An intelligent control system for rotary tillage based on surface morphological characteristics

Abstract

The present invention discloses an intelligent control system for rotary tillage based on surface topography information, comprising: a detection unit mounted on a power and action execution device for detecting rotary tillage parameters, surface image signals, and surface point cloud data of a rotary tiller; a control unit connected to the detection unit for receiving the operating parameters, surface image signals, and surface point cloud data sent by the detection unit for calculation and analysis, and for sending adjustment instructions to the power device and action execution device; and a human-computer interaction unit connected to the control unit for receiving user operating instructions and displaying in real time the current rotary tillage parameters and the control unit's calculation and analysis results for characterizing the operating quality. The system can invert the machine's operating quality results based on surface topography information at any time without stopping the machine, and can adjust the rotary tiller's operating parameters and posture in a timely manner according to the operating quality, thereby improving the efficiency of rotary tillage and contributing to the construction of modern high-standard farmland.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery management, and in particular to an intelligent control system for rotary tillage operations based on surface topography feature information. Background Art

[0002] A rotary tiller is a tilling machine that is used in conjunction with a tractor to complete plowing and harrowing operations. It has the characteristics of strong soil crushing ability and smooth surface after plowing. At the same time, it can reduce the number of times the unit goes to the field, restore the soil plow layer structure, cut up the root stubble under the surface, and improve the soil's ability to store water and retain moisture. Therefore, it has been widely used.

[0003] At present, the quality of rotary tillage operation is mostly measured and evaluated manually, often using sampling methods. With the development of agricultural machinery modernization and the construction of basic farmland that is compatible with modern agricultural production and management methods, the above-mentioned traditional measurement methods are facing the problems of poor accuracy and low efficiency. The quality of farmland cultivation operations cannot be characterized by one or more parameters, but is a collection of many performance parameters. At present, the automated evaluation methods for rotary tillage operation quality mostly stay at the detection method of machine working parameters, and rarely involve the quality of farmland after operation. Moreover, all measurements are carried out in the field after the operation, which has low timeliness and is not conducive to effectively guiding machine operations during field operations, thus restricting the development of smart agriculture.

[0004] Therefore, there is an urgent need for an intelligent operation quality assessment and control system that can be applied to multi-parameter measurement of field operations to solve the problem that the quality of rotary tillage operations is heavily dependent on the experience of operators and promote the modernization of high-standard farmland. Summary of the Invention

[0005] In view of the poor accuracy and low efficiency of traditional rotary tillage operation quality measurement, which restrict the construction of high-standard farmland, the present invention provides an intelligent control system for rotary tillage operation quality based on surface morphological feature information to solve the problem of low intelligence level of rotary tillage operation raised in the above background technology.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] The present invention provides an intelligent control system for rotary tillage based on surface topography feature information, comprising:

[0008] A detection unit, installed on the power and action execution device, is used to detect rotary tillage operation parameters of the rotary tiller, surface image signals and surface point cloud data;

[0009] a control unit connected to the detection unit, configured to receive the operation parameters, surface image signals, and surface point cloud data sent by the detection unit for calculation and analysis, and to send adjustment instructions to the power device and the action execution device;

[0010] The human-computer interaction unit is connected to the control unit and is used to receive the user's operation instructions and display the current rotary tillage operation parameters and the calculation and analysis results of the control unit for characterizing the operation quality in real time.

[0011] Furthermore, the detection unit includes: a rotation speed sensor and a three-axis force sensor;

[0012] The speed sensor and the three-axis force sensor are both installed on the rotary tillage roller, and are used to obtain the speed parameter of the roller and the three-axis force parameter of the roller operation, respectively, and are connected to the control unit respectively.

[0013] Furthermore, the detection unit includes: a speed sensor, an acceleration sensor, a three-dimensional laser radar and an inertial measurement unit respectively connected to the control unit;

[0014] in,

[0015] The speed sensor is installed on the rotary tiller frame or the power device and is used to obtain the forward speed parameter of the rotary tiller;

[0016] The acceleration sensor is installed on the rotary tiller frame and is used to obtain the frame vibration parameters;

[0017] The three-dimensional laser radar is installed on the rotary tiller frame or the power device to obtain the rotary tiller operation fluctuation parameters;

[0018] The inertial measurement unit is installed on the rotary tiller frame and is used to determine the position parameters of the rotary tiller.

[0019] Furthermore, the detection unit further comprises: a viscosity sensor and an electronic camera respectively connected to the control unit;

[0020] in,

[0021] The viscosity sensor is installed on the blade shaft of the rotary tillage roller to obtain soil adhesion state parameters;

[0022] The electronic camera is installed above the rotary tiller frame or on the power device and is used to obtain images of the working surface.

[0023] Furthermore, the control unit includes:

[0024] Expert database module, used to store the optimal control scheme obtained based on a large amount of early test data;

[0025] A storage module is used to store the real-time operation parameters, surface image signals and surface point cloud data sent by the detection unit; and is used to store the calculation and analysis results of the control unit.

[0026] Furthermore, the control unit includes:

[0027] The plowing depth calculation module obtains the plowing depth data of various locations within the farmland area based on the data collected by the three-dimensional laser radar and the inertial measurement unit before and after the operation; and adjusts the lifting angle and pitch angle of the power device and the action execution device according to the posture parameters.

[0028] Furthermore, the control unit includes:

[0029] The power consumption calculation module uses the product of the speed data of the speed sensor on the rotary tiller roller and the torque as the power consumption; when it detects that the power consumption value increases abnormally, it promptly adjusts the working parameters and working status of the rotary tiller, and the control unit issues an instruction to control the execution unit to increase the speed of the cutter roller or raise the height of the cutter roller until the power consumption change of the cutter roller returns to a normal trend.

[0030] Furthermore, the control unit includes:

[0031] The soil adhesion calculation module obtains the soil adhesion state parameters and soil adhesion threshold on the cutter roller according to the viscosity sensor; when the soil state parameters of the cutter shaft reach the soil adhesion threshold, the control unit drives the stepper motor to drive the scraping component to scrape the inside of the cutter roller to achieve desorption of the adhered soil.

[0032] Furthermore, the control unit includes:

[0033] The straw burial rate and soil crushing rate calculation module is used to capture images after rotary tillage operation with an electronic camera, grayscale and binarize the images, segment the surface images, determine a threshold value to separate the soil and straw, and calculate the straw burial rate and soil crushing rate; when the straw burial rate and soil crushing rate are lower than the set value, the control unit sends an instruction to control the power device and the action execution device to increase the rotation speed or reduce the forward speed to increase the straw burial rate and soil crushing rate.

[0034] Furthermore, the control unit includes:

[0035] The operation flatness calculation module constructs a global point cloud map of the farmland surface after operation based on the data provided by the three-dimensional laser radar and the inertial measurement unit, and calculates the surface flatness based on the vertical height data of the map. When the surface flatness is lower than the set value, it is determined based on the inertial measurement unit data whether it is caused by the posture of the machine or the viscosity sensor to determine whether it is caused by soil adhesion. Based on the above reasons, the power device and the action execution device are controlled to adjust the action parameters.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1) The present invention saves manpower and material resources in measuring farmland operation indicators. Without compromising the operational objectives such as tillage depth, soil crushing rate, straw burying effect and post-tillage flatness, the invention adopts non-contact sensing measurement, thereby reducing the modification cost of existing rotary tillers.

[0038] 2) The present invention can adjust the rotary tiller's operating parameters based on the quality of the operation at any time without stopping the machine, ensuring the excellent and balanced operation quality of the rotary tiller roller, achieving high-standard farmland construction, and improving rotary tillage efficiency. At the same time, the invention can invert the rotary tillage operation indicators based on the surface topography characteristics of the farmland after plowing to adjust the machine's operating parameters and operating posture, implementing intelligent coordinated control. This has strong adaptability and adjustability to harsh working conditions, helps reduce wear on various components, and increases the machine's service life.

[0039] 3) The present invention can be upgraded and modified on the existing rotary tiller, has strong versatility, significantly improves quality and efficiency, is compatible with a variety of agricultural machinery and implements, and is not only suitable for tillage, straw-soil burial and other operations, but also for crop sowing operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A block diagram of an intelligent control system for rotary tillage based on ground surface topography information provided by an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of an intelligent control system for rotary tillage based on ground surface topography information provided by an embodiment of the present invention;

[0042] Figure 3 A schematic diagram of an assembly of a tractor and a rotary tiller provided by an embodiment of the present invention;

[0043] Figure 4 This is a structural schematic diagram of a rotary tiller provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0044] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0045] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0046] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0047] Reference Figure 1-2 As shown, the present invention provides an intelligent control system for rotary tillage based on surface morphological feature information, including:

[0048] A detection unit, mounted on the power and action execution devices, detects the rotary tiller's rotary tillage parameters, surface image signals, and surface point cloud data. A control unit calculates and analyzes the operating parameters, surface image signals, and surface point cloud data sent by the detection unit, and sends adjustment instructions to the power unit and action execution device. A human-computer interface unit, connected to the control unit, inputs user operating instructions and displays the current rotary tillage parameters and operation quality in real time. The operation quality is calculated and analyzed by the control unit.

[0049] Among them, the detection unit includes a force sensor, a speed sensor, a rotation speed sensor, an acceleration sensor, a viscosity sensor, a three-dimensional laser radar, and an electronic camera. The above sensors, electronic cameras, and inertial measurement units are all connected to the control unit. The three-dimensional laser radar is electrically connected to the vehicle-mounted DC connection, and is electrically connected to the Ethernet interface of the control unit through the adapter module. The control unit is electrically connected to the execution unit. Among them, the execution unit includes a power and motion execution device, and a scraping component driven by a stepper motor installed on the power and motion execution device. The power unit is a tractor with a built-in electronic diesel engine and a rear suspension hydraulic system including a hydraulic electromagnetic control valve; the motion execution device is a rotary tiller roller driven by the tractor PTO. As Figure 3 As shown, the human-machine interaction unit 1 can be installed in the cab of the tractor, or outside the cab for convenient operation by the driver; the present invention does not limit the installation position, as long as it can achieve the effect of convenient operation and viewing by the driver.

[0050] In one embodiment, Figure 3-4As shown, the above-mentioned detection unit includes a speed sensor 2 installed on the rotary tiller roller for obtaining the speed parameters of the rotary tiller roller, a three-axis force sensor 3 for the three-axis operation force of the rotary tiller; a speed sensor 4 installed on the rotary tiller frame for obtaining the forward speed parameters of the rotary tiller (it can also be installed on a power unit, such as a tractor), an acceleration sensor 5 for the vibration parameters of the frame, a three-dimensional laser radar 6 for the operation undulation parameters of the rotary tiller (it can also be installed on a power unit, such as a tractor), and an inertial measurement unit 7 for determining the posture parameters of the rotary tiller; in particular, the detection unit also includes a viscosity sensor 8 located on the side of the rotary tiller frame for obtaining the soil adhesion state and an electronic camera 9 located above the rotary tiller frame for obtaining the working surface image (it can also be installed on the top of the cab of the power unit tractor).

[0051] Specifically, during implementation, for example, the positions and structural relationships of the components are as shown in the attached Figure 3-4 As shown, the scraping components consist of a fixed scraping blade 11 and a movable scraping blade 12, both mounted on a support base 21 on the blade shaft. The fixed scraping blade 11 is fixed to the support base 21, while the movable scraping blade 12 and the support base 21 form a moving pair. A stepper motor 22 is mounted between the outermost side plate of the rotary tiller frame and a partition 23. The stepper motor 22 acts as an actuator. When triggered by the control unit, it drives the movable scraping blade 12 in an axial scraping motion along the blade shaft, dislodging the soil. A speed sensor 2 is mounted on the tiller's gearbox input shaft, while a three-dimensional force sensor 3 and a viscosity sensor 8 are mounted on the tiller shaft. An acceleration sensor 5 is mounted on the tiller frame to measure the three-dimensional acceleration of the implement in the forward, width, and vertical directions. The three-dimensional laser radar 6, electronic camera 9, inertial measurement unit 7, and speed sensor 4 can be selectively installed on the tractor or the frame based on usage requirements and in conjunction with an expert database.

[0052] The above-mentioned processing unit includes an expert database module with a preset optimal control solution based on a large amount of previous test data; it is used to collect and calculate operation parameters and operation quality signals, compare the calculation results with the current national standards, make decisions based on the expert database, and issue adjustment signals to control the execution unit; the processing unit also includes a storage module for storing real-time operation parameters, pictures, point clouds and data processing calculation results sent by the detection unit.

[0053] The present invention can determine the operating conditions of the rotary tiller according to the instructions of the expert decision system input based on the soil state parameters obtained by the user in the human-computer interaction interface, and determine the initial working parameters under the working conditions. When the rotary tiller is running under the initial working parameter configuration, the detection unit is used to obtain the rotation speed, speed, acceleration, resistance, posture information of the rotary tiller and the surface image after the operation in real time. The control unit analyzes the above signals and images, wherein the tillage depth can be obtained by the data collected before and after the operation by the three-dimensional laser radar and the inertial measurement unit, the power consumption is calculated by the product of speed and resistance, the soil adhesion is evaluated according to the change of the force sensor data, and the operation stability is obtained according to the root mean square of the acceleration sensor data. The straw burial rate, operation flatness, and soil crushing rate are obtained according to the images collected by the electronic camera and the three-dimensional laser radar point cloud information combined with fractal dimension and SLAM (simultaneous localization and mapping). The calculation results are compared and adjusted, and the working parameters obtained after the adjustment are used to ensure the balance of the operation.

[0054] Specifically, the control unit also includes the following modules to perform calculation and analysis and realize control of the execution unit.

[0055] ① Plowing depth calculation module, calculates the plowing depth and plowing depth stability:

[0056] Before the operation, a global map of the initial farmland topography is measured using a 3D lidar, and its initial vertical elevation data is calculated. During the operation, a post-operation surface point cloud map is constructed using the 3D lidar and a nine-axis inertial measurement unit (IMU) to determine the machine's position. By comparing the vertical elevation data of the maps before and after the operation and taking the difference, the tillage depth data for each location within the farmland area is obtained. Simultaneously, the tractor's hydraulic system and electronic diesel engine are controlled based on the position information to adjust the lift angle and pitch angle of the machine to ensure consistency in the tillage depth.

[0057] ②Power consumption calculation module

[0058] The heavy clay soils of the rice-growing regions of the middle and lower reaches of the Yangtze River, coupled with long-term shallow tillage operations, excessive fertilizer use, and alternating wet-dry rotations, lead to high resistance to rotary tillage in rice stubble fields after mechanized rice harvesting. As the rotary tiller blades successively penetrate the soil, the machine experiences violent "up-and-down" vibrations, increasing wear on the cutter and gearbox gears and power consumption. Power consumption is the product of cutter roller speed and torque. If an abnormally high increase in cutter roller power consumption is detected, the machine's operating parameters and status should be adjusted promptly. The control unit issues a command to the actuator unit to increase the cutter roller speed or slightly raise the height until the power consumption returns to normal.

[0059] ③Soil adhesion calculation module

[0060] The soil on the rotary tillage roller mostly adheres to the blade shaft or the position between the blade shaft and the blade seat. Therefore, a viscosity sensor is installed on the blade shaft of the blade roller, and the installation position and the viscosity sensor trigger threshold range are calibrated and determined in combination with preliminary tests. When the amount of soil adhesion on the blade shaft reaches the viscosity sensor threshold, the sensor is triggered and sends a signal to the control unit. The control unit drives the stepper motor to drive the scraping component to scrape the inside of the blade roller to achieve desorption of the adhered soil.

[0061] ④ Operation stability calculation module

[0062] Accelerometers are mounted on the machine frame to measure the vibration acceleration of the machine in the forward, vertical, and width directions. The machine's operational stability indicator is expressed as the mean square error (MSE), which reflects the degree of data dispersion. This is then output to the terminal display screen, with a defined deviation range, such as ±20%. When the MSE deviates from the deviation range, the terminal host computer issues a command to the control unit via a human-machine interface to adjust the control parameters. Alternatively, the control unit can automatically implement automatic control based on the set values. The terminal host computer can be, for example, a remote control terminal.

[0063] ⑤Straw burial rate and soil crushing rate calculation module

[0064] Images of the tillage operation are captured by an electronic camera, converted to grayscale and binarized, and the surface image is segmented using methods such as clustering and principal component analysis. Alternatively, edge detection algorithms such as Marr-Hilderth and Canny are used to identify grayscale pixel mutations for surface image segmentation. A threshold is determined to separate soil from straw, and apparent information such as straw length, distribution, and soil particle size is determined from the pixels. This information is then used to calculate the straw burial rate and soil fragmentation rate. A deep learning framework is also developed, using methods such as convolutional neural networks and graph neural networks, combined with surface image data obtained from pre-experiments. A high-precision prediction model for straw burial rate and soil fragmentation rate is then developed, which can be updated to the expert database module for prediction. Thresholds or deviation ranges can be set based on national standards or customized on the host computer. When the straw burial rate or soil fragmentation rate falls below the set value, the control unit issues commands to the electronic diesel engine and hydraulic valves to increase the speed or reduce the forward speed to increase the straw burial rate and soil fragmentation rate.

[0065] ⑥ Operation flatness calculation module

[0066] Based on the data provided by the three-dimensional lidar and inertial measurement unit (IMU), a global map of the farmland surface point cloud after operation is constructed. The surface flatness is calculated by the host computer based on the vertical height data of the map. At the same time, the threshold or deviation range can be set according to the national standard or by the host computer or through the human-computer interaction interface. When the surface flatness is lower than the set level, the IMU data is combined to determine whether it is caused by the posture of the machine or the viscosity sensor to determine whether it is caused by soil adhesion. According to the above reasons, the hydraulic cylinder solenoid control valve, electronic diesel engine, stepper motor and other execution unit components are adjusted respectively, and real-time and accurate adjustments are made according to the expert database module until the surface flatness meets the set standards.

[0067] The above-mentioned multi-indicator control can be implemented independently or in a coordinated manner. The specific control method can be achieved by setting the weight ratio of each indicator in the host computer or human-computer interaction unit, and adjusting it in combination with the expert database module.

[0068] The present invention provides an intelligent control system for rotary tillage operations based on surface morphological feature information, which can timely adjust the working parameters of the rotary tiller according to the operation quality at any time without stopping the machine, thereby ensuring the excellence and balance of the operation quality of the rotary tillage roller, improving the efficiency of rotary tillage operations and the level of intelligent operations, and realizing the construction of high-standard farmland.

[0069] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. An intelligent control system for rotary tillage based on surface topography information, characterized in that: include: A detection unit, installed on the power and action execution device, is used to detect rotary tillage operation parameters of the rotary tiller, surface image signals and surface point cloud data; a control unit connected to the detection unit, configured to receive the operation parameters, surface image signals, and surface point cloud data sent by the detection unit for calculation and analysis, and to send adjustment instructions to the power and action execution device; A human-computer interaction unit, connected to the control unit, is used to receive user operation instructions and display in real time the current rotary tillage operation parameters and the calculation and analysis results of the control unit used to characterize the operation quality; The detection unit includes: a speed sensor, an acceleration sensor, a three-dimensional laser radar and an inertial measurement unit respectively connected to the control unit; in, The speed sensor is installed on the rotary tiller frame or the power device and is used to obtain the forward speed parameter of the rotary tiller; The acceleration sensor is installed on the rotary tiller frame and is used to obtain the frame vibration parameters; The three-dimensional laser radar is installed on the rotary tiller frame or the power device to obtain the rotary tiller operation fluctuation parameters; The inertial measurement unit is installed on the rotary tiller frame and is used to determine the position parameters of the rotary tiller; The control unit includes: a tillage depth calculation module and an operation flatness calculation module; in, The tillage depth calculation module obtains tillage depth data at various locations within the farmland area based on the data collected by the three-dimensional laser radar and the inertial measurement unit before and after the operation; and adjusts the lifting angle and pitch angle of the power and action execution device according to the posture parameters; The operation flatness calculation module constructs a global point cloud map of the farmland surface after operation based on data provided by the three-dimensional laser radar and the inertial measurement unit, and calculates the surface flatness based on the vertical height data of the map. When the surface flatness is lower than the set value, it determines whether it is caused by the machine posture based on the inertial measurement unit data or whether it is caused by soil adhesion based on the viscosity sensor. Based on the above reasons, the power and action execution devices are controlled to adjust the action parameters.

2. The intelligent control system for rotary tillage based on surface topography information according to claim 1, characterized in that: The detection unit includes: a rotation speed sensor and a three-axis force sensor; The speed sensor and the three-axis force sensor are both installed on the rotary tillage roller, and are used to obtain the speed parameter of the roller and the three-axis force parameter of the roller operation, respectively, and are connected to the control unit respectively.

3. The intelligent control system for rotary tillage based on surface topography information according to claim 1, characterized in that: The detection unit further comprises: a viscosity sensor and an electronic camera respectively connected to the control unit; in, The viscosity sensor is installed on the blade shaft of the rotary tillage roller to obtain soil adhesion state parameters; The electronic camera is installed above the rotary tiller frame or on the power device and is used to obtain images of the working surface.

4. The intelligent control system for rotary tillage based on surface topography information according to claim 1, characterized in that: The control unit comprises: Expert database module, used to store the optimal control scheme obtained based on a large amount of early test data; A storage module is used to store the real-time operation parameters, surface image signals and surface point cloud data sent by the detection unit; and is used to store the calculation and analysis results of the control unit.

5. The intelligent control system for rotary tillage based on surface topography information according to claim 1, characterized in that: The control unit comprises: The power consumption calculation module uses the product of the speed data of the speed sensor on the rotary tiller roller and the torque as the power consumption; when it detects that the power consumption value increases abnormally, it promptly adjusts the working parameters and working status of the rotary tiller, and the control unit issues an instruction to control the execution unit to increase the speed of the cutter roller or raise the height of the cutter roller until the power consumption change of the cutter roller returns to a normal trend.

6. The intelligent control system for rotary tillage based on surface topography information according to claim 1, characterized in that: The control unit comprises: The soil adhesion calculation module obtains the soil adhesion state parameters and soil adhesion threshold on the cutter roller according to the viscosity sensor; when the soil state parameters of the cutter shaft reach the soil adhesion threshold, the control unit drives the stepper motor to drive the scraping component to scrape the inside of the cutter roller to achieve desorption of the adhered soil.

7. The intelligent control system for rotary tillage based on surface topography information according to claim 1, characterized in that: The control unit comprises: The straw burial rate and soil crushing rate calculation module is used to capture images after rotary tillage operation with an electronic camera, grayscale and binarize the images, segment the surface images, determine a threshold value to separate the soil and straw, and calculate the straw burial rate and soil crushing rate; when the straw burial rate and soil crushing rate are lower than the set value, the control unit sends an instruction to control the power and action execution device to increase the rotation speed or reduce the forward speed to increase the straw burial rate and soil crushing rate.

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