 includes a central column 16, a sleeve a17, a spring 18, a sleeve b19, a profiling wheel average structure 20, two profiling wheels 21, a sensor c22, a sensor fixing plate B23 and a detection plate B24; the sensor fixing plate B23 is fixedly connected to the profiling mechanism mounting plate 10;

[0014] The center column 16 passes through the sensor fixing plate B23, the sleeve a17 and the sleeve b19, and the lower end of the center column 16 passes through the plate fixedly connected to the lower end of the sleeve b19 and is connected to the contour wheel average structure 20; the sleeve a17 and the sleeve b19 are sleeved together, and the inner diameter of the sleeve a17 is slightly larger than the outer diameter of the sleeve b19. The sensor fixing plate B23 is fixedly connected to the upper end of the sleeve a17. A small hole is opened on the sensor fixing plate B23, which is just enough for the center column 16 to pass through, and four arc-shaped holes are opened around the small hole, so that the upper part of the sleeve b19 can just pass through. The two work together to guide the sleeve b19 to move relative to the sleeve a17 and the sensor fixing plate B23. The upper end of the spring 18 is fixed on the sensor fixing plate B23, and the lower end is fixed on the plate at the bottom of the sleeve b19. The spring 18 has two functions, one is to prevent the sleeve a17 from separating from the sleeve b19, and the other is to restore the deformation in time through tension and pressure. The detection plate B24 is fixed on the sleeve b19 and is in the same direction as the sensor fixing plate B23. The sensor c22 is fixed on the sensor fixing plate B23 and is used to measure the distance between the sensor c22 and the detection plate B24. One end of the profiling wheel averaging structure 20 is connected to the lower end of the central column 16, but can rotate around the central column. The other end of the profiling wheel averaging structure 20 is connected to two profiling wheels 21, which is used to average the measurement values ​​of the two profiling wheels 21 to reduce the measurement error.

[0015] Sensor a8, sensor b9, and sensor c22 are ultrasonic sensors.

[0016] The profiling mechanism 3 is installed about 30 cm in front of the digging shovel of the vibrating chain cassava harvester.

[0017] The measured height values ​​of the two profiling wheels are averaged by the profiling wheel averaging structure 20, thereby reducing the error caused by local unevenness.

[0018] The excavation depth detection device 2 detects the real-time excavation depth indirectly through multi-sensor joint detection and the ridge surface height measured by the profiling mechanism 3, thereby converting the large time-delay control into real-time control.

[0019] The microprocessor performs intelligent algorithm calculation on the indirectly detected real-time excavation depth and the set target depth, and outputs a signal to control the electromagnetic proportional reversing valve, thereby controlling the extension and retraction amount of the hydraulic rod, thereby adjusting the excavation depth.

[0020] When the digging depth changes, it will react to the contour wheel, thus forming a closed-loop control.

[0021] The human-machine interaction interface can manually input the target digging depth, so the vibration chain cassava harvester equipped with the device can be suitable for harvesting multiple varieties of cassava.

[0022] Beneficial effects of the present invention:

[0023] The automatic control device for digging depth applied to a vibration chain cassava harvester of the present invention uses a profiling mechanism and an ultrasonic sensor to indirectly measure the digging depth of a digging shovel, and displays the digging depth in real time on a display; the driver selects a suitable digging depth according to the variety of cassava and the land conditions, and manually inputs the target digging depth on the human-computer interaction interface; the microprocessor compares the measured depth with the target depth, and controls the electromagnetic reversing valve to move the hydraulic rod, thereby adjusting the digging depth; the change in the depth of the digging shovel reacts on the profiling mechanism, thus forming a closed-loop control. The present invention has a simple structure, good working stability, and high digging depth control accuracy, so that the vibration chain cassava harvester has strong adaptability to uneven terrain, and different target digging depths can be manually set.

[0024] The invention has the characteristics of simple structure, good working stability, high control precision of digging depth, converting hysteresis regulation into real-time regulation, making the vibration chain cassava harvester highly adaptable to uneven terrain, and being able to manually set different target digging depths. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described with the aid of the accompanying drawings, but the embodiments in the accompanying drawings do not constitute any limitation to the present invention. A person skilled in the art can obtain other accompanying drawings according to the following drawings without creative work:

[0026] Figure 1 It is a structural schematic diagram of a vibration chain type cassava harvester and an automatic control device for digging depth of the present invention;

[0027] Figure 2 It is a structural schematic diagram of the excavation depth detection device of the present invention;

[0028] Figure 3 It is a schematic diagram of the structure of the execution device of the present invention;

[0029] Figure 4 It is a structural schematic diagram of the profiling device of the present invention;

[0030] Figure 5 It is a simplified structural diagram of a vibrating chain cassava harvester;

[0031] Figure 6 Schematic diagram for digging depth measurement;

[0032] Figure 7 It is a schematic diagram of the workflow of the present invention.

[0033] In the figure: 1-vibration chain cassava harvester, 2-digging depth detection device, 3-profiling mechanism, 4-ridge surface, 5-actuator, 6-detection plate A, 7-sensor fixing plate A, 8-sensor a, 9-sensor b, 10-profiling mechanism mounting plate, 11-anti-hydraulic rod rotation device, 12-wheel installer, 13-wheel, 14-hydraulic cylinder, 15-hydraulic cylinder fixing device, 16-center column, 17-sleeve a, 18-spring, 19-sleeve b, 20-profiling wheel average structure, 21-profiling wheel, 22-sensor c, 23-sensor fixing plate B, 24-detection plate B, 25-vibration chain, 26-ground wheel, 27-three-point suspension mechanism, 28-digging shovel. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with specific embodiments. Among them, the accompanying drawings are only used for exemplary descriptions, and only schematic diagrams are shown, not physical drawings, and cannot be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict. The same or similar reference numerals in the accompanying drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are terms such as "upper", "lower", "left", "right" and the like indicating the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so the terms describing the position relationship in the accompanying drawings are only used for exemplary descriptions, and cannot be understood as limitations on this patent. For ordinary technicians in the field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0035] like Figure 1 As shown, an automatic control device for digging depth used in a vibrating chain cassava harvester includes a digging depth detection device 2, a profiling mechanism 3, an execution device 5, and a microprocessor and a human-computer interaction interface are not shown in the figure. The execution device is installed on the vibrating chain cassava harvester to lift or lower the digging shovel.

[0036] The automatic control device for digging depth is applied to a vibration chain cassava harvester 1. Since the harvesting depth of cassava is about 30 cm, a ridge of about 30 cm will be generated on the ridge surface in front of the digging shovel. Therefore, the profiling mechanism is installed about 30 cm in front of the digging shovel, and cannot be installed directly above the digging shovel. The vibration chain cassava harvester is towed by a tractor through a three-point suspension mechanism 27. The digging depth detection device 2 and the profiling mechanism 3 of the present invention are used to detect the digging depth in real time and feed the data back to the microprocessor. The microprocessor obtains a signal for controlling the hydraulic system through an intelligent control algorithm, and adjusts the digging depth through the execution device 5. The human-computer interaction interface is used to display the digging depth and manually set the target depth.

[0037] like Figure 5 As shown, the vibration chain cassava harvester 1 includes a vibration chain 25 , a ground wheel 26 , a three-point suspension mechanism 27 , and a digging shovel 28 .

[0038] The existing vibration chain cassava harvester 1 is connected to the tractor through a three-point suspension mechanism, and the digging depth is controlled by manually adjusting the posture of the three-point suspension, which is inaccurate and cannot be automatically adjusted according to the undulations of the ridge surface.

[0039] like Figure 2 As shown, the excavation depth detection device 2 includes a detection plate A6, a sensor fixing plate A7, a sensor a8, a sensor b9 and a profiling mechanism mounting plate 10. The sensor fixing plate A7 is fixedly connected to the wheel mounter 12, the sensor a8 is used to measure the extension length of the hydraulic rod, and the sensor b9 is used to measure the distance between the sensor fixing plate A7 and the bottom of the ditch. (Because the wheel 13 is not always on the ditch, it may also be off the ground.) The detection plate A6 is used to cooperate with the sensor a8 to measure the extension length of the hydraulic rod. The profiling mechanism mounting plate 10 is used to install the profiling mechanism 3.

[0040] like Figure 3 As shown, the actuator 5 includes a hydraulic rod rotation prevention device 11, a wheel mounter 12, a wheel 13, a hydraulic cylinder 14, a hydraulic system (not shown in the figure, the hydraulic system includes an electromagnetic proportional reversing valve, etc., and the hydraulic system is used to control the movement of the hydraulic cylinder) and a hydraulic cylinder fixing device 15. The function of the hydraulic rod rotation prevention device 11 is to prevent the wheel 13 from being deflected by external force, thereby driving the hydraulic rod to rotate. Long-term rotation of the hydraulic rod will cause the piston to wear quickly and cause oil leakage.

[0041] like Figure 4As shown, the profiling mechanism 3 includes a central column 16, a sleeve a17, a spring 18, a sleeve b19, a profiling wheel averaging structure 20, two profiling wheels 21, a sensor c22, a sensor fixing plate B23, and a detection plate B24. When the machine is operating, the ridge can be regarded as a plane within a short distance, and the sensor fixing plate B23 is fixedly connected to the profiling mechanism mounting plate 10, so the height of the sensor fixing plate B23 in the vertical direction can be considered to be stable within a short distance. When the ridge surface is undulating, the height values ​​of the two profiling wheels 21 are averaged by the profiling wheel averaging structure 20, and the spring 18 is extended and retracted, thereby driving the detection plate B24 to move up and down, so that the measured value of the sensor c22 changes, and the ridge surface height can be calculated after conversion.

[0042] Excavation depth measurement principle diagram Figure 6 As shown, h 1 It is obtained by converting the distance between sensor c22 and detection board B24 measured by sensor c22, indicating the distance between sensor mounting board A7 and ridge surface at time a. 2 It is measured by sensor b9 and indicates the distance between sensor mounting plate A7 and the ridge at time a. 3 It is the distance obtained by converting the value measured by sensor a8, indicating the distance between the bottom of the hydraulic cylinder and the sensor mounting plate A7 at time a. H is the vertical distance between the bottom of the hydraulic cylinder and the excavator shovel, which is fixed. Figure 6 In the figure, at time a, the digging shovel 28 is at the A site and the contour wheel 21 is at the B site. At this time, the ridge surface height can be measured as: h 垄 =h 2 -h 1 At time b, the excavator arrives at location B. At this time, the three sensors will measure three distances h' 1 、h' 2 、h' 3 , the excavation depth at this time is: h 深 =h 垄 +(H-h' 2 -h'3). The ridge surface height value here is not a real-time value, but the ridge surface height measured at time a. The ridge surface height value needs to be measured, stored for a short period of time, and called at an appropriate time. In this way, the real-time value of the digging depth can be measured.

[0043] The present invention collects data obtained by the profiling mechanism and the excavation depth detection device, obtains the real-time excavation depth by calculation, and then compares it with the manually set target depth. The microprocessor gives a control signal through an intelligent control algorithm, thereby controlling the execution device to achieve automatic control of the excavation depth of the excavating shovel.

[0044] Working process: The tractor lifts the vibrating chain cassava harvester equipped with the automatic control device for the digging depth applied to the vibrating chain cassava harvester through the three-point suspension mechanism 27, moves it to the cassava planting site, and then puts it down. During this process, the three-point suspension mechanism 27 is in a load state. The driver sets the target digging depth in the human-computer interaction interface based on experience according to the variety of cassava planted and the local soil environment. At this time, the three-point suspension mechanism 6 must be in a floating state, that is, the hydraulic system is unloaded. Then turn on the tractor and the vibrating chain cassava harvester 1, and turn on the device of the present invention when the digging shovel goes deep into the vicinity of the target digging depth. After that, the device of the present invention can automatically control the digging depth so that it is maintained within a reasonable error range near the target digging depth. When the harvest is finished, turn off the device of the present invention, put the three-point suspension mechanism 27 in a load state, lift the vibrating chain cassava harvester 1 and leave the cassava planting site.

[0045] The implementation described above is only a description of the implementation mode of the present invention, and does not limit the concept and scope of the present invention. Without departing from the design scheme of the present invention, the equivalent structure made by ordinary engineering and technical personnel in the field of the present invention and the direct or indirect application in the relevant technical field shall fall within the protection scope of the present invention.

Claims

1. An automatic control device for digging depth applied to a vibrating chain cassava harvester, characterized in that: include: A profiling mechanism (3), an excavation depth detection device (2), a microprocessor, a human-machine interaction interface and two execution devices (5); the excavation depth detection device (2) and the profiling mechanism (3) are used to detect the excavation depth in real time and feed the data back to the microprocessor, the microprocessor obtains a signal to control the execution device (5), and the excavation depth is adjusted by the execution device (5); the human-machine interaction interface is used to display the excavation depth and manually set the target depth; The actuator (5) comprises a hydraulic rod rotation prevention device (11), a wheel mounter (12), a wheel (13), a hydraulic cylinder (14), a hydraulic system and a hydraulic cylinder fixing device (15); the hydraulic rod rotation prevention device (11) is used to prevent the wheel (13) from being deflected by an external force and driving the hydraulic rod to rotate; the hydraulic system is used to control the movement of the hydraulic cylinder; the wheel (13) is installed below the wheel mounter (12), the hydraulic cylinder fixing device (15) is installed above the wheel mounter (12), and the hydraulic cylinder (14) is installed above the hydraulic cylinder fixing device (15); The excavation depth detection device (2) comprises a detection plate A (6), a sensor fixing plate A (7), a sensor a (8), a sensor b (9) and a profiling mechanism mounting plate (10); the sensor a (8) and the sensor b (9) are mounted on the sensor fixing plate A (7); the sensor a (8) is used to measure the extension length of the hydraulic rod, and the sensor b (9) is used to measure the distance between the sensor fixing plate A (7) and the furrow; the detection plate A (6) is used to cooperate with the sensor a (8) to measure the extension length of the hydraulic rod; One end of the profiling mechanism mounting plate (10) is connected to the actuator (5), and the other end is connected to the sensor fixing plate A (7); the sensor fixing plate A (7) is connected to another actuator (5); The profiling mechanism (3) is installed at the middle position of the profiling mechanism mounting plate (10); a sensor c (22) is provided on the profiling mechanism (3), and the sensor c (22) is used to measure the distance between the sensor mounting plate A (7) and the ridge surface.

2. The automatic control device for digging depth applied to a vibrating chain cassava harvester according to claim 1, characterized in that: The signal for controlling the actuator (5) is a signal for controlling the hydraulic system.

3. The automatic control device for digging depth applied to a vibrating chain cassava harvester according to claim 1, characterized in that: The sensor fixing plate A (7) is fixedly connected to the wheel mounter (12), and the detection plate A (6) is located between the hydraulic cylinder fixing device (15) and the wheel mounter (12).

4. The automatic control device for digging depth applied to a vibrating chain cassava harvester according to claim 1, characterized in that: The profiling mechanism (3) comprises a central column (16), a sleeve a (17), a spring (18), a sleeve b (19), a profiling wheel average structure (20), two profiling wheels (21), a sensor c (22), a sensor fixing plate B (23) and a detection plate B (24); the sensor fixing plate B (23) is fixedly connected to the profiling mechanism mounting plate (10).

5. The automatic control device for digging depth applied to a vibrating chain cassava harvester according to claim 4, characterized in that: The center column (16) passes through the sensor fixing plate B (23), the sleeve a (17) and the sleeve b (19); the lower end of the center column (16) passes through a plate fixedly connected to the lower end of the sleeve b (19) and is connected to the contour wheel average structure (20); the sleeve a (17) and the sleeve b (19) are sleeved together, and the inner diameter of the sleeve a (17) is larger than the outer diameter of the sleeve b (19); the sensor fixing plate B (23) is fixedly connected to the upper end of the sleeve a (17); a small hole is opened on the sensor fixing plate B (23) to just allow the center column (16) to pass through, and four arc-shaped holes are opened around the small hole to just allow the upper part of the sleeve b (19) to pass through, and the two work together to guide, so that the sleeve b (19) can be relative to the sleeve a (17) and The sensor fixing plate B (23) moves; the upper end of the spring (18) is fixed on the sensor fixing plate B (23), and the lower end is fixed on the plate at the bottom of the sleeve b (19); the detection plate B (24) is fixed on the sleeve b (19) and is in the same direction as the sensor fixing plate B (23); the sensor c (22) is fixed on the sensor fixing plate B (23) and is used to measure the distance between the sensor c (22) and the detection plate B (24); one end of the profiling wheel averaging structure (20) is connected to the lower end of the central column (16), but can rotate around the central column, and the other end of the profiling wheel averaging structure (20) is connected to two profiling wheels (21) and is used to average the measurement values ​​of the two profiling wheels (21) to reduce the measurement error.

6. The automatic control device for digging depth applied to a vibrating chain cassava harvester according to claim 1, characterized in that: Sensor a (8), sensor b (9), and sensor c (22) are ultrasonic sensors.

7. The automatic control device for digging depth applied to a vibrating chain cassava harvester according to claim 1, characterized in that: The profiling mechanism (3) is installed 30 cm in front of the digging shovel of the vibrating chain cassava harvester.

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