A residual film recycling machine and its membrane soil agglomerate recycling quality control device and method

Abstract

A residual film recycling machine and its membrane soil agglomeration recycling quality control device and method are disclosed. The residual film recycling machine includes a membrane soil agglomeration recycling quality control device, which comprises a speed sensor, an angle sensor, a pivot pin sensor, a wire displacement sensor, an industrial camera, and a data acquisition unit. The data acquisition unit is connected to the speed sensor, angle sensor, pivot pin sensor, and wire displacement sensor respectively, and is used to collect corresponding sensor signals and generate data information. An industrial control computer is also disclosed, connected to the industrial camera, the data acquisition unit, the depth-limiting wheel, and the hydraulic cylinder of the lifting and walking mechanism respectively, for receiving and processing the image information and data information, and then sending control commands to the depth-limiting wheel and the hydraulic cylinder of the lifting and walking mechanism to achieve multi-parameter dynamic coupling quality control of the membrane soil agglomeration recycling process. This invention also provides a membrane soil agglomeration recycling quality control method, ensuring the operational quality and efficiency of the residual film recycling machine.

Description

Technical Field

[0001] This invention relates to residual film recycling and agricultural monitoring and control technology, and in particular to a residual film recycling machine and its device and method for controlling the quality of film-soil aggregate recycling. Background Technology

[0002] Plastic mulching technology, as an effective means to increase yield and income, ensure food security, conserve water and moisture, reduce soil salinity, and effectively prevent pests and diseases, is widely used on more than 40 crops, including grains, cotton, oilseeds, vegetables, fruits, tobacco, sugar, medicinal herbs, hemp, tea, and forestry, resulting in increased crop yields and added value. However, while plastic mulching technology brings increased production and efficiency to agriculture, it also brings "white pollution." Residual plastic film is extremely difficult to degrade under natural conditions, and large amounts of plastic film left in the fields have a significant impact on soil physical and chemical properties and crop yields, which is detrimental to sustainable agricultural development. The amount of residual plastic film in the soil has become an issue that cannot be ignored in agricultural development.

[0003] Existing technologies for addressing plastic film pollution in fields include manual recycling and mechanical collection of residual film. Manual recycling involves manually removing the film from the field, which is inefficient and unsuitable for large-scale farming. Mechanical recycling uses machinery to collect the film, and using a residual film recycling machine is currently the best method for managing residual film. With continuous improvements in film collection tools, mechanized film collection methods have changed significantly, and various residual film recycling machines with different functions have emerged at different times. Based on the timing of agronomic operations, residual film recycling machines can be categorized into seedling stage residual film recycling machines, autumn residual film recycling machines, and pre-sowing residual film recycling machines, with autumn recycling machines being the most widely used. According to different operational methods, they can be divided into single-operation machines and combined operation machines, with combined operation machines including straw crushing and returning to the field for residual film recycling and land preparation for residual film recycling. Based on the depth of the working parts entering the soil, they can be divided into surface residual film recycling machines and topsoil residual film recycling machines. Based on the different key film collection components, they can be divided into roller type, spring-tooth type, toothed chain type, and roller winding type, etc. Among these, the roller type film collection component mainly relies on an eccentric mechanism, cam, or slide rail to achieve the extension and retraction of the film-picking spring teeth, completing the picking and unloading of residual film; the overall structure is complex and the cost is high. The spring-tooth type film collection component has a simple structure and low cost, but the residual film recycling rate is low.

[0004] The operating environment of residual film recycling machines is harsh, resulting in a high failure rate; therefore, operational reliability is a crucial indicator. Existing residual film recycling machines suffer from low levels of intelligence, low recycling rates, short stable operating times, and susceptibility to changes in external environments. They also lack the ability to monitor actual operating parameters and collect relevant data on machine operation status in real time. The recycling effect of the machine depends on the effectiveness of the film-raising device; failure to adjust the operating depth promptly will lead to decreased overall machine efficiency, increased probability of failure, accelerated wear and tear on working parts, and in severe cases, even machine damage. Therefore, quality control of residual film recycling machines is of great significance for promoting efficient recycling of agricultural film throughout the entire process and improving the utilization of waste agricultural film resources; it is also a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the above-mentioned deficiencies of the prior art by providing a residual film recycling machine and a device and method for controlling the quality of film soil agglomerate recycling.

[0006] To achieve the above objectives, the present invention provides a membrane soil aggregate recycling quality control device, wherein the device is installed on a residual membrane recycling machine and includes:

[0007] A speed sensor is installed on the rotating shaft of the main rotating wheel, the secondary transmission wheel, the tertiary transmission wheel, the film removal mechanism, the rotary tillage and loosening mechanism, and the secondary film collection mechanism of the residual film recycling machine, and is used to detect the rotation speed.

[0008] An inclination sensor is installed on the film-lifting tray and the lifting and walking mechanism of the residual film recycling machine to detect the inclination angle of the film-lifting tray and the lifting and walking mechanism.

[0009] A shaft pin sensor is installed on the shaft of the depth-limiting wheel of the residual film recycling machine to detect the pressure of the depth-limiting wheel;

[0010] A wire displacement sensor is installed on the hydraulic cylinders of the depth-limiting wheel and the lifting travel mechanism to detect the extension and retraction displacement of the hydraulic cylinders. The depth-limiting wheel and the lifting travel mechanism are respectively controlled to lift and lower through their respective hydraulic cylinders.

[0011] An industrial camera is installed above the primary and secondary picking mechanisms of the residual film recycling machine to generate image information to detect the residual film recycling status.

[0012] The data acquisition unit is connected to the speed sensor, tilt sensor, shaft pin sensor, and wire displacement sensor respectively, and is used to acquire the corresponding sensor signals and generate data information; and

[0013] An industrial control computer is connected to the industrial camera, data acquisition unit, depth-limiting wheel, and hydraulic cylinder of the lifting and walking mechanism, respectively. It is used to receive the image information and data information, process them, and then send control commands to the depth-limiting wheel and the hydraulic cylinder of the lifting and walking mechanism, thereby realizing multi-parameter dynamic coupling quality control of the membrane soil agglomerate recovery process.

[0014] The aforementioned membrane soil agglomerate recycling quality control device further includes: an ultrasonic proximity sensor, installed on the top of the membrane collection box of the residual membrane recycling machine and connected to the data acquisition unit, for detecting whether the amount of residual membrane recycled exceeds the set height.

[0015] The aforementioned membrane soil agglomerate recycling quality control device further includes: a pressure sensor installed at the bottom of the membrane collection box and connected to the data acquisition unit, used to detect the total amount of recycled residual membrane in the membrane collection box.

[0016] To better achieve the above objectives, the present invention also provides a method for quality control of membrane soil aggregate recovery, wherein the method for achieving multi-parameter dynamic coupling quality control of the residual membrane recovery machine during the membrane soil aggregate recovery process includes the following steps:

[0017] S100. Adjust the depth limiting wheel, film lifting plate and lifting walking mechanism of the residual film recycling machine to the set position according to the set rotary tillage depth and working depth.

[0018] S200, The rotational speeds of the main rotating wheel, secondary transmission wheel, tertiary transmission wheel, film removal mechanism, rotary tillage and loosening mechanism, and secondary film collection mechanism of the residual film recycling machine are detected by a speed sensor. The residual film recycling machine begins operation after the transmission is stable.

[0019] S300 uses a shaft pin sensor, tilt sensor and wire displacement sensor to detect the pressure of the depth limiting wheel, the tilt angle between the rotary tillage and loosening mechanism and the film lifting support plate, and the extension and retraction displacement of the hydraulic cylinder of the depth limiting wheel and the lifting and walking mechanism, respectively, and sends them to the data acquisition unit to generate data information.

[0020] S400 uses an industrial camera to detect residual film recycling and generate image information; and

[0021] S500 and the industrial control computer receive the data and image information, and after processing the data and image information according to the pre-established multi-parameter dynamic coupling quality control model for membrane soil agglomerate recovery, send control commands to the hydraulic cylinders of the depth limiting wheel and the lifting walking mechanism respectively, adjust the rotary tillage depth of the rotary tillage and loosening mechanism to keep it consistent, and / or adjust the soil penetration depth of the membrane lifting support plate to the set depth.

[0022] The aforementioned method for quality control of membrane soil aggregate recovery also includes:

[0023] S600: A pressure sensor is used to detect the gravity of the film collection box of the residual film recycling machine to accurately obtain the quality of the recycled residual film.

[0024] The aforementioned method for quality control of membrane soil aggregate recovery also includes:

[0025] S700: An ultrasonic proximity sensor is used to detect whether the total amount of residual film in the film collection box of the residual film recycling machine exceeds the set height; if the total amount of residual film in the film collection box is close to or exceeds the set height, the residual film recycling machine is prompted to stop working.

[0026] The above-mentioned method for controlling the quality of membrane soil aggregate recovery includes a multi-parameter dynamic coupling quality control model for membrane soil aggregate recovery, which includes a model showing the relationship between the extension length of the hydraulic cylinder of the lifting and walking mechanism and the rotation angle of the membrane lifting support plate. By controlling the extension length of the hydraulic cylinder of the lifting and walking mechanism, the tilt angle of the membrane lifting support plate is adjusted to accurately adjust the insertion depth of the membrane lifting support plate into the soil to a set depth.

[0027] The above-mentioned method for controlling the quality of soil aggregate recovery includes a multi-parameter dynamic coupling quality control model for soil aggregate recovery, which further includes a model relating the pressure of the depth-limiting wheel to the extension and retraction displacement of the hydraulic cylinder of the depth-limiting wheel. The pressure of the depth-limiting wheel is adjusted by controlling the extension and retraction length of the hydraulic cylinder of the depth-limiting wheel to keep the rotary tillage depth consistent.

[0028] In the aforementioned method for controlling the quality of membrane soil aggregate recovery, the relationship model between the extension length of the hydraulic cylinder of the lifting and walking mechanism and the rotation angle of the membrane lifting support plate is as follows:

[0029]

[0030] Where △l is the extension length of the hydraulic cylinder of the lifting and walking mechanism; To adjust the distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the lifting mechanism suspension frame and the frame; This is to adjust the distance between the hinge point of the suspension frame and the frame of the adjustable walking mechanism and the hinge point of the hydraulic cylinder of the adjustable walking mechanism and the frame; θ is the initial distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the hydraulic cylinder of the lifting mechanism and the frame; Δθ is the rotation angle of the film lifting support plate; θ2 is the tilt angle of the lifting mechanism suspension frame after adjustment.

[0031] The above-mentioned method for controlling the quality of membrane-soil aggregate recovery, wherein adjusting the embedment depth of the membrane support plate to a set depth, further includes:

[0032] S501, Adjust the soil penetration depth of the film-lifting support plate according to the residual film recovery status detected by the industrial camera;

[0033] S502. The initial tilt angles of the film-forming support plate, the lifting and walking mechanism suspension frame, and the hydraulic cylinder are recorded as θ, θ1, and θ3, respectively.

[0034] S503, the adjusted tilt angles of the film-forming support plate, the liftable walking mechanism suspension frame, and the hydraulic cylinder are recorded as θ′, θ2, and θ4, respectively;

[0035] S504, based on the detected tilt angle information, calculate the initial ∠c1ac2 as (180°-θ1-θ3), and the adjusted ∠d1bd2 as (180°-θ2-θ4);

[0036] S505, obtained using the Law of Cosines of a Triangle. And the calculation yielded:

[0037] S506. Initially, line c1c2 is parallel to the ground, and Δθ = θ′ - θ is equal to the rotation angle ∠d2d1b - θ2 of line d1d2 around line c1c2.

[0038] S507, we obtain:

[0039] S508, according to The relationship between the extension / retraction length of the hydraulic cylinder and the rotation angle of the film-lifting support plate is obtained as follows:

[0040] S509. Based on the sensor monitoring of the extension and retraction length of the hydraulic cylinder, a closed-loop feedback is formed and continuously adjusted to obtain the accurate rotation angle of the film lifting plate. Finally, a mathematical model between the extension and retraction length of the hydraulic cylinder and the rotation angle of the film lifting plate is obtained. By controlling the extension and retraction length of the hydraulic cylinder, the tilt angle of the film lifting plate is adjusted to achieve the adjustment of the soil penetration depth of the film lifting plate to the set depth.

[0041] in, To adjust the distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the lifting mechanism suspension frame and the frame; To adjust the distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the hydraulic cylinder of the lifting mechanism and the frame; This is to adjust the distance between the hinge point of the suspension frame and the frame of the adjustable walking mechanism and the hinge point of the hydraulic cylinder of the adjustable walking mechanism and the frame; The initial distance is the distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the hydraulic cylinder of the lifting mechanism and the frame.

[0042] In the above-mentioned method for controlling the quality of membrane soil aggregate recovery, the relationship model between the pressure of the depth-limiting wheel and the extension and retraction displacement of the hydraulic cylinder of the depth-limiting wheel is: P = K1X 2 +K2X+K3; where K1, K2, and K3 are correction coefficients; P is the pressure of the depth-limiting wheel detected by the shaft pin sensor, and X is the extension and retraction displacement of the hydraulic cylinder of the depth-limiting wheel detected by the wire displacement sensor.

[0043] The above-mentioned method for controlling the quality of soil aggregate recovery, wherein adjusting the rotary tillage depth of the rotary tillage mechanism to maintain consistency, further includes:

[0044] S511. A pin-type sensor is used to detect the pressure of the depth-limiting wheel. The pressure of the depth-limiting wheel detected by the pin-type sensor is P, and the extension and retraction displacement of the hydraulic cylinder of the depth-limiting wheel detected by the wire displacement sensor is X.

[0045] S512. Set up multiple sets of tests for calibration, and fit them to obtain the relationship model between the pressure of the depth-limiting wheel and the extension and retraction displacement of the hydraulic cylinder of the depth-limiting wheel: P = K1X 2 +K2X+K3;

[0046] S513. The telescopic displacement relationship model of the depth-limiting wheel hydraulic cylinder is experimentally verified, and correction coefficients K1, K2, and K3 are applied.

[0047] S514. Based on the sensor monitoring of the extension and retraction length of the hydraulic cylinder, a closed-loop feedback is formed and continuously adjusted to ensure that the rotary tillage depth remains consistent.

[0048] S515. Generate a mathematical model between the extension and retraction length of the hydraulic cylinder and the pressure of the depth limiting wheel. Adjust the pressure of the depth limiting wheel by controlling the extension and retraction length of the hydraulic cylinder to maintain a consistent rotary tillage depth.

[0049] To better achieve the above objectives, the present invention also provides a residual film recycling machine, including the above-mentioned membrane soil agglomerate recycling quality control device.

[0050] The technical advantages of this invention are as follows:

[0051] This invention can detect the operating parameters of each component in real time and automatically adjust them to the appropriate operating depth, greatly improving the automation level of multi-parameter dynamic coupling recycling of film-soil aggregates. It fills the gap in intelligent control of residual film recycling, fundamentally solving problems such as low residual film recycling efficiency, poor operation quality, and low automation level. This achieves high-quality and efficient residual film recycling, reduces equipment failure rate, and ensures increased crop yield and quality. Specifically, it uses multiple sensors—including axle pin sensors, tilt sensors, wire displacement sensors, and industrial cameras—to dynamically detect multiple parameters such as the pressure of the depth-limiting wheel, the tilt angle between the rotary tillage mechanism and the film-lifting support plate, the extension and retraction displacement of the hydraulic cylinder of the depth-limiting wheel and the lifting mechanism, and the residual film recycling status. This ensures that the rotary tillage depth of the rotary tillage mechanism remains consistent and that the insertion depth of the film-lifting support plate is adjusted to the appropriate position, thereby improving residual film recycling efficiency and ensuring operation quality. This achieves multi-parameter dynamic coupling quality control of film-soil aggregate recycling. The extension and retraction displacement of the hydraulic cylinder of the lifting mechanism are also considered. A mathematical model relating the extension length to the rotation angle of the film-lifting pallet enables the adjustment of the tilt angle of the film-lifting pallet by adjusting the extension length of the hydraulic cylinder of the lifting and walking mechanism. This allows for accurate adjustment of the film-lifting pallet's soil penetration depth, improving the quality of residual film recovery and reducing equipment failure rate. Furthermore, a mathematical model relating the pressure of the depth-limiting wheel to the extension displacement of its hydraulic cylinder enables the adjustment of the depth-limiting wheel pressure by controlling the extension length of the hydraulic cylinder. This ensures consistent rotary tillage depth, providing favorable conditions for the film-lifting pallet to penetrate the soil and for picking up residual film, ensuring high-quality and efficient residual film recovery and reducing equipment failure rate.

[0052] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of a residual film recycling machine according to an embodiment of the present invention;

[0054] Figure 2 This is a schematic diagram illustrating the soil penetration depth adjustment of the film-lifting support plate according to an embodiment of the present invention;

[0055] Figure 3 This is a schematic diagram illustrating the principle of quality control for membrane soil aggregate recovery according to an embodiment of the present invention.

[0056] Among them, the attached reference numerals

[0057] 1 traction frame

[0058] 2. Transmission box

[0059] 3 main drive wheels

[0060] 4. Drive belt

[0061] 5 limit tensioning wheels

[0062] 6 Secondary transmission wheel

[0063] 7. Three-stage transmission wheel

[0064] 8. Demolding mechanism

[0065] 9-cell membrane box

[0066] 10 Secondary membrane collection mechanism

[0067] 11 Liftable Walking Mechanism

[0068] 12 Level 2 Pickup Organizations

[0069] 13 Level 1 Pickup Organization

[0070] 14 membrane support plates

[0071] 15 Rotary Tillage and Soil Loosening Mechanism

[0072] 16 depth-limiting wheels Detailed Implementation

[0073] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0074] See Figure 1 , Figure 1 This is a schematic diagram of a residual film recycling machine according to an embodiment of the present invention. The residual film recycling machine of the present invention includes a frame and a transmission box 2, a main transmission wheel 3, a secondary transmission wheel 6, and a tertiary transmission wheel 7 sequentially arranged on the frame. The transmission wheels are connected by a transmission belt 4, and a limiting tensioning wheel 5 may also be provided on the transmission belt 4. A rotary tillage and loosening mechanism 15, a film lifting support plate 14, a primary picking mechanism 13, a secondary picking mechanism 12, and a lifting and walking mechanism 11 are sequentially arranged below the frame. A film collection box 9 is provided at the rear end of the frame, and a traction frame 1 is connected to the front end of the frame. A film removal mechanism 8 and a secondary film collection mechanism 10 are provided corresponding to the film collection box 9. The residual film recycling machine also includes a film-soil agglomerate recycling quality control device. The composition, structure, relative positions, connections, and functions of other parts of the residual film recycling machine are all mature existing technologies, and therefore will not be described in detail here. Only the film-soil agglomerate recycling quality control device and the film-soil agglomerate recycling quality control method of the present invention will be described in detail below.

[0075] See Figure 3 , Figure 3This is a schematic diagram illustrating the principle of quality control for membrane soil agglomerates recovery according to an embodiment of the present invention. The membrane soil agglomerate recovery quality control device of the present invention is installed on a residual film recovery machine and includes: a speed sensor installed on the rotating shafts of the main rotating wheel, secondary transmission wheel 6, tertiary transmission wheel 7, film removal mechanism 8, rotary tillage and loosening mechanism 15, and secondary film collection mechanism 10 of the residual film recovery machine, for detecting rotational speed; an inclination sensor installed on the film lifting support plate 14 and the lifting and lowering mechanism 11 of the residual film recovery machine, for detecting the inclination angle of the film lifting support plate 14 and the lifting and lowering mechanism 11; a shaft pin sensor installed on the rotating shaft of the depth limiting wheel 16 of the residual film recovery machine, for detecting the pressure of the depth limiting wheel 16; a wire displacement sensor installed on the hydraulic cylinders of the depth limiting wheel 16 and the lifting and lowering mechanism 11, for detecting the extension and retraction displacement of the hydraulic cylinders, wherein the depth limiting wheel 16 and the lifting and lowering mechanism 11 are respectively controlled to lift and lower via their respective hydraulic cylinders; and may also include an ultrasonic sensor. A proximity sensor is used to detect the residual film recovery height in the film collection box 9; a pressure sensor is used to detect the total amount of residual film recovered in the film collection box 9; an industrial camera is installed above the primary pickup mechanism 13 and the secondary pickup mechanism 12 of the residual film recovery machine to generate image information to detect the residual film recovery status; a data acquisition unit is connected to the speed sensor, tilt sensor, shaft pin sensor, wire displacement sensor, ultrasonic proximity sensor and pressure sensor respectively to collect the corresponding sensor signals and generate data information; and an industrial control computer is connected to the industrial camera, the data acquisition unit and the hydraulic cylinders of the depth limiting wheel 16 and the lifting walking mechanism 11 respectively to receive the image information and data information, process them and send control commands to the depth limiting wheel 16 and the hydraulic cylinders of the lifting walking mechanism 11 to realize multi-parameter dynamic coupling quality control of the film soil agglomeration recovery process.

[0076] In this embodiment, it may further include: an ultrasonic proximity sensor, installed on the top of the film collection box 9 of the residual film recycling machine and connected to the data acquisition device, for detecting whether the amount of residual film recycled exceeds a set height. It may also further include: a pressure sensor, installed on the bottom of the film collection box 9 and connected to the data acquisition device, for detecting the total amount of residual film recycled in the film collection box 9.

[0077] The membrane soil aggregate recovery quality control method of the present invention is used to realize multi-parameter dynamic coupling quality control of the residual membrane recovery machine in the membrane soil aggregate recovery process, and includes the following steps:

[0078] Step S100: Adjust the depth limiting wheel 16, film lifting plate 14 and lifting walking mechanism 11 of the residual film recycling machine to the set position according to the set rotary tillage depth and working depth.

[0079] Step S200: The rotational speeds of the main rotating wheel, secondary transmission wheel 6, tertiary transmission wheel 7, film removal mechanism 8, rotary tillage and loosening mechanism 15, and secondary film collection mechanism 10 of the residual film recycling machine are detected by a speed sensor. After the transmission is stable, the residual film recycling machine starts to work.

[0080] Step S300: The pressure of the depth limiting wheel 16, the tilt angle between the rotary tillage and loosening mechanism 15 and the film lifting support plate 14, and the extension and retraction displacement of the hydraulic cylinder between the depth limiting wheel 16 and the lifting and walking mechanism 11 are detected by the axle pin sensor, tilt angle sensor and pull wire displacement sensor respectively, and sent to the data acquisition device to generate data information.

[0081] Step S400: Use an industrial camera to detect the residual film recycling status and generate image information; and

[0082] In step S500, the industrial control computer receives the data information and image information, and processes the data information and image information according to the pre-established multi-parameter dynamic coupling quality control model for membrane soil agglomerate recovery. Then, it sends control commands to the hydraulic cylinders of the depth-limiting wheel 16 and the lifting walking mechanism 11 respectively, to adjust the rotary tillage depth of the rotary tillage and loosening mechanism 15 to be consistent, and / or adjust the soil penetration depth of the membrane lifting support plate 14 to the set depth.

[0083] This embodiment may also include:

[0084] Step S600: Use a pressure sensor to detect the gravity of the film collection box 9 of the residual film recycling machine to accurately obtain the mass of the recycled residual film.

[0085] It may also include:

[0086] Step S700: Use an ultrasonic proximity sensor to detect whether the total amount of residual film in the film collection box 9 of the residual film recycling machine exceeds the set height; if the total amount of residual film in the film collection box 9 is close to or exceeds the set height, the residual film recycling machine will be prompted to stop working.

[0087] See Figure 2 , Figure 2This is a schematic diagram illustrating the soil penetration depth adjustment of the film-lifting support plate according to an embodiment of the present invention. In this embodiment, the multi-parameter dynamic coupling quality control model for film-soil agglomeration recovery includes a model relating the extension length of the hydraulic cylinder of the lifting and lowering mechanism to the rotation angle of the film-lifting support plate 14. By controlling the extension length of the hydraulic cylinder of the lifting and lowering mechanism, the tilt angle of the film-lifting support plate 14 is adjusted to accurately adjust the soil penetration depth of the film-lifting support plate 14 to a set depth. The multi-parameter dynamic coupling quality control model for film-soil agglomeration recovery may also include a model relating the pressure of the depth-limiting wheel 16 to the extension displacement of the depth-limiting wheel hydraulic cylinder. By controlling the extension length of the depth-limiting wheel hydraulic cylinder, the pressure of the depth-limiting wheel 16 is adjusted to maintain a consistent rotary tillage depth. The model relating the extension length of the hydraulic cylinder of the lifting and lowering mechanism to the rotation angle of the film-lifting support plate 14 is as follows:

[0088] Where △l is the extension length of the hydraulic cylinder of the lifting and walking mechanism; To adjust the distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the lifting mechanism suspension frame and the frame; This is to adjust the distance between the hinge point of the suspension frame and the frame of the adjustable walking mechanism and the hinge point of the hydraulic cylinder of the adjustable walking mechanism and the frame; θ is the initial distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the hydraulic cylinder of the lifting mechanism and the frame; △θ is the rotation angle of the film lifting support plate 14; θ2 is the tilt angle of the lifting mechanism suspension frame after adjustment.

[0089] The relationship between the pressure of the depth-limiting wheel 16 and the extension / retraction displacement of the hydraulic cylinder of the depth-limiting wheel is modeled as: P = K1X 2 +K2X+K3; where K1, K2, and K3 are correction coefficients; P is the pressure of the depth-limiting wheel 16 detected by the shaft pin sensor, and X is the extension and retraction displacement of the depth-limiting wheel hydraulic cylinder detected by the wire displacement sensor.

[0090] See Figure 2 In one embodiment of the present invention, adjusting the soil penetration depth of the film-lifting support plate 14 to a suitable parameter may further include:

[0091] Step S501: Based on the residual film recovery status detected by the industrial camera, the soil penetration depth of the film support plate 14 is adjusted to improve the residual film recovery efficiency and ensure the quality of the operation.

[0092] Step S502: The initial tilt angles of the film-raising support plate 14, the lifting walking mechanism suspension frame, and the hydraulic cylinder are recorded as θ, θ1, and θ3, respectively.

[0093] Step S503: The adjusted tilt angles of the film-lifting support plate 14, the lifting walking mechanism suspension frame, and the hydraulic cylinder are recorded as θ′, θ2, and θ4, respectively.

[0094] Step S504: Based on the tilt angle information detected above, calculate the initial ∠c1ac2 as (180°-θ1-θ3) and the adjusted ∠d1bd2 as (180°-θ2-θ4);

[0095] Step S505: According to the Law of Cosines of a Triangle, we can obtain... The calculation yields:

[0096] Step S506: Initially, line c1c2 is parallel to the ground, that is, Δθ=θ′-θ is equal to the rotation angle of line d1d2 around line c1c2, that is, ∠d2d1b-θ2;

[0097] Step S507: Based on the above steps, the following is obtained:

[0098] Step S508, according to The relationship between the extension / retraction length of the hydraulic cylinder and the rotation angle of the film-lifting support plate 14 is as follows:

[0099] Step S509: Subsequently, based on the sensor monitoring of the extension and retraction length of the hydraulic cylinder, a closed-loop feedback is formed and continuously adjusted to obtain the accurate rotation angle of the film lifting support plate 14. Finally, a mathematical model between the extension and retraction length of the hydraulic cylinder and the rotation angle of the film lifting support plate 14 is obtained. By controlling the extension and retraction length of the hydraulic cylinder, the tilt angle of the film lifting support plate 14 is adjusted, thereby achieving the process of adjusting the soil penetration depth of the film lifting support plate 14.

[0100] in, The distance between the hinge point of the suspension frame and the hydraulic cylinder of the adjustable walking mechanism and the hinge point of the suspension frame and the frame of the adjustable walking mechanism is set to a fixed value. To adjust the distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the hydraulic cylinder of the lifting mechanism and the frame; The distance between the hinge point of the suspension frame and the frame of the adjustable walking mechanism and the hinge point of the hydraulic cylinder of the adjustable walking mechanism is set to a fixed value. The initial distance between the hinge point of the lifting travel mechanism suspension frame and the hydraulic cylinder of the lifting travel mechanism and the hinge point of the lifting travel mechanism suspension frame and the frame is a fixed value. The initial distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the hydraulic cylinder of the lifting mechanism and the frame is a fixed value.

[0101] In one embodiment of the present invention, adjusting the rotary tillage depth of the rotary tillage mechanism 15 to maintain a consistent level may further include:

[0102] Step S511: Adjust the rotary tillage depth of the rotary tillage mechanism 15 according to the pressure of the depth limiting wheel 16 detected by the axle pin sensor to ensure consistency; the pressure of the depth limiting wheel detected by the axle pin sensor is P, and the extension and retraction displacement of the hydraulic cylinder of the depth limiting wheel detected by the wire displacement sensor is X.

[0103] Step S512: Set up multiple sets of tests for calibration, and fit them to obtain the relationship model between the pressure of the depth-limiting wheel and the extension and retraction displacement of the hydraulic cylinder of the depth-limiting wheel: P = K1X 2 +K2X+K3;

[0104] Step S513: Conduct experimental verification of the model and correct the coefficients K1, K2, and K3;

[0105] Step S514: Subsequently, based on the sensor monitoring of the extension and retraction length of the hydraulic cylinder, a closed-loop feedback is formed, and continuous adjustments are made to ensure that the rotary tillage depth remains consistent.

[0106] Step S515: Finally, obtain the mathematical model between the extension length of the hydraulic cylinder and the pressure of the depth limiting wheel. Adjust the pressure of the depth limiting wheel by controlling the extension length of the hydraulic cylinder to ensure consistent rotary tillage depth.

[0107] During operation, the total amount of residual film in the film collection box 9 is roughly judged by the ultrasonic proximity sensor. If it does not exceed the height of the film collection box 9, the industrial control computer sends a signal to indicate that the multi-parameter dynamic coupling quality control system for film-soil agglomeration recovery is working normally. Then, according to the predetermined rotary tillage depth and working depth, the depth limiting wheel 16, film lifting support plate 14, and lifting walking mechanism 11 are adjusted to the theoretically appropriate positions. Then, according to the speed sensor detecting the rotation speed of the main rotating wheel, secondary transmission wheel 6, tertiary transmission wheel 7, film removal mechanism 8, rotary tillage and loosening mechanism 15, and secondary film collection mechanism 10, once the transmission of each component is stable, the residual film recovery machine begins to work. Combined with the shaft pin sensor, tilt sensor, wire displacement sensor, and industrial control computer, the machine starts to work. Multiple sensors, including an industrial camera, detect various parameters such as the pressure of the depth-limiting wheel 16, the tilt angle between the rotary tillage mechanism 15 and the film-lifting support plate 14, the extension and retraction displacement of the hydraulic cylinder of the depth-limiting wheel 16 and the lifting and walking mechanism, and the residual film recovery status. The industrial control computer sends control commands to the hydraulic cylinder based on a multi-parameter dynamic coupling quality control model for film-soil agglomeration recovery, adjusting and maintaining the rotary tillage depth of the rotary tillage mechanism 15, and adjusting the insertion depth of the film-lifting support plate 14 to a suitable position. Finally, based on the gravity of the film collection box 9 detected by the pressure sensor, the mass of the recovered residual film is accurately obtained in real time. When the ultrasonic proximity sensor's detection distance is about to exceed the maximum height of the film collection box 9, the residual film recovery machine is prompted to stop working. This achieves the goal of improving residual film recovery efficiency and ensuring operational quality, realizing a multi-parameter dynamic coupling quality control process for film-soil agglomeration recovery.

[0108] This invention can detect the operating parameters of each component in real time and automatically adjust them to the appropriate operating depth, greatly improving the automation level of multi-parameter dynamic coupling recycling of film-soil agglomerates. It fills the gap in intelligent control of residual film recycling, fundamentally solving problems such as low residual film recycling efficiency, poor operation quality, and low automation level. This achieves high-quality and efficient residual film recycling, reduces equipment failure rate, and ensures increased crop yield and quality. Specifically, it uses a multi-sensor system including a pivot pin sensor, tilt sensor, wire displacement sensor, and industrial camera to dynamically detect multiple parameters such as the pressure of the depth-limiting wheel 16, the tilt angle between the rotary tillage mechanism 15 and the film-lifting support plate 14, the extension and retraction displacement of the depth-limiting wheel 16 and the hydraulic cylinder of the lifting mechanism, and the residual film recycling status. This ensures that the rotary tillage depth of the rotary tillage mechanism 15 remains consistent and that the soil penetration depth of the film-lifting support plate 14 is adjusted to the appropriate position, thereby improving residual film recycling efficiency and ensuring operation quality. This achieves multi-parameter dynamic coupling quality control of film-soil agglomerate recycling; and it constructs a lifting mechanism hydraulic cylinder... A model relating the telescopic length to the rotation angle of the film-lifting support plate 14 was established. This model allows for the adjustment of the tilt angle of the film-lifting support plate 14 by adjusting the telescopic length of the hydraulic cylinder of the lifting and walking mechanism. This enables accurate adjustment of the soil penetration depth of the film-lifting support plate 14, which is beneficial for improving the quality of residual film recycling and reducing equipment failure rate. A model relating the pressure of the depth-limiting wheel 16 to the telescopic displacement of the depth-limiting wheel hydraulic cylinder was also established. This model allows for the adjustment of the pressure of the depth-limiting wheel 16 by controlling the telescopic length of the hydraulic cylinder. This ensures consistent rotary tillage depth, provides favorable conditions for the film-lifting support plate 14 to penetrate the soil and for picking up residual film, and ensures high-quality and efficient residual film recycling, thereby reducing equipment failure rate.

[0109] This invention, aiming for high efficiency and high quality in residual film recycling, incorporates monitoring technology. Based on actual detected working parameters, it adjusts the actuator in real time, enabling it to automatically complete the recycling process with optimized parameter combinations. Real-time monitoring of operating parameters and automatic adjustment of the device to the appropriate operating depth significantly improves the automation level of multi-parameter dynamic coupling recycling of film-soil aggregates. It fills the gap in intelligent control of residual film recycling, ensuring the operational quality and efficiency of the residual film recycling machine, effectively increasing the residual film recycling rate, and guaranteeing operational quality. It achieves multi-parameter dynamic coupling in the film-soil aggregate recycling process. Fundamentally, it solves problems such as low residual film recycling efficiency, poor operational quality, and low automation, achieving high-quality and efficient residual film recycling, reducing equipment failure rates, and ensuring increased crop yield, efficiency, and quality.

[0110] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A quality control device for recovering membrane soil aggregates, characterized in that, Installed on the residual film recycling machine, including: A speed sensor is installed on the rotating shaft of the main rotating wheel, the secondary transmission wheel, the tertiary transmission wheel, the film removal mechanism, the rotary tillage and loosening mechanism, and the secondary film collection mechanism of the residual film recycling machine, and is used to detect the rotation speed. An inclination sensor is installed on the film-lifting tray and the lifting and walking mechanism of the residual film recycling machine to detect the inclination angle of the film-lifting tray and the lifting and walking mechanism. A shaft pin sensor is installed on the shaft of the depth-limiting wheel of the residual film recycling machine to detect the pressure of the depth-limiting wheel; A wire displacement sensor is installed on the hydraulic cylinders of the depth-limiting wheel and the lifting travel mechanism to detect the extension and retraction displacement of the hydraulic cylinders. The depth-limiting wheel and the lifting travel mechanism are respectively controlled to lift and lower through their respective hydraulic cylinders. An industrial camera is installed above the primary and secondary picking mechanisms of the residual film recycling machine to generate image information to detect the residual film recycling status. The data acquisition unit is connected to the speed sensor, tilt sensor, shaft pin sensor, and wire displacement sensor respectively, and is used to acquire the corresponding sensor signals and generate data information; and An industrial control computer is connected to the industrial camera, data acquisition unit, depth-limiting wheel, and hydraulic cylinder of the lifting and walking mechanism, respectively. It is used to receive the image information and data information, process them, and send control commands to the depth-limiting wheel and hydraulic cylinder of the lifting and walking mechanism, respectively, so as to realize multi-parameter dynamic coupling quality control of the membrane soil agglomerate recycling process. The system uses a combination of sensors—including a pivot sensor, tilt sensor, wire displacement sensor, and industrial camera—to dynamically and in real-time monitor multiple parameters, such as the pressure of the depth-limiting wheel, the tilt angle between the rotary tillage mechanism and the film-lifting support plate, the extension and retraction displacement of the hydraulic cylinder of the depth-limiting wheel and the lifting and walking mechanism, and the residual film recovery status. This ensures that the rotary tillage depth of the rotary tillage mechanism remains consistent and that the depth of the film-lifting support plate is adjusted to a set depth, thereby achieving multi-parameter dynamic coupling quality control of film-soil agglomerate recovery.

2. The membrane soil agglomerate recovery quality control device as described in claim 1, characterized in that, Also includes: An ultrasonic proximity sensor is installed on the top of the film collection box of the residual film recycling machine and connected to the data acquisition unit to detect whether the amount of residual film recycled exceeds the set height.

3. The membrane soil agglomerate recovery quality control device as described in claim 2, characterized in that, Also includes: A pressure sensor, installed at the bottom of the film collection box and connected to the data acquisition unit, is used to detect the total amount of recycled residual film in the film collection box.

4. A method for quality control of membrane soil aggregate recovery, characterized in that, To achieve multi-parameter dynamic coupling quality control of the residual film recycling machine during the film-soil aggregate recovery process, the following steps are included: S100. Adjust the depth limiting wheel, film lifting plate and lifting walking mechanism of the residual film recycling machine to the set position according to the set rotary tillage depth and working depth. S200: A speed sensor is used to detect the rotational speeds of the main rotating wheel, secondary transmission wheel, tertiary transmission wheel, film removal mechanism, rotary tillage and loosening mechanism, and secondary film collection mechanism of the residual film recycling machine in real time. The machine begins operation after the transmission is stable. S300 uses a shaft pin sensor, tilt sensor and wire displacement sensor to detect in real time the pressure of the depth limiting wheel, the tilt angle between the rotary tillage and loosening mechanism and the film lifting support plate, and the extension and retraction displacement of the hydraulic cylinder of the depth limiting wheel and the lifting and walking mechanism, and sends the data to the data acquisition unit to generate data information. S400 uses an industrial camera to detect the residual film recycling status in real time and generate image information; as well as S500 and the industrial control computer receive the data and image information, and process the data and image information according to the pre-established multi-parameter dynamic coupling quality control model for membrane soil agglomerate recovery. Then, they send control commands to the hydraulic cylinders of the depth limiting wheel and the lifting walking mechanism to adjust the rotary tillage depth of the rotary tillage and loosening mechanism to keep it consistent, and / or adjust the soil penetration depth of the membrane lifting plate to the set depth. The multi-parameter dynamic coupling quality control model for soil-membrane aggregate recovery includes a model showing the relationship between the extension length of the hydraulic cylinder of the lifting and walking mechanism and the rotation angle of the film-lifting support plate. By controlling the extension length of the hydraulic cylinder of the lifting and walking mechanism, the tilt angle of the film-lifting support plate is adjusted to accurately adjust the soil penetration depth of the film-lifting support plate to a set depth. The multi-parameter dynamic coupling quality control model for soil-membrane aggregate recovery also includes a model showing the relationship between the pressure of the depth-limiting wheel and the extension displacement of the depth-limiting wheel hydraulic cylinder. By controlling the extension length of the depth-limiting wheel hydraulic cylinder, the pressure of the depth-limiting wheel is adjusted to keep the rotary tillage depth consistent.

5. The method for quality control of membrane soil aggregate recovery as described in claim 4, characterized in that, Also includes: S600: A pressure sensor is used to detect the gravity of the film collection box of the residual film recycling machine in real time, so as to accurately obtain the quality of the recycled residual film.

6. The method for quality control of membrane soil aggregate recovery as described in claim 4 or 5, characterized in that, Also includes: S700: An ultrasonic proximity sensor is used to detect in real time whether the total amount of residual film in the film collection box of the residual film recycling machine exceeds the set height. If the total amount of residual film in the film collection box is close to or exceeds the set height, the residual film recycling machine will be prompted to stop working.

7. The method for quality control of membrane soil aggregate recovery as described in claim 4, characterized in that, The model relating the extension / retraction length of the hydraulic cylinder of the lifting and traveling mechanism to the rotation angle of the film-lifting support plate is as follows: Where △l is the extension length of the hydraulic cylinder of the lifting and walking mechanism; To adjust the distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the lifting mechanism suspension frame and the frame; This is to adjust the distance between the hinge point of the suspension frame and the frame of the adjustable walking mechanism and the hinge point of the hydraulic cylinder of the adjustable walking mechanism and the frame; θ is the initial distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the hydraulic cylinder of the lifting mechanism and the frame; Δθ is the rotation angle of the film lifting support plate; θ2 is the tilt angle of the lifting mechanism suspension frame after adjustment.

8. The method for quality control of membrane soil aggregate recovery as described in claim 7, characterized in that, Adjusting the soil penetration depth of the film-forming support plate to a set depth further includes: S501, Adjust the soil penetration depth of the film-lifting support plate according to the residual film recovery status detected in real time by the industrial camera; S502. The initial tilt angles of the film-forming support plate, the lifting and walking mechanism suspension frame, and the hydraulic cylinder are recorded as θ, θ1, and θ3, respectively. S503, the adjusted tilt angles of the film-forming support plate, the liftable walking mechanism suspension frame, and the hydraulic cylinder are recorded as θ′, θ2, and θ4, respectively; S504, based on the detected tilt angle information, calculate the initial ∠c1ac2 as (180°-θ1-θ3), and the adjusted ∠d1bd2 as (180°-θ2-θ4); S505, obtained using the Law of Cosines of a Triangle. And the calculation yielded: S506. Initially, line c1c2 is parallel to the ground, and Δθ = θ′ - θ is equal to the rotation angle ∠bd1d2 - θ2 of line d1d2 around line c1c2. S507, we obtain: S508, according to The relationship between the extension / retraction length of the hydraulic cylinder and the rotation angle of the film-lifting support plate is obtained as follows: S509. Based on the sensor monitoring of the extension and retraction length of the hydraulic cylinder, a closed-loop feedback is formed and continuously adjusted to obtain the accurate rotation angle of the film lifting plate. Finally, a mathematical model between the extension and retraction length of the hydraulic cylinder and the rotation angle of the film lifting plate is obtained. By controlling the extension and retraction length of the hydraulic cylinder, the tilt angle of the film lifting plate is adjusted to achieve the adjustment of the soil penetration depth of the film lifting plate to the set depth. in, To adjust the distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the lifting mechanism suspension frame and the frame; To adjust the distance between the hinge point of the lifting mechanism suspension frame and the hydraulic cylinder of the lifting mechanism and the hinge point of the hydraulic cylinder of the lifting mechanism and the frame; This is to adjust the distance between the hinge point of the suspension frame and the frame of the adjustable walking mechanism and the hinge point of the hydraulic cylinder of the adjustable walking mechanism and the frame; ∠c1ac2 is the initial distance from the hinge point between the suspension frame and the hydraulic cylinder of the lifting mechanism to the hinge point between the hydraulic cylinder and the frame; ∠c1ac2 is the angle between lines c1a and ac2, where c1a is the initial line connecting the hinge point between the suspension frame and the frame of the lifting mechanism to the hinge point between the suspension frame and the hydraulic cylinder of the lifting mechanism; ac2 is the initial line connecting the hinge point between the suspension frame and the hydraulic cylinder of the lifting mechanism to the hinge point between the hydraulic cylinder and the frame; ∠d1bd2 is the angle between lines d1b and bd2, where d1b is the distance from the hinge point between the suspension frame and the frame of the lifting mechanism after adjustment to the hinge point between the hydraulic cylinder and the frame of the lifting mechanism. The line connecting the hinge points of the hydraulic cylinders of the lifting and traveling mechanism; bd2 is the line connecting the hinge point between the suspension frame and the hydraulic cylinder of the lifting and traveling mechanism after adjustment to the hinge point between the hydraulic cylinder and the frame of the lifting and traveling mechanism; ∠bd1d2 is the angle between straight lines bd1 and d1d2; bd1 is the line connecting the hinge point between the suspension frame and the hydraulic cylinder of the lifting and traveling mechanism after adjustment to the hinge point between the suspension frame and the frame of the lifting and traveling mechanism; d1d2 is the line connecting the hinge point between the suspension frame and the frame of the lifting and traveling mechanism after adjustment to the hinge point between the hydraulic cylinder and the frame of the lifting and traveling mechanism; c1c2 is the initial line connecting the hinge point between the suspension frame and the frame of the lifting and traveling mechanism to the hinge point between the hydraulic cylinder and the frame of the lifting and traveling mechanism.

9. The method for quality control of membrane soil aggregate recovery as described in claim 4, characterized in that, The relationship between the pressure of the depth-limiting wheel and the extension / retraction displacement of the hydraulic cylinder of the depth-limiting wheel is modeled as: P = K1X 2 +K2X+K3; Where K1, K2, and K3 are correction coefficients; P is the pressure of the depth-limiting wheel detected by the shaft pin sensor; and X is the extension and retraction displacement of the hydraulic cylinder of the depth-limiting wheel detected by the wire displacement sensor.

10. The method for quality control of membrane soil aggregate recovery as described in claim 9, characterized in that, Adjusting the rotary tillage depth of the rotary tillage mechanism to maintain consistency further includes: S511. A pin sensor is used to detect the pressure of the depth limiting wheel in real time. The pressure of the depth limiting wheel detected by the pin sensor is P, and the extension and retraction displacement of the hydraulic cylinder of the depth limiting wheel detected by the wire displacement sensor is X. S512. Set up multiple sets of tests for calibration, and fit them to obtain the relationship model between the pressure of the depth-limiting wheel and the extension and retraction displacement of the hydraulic cylinder of the depth-limiting wheel: P = K1X 2 +K2X+K3; S513. The telescopic displacement relationship model of the depth-limiting wheel hydraulic cylinder is experimentally verified, and correction coefficients K1, K2, and K3 are applied. S514. Based on the sensor monitoring of the extension and retraction length of the hydraulic cylinder, a closed-loop feedback is formed and continuously adjusted to ensure that the rotary tillage depth remains consistent. S515. Generate a mathematical model between the extension and retraction length of the hydraulic cylinder and the pressure of the depth limiting wheel. Adjust the pressure of the depth limiting wheel by controlling the extension and retraction length of the hydraulic cylinder to maintain a consistent rotary tillage depth.

11. A residual film recycling machine, characterized in that, The device includes the membrane soil agglomerate recovery quality control device according to any one of claims 1-3, and uses the membrane soil agglomerate recovery quality control method according to any one of claims 4-10 to perform residual membrane recovery operations.

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