An intelligent monitoring system for peanut picking combine harvesters

Abstract

The present invention discloses an intelligent monitoring system for a peanut harvester. This system utilizes multiple sensors, including torque sensors, displacement sensors, and wind pressure differential sensors, to monitor the workload of the harvester, fruit picking device, and cleaning device. Furthermore, it employs a hydraulic drive system to adjust the operating parameters of each working device in real time, maintaining a stable feed rate for each working device and ensuring that each working device in the peanut harvester is in optimal working condition in real time. This system addresses the issues of low automation and intelligence levels in peanut harvester operations, resulting in congestion and significant fruit drop losses from the harvesting platform, as well as subsequent fruit picking and cleaning operations that are incomplete, contain high levels of impurities, and result in significant losses.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery and equipment, and particularly relates to an intelligent monitoring system for a peanut picking combine harvester. Background Art

[0002] As an important oil crop and high-quality protein resource, my country's peanut planting area and output are among the highest in the world. According to statistics from the Food and Agriculture Organization of the United Nations (FAO), China's peanut planting area in 2019 was 4.51×106hm2. 2 , accounting for 15.21% of the world; the output is 1.76×107t, accounting for 36.04% of the world.

[0003] Peanut cultivation is widespread in my country, primarily concentrated in Henan, Shandong, Guangdong, Hebei, Liaoning, Anhui, and Jiangsu. Over 300 peanut varieties are cultivated, employing diverse planting methods. However, China's peanut harvesting mechanization lags behind that of countries like the United States, Brazil, and Argentina. In 2019, mechanized peanut harvesting in China was only 46.05%, severely hindering the development of the peanut industry. Most regions still rely primarily on manual or semi-mechanized production, particularly during the harvesting process, where labor accounts for approximately one-third of the entire production process and operating costs contribute approximately 50% of total production costs.

[0004] Mechanization, as a primary means of improving agricultural production efficiency and reducing labor costs, provides a strong foundation for the development of agricultural production. There are two main types of mechanized peanut harvesting: combine harvesting and two-stage harvesting. Combine harvesting is a semi-feeding method, primarily using clamping chains to lift the peanut pods. Picking rollers only act on the pod-bearing portion of the pods, leaving the majority of the pods untouched. Two-stage harvesting involves using an excavator to dig up the peanuts, spreading them in the field to dry until they are semi-dry. A picker combine then performs the picking, pod-picking, and sorting operations. A picker combine is a full-feeding method, picking and gathering all the peanut pods before transporting them to subsequent work units for pod picking, sorting, and collection. Therefore, a peanut harvester can complete the entire process of picking, transporting, picking, cleaning, and collecting peanut seedlings in one go. This highly integrated system saves time and effort, and addresses issues such as inconvenient post-harvest drying and storage problems due to high moisture content. Therefore, harvesting by picking has become the preferred method for large-scale peanut growers in major peanut-producing regions such as Henan and Shandong. However, existing peanut harvester designs often reference foreign technology or draw on technologies related to rice and wheat harvesters. Specific research is relatively limited, and the level of automation and intelligence is still relatively low. Furthermore, the variety, growth, and drying time of peanuts harvested during harvesting in my country vary greatly, as do the low automation levels of current harvesters and the varying levels of operator control. Harvesting by picking can encounter dry, semi-dry, and fresh seedlings. This results in variable feed rates during the picking, transporting, picking, and cleaning phases, leading to significant problems such as high fruit drop rates, incomplete picking, significant losses, and high impurity content. This leaves operational performance and quality unsatisfactory, severely hindering the development of the peanut industry. Summary of the Invention

[0005] The purpose of the present invention is to solve the problems of low automation and intelligence level of peanut picking and combining harvesting operations, which lead to congestion and jamming of the picking platform, large fruit losses, and incomplete picking, high impurity rate and large losses in subsequent fruit picking and sorting operations, and to provide an intelligent monitoring system for a peanut picking and combining harvester.

[0006] The specific technical solutions adopted in the present invention are as follows:

[0007] An intelligent monitoring system for a peanut picking combine harvester, wherein the peanut picking combine harvester is driven by a travel drive mechanism to travel in a field, and comprises a peanut picking platform, a fruit picking device, a cleaning device, and a fruit collecting device;

[0008] In the peanut picking platform, the peanut seedlings are picked up by the picker and then driven by the auger to gather the peanut seedlings and put them into the fruit picking device;

[0009] In the fruit picking device, peanut seedlings enter a channel formed by a fruit picking roller and a concave screen, and are transported backward along the concave screen under the impact and drive of the spring teeth on the rotating fruit picking roller. The peanut pods and debris that are knocked off are input into the cleaning device. The concave screen is supported by an elastic support device and will sink as the load on it increases.

[0010] In the cleaning device, peanut pods and debris enter the cleaning screen, and are removed by the continuous vibration applied by the vibrating mechanism and the airflow applied by the fan blowing from bottom to top through the cleaning screen. The cleaned peanut pods are finally collected in the fruit collecting device.

[0011] It is characterized in that, during the operation of the peanut picking combine harvester in the initial state, the peanut picking platform, the fruit picking device, and the cleaning device are respectively load monitored and feedback control is performed, and the load monitoring and control method is:

[0012] The first real-time torque of the power shaft for simultaneously providing power to the picker and the auger is monitored by a first torque sensor, and the first real-time torque is used as the first real-time load corresponding to the peanut picking platform; when the first real-time load exceeds a first rated threshold and lasts for more than a first time threshold but does not exceed a second time threshold, the power of the picking platform driving mechanism is increased to increase the rotation speed of the picker and the auger, thereby accelerating the speed at which the peanut seedlings in the peanut picking platform are fed into the fruit picking device; when the first real-time load exceeds the first rated threshold and lasts for more than the second time threshold, the walking speed of the peanut picking combine is reduced by the walking drive mechanism, thereby reducing the amount of peanut seedlings fed to the peanut picking platform;

[0013] The real-time sinking displacement of the concave screen relative to the initial state is monitored by a displacement sensor, and the second real-time torque of the second power shaft for driving the fruit picking roller to rotate is monitored by a second torque sensor. The real-time sinking displacement and the second real-time torque are respectively de-dimensionalized, and then the two de-dimensionalized values ​​are weightedly fused as the second real-time load corresponding to the fruit picking device; when the second real-time load exceeds the second rated threshold and the duration exceeds the third time threshold but does not exceed the fourth time threshold, the power of the driving mechanism of the fruit picking device is increased to increase the rotation speed of the fruit picking roller, and the beating and output speed of the peanut seedlings in the fruit picking device is accelerated; when the second real-time load exceeds the second rated threshold and the duration exceeds the fourth time threshold, the power of the driving mechanism of the picking platform is reduced to reduce the rotation speed of the picker and the augers, and the speed of the peanut seedlings in the peanut picking platform being input into the fruit picking device is slowed down;

[0014] The real-time wind pressure difference on the upper and lower sides of the cleaning screen is monitored by a wind pressure difference sensor, and the third real-time torque of the third power shaft used to simultaneously provide power to the fan and the vibration mechanism is monitored by a third torque sensor. The real-time wind pressure difference and the third real-time torque are respectively dedimensionalized, and then the two dedimensionalized values ​​are weightedly fused as the third real-time load corresponding to the cleaning device; when the third real-time load exceeds the third rated threshold and the duration exceeds the fifth time threshold but does not exceed the sixth time threshold, the power of the cleaning device driving mechanism is increased to increase the rotation speed of the fan and the vibration frequency of the vibration mechanism, and the discharge speed of debris in the cleaning device is quickly increased; when the third real-time load exceeds the third rated threshold and the duration exceeds the sixth time threshold, the power of the fruit picking device driving mechanism is reduced to reduce the rotation speed of the fruit picking roller, and the beating and output speed of the peanut seedlings in the fruit picking device are slowed down.

[0015] Preferably, the first torque sensor, displacement sensor, second torque sensor, wind pressure difference sensor, third torque sensor, and power control components of the walking drive mechanism, picking platform drive mechanism, fruit picking device drive mechanism and cleaning device drive mechanism are all electrically connected to the controller to form a feedback control system.

[0016] Preferably, the walking drive mechanism, picking platform drive mechanism, fruit picking device drive mechanism and cleaning device drive mechanism are all hydraulic drive mechanisms, whose power is provided by a hydraulic triple pump and the power of each hydraulic drive mechanism is controlled by the opening of different independent hydraulic solenoid valves.

[0017] Preferably, in the peanut picking station, a picker picks up the peanut seedlings and inputs the peanut seedlings into a gap channel formed by the auger and the auger concave plate below the auger, and the peanut seedlings are transported downstream under the drive of the auger;

[0018] Material toggling mechanism, its both ends are fixed on the sliding member, and the sliding member is cooperated with the frame to form a vertical sliding pair, and the auger changes the gap height of the gap channel during the synchronous up and down movement of the sliding members on both sides; the upper end of the sliding member is fixed to one end of the limit bolt, and the other end of the limit bolt is suspended on the frame through the limit member; the lower end of the sliding member is connected to one end of the tension spring, and the other end of the tension spring is connected to the frame through a preload adjusting bolt, and the preload adjusting bolt can adjust the preload tension of the tension spring by changing the height of the connection end with the tension spring;

[0019] The auger is elastically mounted on the frame by two sets of tension springs and limit bolts on both sides; in the initial state, the limit member cooperates with the frame to place the limit bolt in the lower limit position, and the gap channel maintains its initial height; when the thickness of the peanut seedling material in the gap channel exceeds the initial height of the gap channel, the auger overcomes the tension of the tension springs on both sides and moves upward under the extrusion force exerted by the peanut seedlings;

[0020] A driving sprocket is provided at the end of the driving shaft of the auger, and a pickup sprocket is fixed to the end of the driving shaft of the pickup; the driving sprocket is transmitted to the pickup sprocket through the auger-pickup driving chain, and the driving sprocket is transmitted to the power shaft driven sprocket installed at one end of the power shaft through the power shaft-auger driving chain; a power shaft hydraulic driving sprocket is installed at the other end of the power shaft, and a torque sensor for real-time detection of the torque applied to the power shaft is installed on the power shaft.

[0021] Preferably, the limiting member is a double locking nut screwed on the limiting bolt and located on the outside of the frame. When the limiting bolt is at the lower limit position, the double locking nut fits against the frame, limiting further downward movement of the limiting bolt but not limiting its upward movement.

[0022] Preferably, the preload adjusting bolt is screwed with two nuts located inside and outside the frame respectively, and the height of the end of the preload adjusting bolt can be changed by adjusting the positions of the two nuts on the preload adjusting bolt.

[0023] Preferably, when performing the dedimensionalization on an indicator, it is achieved by dividing the current value of the indicator by the maximum value within the detection range of the indicator.

[0024] Preferably, in the peanut picking platform, when the power of the picking platform drive mechanism or the walking drive mechanism is changed because the first real-time load exceeds the first rated threshold, the first real-time load needs to continue to be monitored. If the first real-time load falls back to below the first rated threshold and the duration is greater than the seventh time threshold, the picking platform drive mechanism or the walking drive mechanism is readjusted to the initial state before the change.

[0025] Preferably, in the fruit picking device, when the power of the fruit picking device drive mechanism or the picking platform drive mechanism is changed because the second real-time load exceeds the second rated threshold, the second real-time load needs to continue to be monitored. If the second real-time load falls back below the second rated threshold and the duration is greater than the eighth time threshold, the fruit picking device drive mechanism or the picking platform drive mechanism is readjusted to the initial state before the change.

[0026] Preferably, in the cleaning device, when the power of the cleaning device drive mechanism or the fruit picking device drive mechanism is changed because the third real-time load exceeds the third rated threshold, the third real-time load needs to continue to be monitored. If the third real-time load falls back below the third rated threshold and the duration is greater than the ninth time threshold, the cleaning device drive mechanism or the fruit picking device drive mechanism is readjusted to the initial state before the change.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The present invention adopts multiple sensors such as torque sensors, displacement sensors, and wind pressure difference sensors to monitor the workload of the picking device, the fruit picking device, and the cleaning device, and adopts a hydraulic drive system to adjust the operating parameters of each working device in real time, so that the feeding amount of each working device remains stable, thereby ensuring that each working device in the peanut picking combine harvester is in the best working state in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of one side of an intelligent monitoring system for a peanut picking combine harvester;

[0030] Figure 2 This is a schematic diagram of the other side of the structure of an intelligent monitoring system for a peanut picking combine harvester;

[0031] Figure 3 is an axonometric view of a peanut picking platform in one embodiment;

[0032] Figure 4 is a side view of a peanut picking platform in one embodiment;

[0033] Figure 5 for Figure 4 HH profile in;

[0034] Figure 6 for Figure 4 L-direction view in;

[0035] Figure 7 An axonometric view of the assembly of the sliding member on the frame after removing the auger, the pickup and the transmission part in one embodiment;

[0036] Figure 8 A side view of the assembly of the sliding member on the frame after removing the auger, the pickup and the transmission part in one embodiment;

[0037] Figure 9 for Figure 8 K-direction view in;

[0038] Figure 10 for Figure 8 JJ cross-section in;

[0039] Figure 11 It is a structural schematic diagram of the sliding member;

[0040] Figure 12 Schematic diagram of the monitoring control process in one embodiment.

[0041] The accompanying drawings are marked as follows: cab 1, hydraulic triple pump 2, engine 3, fruit collecting device 4, pneumatic conveying device 5, cleaning device 6, cleaning device hydraulic drive assembly 7, wind pressure difference sensor 8, displacement sensor 9, fruit picking device 10, fruit picking device hydraulic drive assembly 11, conveying and breaking up device 12, lifting cylinder 13, preload adjustment bolt 14, tension spring 15, sliding member 16, limit bolt 17, picking spring tooth 18, auger 19, picking platform hydraulic drive assembly 20, picking platform power shaft 21, torque sensor 22, power shaft-auger drive chain 23, pickup sprocket 24, pickup drive chain 25, auger sprocket 26, auger concave plate 27, power shaft hydraulic drive sprocket 28, power shaft driven sprocket 29, depth limiting wheel 30, rice seedling pressing rod 31, guide bolt 32, tension spring hanging rod 33, sliding member side plate 34, limit bolt fixing plate 35, guide groove 36. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The technical features in the various embodiments of the present invention can be combined accordingly without conflicting with each other.

[0043] In the description of the present invention, it should be understood that when an element is considered to be "connected" to another element, it can be directly connected to the other element or indirectly connected, that is, there are intermediate elements. On the contrary, when an element is said to be "directly" connected to another element, there are no intermediate elements.

[0044] In the description of the present invention, it should be understood that the terms "first" and "second" are used solely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly specifying the number of technical features being described. Therefore, features defined as "first" or "second" may explicitly or implicitly include at least one of such features.

[0045] In a preferred embodiment of the present invention, an intelligent monitoring system for a peanut harvester is provided. The peanut harvester utilizes a travel drive mechanism as its primary drive, allowing the machine to travel in the field. The components of the peanut harvester are functionally divided into a peanut picking platform, a fruit picking device, a cleaning device, and a fruit collecting device. The main functions of these four modules are as follows:

[0046] In the peanut picking station, the picker picks up the peanut vines and then drives the auger to gather the peanut vines and discharge them into the fruit picking device. The picker and the auger are powered by the same power shaft.

[0047] In the fruit picking device, the peanut vines enter the channel composed of the fruit picking roller and the concave screen. A series of spring teeth are arranged around the outside of the fruit picking roller. The peanut vines can be transported backward along the concave screen under the impact and drive of the spring teeth on the rotating fruit picking roller. The peanut pods and debris that are knocked off are input into the cleaning device, and the branches of the peanut vines are removed. The concave screen is supported by an elastic support device and will sink as the load above increases.

[0048] In the cleaning device, peanut pods and debris enter the cleaning screen. The vibrating mechanism continuously vibrates the screen, and the fan generates airflow from bottom to top across the cleaning screen. The cleaned peanut pods are finally collected in the collection device. The vibrating mechanism and fan are powered by the same power shaft.

[0049] It should be noted that there are a large number of possible implementations of the above-mentioned peanut picking platform, fruit picking device, cleaning device and fruit collecting device in the prior art, and the present invention is not limited to a specific device structure.

[0050] During the initial operation of the peanut harvester, the load of the peanut picking platform, fruit picking device, and cleaning device is monitored and feedback control is implemented. During this process, multiple sensors such as torque sensors, displacement sensors, and wind pressure differential sensors are used to monitor the workload of the peanut picking platform, fruit picking device, and cleaning device. A hydraulic drive system is used to adjust the operating parameters of each working device in real time to maintain a stable feed rate for each working device, ensuring that each working device is in optimal working condition in real time. The following is a detailed description of the specific load monitoring and control method process:

[0051] (1) A first torque sensor is provided on a power shaft for simultaneously providing power to the picker and the auger, and a first real-time torque of the power shaft for simultaneously providing power to the picker and the auger is monitored by the first torque sensor, and the first real-time torque is used as a first real-time load corresponding to the peanut picking platform; when the first real-time load exceeds a first rated threshold and lasts for a period of time exceeding a first time threshold but does not exceed a second time threshold, the power of the picking platform driving mechanism is increased to increase the rotation speed of the picker and the auger, thereby accelerating the speed at which the peanut seedlings in the peanut picking platform are fed into the fruit picking device; when the first real-time load exceeds a first rated threshold and lasts for a period of time exceeding a second time threshold, the walking speed of the peanut picking combine is reduced by the walking driving mechanism, thereby reducing the amount of peanut seedlings fed to the peanut picking platform.

[0052] (2) The real-time sinking displacement of the concave screen relative to the initial state is monitored by a displacement sensor, and the second real-time torque of the second power shaft for driving the fruit picking roller to rotate is monitored by a second torque sensor. The real-time sinking displacement and the second real-time torque are respectively de-dimensionalized, and then the two de-dimensionalized values ​​are weightedly fused as the second real-time load corresponding to the fruit picking device; when the second real-time load exceeds the second rated threshold and the duration exceeds the third time threshold but does not exceed the fourth time threshold, the power of the driving mechanism of the fruit picking device is increased to increase the rotation speed of the fruit picking roller, and the striking and output speed of the peanut seedlings in the fruit picking device is accelerated; when the second real-time load exceeds the second rated threshold and the duration exceeds the fourth time threshold, the power of the driving mechanism of the picking platform is reduced to reduce the rotation speed of the picker and the agitator, and the speed of the peanut seedlings in the peanut picking platform being input into the fruit picking device is slowed down;

[0053] (3) The real-time wind pressure difference between the upper and lower sides of the cleaning screen is monitored by a wind pressure difference sensor, and the third real-time torque of the third power shaft used to simultaneously provide power to the fan and the vibration mechanism is monitored by a third torque sensor. The real-time wind pressure difference and the third real-time torque are respectively de-dimensionalized, and then the two de-dimensionalized values ​​are weightedly fused as the third real-time load corresponding to the cleaning device; when the third real-time load exceeds the third rated threshold and the duration exceeds the fifth time threshold but does not exceed the sixth time threshold, the power of the driving mechanism of the cleaning device is increased to increase the rotation speed of the fan and the vibration frequency of the vibration mechanism, and the discharge speed of the debris in the cleaning device is accelerated; when the third real-time load exceeds the third rated threshold and the duration exceeds the sixth time threshold, the power of the driving mechanism of the fruit picking device is reduced to reduce the rotation speed of the fruit picking roller, and the beating and output speed of the peanut seedlings in the fruit picking device are slowed down.

[0054] It should be noted that in (2) and (3) above, when performing weighted fusion on the two dedimensionalized values, the specific weight values ​​can be optimized and adjusted according to the actual situation.

[0055] The load monitoring and feedback control methods shown in (1), (2) and (3) above can be implemented by arranging a controller for central control in the peanut picking combine harvester. The specific form of the controller is not limited and can be implemented by any device that can realize the corresponding function, such as a single-chip microcomputer, a PLC, a microcomputer, etc. The first torque sensor, the displacement sensor, the second torque sensor, the wind pressure difference sensor, the third torque sensor, and the power control components of the travel drive mechanism, the picking platform drive mechanism, the fruit picking device drive mechanism and the cleaning device drive mechanism are all electrically connected to the controller to form a feedback control system. It should be noted that the power control components of the travel drive mechanism, the picking platform drive mechanism, the fruit picking device drive mechanism and the cleaning device drive mechanism need to be determined according to the form of each drive mechanism itself. In a preferred embodiment of the present invention, the travel drive mechanism, the picking platform drive mechanism, the fruit picking device drive mechanism and the cleaning device drive mechanism are all hydraulic drive mechanisms, and their power is provided by a hydraulic triple pump and the power of each hydraulic drive mechanism is controlled by the opening of different independent hydraulic solenoid valves. Therefore, the controller only needs to control the opening of four hydraulic solenoid valves to control the power of the walking drive mechanism, the picking platform drive mechanism, the fruit picking device drive mechanism and the cleaning device drive mechanism.

[0056] In addition, in order to enable the operating power of the peanut picking combine harvester to automatically recover to avoid excessive power consumption, the peanut picking platform, fruit picking device and cleaning device can all be set with a control strategy for power recovery to the initial state after the power is increased or decreased.

[0057] In a preferred embodiment of the present invention, in a peanut picking platform, when the power of the picking platform drive mechanism or the walking drive mechanism is changed because the first real-time load exceeds the first rated threshold, it is necessary to continue to monitor the first real-time load. If the first real-time load falls back to below the first rated threshold and the duration is greater than the seventh time threshold, the picking platform drive mechanism or the walking drive mechanism is readjusted to the initial state before the change.

[0058] In a preferred embodiment of the present invention, in a fruit picking device, when the power of the fruit picking device drive mechanism or the picking platform drive mechanism is changed because the second real-time load exceeds the second rated threshold, it is necessary to continue to monitor the second real-time load. If the second real-time load falls back to below the second rated threshold and the duration is greater than the eighth time threshold, the fruit picking device drive mechanism or the picking platform drive mechanism is readjusted to the initial state before the change.

[0059] In a preferred embodiment of the present invention, in the cleaning device, when the power of the cleaning device drive mechanism or the fruit picking device drive mechanism is changed because the third real-time load exceeds the third rated threshold, it is necessary to continue to monitor the third real-time load. If the third real-time load falls back to below the third rated threshold and the duration is greater than the ninth time threshold, the cleaning device drive mechanism or the fruit picking device drive mechanism is readjusted to the initial state before the change.

[0060] In order to further facilitate the understanding of those skilled in the art, Figure 1 Provided are a structural form of a peanut picking combine harvester and an arrangement form of the intelligent monitoring system on the peanut picking combine harvester.

[0061] Example

[0062] like Figure 1 and Figure 2 As shown, the key components of the peanut picking combine harvester include cab 1, hydraulic triple pump 2, engine 3, fruit collecting device 4, pneumatic conveying device 5, cleaning device 6, cleaning device hydraulic drive component 7, wind pressure difference sensor 8, displacement sensor 9, fruit picking device 10, fruit picking device hydraulic drive component 11, conveying and scattering device 12, lifting cylinder 13, preload adjustment bolt 14, tension spring 15, sliding part 16, limit bolt 17, picking Picking teeth 18, auger 19, picking platform hydraulic drive assembly 20, power shaft 21, torque sensor 22, power shaft-auger drive chain 23, pickup sprocket 24, auger-pickup drive chain 25, auger sprocket 26, auger concave plate 27, power shaft hydraulic drive sprocket 28, power shaft driven sprocket 29, depth limiting wheel 30, rice seedling pressing rod 31, guide bolt 32, tension spring hanging rod 33, sliding side plate 34, limit bolt fixing plate 35, guide groove 36.

[0063] The cab 1 is located at the top front end of the machine, while the fruit collecting device 4 is a box located at the top rear end of the machine. A hydraulic triple pump 2 and engine 3 serve as the drive mechanism, positioned between the cab 1 and the fruit collecting device 4. The peanut picking platform, fruit picking device 10, and cleaning device 6 are arranged in sequence at the lower portion of the machine from front to back. The cleaning device 6 transports peanut pods to the fruit collecting device 4 above for temporary storage via a pneumatic conveying device 5. Two depth-limiting wheels 30 are located at the front of the peanut picking platform for traveling in the field, and the platform can be raised as a whole by a lifting cylinder 13.

[0064] The travel drive mechanism, the picking platform hydraulic drive assembly 20, the fruit picking device hydraulic drive assembly 11, and the cleaning device hydraulic drive assembly 7 are all powered by the hydraulic triple pump 2. Hydraulic solenoid valves, each with adjustable openings by a controller, are installed on the pipelines connecting the hydraulic triple pump 2 to the travel drive mechanism, the picking platform hydraulic drive assembly 20, the fruit picking device hydraulic drive assembly 11, and the cleaning device hydraulic drive assembly 7. The power output can be controlled by adjusting the opening of the solenoid valves.

[0065] The picker's hydraulic drive assembly 20 receives power from the picker's power shaft 21. The auger 19 and the pickup are both driven by a drive chain connected to the power shaft 21. A torque sensor 22 is mounted on the picker's power shaft 21. This torque sensor monitors the picker's workload in real time by monitoring the torque of the power shaft 21. As the picker's workload changes, the speed of the picker's hydraulic drive assembly 20 is adjusted to change the speed of the picker tines 18 and auger 19, thereby adjusting the picker's feed rate.

[0066] In this embodiment, the arrangement of the auger 19 at the peanut picking station and the installation method of the torque sensor are as follows: Figures 3 to 6 As shown, the peanut picking platform features a frame on which the user installs various components. Two depth-gating wheels 30 are mounted at the front of the frame for ground travel, while the rear end of the frame can be mounted on the main body of the peanut harvester. The core components installed in the frame include the auger 19, the auger concave plate 27, and the picker. The picker is located at the very front of the frame and features a pressing rod 31 and rotatable picking tines 18. The auger 19 and auger concave plate 27 are located behind the picker. Both the auger 19 and the picker can be rotated by an external drive mechanism to perform the peanut picking operation. The auger 19 has spiral blades for pushing the material. The auger concave plate 27 is mounted below the auger 19. The auger concave plate 27 has a curvature that matches the auger's spiral blades, and a certain gap is maintained between the auger 19 and the auger concave plate 27, forming a gap channel for conveying material. The mixing frame has a material outlet corresponding to the middle position of the auger 19, and the spiral blades of the auger 19 on both sides of the material outlet rotate in opposite directions, so that materials at any position in the gap channel can be pushed to the material outlet position by the auger 19. When the peanut picking platform is pushed forward against the ground by the peanut harvester, the rotating picking teeth 18 in the picker pick up the peanut seedlings and input the peanut seedlings into the gap channel formed by the auger 19 and the auger concave plate 27 below the auger 19. Driven by the auger 19, the peanut seedlings are gathered toward the middle and output from the material outlet of the frame to the downstream working device to complete subsequent operations such as picking, cleaning, and collecting the fruit.

[0067] A sliding member 16 is provided on the frame on both sides of the auger 19. The two ends of the auger 19 are fixed to the sliding member 16 by a seat bearing. The sliding member 16 and the frame form a vertical sliding pair. The auger 19 moves up and down synchronously with the sliding members 16 on both sides. During the up and down movement of the auger 19, the height of the gap channel between the auger 19 and the auger concave plate 27 can be changed so that the gap channel can be adaptively adjusted according to the feed amount to prevent material blockage. The upper end of the sliding member 16 is fixed to one end of the limit bolt 17, and the other end of the limit bolt 17 is suspended on the frame through the limit member. The lower end of the sliding member 16 is connected to one end of the tension spring 15. The other end of the tension spring 15 is connected to the frame via a preload adjustment bolt 14. The preload adjustment bolt 14 can adjust the preload tension of the tension spring 15 by changing the height of the connection end with the tension spring 15.

[0068] The specific installation form of the above-mentioned sliding member 16 on the frame and the specific structure of the sliding member 16 can be optimized and adjusted according to actual conditions. Figures 7-10 As shown, in this embodiment, the sliding member 16 is a groove-shaped structural member, including a bottom plate and side plates installed on both sides of the bottom plate. The bottom plate of the groove-shaped structural member is provided with mounting holes for mounting seat bearings, and the seat bearings at both ends of the auger 19 are installed in the mounting holes of the groove-shaped structural member on both sides. Figure 11 As shown, two guide grooves 36 are respectively provided on each side plate of the trough-type structure. When the trough-type structure is in the installed state, the length direction of the two guide grooves 36 is vertical. Two parallel limit plates are provided on the frame, and the spacing between the limit plates is slightly larger than the width of the trough-type structure. The trough-type structure is installed between the two limit plates, and two groups of guide bolts 32 are fixed on each limit plate. The four groups of guide bolts 32 extend into the four guide grooves 36 on the side plates respectively. In the vertical direction, since the guide grooves 36 have a certain length, the trough-type structure can move up and down within the range of the guide grooves 36; but in the horizontal direction, nuts are screwed on the four groups of guide bolts 32 to limit the lateral swing of the trough-type structure, thereby limiting the trough-type structure to only be able to slide up and down but not move horizontally, so that the augers 19 have the freedom to adjust up and down but will not shake horizontally.

[0069] The aforementioned channel-shaped structure can be secured directly or indirectly to the limiting bolt 17 and tension spring 15. In this embodiment, a limiting bolt fixing plate 35 is fixed above the channel-shaped structure. One end of the limiting bolt 17 is secured to the limiting bolt fixing plate 35, thereby limiting the channel-shaped structure. Furthermore, a tension spring hanging rod 33 is fixed below the channel-shaped structure. A hook is provided at one end of the tension spring 15, which is connected to the tension spring hanging rod 33 via the hook to facilitate removal and replacement.

[0070] In addition, to ensure that a gap is formed between the auger 19 and the auger concave plate 27 in the initial state, thereby preventing the auger 19 from hitting the auger concave plate 27, the other end of the limit bolt 17 is suspended on the frame via a limit member. The form of the limit member is not limited, and theoretically, it can serve as a one-way limit to the downward movement of the limit bolt 17 in the initial state. In this embodiment, the limit member is a double locking nut screwed onto the limit bolt 17 and located on the outside of the frame. When the limit bolt 17 is in the lower limit position, the double locking nut is in contact with the frame, limiting further downward movement of the limit bolt 17 but not its upward movement.

[0071] Similarly, the preload adjustment bolt 14 needs to have a certain amount of vertical adjustment margin so that the preload tension of the tension spring 15 can be adjusted by changing the height of the connection end with the tension spring 15 to adapt to different operating conditions. This can be achieved by providing a connecting fixture for the preload adjustment bolt 14 to the frame. In this embodiment, the preload adjustment bolt 14 passes through a mounting plate of the frame and is screwed onto two nuts: one nut located on the inner side of the mounting plate and the other on the outer side. The preload adjustment bolt 14 is secured by tightening the two nuts on either side of the mounting plate. To change the height of the end of the preload adjustment bolt 14, the two nuts can be loosened to adjust the height of the end of the preload adjustment bolt 14 and then tightened again on either side of the mounting plate. Thus, the height of the end of the preload adjustment bolt 14 can be changed by simply adjusting the position of the two nuts on the preload adjustment bolt 14. The difference in the height of the end of the preload adjustment bolt 14 directly affects the preload tension of the tension spring 15. Of course, the pre-tensioning force of the tension spring 15 is also related to the stiffness of the spring, and the specific optimal stiffness of the spring needs to be determined in advance through experiments.

[0072] Thus, the auger 19 can be elastically attached to the frame through two sets of tension springs 15 and limit bolts 17 on both sides. In its initial state, it has the freedom to move in a single upward direction in the vertical direction. At the same time, the initial gap between the auger 19 and the auger concave plate 27 can be set by the double locking nuts of the limit bolts 17; the preload force of the tension spring 15 can be set by the preload adjustment bolt 14. When the feed rate increases, the extrusion pressure of the peanut seedling material on the auger 19 and the auger concave plate 27 increases. Since the auger concave plate 27 is fixed to the seedling frame, when the extrusion pressure increases to a certain level, the auger 19 will overcome its own gravity and the preload force of the tension spring 15 and move upward. The amount of extrusion pressure on the auger 19 by the material is proportional to the distance the tension spring moves.

[0073] In the initial position of the auger 19, the stopper and the frame cooperate to keep the stop bolt 17 at the lower limit position, at which point the clearance channel maintains its initial height. When the thickness of the peanut stalks in the clearance channel exceeds the initial height, the auger 19, under the compressive force exerted by the peanut stalks, overcomes the tension of the tension springs 15 on both sides and moves upward. This position provides a certain overload margin, preventing material blockage.

[0074] The drive method of the above-mentioned auger 19 and pickup can be various. In this embodiment, a drive sprocket is provided at the end of the drive shaft of the auger 19. When the drive sprocket is driven to rotate, it can drive the auger 19 to rotate synchronously, and the pickup is driven by the drive sprocket through a transmission mechanism. Specifically, a pickup sprocket 24 is fixed to the end of the pickup's drive shaft. The drive sprocket is driven by the auger-pickup drive chain 25 and the pickup sprocket 24. The drive sprocket is driven by the power shaft-auger drive chain 23 and the power shaft driven sprocket 29 installed at one end of the power shaft 21. The other end of the power shaft 21 is equipped with a power shaft hydraulic drive sprocket 28. The power shaft hydraulic drive sprocket 28 is provided with driving force by the hydraulic triple pump 2, thereby providing power for the auger 19 and the pickup.

[0075] To monitor the forces acting on the auger 19 and auger concave 27, a tension / compression sensor can be used. However, these sensors have high requirements for installation and operating environment. Peanut harvesters operate under complex and variable conditions, with significant vibrations. This results in unstable operation, easy damage, and poor reliability. Therefore, the present invention proposes monitoring the torque of the power shaft to indirectly reflect the force acting on it, and thus the feed rate. Specifically, a torque sensor 22 is mounted on the power shaft 21 to detect the torque acting on the power shaft 21 in real time. The torque sensor 22 is connected to the power shaft 21. As the feed rate increases, the torque required to rotate the picker increases. As the thickness of the peanut seedling layer between the auger 19 and the auger concave 27 increases, the force acting on the auger 19 increases, and the torque required for rotation increases. These torques are transmitted to the power shaft 21 via the picker sprocket 24, the auger-to-pickup drive chain 25, the power shaft-auger drive chain 23, and the power shaft driven sprocket 29. The torque sensor 22 increases, thus enabling the monitoring of the feed rate during harvesting.

[0076] The fruit picking device 10 includes a conveying and dispersing device 12, which consists of multiple sets of fruit picking rollers and concave screens connected in series with matching curvatures. Each set of concave screens is positioned below a fruit picking roller. The fruit picking rollers are surrounded by multiple spring teeth. When the fruit picking rollers are driven by the power shaft in the fruit picking device's hydraulic drive assembly 11, the spring teeth rotate continuously, striking the peanut pods below, causing the pods to fall and simultaneously pushing the peanut pods to continue moving downstream. The concave screens are elastically supported by springs. When the material layer above thickens and the load increases, the springs deform, causing the concave screens to sink, increasing the height of the passageway between them and the fruit picking rollers, thus ensuring a certain overload capacity. Multiple displacement sensors 9 monitor the displacement of the concave screens in the fruit picking device 10 to monitor the workload of the fruit picking device in real time. A torque sensor is also positioned on the power shaft in the hydraulic drive assembly 11 to monitor the torque. Changes in torque provide feedback on changes in the workload of the fruit picking device. Thus, by coupling the displacement of the concave screen and the torque of the power shaft in the hydraulic drive assembly 11, the workload of the fruit picking device can be comprehensively reflected, thereby facilitating closed-loop control of the workload of the fruit picking device. When the workload of the fruit picking device changes, the speed of the power shaft of the hydraulic drive assembly 11 can be adjusted to change the speed of the fruit picking rollers of the fruit picking device 10, thereby adjusting the feed rate of the fruit picking device.

[0077] The cleaning device 6 includes a cleaning screen with holes smaller than the size of the peanut pods. A fan is located below the cleaning screen to blow air upward, while a vibrating mechanism simultaneously applies high-frequency vibrations to the cleaning screen. The fan and the vibrating mechanism's power wheels are connected via a transmission chain to the sprocket at the end of the power shaft of the cleaning device's hydraulic drive assembly 7, which receives a unified power input from this power shaft. After passing through the fruit picking device 10, the peanut pods, along with debris such as soil and branches, enter the vibrating cleaning screen. The wind force exerted by the fan through the cleaning screen separates the debris from the peanut pods. Wind pressure differential sensors 8 can be positioned above and below the cleaning screen. These sensors monitor the wind pressure differential above and below the cleaning screen to detect blockage. Changes in the wind pressure differential indicate changes in the screen's blockage and workload. A torque sensor is also positioned on the power shaft of the cleaning device's hydraulic drive assembly 7 to monitor torque. Changes in torque provide feedback on changes in the cleaning device's workload. Thus, by coupling the wind pressure difference and the torque on the power shaft of the cleaning device hydraulic drive assembly 7, the workload changes of the cleaning device can be comprehensively reflected, thereby facilitating closed-loop control of the cleaning device workload. When the cleaning device workload changes, the fan speed and vibration frequency of the cleaning device 6 can be changed by adjusting the power shaft speed of the cleaning device hydraulic drive assembly 7 to adjust the feed rate of the cleaning device.

[0078] The peanut pods finally output by the cleaning device 6 enter the pneumatic conveying device 5, and the rising airflow of the pneumatic conveying device 5 transports the peanut pods to the fruit collecting device 4 above for temporary storage.

[0079] Based on the above-mentioned intelligent monitoring system in this embodiment, the monitoring and control method of the peanut picking combine harvester is further described below. It adopts multiple sensors such as torque sensor, wind pressure difference sensor, displacement sensor and HST continuously variable transmission to monitor the picking and harvesting conditions such as the feeding amount of the picking platform, the blockage of the cleaning screen, the congestion of the fruit picking roller, and the forward speed of the harvester, and uses the respective advantages of adaptive control and robust control to control the forward speed and the rotation speed of the fruit picking roller and the fan speed and vibration frequency of the cleaning screen to realize the monitoring method of the quantitative operation of the picking and conveying device, the fruit picking device and the cleaning device, as shown in the following figure. Figure 12 As shown:

[0080] 1. When the peanut picking platform feed rate increases, the torque on the picker and auger increases, and the torque measured by the torque sensor increases. The controller adjusts the hydraulic solenoid valve to increase the speed of the power shaft hydraulic drive sprocket, thereby increasing the speed of the auger and picker, increasing the picking and pushing capacity of the picking platform, and promptly clearing the congested peanut seedlings from the picking platform, thereby preventing further congestion. However, since there is a certain initial gap between the auger 19 and the auger concave plate 27 during normal operation of the picking platform, and the tension spring can move the auger 19 upward to increase the gap, the peanut seedling material layer has a certain thickness. When the feed rate increases slightly, the increase in the power shaft torque ΔT is small. The picking platform has a certain overload handling capacity, and in this case, it is not necessary to increase the speed of the auger and picker by adjusting the control solenoid valve. The increase in the power shaft torque ΔT is used as the load Q1 of the peanut picking platform. Only when the feeding amount reaches a certain level, that is, Q1 is greater than the preset rated threshold and lasts for a period of time t1, if t1 ≥ the preset value t11, and t1 is less than the preset value t12, it means that the feeding amount of the picking platform is too large and the congestion level is likely to increase. It is necessary to adopt an adaptive control method to adjust the speed of the picking platform hydraulic motor through the picking platform hydraulic solenoid valve to increase the speed of the picking teeth and the auger, quickly pick up the peanut seedlings, gather them together and transport them, and reduce congestion; if the duration t1 is greater than or equal to the preset value t12, it means that the feeding amount of the picking platform is too large for a long time, and adjusting the speed of the picking teeth and the auger can no longer reduce the trend of increasing congestion. In this case, it is necessary to directly adjust the speed of the travel hydraulic motor through the travel solenoid valve to reduce the forward speed of the whole machine.

[0081] 2. Similarly, in the fruit picking device, the displacement sensor monitors the real-time sinking displacement L of the concave screen relative to the initial state, and the torque sensor monitors the real-time torque T1 of the power shaft used to drive the fruit picking roller. L and T1 are divided by the maximum value of their respective detection ranges L. max and T1 maxThe two dedimensionalized percentage values ​​are then weighted and fused to form the real-time workload Q2 = w corresponding to the fruit picking device. 11 *L / L max +w 12 *T1 / T1 max Only when the workload Q2 of the fruit picking drum is greater than the preset rated threshold value and lasts for a period of time t2, if t2 ≥ the preset value t21, and t2 is less than the preset value t22, it indicates that the feeding amount of the fruit picking device is too large and the congestion level is increasing. It is necessary to adopt a robust control method to adjust the speed of the hydraulic motor of the fruit picking drum through the hydraulic solenoid valve of the fruit picking drum to increase the speed of the fruit picking drum, quickly discharge the peanut seedlings from the fruit picking device, and reduce the congestion level. If the duration t2 is greater than or equal to the preset value t22, it indicates that the feeding amount of the fruit picking device is too large for a long time, and adjusting the speed of the fruit picking drum can no longer reduce the aggravation of the congestion level. It is necessary to directly adjust the speed of the hydraulic motor of the picking platform through the solenoid valve of the picking platform, reduce the speed of the picking tines and the augers, and reduce the discharge amount of the picking device before picking.

[0082] 3. Similarly, in the cleaning device, the real-time wind pressure difference F between the upper and lower sides of the cleaning screen is monitored by the wind pressure difference sensor, and the real-time torque T2 of the power shaft used to simultaneously provide power to the fan and the vibration mechanism is monitored by the torque sensor on the power shaft of the hydraulic drive assembly 7 of the cleaning device. F and T2 are divided by the maximum value of their respective detection ranges F. max and T2 max The two dedimensionalized percentage values ​​are then weighted and fused to form the real-time workload Q3 = w corresponding to the cleaning device. 21 *F / F max +w 22 *T2 / T2 max Only when the workload Q3 of the cleaning device is greater than the preset rated threshold value and lasts for a period of time t3, if t3 ≥ the preset value t31, and t3 is less than the preset value t32, does it mean that the feeding amount of the cleaning device is too large and the clogging of the cleaning screen surface is aggravated, and it is necessary to adopt the intelligent PI control method to adjust the speed of the hydraulic motor of the cleaning screen through the hydraulic solenoid valve of the cleaning screen to increase the vibration frequency and fan speed of the cleaning screen, quickly discharge the peanut vines and debris from the cleaning device, and reduce the degree of clogging; if the duration t3 is greater than or equal to the preset value t32, it means that the feeding amount of the cleaning device is too large for a long time, and adjusting the vibration frequency and fan speed of the cleaning screen cannot reduce the degree of clogging in time, then it is necessary to directly adjust the speed of the hydraulic motor of the fruit picking drum through the solenoid valve of the fruit picking drum, reduce the speed of the fruit picking drum, and reduce the discharge amount of the fruit picking device in the previous link of cleaning.

[0083] It should be noted that the above weight value w 11 、w 12 、w21 、w 22 All need to be optimized according to the actual situation. In a preferred embodiment, w 11 =0.6, w 12 =0.4, w 21 =0.6, w 22 =0.4.

[0084] The embodiment described above is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Persons skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, any technical solution obtained by equivalent substitution or equivalent transformation falls within the scope of protection of the present invention.

Claims

1. An intelligent monitoring system for a peanut harvester. The peanut harvester is driven by a travel drive mechanism to travel in a field. The peanut harvester comprises a peanut picking platform, a fruit picking device, a cleaning device, and a fruit collecting device. In the peanut picking platform, the peanut seedlings are picked up by the picker and then driven by the auger to gather the peanut seedlings and put them into the fruit picking device; In the fruit picking device, peanut seedlings enter a channel formed by a fruit picking roller and a concave screen, and are transported backward along the concave screen under the impact and drive of the spring teeth on the rotating fruit picking roller. The peanut pods and debris that are knocked off are input into the cleaning device. The concave screen is supported by an elastic support device and will sink as the load on it increases. In the cleaning device, peanut pods and debris enter the cleaning screen, and are removed by the continuous vibration applied by the vibrating mechanism and the airflow applied by the fan blowing from bottom to top through the cleaning screen. The cleaned peanut pods are finally collected in the fruit collecting device. It is characterized in that During the operation of the peanut picking combine harvester in the initial state, the peanut picking platform, the fruit picking device, and the cleaning device are respectively subjected to load monitoring and feedback control. The load monitoring and control method is as follows: The first real-time torque of the power shaft for simultaneously providing power to the picker and the auger is monitored by a first torque sensor, and the first real-time torque is used as the first real-time load corresponding to the peanut picking platform; when the first real-time load exceeds a first rated threshold and lasts for more than a first time threshold but does not exceed a second time threshold, the power of the picking platform driving mechanism is increased to increase the rotation speed of the picker and the auger, thereby accelerating the speed at which the peanut seedlings in the peanut picking platform are fed into the fruit picking device; when the first real-time load exceeds the first rated threshold and lasts for more than the second time threshold, the walking speed of the peanut picking combine is reduced by the walking drive mechanism, thereby reducing the amount of peanut seedlings fed to the peanut picking platform; The real-time sinking displacement of the concave screen relative to the initial state is monitored by a displacement sensor, and the second real-time torque of the second power shaft for driving the fruit picking roller to rotate is monitored by a second torque sensor. The real-time sinking displacement and the second real-time torque are respectively de-dimensionalized, and then the two de-dimensionalized values ​​are weightedly fused as the second real-time load corresponding to the fruit picking device; when the second real-time load exceeds the second rated threshold and the duration exceeds the third time threshold but does not exceed the fourth time threshold, the power of the driving mechanism of the fruit picking device is increased to increase the rotation speed of the fruit picking roller, and the beating and output speed of the peanut seedlings in the fruit picking device is accelerated; when the second real-time load exceeds the second rated threshold and the duration exceeds the fourth time threshold, the power of the driving mechanism of the picking platform is reduced to reduce the rotation speed of the picker and the augers, and the speed of the peanut seedlings in the peanut picking platform being input into the fruit picking device is slowed down; The real-time wind pressure difference between the upper and lower sides of the cleaning screen is monitored by a wind pressure difference sensor, and the third real-time torque of the third power shaft for simultaneously providing power to the fan and the vibration mechanism is monitored by a third torque sensor. The real-time wind pressure difference and the third real-time torque are respectively de-dimensionalized, and then the two de-dimensionalized values ​​are weightedly fused as the third real-time load corresponding to the cleaning device; when the third real-time load exceeds the third rated threshold and the duration exceeds the fifth time threshold but does not exceed the sixth time threshold, the power of the driving mechanism of the cleaning device is increased to increase the rotation speed of the fan and the vibration frequency of the vibration mechanism, and the discharge speed of the debris in the cleaning device is accelerated; when the third real-time load exceeds the third rated threshold and the duration exceeds the sixth time threshold, the power of the driving mechanism of the fruit picking device is reduced to reduce the rotation speed of the fruit picking roller, and the beating and output speed of the peanut seedlings in the fruit picking device are slowed down; In the peanut picking platform, a picker picks up peanut seedlings and inputs the peanut seedlings into a gap channel formed by the auger (19) and the auger concave plate (27) below the auger (19), and the peanut seedlings are transported downstream under the drive of the auger (19); A sliding member (16) is provided on the frame on both sides of the agitator (19), and both ends of the agitator (19) are fixed on the sliding member (16) through a seat bearing, and the sliding member (16) and the frame form a sliding pair in the vertical direction. The agitator (19) changes the gap height of the gap channel during the synchronous up and down movement of the sliding members (16) on both sides; the upper end of the sliding member (16) is fixed to one end of the limit bolt (17), and the other end of the limit bolt (17) is suspended on the frame through the limit member; the lower end of the sliding member (16) is connected to one end of the tension spring (15), and the other end of the tension spring (15) is connected to the frame through a preload adjusting bolt (14), and the preload adjusting bolt (14) can adjust the preload tension of the tension spring (15) by changing the height of the connection end with the tension spring (15); The agitator (19) is elastically mounted on the frame through two sets of tension springs (15) and limit bolts (17) on both sides; in the initial state, the limit member cooperates with the frame to place the limit bolts (17) in the lower limit position, and the gap channel maintains the initial height; when the thickness of the peanut seedling material in the gap channel exceeds the initial height of the gap channel, the agitator (19) overcomes the tension of the tension springs (15) on both sides under the extrusion force exerted by the peanut seedlings and moves upward; A driving sprocket is provided at the end of the driving shaft of the auger (19), and a pickup sprocket (24) is fixed to the end of the driving shaft of the pickup; the driving sprocket is driven by the auger-pickup driving chain (25) and the pickup sprocket (24), and the driving sprocket is driven by the power shaft driven sprocket (29) installed at one end of the power shaft (21) through the power shaft-auger driving chain (23); a power shaft hydraulic driving sprocket (28) is installed at the other end of the power shaft (21), and a torque sensor (22) for real-time detection of the torque applied to the power shaft (21) is installed on the power shaft (21); In the peanut picking platform, when the power of the picking platform drive mechanism or the travel drive mechanism is changed because the first real-time load exceeds the first rated threshold, the first real-time load needs to be continuously monitored. If the first real-time load falls back below the first rated threshold and the duration is greater than the seventh time threshold, the picking platform drive mechanism or the travel drive mechanism is readjusted to the initial state before the change; In the fruit picking device, when the power of the fruit picking device drive mechanism or the picking platform drive mechanism is changed because the second real-time load exceeds the second rated threshold, the second real-time load needs to be continuously monitored. If the second real-time load falls back below the second rated threshold and the duration is greater than the eighth time threshold, the fruit picking device drive mechanism or the picking platform drive mechanism is readjusted to the initial state before the change. In the cleaning device, when the power of the cleaning device drive mechanism or the fruit picking device drive mechanism is changed because the third real-time load exceeds the third rated threshold, it is necessary to continue to monitor the third real-time load. If the third real-time load falls back below the third rated threshold and the duration is greater than the ninth time threshold, the cleaning device drive mechanism or the fruit picking device drive mechanism is readjusted to the initial state before the change.

2. The intelligent monitoring system for a peanut picking combine harvester according to claim 1, characterized in that: The first torque sensor, displacement sensor, second torque sensor, wind pressure difference sensor, third torque sensor, and power control components of the walking drive mechanism, picking platform drive mechanism, fruit picking device drive mechanism and cleaning device drive mechanism are all electrically connected to the controller to form a feedback control system.

3. The intelligent monitoring system for a peanut picking combine harvester according to claim 1, characterized in that: The walking drive mechanism, picking platform drive mechanism, fruit picking device drive mechanism and cleaning device drive mechanism are all hydraulic drive mechanisms, and their power is provided by a hydraulic triple pump. The power of each hydraulic drive mechanism is controlled by the opening of different independent hydraulic solenoid valves.

4. The intelligent monitoring system for a peanut picking combine harvester according to claim 1, wherein: The limiting member is a double locking nut screwed on the limiting bolt (17) and located outside the frame. When the limiting bolt (17) is located at the lower limit position, the double locking nut fits into the frame, limiting the limiting bolt (17) from further downward movement but not limiting its upward movement.

5. The intelligent monitoring system for peanut picking combine harvester according to claim 1, characterized in that: The preload adjustment bolt (14) is screwed with two nuts located inside and outside the frame, respectively, and the height of the end of the preload adjustment bolt (14) is changed by adjusting the positions of the two nuts on the preload adjustment bolt (14).

6. The intelligent monitoring system for a peanut picking combine harvester according to claim 1, characterized in that: When performing the dedimensionalization on an indicator, it is achieved by dividing the current value of the indicator by the maximum value within the detection range of the indicator.

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