Device and method for automatic evolution of seed bed plasticity

Abstract

A seedbed plastic self-evolution device and method, used to achieve soil diversion-dynamic compaction and construct a high-quality and suitable seedbed structure, the device includes: a frame; a rotary tiller mounted on the frame and located below the front of the frame, used to achieve soil crushing / throwing and straw crushing to complete soil diversion; a soil crushing mechanism mounted on the frame and located behind the rotary tiller, used to crush the thrown soil to ensure that the soil for planting is loose; a pressure roller mounted on the frame and located behind the rotary tiller, used for plastic seedbed soil structure; an angle adjustment mechanism, respectively connected to the frame and the pressure roller, used to adjust the inclination angle of the pressure roller to achieve dynamic soil compaction; a transmission mechanism, mounted on the frame and respectively connected to the rotary tiller, the soil crushing mechanism and the angle adjustment mechanism; and a measurement and control system, mounted on the frame, used to detect and control working parameters in real time to construct a high-quality and suitable seedbed structure. The present invention also discloses a seedbed plastic self-evolution method.

Description

Technical Field

[0001] The present invention relates to agricultural machinery technology, in particular to a device and method for self-evolution of seed bed plasticity. Background Art

[0002] Sowing is the starting point of agricultural production and the foundation for crop growth, development, and high yields. With the advancement of science and technology and the continuous development of modern agricultural techniques, agricultural equipment is rapidly developing toward larger, more precise, intelligent, and economical equipment. Precision seeding has become a major trend in seeding operations. Precision seeding, based on agronomic requirements, sows a predetermined number of qualified seeds into a predetermined location on the soil that meets the requirements. The three-dimensional spatial coordinates of row spacing, seed spacing (plant spacing), and sowing depth are used to conserve high-quality seeds, maintain soil fertility, reduce labor hours, and ensure uniform seedling emergence in the field. This helps reduce planting costs and increase yields, and has important practical significance.

[0003] A key component of precision seeding is establishing a suitable seedbed soil structure and ensuring optimal seedbed performance, providing a favorable environment and conditions for seed germination and seedling growth. A favorable seedbed environment is fundamental to crop growth. A well-defined tillage layer structure creates a loose, deep tillage layer, improving water retention and ensuring high crop yields. Therefore, seedbed construction technology has become a major area of ​​seeding research and a cutting-edge research area integrating and intersecting agricultural machinery and agronomy.

[0004] Seed bed construction technology includes tilling, harrowing (rotary tillage), deep loosening, furrowing, and pressing, and is mainly used in tillage machinery and combined sowing machinery, among which furrowing and pressing are key links. In terms of furrowing, the sowing plots are usually accompanied by straw residues, which causes existing seed drills to return a lot of soil during the furrowing process, large clods of soil in the seed furrows, and uneven gullies, causing the seeds to bounce and roll severely when they fall into the seed furrows, seriously affecting the consistency of seed sowing depth, grain spacing, and row spacing. In terms of pressing, uneven pressing directly leads to different physical properties of the soil, which in turn affects crop emergence and yield. In addition, the seed furrows are rarely pressed before sowing, resulting in insufficient contact between the seeds and the soil after they fall into the seed bed, loose soil around the seeds, and other problems, affecting seed emergence and crop yield. Therefore, constructing a high-quality and suitable seed bed structure is an urgent problem in this field to solve the current problems such as poor consistency of seed sowing depth, poor uniformity of grain and row spacing caused by frequent trenching and soil return, large soil clods in the seed furrows, and uneven furrows, as well as uneven compaction and loose soil during compaction operations, in order to improve sowing quality and crop yield. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a device and method for self-evolution of seed bed plasticity in response to the above-mentioned defects of the prior art, so as to construct a high-quality and reasonable seed bed structure and provide supporting equipment.

[0006] To achieve the above objectives, the present invention provides a seedbed plasticity self-evolution device, which is used to achieve soil diversion and dynamic compaction to construct a high-quality and suitable seedbed structure, including:

[0007] frame;

[0008] A rotary tiller, mounted on the frame and located below the front portion of the frame, is used to crush / throw soil and pulverize straw to complete soil diversion;

[0009] A soil crushing mechanism, mounted on the frame and located behind the rotary tiller, is used to crush the thrown soil to ensure that the soil for planting is loose and broken;

[0010] a pressing roller, mounted on the frame and located behind the rotary tiller, for plasticizing the seed bed soil structure;

[0011] An angle adjustment mechanism is connected to the frame and the pressing roller respectively, and is used to adjust the inclination angle of the pressing roller to achieve dynamic compaction of the soil;

[0012] a transmission mechanism, mounted on the frame and connected to the rotary tiller, the soil crushing mechanism and the angle adjustment mechanism respectively; and

[0013] The measurement and control system is installed on the frame and is used for real-time detection and control of working parameters to build a high-quality and suitable seed bed structure.

[0014] The above-mentioned seed bed plasticity self-evolution device, wherein the rotary tiller comprises:

[0015] A front rotary tillage blade assembly is mounted on the frame via a front bearing seat and is located below the front end of the frame;

[0016] The rear rotary tiller blade group is mounted on the frame via a rear bearing seat and is located behind the front rotary tiller blade group. There is a height difference between the axis of the rear rotary tiller blade group and the axis of the front rotary tiller blade group.

[0017] The above-mentioned seed bed plasticity self-evolution device, wherein the pressing roller comprises:

[0018] A pre-sowing pressing roller is installed on the frame and located behind the rear rotary tillage blade group;

[0019] A post-sowing pressing roller is installed on the frame and is located behind the soil crushing mechanism. The post-sowing pressing roller is higher than the pre-sowing pressing roller.

[0020] The above-mentioned seed bed plasticity self-evolution device, wherein the angle adjustment mechanism includes:

[0021] A pre-sowing electric push cylinder is provided corresponding to the pre-sowing pressing roller, wherein the fixed end of the pre-sowing electric push cylinder is mounted on the frame, and the movable end of the pre-sowing electric push cylinder is connected to the pre-sowing pressing roller;

[0022] The post-sowing electric pushing cylinder is arranged corresponding to the post-sowing pressing roller. The fixed end of the post-sowing electric pushing cylinder is installed on the frame, and the movable end of the post-sowing electric pushing cylinder is connected to the post-sowing pressing roller.

[0023] The above-mentioned seed bed plasticity self-evolution device, wherein the measurement and control system includes:

[0024] An inclination sensor is installed on the pre-sowing pressing roller and the post-sowing pressing roller respectively, and is used to detect the inclination angle of the pre-sowing pressing roller and the post-sowing pressing roller;

[0025] Soil compaction detection sensors are respectively installed on the pre-sowing pressing roller and the post-sowing pressing roller to detect the soil compaction before sowing and before sowing pressing;

[0026] Axle pin sensors are respectively installed at the connection point between the pre-sowing electric push cylinder and the pre-sowing pressing roller, and at the connection point between the post-sowing electric push cylinder and the post-sowing pressing roller, and are used to detect the downward pressure of the pre-sowing electric push cylinder on the pre-sowing pressing roller and the post-sowing electric push cylinder on the post-sowing pressing roller;

[0027] an industrial camera, mounted on the frame, for identifying the degree of pulverization of soil thrown up by the rotary tiller;

[0028] Speed ​​sensors are installed on the motor shafts of the rotary tiller and soil crushing mechanism to detect their respective speeds;

[0029] an encoder, mounted on the motor shaft of the soil crushing mechanism, for detecting the motor rotation angle;

[0030] a wire displacement sensor, mounted on the angle adjustment mechanism and the soil crushing mechanism, for detecting the displacement of the pre-sowing electric push cylinder and the post-sowing electric push cylinder and the distance from the soil crushing mechanism to the pre-sowing pressing roller; and

[0031] The industrial computer is installed on the rack and is used to receive detection values ​​from various sensors and issue control instructions.

[0032] The above-mentioned seed bed plasticity self-evolution device, wherein the input end of the industrial computer is respectively connected to the output ends of the inclination sensor, soil compaction detection sensor, axle pin sensor, industrial camera, speed sensor and the wire displacement sensor, and the output end of the industrial computer is respectively connected to the motor of the soil crushing mechanism and the input end of the angle adjustment mechanism.

[0033] In order to better achieve the above-mentioned purpose, the present invention also provides a method for self-evolution of seed bed plasticity, which comprises the following steps:

[0034] S100, determining configuration parameters of the rotary tillage blade to ensure that the rotary tillage blade can crush straw and effectively cut soil, and complete the soil throwing movement to achieve soil diversion;

[0035] S200, adjusting the rotation speed and position of the soil crushing mechanism based on the rotation speed of the soil crushing mechanism detected by the rotation speed sensor, the distance between the soil crushing mechanism and the pre-sowing pressing roller detected by the pull-wire displacement sensor, and the degree of soil crushing detected by the industrial camera to ensure that the soil is loosened before planting;

[0036] S300, adjusting the positions of the pre-sowing and post-sowing pressing rollers according to the soil compaction degree detected by the soil compaction detection sensor before and after sowing, the inclination angles of the pre-sowing pressing roller and the post-sowing pressing roller detected by the inclination sensor, and the downward pressure of the pre-sowing electric push cylinder on the pre-sowing pressing roller and the post-sowing electric push cylinder on the post-sowing pressing roller detected by the axle pin sensor, in combination with the movement displacement of the pre-sowing electric push cylinder and the post-sowing electric push cylinder detected by the pull-wire displacement sensor, to achieve dynamic soil compaction and a plastic seedbed soil structure;

[0037] S400, repeating steps S200-S300 to complete the self-evolution of seedbed plasticity, whereby the soil above the seeding is loosened and compacted and the soil below the seeding is compacted and moisture-enhanced.

[0038] The above-mentioned seedbed plasticity self-evolution method, wherein step S100 further includes:

[0039] S101. Assuming the front rotary tiller blade group rotates clockwise and the rear rotary tiller blade group rotates counterclockwise, obtain the absolute speed of any endpoint A or B of the front and rear rotary tiller blade groups:

[0040]

[0041] in,

[0042] S102. To ensure that the rotary tiller effectively cuts the soil, the endpoint motion trajectory of the rotary tiller is a trochoid, and the rotary tillage speed ratio satisfies λ = Rω / v q >1, and derive the motion trajectory equation of any endpoint A and B on the front and rear rotary tillage blade groups, and set θ a =ω a t, θ b =ω b t、 Substitute the following to find out the rotation speed of the rotary tillage blade group:

[0043]

[0044] S103. After the front and rear rotary tillage blade groups throw out the soil particles, the trajectory of the oblique projection motion synthesized by the uniform linear motion in the x-axis direction and the uniformly variable linear motion in the z-axis direction is:

[0045]

[0046] Calculate the maximum horizontal distance M that the front and rear rotary tillage blade groups can throw soil particles backward max and height N max for:

[0047]

[0048] Among them, R a is the rotation radius of the front rotary tillage blade group; θ a v is the rotation angle of the front rotary tillage blade group or the angle at which the blade teeth enter the soil; a is the absolute speed of the endpoint A of the front rotary tillage blade group; ω a is the angular velocity of the front rotary tillage blade group; H a The depth of the front rotary tillage blade group into the soil; x b is the displacement of the rear rotary tillage blade group in the x-axis direction; b is the displacement of the rear rotary tillage blade group in the z-axis direction; R b is the rotation radius of the rear rotary tillage blade group; θ b x is the rotation angle of the rear rotary tillage blade group or the angle at which the blade teeth enter the soil; o’ 、y o’ v is the coordinate of the rotation center of the rear rotary tillage blade group; b is the absolute speed of the end point B of the rear rotary tillage blade group; ω b is the angular velocity of the rear rotary tillage blade group; H b The depth of the rear rotary tillage blade group into the soil; n a is the speed of the front rotary tillage blade group; n b is the speed of the rear rotary tillage blade group; x a1 z is the distance that soil particles are thrown in the x-axis direction before tillage; a1 x is the distance that soil particles are thrown in the z-axis direction; b1 z is the distance that soil particles are thrown in the x-axis direction after rotary tillage; b1 is the distance in the z-axis that soil particles are thrown after rotary tillage; and

[0049] S104. Configure the machine's forward speed, soil penetration depth, rotation radius and angular velocity, and rotary blade spatial configuration parameters to ensure that the rotary blade effectively crushes straw and soil, completes soil throwing and soil diversion.

[0050] The above-mentioned seedbed plasticity self-evolution method, wherein step S200 further includes:

[0051] S201, according to the depth H of the rear rotary tillage blade group into the soil bCalculate the thickness of the back-thrown soil as T = H b ×P, where P is the soil throwing rate;

[0052] S202, theoretical crushing and throwing amount of soil by the soil crushing mechanism U0 = h0 × T0, where h0 is the theoretical distance from the soil crushing mechanism to the pre-sowing pressure roller;

[0053] S203. The actual distance detected by the wire displacement sensor before adjustment is recorded as h1, and the encoder detects the angle θ1. The crushing amount of the soil-crushing mechanism is U1 = h1 × T1, and the adjusted crushing amount is U = U1 - U0. The required adjustment distance is h = (h1 × T1 - h0 × T0) / T.

[0054] S204, the motor of the soil crushing mechanism needs to rotate at an angle of θ = arccos(h) = arccos((h1×T1-h0×T0) / T) = arccos((h1×H b1 ×P1-h0×H b0 ×P0) / (H b ×P)), after adjustment, the encoder detects the angle θ2 and compares θ with (θ2-θ1) to ensure that the adjustment is in place; and

[0055] S205. According to the crushing degree of the thrown soil identified by the industrial camera, if the crushing degree of the soil is small, the rotation speed of the soil crushing mechanism is increased, otherwise the rotation speed is reduced.

[0056] The above-mentioned seedbed plasticity self-evolution method, wherein step S300 further includes:

[0057] S301, using the inclination sensor to detect the inclination angle of the installation point of the pre-sowing pressing roller, the pre-sowing electric push cylinder and the pre-sowing pressing roller, and adjusting the coordinates of the front a' point to (l oa' cosθ',l oa' sinθ'), the coordinates of point b' are (l ob' cosθ1',l ob' sinθ1'), the coordinates of point a' after adjustment are (l oa” cosθ",l oa” sinθ”), the coordinates of point b’ are (l ob” cosθ1",l ob” sinθ1”), where l oa’ With l oa” are equal, and are the distances from the center of the pressure roller a', a" to the installation point 0; l ob’ With l ob” are equal, and are the distances from the center of the pressing roller b' and b" to the installation point 0; θ' and θ" are the tilt angles before and after the pressing roller is adjusted before sowing; θ1' and θ1" are the tilt angles before and after the installation point of the electric push cylinder and the pressing roller before sowing is adjusted;

[0058] S302: Detect the soil compaction information before sowing using the soil compaction detection sensor. The soil compaction before and after adjustment is recorded as P' and P", respectively. The compaction force before and after adjustment is F y’ =P'×S,F y” =P”×S, where S is the area of ​​soil compaction;

[0059] S303, according to the pin sensor, the downward pressure information of the electric push cylinder before sowing on the pressing roller before sowing is detected, and the downward pressure before and after adjustment is recorded as F t’ 、F t” , the downforce calculation formula is:

[0060]

[0061] Where l is the distance between the sections where the strain gauges are located; E is the elastic modulus of the material; W is the bending section coefficient; K is the sensitivity coefficient of the strain gauge; U1 is the input voltage; U2 is the output voltage;

[0062] S304, the compaction force of the pre-sowing pressing roller changes before and after adjustment:

[0063]

[0064] Among them F z’ With F z” is the weight of the pressing roller before sowing;

[0065] S305, using the wire displacement sensor to detect the displacement x' of the electric push cylinder device before sowing, we can get l ob” cosθ1″=l ob' Substituting cosθ1'+x' into the formula for the change in compaction force of the pre-sowing roller before and after adjustment, we get:

[0066]

[0067] By adjusting the displacement of the pre-sowing electric push cylinder device, the position of the pre-sowing pressing roller is adjusted to control the pressing force of the pre-sowing pressing roller; and

[0068] S306. Post-sowing soil compaction adjustment is the same as pre-sowing soil compaction adjustment. Repeat steps S301-S305 to perform post-sowing soil compaction adjustment. By adjusting the displacement of the post-sowing electric push cylinder device, the position of the post-sowing pressing roller is adjusted, and the compaction force of the post-sowing pressing roller is controlled to realize the dynamic soil compaction process and achieve the purpose of plastic seed bed soil structure.

[0069] The technical effects of the present invention are:

[0070] The device of the present invention has a reasonable layout, which fundamentally solves the problems of poor consistency of seed sowing depth, poor uniformity of grain spacing and row spacing caused by excessive trenching and soil return, large soil blocks in the seed furrows, and uneven furrows, as well as uneven suppression and loose soil during suppression operations. It can realize soil diversion-dynamic compaction, construct a high-quality and suitable seed bed structure, ensure consistent seed sowing depth, uniform distribution of grain spacing and row spacing, loose and compact plastic "soil above planting" and compact "soil below planting" to increase moisture, form good seed bed performance, provide a good environment and conditions for seed germination and seedling growth, ensure consistent seed emergence and growth, and greatly improve sowing quality and crop yield. It adopts a dual-axis layered rotary tillage method, clarifies the configuration parameters of the dual rotary tillage blade group, ensures that the rotary tillage blades can crush straw and effectively cut the soil, solves the current problems of frequent furrowing and soil return, large soil blocks in the seed furrows, and uneven furrows, which cause poor consistency in seed sowing depth, poor uniformity in grain and row spacing, and realizes the soil diversion process; according to the information such as the degree of crushing of the thrown soil identified by the sensor, the speed and position of the soil crushing mechanism are adjusted to ensure that the "planted soil" is loose; by adjusting the movement displacement of the electric push cylinder device before sowing, the compaction force of the pressing roller before sowing is controlled, and the problems of uneven pressing and loose soil in the pressing operation are solved.

[0071] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this does not limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 A schematic diagram of the structure of a device according to an embodiment of the present invention;

[0073] Figure 2 This is a schematic diagram of the rotary tiller operation process according to an embodiment of the present invention;

[0074] Figure 3 A schematic diagram of soil movement analysis according to an embodiment of the present invention;

[0075] Figure 4 Schematic diagram of adjusting the pressing roller before sowing according to one embodiment of the present invention.

[0076] Among them, the reference numerals

[0077] 1 Transmission mechanism

[0078] 2 racks

[0079] 3. Measurement and control system

[0080] 4 angle adjustment mechanism

[0081] 41 Electric push cylinder before sowing

[0082] 42 Post-sowing electric push cylinder

[0083] 5 Rotary Tiller

[0084] 51 front rotary tillage blade group

[0085] 52 front bearing seat

[0086] 53 rear rotary tillage blade set

[0087] 54 rear bearing seat

[0088] 6 soil crushing mechanism

[0089] 7 Pressing roller

[0090] 71 Pre-sowing pressing roller

[0091] 72 Post-sowing pressing roller DETAILED DESCRIPTION

[0092] The structural principle and working principle of the present invention are described in detail below with reference to the accompanying drawings:

[0093] The present invention is used to achieve soil diversion-dynamic compaction, construct a high-quality and suitable seedbed structure, ensure consistent seed sowing depth, even distribution of grain spacing and row spacing, loose and compact plastic "soil above planting" and compact "soil below planting" to increase moisture, form good seedbed performance, provide a good environment and conditions for seed germination and seedling growth, ensure consistent seed emergence and growth, and greatly improve sowing quality and crop yield.

[0094] See also Figure 1 , Figure 1 The figure is a schematic diagram of the device structure of an embodiment of the present invention. The seedbed plastic self-evolution device of the present invention is used to achieve soil diversion and dynamic compaction to construct a high-quality and suitable seedbed structure, comprising: a frame 2; a rotary tiller 5, mounted on the frame 2 and located below the front of the frame 2, for achieving soil crushing / throwing and straw crushing to complete soil diversion; a soil crushing mechanism 6, mounted on the frame 2 and located behind the rotary tiller 5, for crushing the thrown soil to ensure that the soil for planting is loose; a pressing roller 7, mounted on the frame 2 and located behind the rotary tiller 5, for plasticizing the seedbed soil structure; an angle adjustment mechanism 4, respectively connected to the frame 2 and the pressing roller 7, for adjusting the inclination angle of the pressing roller 7 to achieve dynamic soil compaction; a transmission mechanism 1, mounted on the frame 2 and respectively connected to the rotary tiller 5, the soil crushing mechanism 6 and the angle adjustment mechanism 4; and a measurement and control system 3, mounted on the frame 2, for real-time detection and control of working parameters to construct a high-quality and suitable seedbed structure.

[0095] In this embodiment, the rotary tiller blade 5 includes: a front rotary tiller blade assembly 51, mounted on the frame 2 via a front bearing seat 52 and located below the front end of the frame 2; a rear rotary tiller blade assembly 53, mounted on the frame 2 via a rear bearing seat 54 and located behind the front rotary tiller blade assembly 51, with a height difference between the axis of the rear rotary tiller blade assembly 53 and the axis of the front rotary tiller blade assembly 51. The pressing roller 7 includes: a pre-sowing pressing roller 71, mounted on the frame 2 and located behind the rear rotary tiller blade assembly 53; and a post-sowing pressing roller 72, mounted on the frame 2 and located behind the soil crushing mechanism 6. The post-sowing pressing roller 72 is higher than the pre-sowing pressing roller 71, that is, there is a certain height difference between the post-sowing pressing roller 72 and the pre-sowing pressing roller 71. The angle adjustment mechanism 4 includes: a pre-sowing electric push cylinder 41, which is arranged corresponding to the pre-sowing pressing roller 71, the fixed end of the pre-sowing electric push cylinder 41 is installed on the frame 2, and the movable end of the pre-sowing electric push cylinder 41 is connected to the pre-sowing pressing roller 71; a post-sowing electric push cylinder 42, which is arranged corresponding to the post-sowing pressing roller 72, the fixed end of the post-sowing electric push cylinder 42 is installed on the frame 2, and the movable end of the post-sowing electric push cylinder 42 is connected to the post-sowing pressing roller 72.

[0096] The measurement and control system 3 of this embodiment includes: an inclination sensor, which is respectively installed on the pre-sowing pressing roller 71 and the post-sowing pressing roller 72, and is used to detect the inclination angles of the pre-sowing pressing roller 71 and the post-sowing pressing roller 72, including the inclination angles of the pre-sowing pressing roller 71 and the post-sowing pressing roller 72, as well as the installation points of the pre-sowing electric push cylinder 41 and the pre-sowing pressing roller 71, and the installation points of the post-sowing electric push cylinder 42 and the post-sowing pressing roller 72; a soil compaction detection sensor, which is respectively installed on the pre-sowing pressing roller 71 and the post-sowing pressing roller 72, and is used to detect the soil compaction before and after sowing; an axle pin sensor, which is respectively installed on the connection point of the pre-sowing electric push cylinder 41 and the pre-sowing pressing roller 71, and the connection point of the post-sowing electric push cylinder 42 and the post-sowing pressing roller 72, and is used to detect the influence of the pre-sowing electric push cylinder 41 on the pre-sowing pressing roller 71 and the post-sowing pressing roller The post-sowing electric push cylinder 42 exerts downward pressure on the post-sowing pressing roller 72; an industrial camera is installed on the frame 2, which is used to identify the degree of crushing of the soil thrown up by the rotary tiller 5; a speed sensor is installed on the motor shaft of the rotary tiller 5 and the soil crushing mechanism 6, which is used to detect the respective speeds; an encoder is installed on the motor shaft of the soil crushing mechanism 6, which is used to detect the motor angle; a wire displacement sensor is installed on the angle adjustment mechanism 4 and the soil crushing mechanism 6, respectively, to detect the movement displacement of the pre-sowing electric push cylinder 41 and the post-sowing electric push cylinder 42 and the distance from the soil crushing mechanism 6 to the pre-sowing pressing roller 71; and an industrial computer is installed on the frame 2, including a display screen and a keyboard arranged on the panel, and a data processor arranged therein, which is used to receive the detection values ​​of each sensor and issue control instructions. Among them, the input end of the industrial computer is respectively connected to the output ends of the inclination sensor, soil compaction detection sensor, axle pin sensor, industrial camera, speed sensor and the wire displacement sensor, and the output end of the industrial computer is respectively connected to the motor of the soil crushing mechanism 6 and the input end of the angle adjustment mechanism 4. The industrial computer drives the actuator of the seed bed plastic self-evolution device through the motor and the electric push cylinder.

[0097] This embodiment adopts a dual-axis layered rotary tillage method, clarifies the configuration parameters of the dual rotary tillage blade group, ensures that the rotary tillage blade 5 can crush the straw and effectively cut the soil, solves the problems of poor consistency of seed sowing depth, poor uniformity of grain spacing and row spacing caused by a large number of furrows, large soil blocks in the seed furrows, and uneven furrows, and realizes soil diversion; according to the information such as the degree of crushing of the thrown soil identified by the sensor, the rotation speed and position of the soil crushing mechanism 6 are adjusted to ensure that the "planted soil" is loose; by adjusting the movement displacement of the pre-sowing electric push cylinder 41, the compaction force of the pre-sowing pressing roller 71 is controlled, and the problems of uneven compaction and loose soil in the pressing operation are solved, the soil dynamic compaction process is realized, and the purpose of plastic seed bed soil structure is achieved.

[0098] See also Figure 2 and Figure 3 , Figure 2This is a schematic diagram of the operation process of the rotary tiller 5 according to an embodiment of the present invention. Figure 3 Schematic diagram of soil movement analysis according to an embodiment of the present invention. The seedbed plasticity self-evolution method of the present invention comprises the following steps:

[0099] Step S100: determining the configuration parameters of the rotary tiller 5 to ensure that the rotary tiller 5 can crush the straw and effectively cut the soil, and complete the soil throwing movement to achieve the soil diversion process;

[0100] Step S200: Based on the rotation speed of the soil crushing mechanism between pre-sowing and post-sowing suppression detected by the rotation speed sensor, the distance between the soil crushing mechanism 6 and the pre-sowing suppression roller 71 detected by the wire displacement sensor, and the degree of soil crushing detected by the industrial camera, the rotation speed and position of the soil crushing mechanism 6 are adjusted to ensure that the soil is loosened before planting.

[0101] Step S300, according to the soil compaction detection sensor detecting the soil compaction before and after sowing, the inclination sensor detecting the pre-sowing pressing roller 71 and the post-sowing pressing roller 72, the inclination angles of the installation points of the pre-sowing electric push cylinder 41 and the pre-sowing pressing roller 71, and the installation points of the post-sowing electric push cylinder 42 and the post-sowing pressing roller 72, and the pin sensor detecting the downward pressure of the pre-sowing electric push cylinder 41 on the pre-sowing pressing roller 71 and the post-sowing electric push cylinder 42 on the post-sowing pressing roller 72, and other information, combined with the wire displacement sensor detecting the movement displacement information of the angle adjustment mechanism 4, the positions of the pre-sowing pressing roller 71 and the post-sowing pressing roller 72 are adjusted to realize the soil dynamic compaction process and achieve the purpose of plastic seed bed soil structure;

[0102] Step S400: repeat steps S200-S300 to complete the seed bed plasticity self-evolution process.

[0103] Wherein, step S100 further includes:

[0104] Step S101: Taking the case where the front rotary tiller blade group 51 rotates clockwise and the rear rotary tiller blade group 53 rotates counterclockwise as an example, motion analysis is performed on any endpoint A or B on the front and rear rotary tiller blade groups 53 to obtain the absolute speed of the endpoints A or B of the front and rear rotary tiller blade groups 53:

[0105]

[0106] According to the structure of the front and rear rotary tillage blade groups 53, it can be seen that:

[0107]

[0108] It is necessary to reasonably configure the parameters such as the forward speed, burial depth, turning radius and angular velocity of the machine;

[0109] Step S102: To ensure that the rotary blade 5 effectively cuts the soil, the end point of the rotary blade 5 has a trochoid trajectory, that is, the rotary speed ratio satisfies λ = Rω / v q >1, and derive the motion trajectory equation of any endpoint A or B on the front and rear rotary tillage blade groups 53, and set θ a =ω a t, θ b =ω b t、 Substituting this into the structure of the front and rear rotary tillage blade groups 51 and 53, it can be obtained that the operating speed of the front and rear rotary tillage blade groups 51 and 53 should satisfy:

[0110]

[0111] In step S103, after the front and rear rotary tillage blade groups 51 and 53 throw out the soil particles, the equation of the oblique projection motion trajectory synthesized by the uniform linear motion in the x-axis direction and the uniformly variable linear motion in the z-axis direction is:

[0112]

[0113] Then the maximum horizontal distance M of the soil particles thrown backward by the front and rear rotary tillage blade groups 51 and 53 is calculated. max and height N max for:

[0114]

[0115] Then, the parameters such as the rotation speed, turning radius, and working depth of the front and rear rotary tillage blade groups 51 and 53 that affect the spreading distance are reasonably configured; wherein R a θ is the rotation radius of the front rotary tillage blade group 51; a v is the rotation angle of the front rotary tillage blade group 51 or the angle at which the blade teeth penetrate into the soil; a is the absolute speed of the endpoint A of the front rotary tillage blade group 51; ω a is the angular velocity of the front rotary tillage blade group 51; H a x is the depth of the front rotary tillage blade group 51 into the soil; b y is the displacement of the rear rotary tillage blade group 53 in the x-axis direction; b R is the displacement of the rear rotary tillage blade group 53 in the z-axis direction; b θ is the rotation radius of the rear rotary tillage blade group 53; b x is the rotation angle of the rear rotary tillage blade group 53 or the angle at which the blade teeth penetrate the soil; o’ 、y o’ v is the rotation center coordinate of the rear rotary tillage blade group 53; b is the absolute speed of the end point B of the rear rotary tillage blade group 53; ω b is the angular velocity of the rear rotary tillage blade group 53; H b The depth of the rear rotary tillage blade group 53 into the soil; n a The speed of the front rotary tillage blade group 51; nb The speed of the rear rotary tillage blade group is 53; x a1 z is the distance that soil particles are thrown in the x-axis direction before tillage; a1 x is the distance that soil particles are thrown in the z-axis direction; b1 z is the distance that soil particles are thrown in the x-axis direction after rotary tillage; b1 It is the distance that soil particles are thrown in the z-axis direction after rotary tillage.

[0116] Step S104: Based on the above, the parameters such as the forward speed of the machine, the depth of penetration into the soil, the rotation radius and angular velocity, and the spatial configuration of the dual-axis rotary blade group are reasonably configured to ensure that the rotary blades 5 effectively crush the straw and soil, complete the soil throwing movement, and achieve the purpose of soil diversion;

[0117] Wherein step S200 further includes:

[0118] Step S201: Based on the depth H of the rear rotary tillage blade group 53 into the soil b Calculate the thickness of the back-thrown soil as T = H b ×P, where P is the soil throwing rate;

[0119] Step S202: The theoretical crushing and throwing amount of the soil crushing mechanism 6 is U0=h0×T0, where h0 is the theoretical distance from the soil crushing mechanism 6 to the pre-sowing pressing roller 71;

[0120] Step S203: The actual distance detected by the wire displacement sensor before adjustment is recorded as h1, and the encoder detects the angle θ1. The crushing amount of soil thrown by the soil crushing mechanism 6 is U1=h1×T1, that is, the adjusted crushing amount of soil thrown is U=U1-U0. Substituting the above parameters, the required adjustment distance is h×T=h1×T1-h0×T0, that is, h=(h1×T1-h0×T0) / T;

[0121] Step S204: The motor of the soil crushing mechanism 6 needs to rotate at an angle of θ = arccos(h) = arccos((h1×T1-h0×T0) / T) = arccos((h1×H b1 ×P1-h0×H b0 ×P0) / (H b ×P)), after adjustment, the encoder detects the angle θ2 and compares θ with (θ2-θ1) to ensure that the adjustment is in place;

[0122] Step S205: Based on the crushing degree of the thrown soil identified by the industrial camera, if the crushing degree of the soil is small, the rotation speed of the soil crushing mechanism 6 is increased, otherwise the rotation speed is reduced.

[0123] See also Figure 4 , Figure 4This is a schematic diagram of adjusting the pressing roller 71 before sowing according to an embodiment of the present invention. In step S300, the soil compaction process of the pressing roller 71 before sowing is consistent with the post-sowing pressing roller adjustment method. Taking the pressing roller 71 before sowing as an example, the process further includes:

[0124] Step S301: Detect the inclination angle information of the installation point of the pre-sowing pressing roller 71, the pre-sowing electric push cylinder 41 and the pre-sowing pressing roller 71 through the inclination sensor, and adjust the coordinates of the point a' before the adjustment to (l oa' cosθ',l oa' sinθ'), the coordinates of point b' are (l ob' cosθ1',l ob' sinθ1'), the coordinates of point a' after adjustment are (l oa” cosθ",l oa” sinθ”), the coordinates of point b’ are (l ob” cosθ1",l ob” sinθ1”), where l oa’ With l oa” Equal, the distance from the center a', a" of the pressure roller 7 to the installation point 0; l ob’ With l ob” The distances b' and b' from the center of the pressing roller 7 to the mounting point 0 are equal; θ' and θ' are the tilt angles of the pressing roller 71 before and after adjustment; θ1' and θ1' are the tilt angles of the mounting point between the electric push cylinder 41 and the pressing roller 71 before and after adjustment;

[0125] Step S302: Detect the soil compaction information before sowing using the soil compaction detection sensor. The soil compaction before and after adjustment is recorded as P' and P", and the compaction force before and after adjustment is F. y’ =P'×S,F y” =P”×S, where S is the area of ​​soil compaction;

[0126] Step S303: Detect the downward pressure information of the pre-sowing electric push cylinder 41 on the pre-sowing pressing roller 71 according to the shaft pin sensor, and the downward pressure before and after adjustment is recorded as F t’ 、F t” , based on the characteristics of the Wheatstone bridge, the downforce calculation formula is:

[0127]

[0128] Where l is the distance between the sections where the strain gauges are located; E is the elastic modulus of the material; W is the bending section coefficient; K is the sensitivity coefficient of the strain gauge; U1 is the input voltage; U2 is the output voltage;

[0129] Step S304: analyzing the force on the pre-sowing pressing roller 71 before and after adjustment to obtain the following:

[0130] Ft' ×l ob' cosθ1'=(F y' -F z' )×l oa' cosθ'、F t” ×l ob” cosθ1″=(F y” -F z” )×l oa” cosθ”;

[0131] The formula for the change in compaction force of the pre-sowing pressing roller 71 before and after adjustment is:

[0132]

[0133] Among them F z’ With F z” is the gravity of the pre-sowing pressing roller 71;

[0134] Step S305: The displacement information x' of the electric push cylinder 41 before broadcasting is detected by the wire displacement sensor, and the displacement information x' can be obtained. ob” cosθ1″=l ob' Substituting cosθ1'+x' into the formula for the change in compaction force of the pre-sowing pressing roller 71 before and after adjustment, we get:

[0135]

[0136] That is, by adjusting the displacement of the pre-sowing electric push cylinder 41 device, the position of the pre-sowing pressing roller 71 can be adjusted, the compaction force of the pre-sowing pressing roller 71 can be controlled, and the soil dynamic compaction process can be realized to achieve the purpose of plastic seed bed soil structure; and

[0137] S306. Post-sowing soil compaction adjustment is the same as pre-sowing soil compaction adjustment. Repeat steps S301-S305 to perform post-sowing soil compaction adjustment. By adjusting the movement displacement of the post-sowing electric push cylinder 42 device, the position of the post-sowing pressing roller 72 is adjusted, and the compaction force of the post-sowing pressing roller 72 is controlled to realize the dynamic soil compaction process and achieve the purpose of plastic seed bed soil structure.

[0138] During the working process, first of all, the parameters such as the forward speed of the machine, the depth of penetration into the soil, the rotation radius and angular velocity, and the spatial configuration of the dual-axis rotary tillage blade group are reasonably configured to ensure that the rotary tillage blade 5 effectively crushes the straw and soil, completes the soil throwing movement, and achieves the purpose of soil diversion; the working speed of the soil crushing mechanism 6 motor and the angle adjustment mechanism 4 are adjusted through the measurement and control system 3, and when each transmission mechanism 1 moves smoothly, the measurement and control system 3 controls the rotation angle of the soil crushing mechanism 6 motor according to the distance detected by the wire displacement sensor, the angle detected by the encoder, etc., to adjust the amount of crushed and thrown soil, and adjust the rotation speed of the soil crushing mechanism 6 in combination with the degree of crushing of the thrown soil identified by the industrial camera to ensure that the "planted soil" is loose and broken; the soil compaction process of the pre-sowing pressure adjustment is consistent with the post-sowing pressure adjustment method. Taking the pre-sowing pressure adjustment as an example, the pre-sowing pressure roller 71, the pre-sowing electric push cylinder 41 and the pre-sowing pressure roller 71 are detected by the inclination sensor. The inclination angle information of the installation point is used to calculate the coordinates of points a' and b' before adjustment; the soil compaction information before sowing is detected by the soil compaction detection sensor, and the compaction force before and after adjustment is obtained; the downward pressure information of the pre-sowing electric push cylinder 41 on the pre-sowing pressing roller 71 is detected by the axle pin sensor, and the force analysis of the pre-sowing pressing roller 71 before and after adjustment is performed to obtain a mathematical model of the change in compaction force of the pre-sowing pressing roller 71 before and after adjustment; combined with the wire displacement sensor to detect the moving displacement information of the pre-sowing electric push cylinder 41 device, a mathematical model of the moving displacement of the pre-sowing electric push cylinder 41 device and the compaction force of the pre-sowing pressing roller 71 can be obtained, that is, by adjusting the moving displacement of the pre-sowing electric push cylinder 41 device, the compaction force of the pre-sowing pressing roller 71 is controlled, which solves the problems of uneven compaction and loose soil in the compaction operation, realizes the dynamic compaction process of the soil, and achieves the purpose of plastic seed bed soil structure.

[0139] The present invention has a reasonable layout and can fundamentally solve the problems of poor consistency in seed sowing depth, poor uniformity in grain and row spacing, uneven gullies, etc. caused by the current large number of trenches and soil backfill, large soil blocks in the seed furrows, and uneven gullies, as well as uneven suppression and loose soil during suppression operations, so as to achieve soil diversion-dynamic compaction, construct a high-quality and suitable seed bed structure, ensure consistent seed sowing depth, uniform distribution of grain and row spacing, loose and compact plastic "soil above planting" and compact "soil below planting" to increase moisture, form good seed bed performance, provide good links and conditions for seed germination and seedling growth, ensure consistent seed emergence and growth, and greatly improve sowing quality and crop yield. The system adopts a dual-axis layered rotary tillage method, specifies the configuration parameters of the dual rotary blade groups, and ensures that the rotary blades 5 can crush straw and effectively cut the soil. This solves the current problems of poor seeding depth consistency, poor uniformity of seed and row spacing caused by frequent furrowing, large soil clods in the seed furrow, and uneven gullies, and achieves a soil diversion process. The rotation speed and position of the soil crushing mechanism 6 are adjusted based on information such as the degree of soil crushing detected by the sensor to ensure that the "soil above planting" is loose and broken. By adjusting the displacement of the pre-sowing electric push cylinder 41 device, the compaction force of the pre-sowing pressing roller 71 is controlled, solving the problems of uneven compaction and loose soil during the pressing operation. This realizes a soil diversion-dynamic compaction process, achieves a plastic seedbed soil structure, and constructs a high-quality and suitable seedbed structure. This ensures consistent seeding depth, uniform distribution of seed and row spacing, loose and compacted plastic "soil above planting" and compacted "soil below planting" to increase moisture content, forming a good seedbed performance, providing a good environment and conditions for seed germination and seedling growth, ensuring consistent seed emergence and growth, and greatly improving sowing quality and crop yield.

[0140] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A seed bed plasticity self-evolution device, characterized in that: Used to achieve soil diversion and dynamic compaction to build a high-quality and suitable seedbed structure, including: frame; A rotary tiller, mounted on the frame and located below the front portion of the frame, is used to crush / throw soil and pulverize straw to complete soil diversion; A soil crushing mechanism, mounted on the frame and located behind the rotary tiller, is used to crush the thrown soil to ensure that the soil for planting is loose and broken; The pressing roller is used for the plastic seed bed soil structure; it includes: a pre-sowing pressing roller, which is installed on the frame and located behind the rotary tiller; a post-sowing pressing roller, which is installed on the frame and located behind the soil crushing mechanism; An angle adjustment mechanism is connected to the frame and the pressing roller, respectively, for adjusting the inclination angle of the pressing roller to achieve dynamic soil compaction; it includes: a pre-sowing electric push cylinder, which is provided corresponding to the pre-sowing pressing roller, the fixed end of which is mounted on the frame, and the movable end of which is connected to the pre-sowing pressing roller; a post-sowing electric push cylinder, which is provided corresponding to the post-sowing pressing roller, the fixed end of which is mounted on the frame, and the movable end of which is connected to the post-sowing pressing roller; a transmission mechanism, mounted on the frame and connected to the rotary tiller, the soil crushing mechanism and the angle adjustment mechanism respectively; and A measurement and control system, mounted on the frame, is used to detect and control working parameters in real time to construct a high-quality and suitable seed bed structure; the measurement and control system includes: An inclination sensor is installed on the pre-sowing pressing roller and the post-sowing pressing roller respectively, and is used to detect the inclination angle of the pre-sowing pressing roller and the post-sowing pressing roller; Soil compaction detection sensors are respectively installed on the pre-sowing pressing roller and the post-sowing pressing roller to detect the soil compaction before sowing and before sowing pressing; Axle pin sensors are respectively installed at the connection point between the pre-sowing electric push cylinder and the pre-sowing pressing roller, and at the connection point between the post-sowing electric push cylinder and the post-sowing pressing roller, and are used to detect the downward pressure of the pre-sowing electric push cylinder on the pre-sowing pressing roller and the post-sowing electric push cylinder on the post-sowing pressing roller; an industrial camera, mounted on the frame, for identifying the degree of pulverization of soil thrown up by the rotary tiller; Speed ​​sensors are installed on the motor shafts of the rotary tiller and soil crushing mechanism to detect their respective speeds; an encoder, mounted on the motor shaft of the soil crushing mechanism, for detecting the motor rotation angle; a wire displacement sensor, mounted on the angle adjustment mechanism and the soil crushing mechanism, for detecting the displacement of the pre-sowing electric push cylinder and the post-sowing electric push cylinder and the distance from the soil crushing mechanism to the pre-sowing pressing roller; and An industrial computer, mounted on the rack, for receiving detection values ​​from various sensors and issuing control instructions; According to the rotation speed of the soil crushing mechanism detected by the rotation speed sensor, the distance between the soil crushing mechanism and the pre-sowing pressing roller detected by the pull-wire displacement sensor, and the degree of soil crushing identified by the industrial camera, the rotation speed and position of the soil crushing mechanism are adjusted to ensure that the soil is loosened before planting; according to the soil compaction detection sensor before and after sowing pressing detected by the soil compaction detection sensor, the inclination angle of the pre-sowing pressing roller and the post-sowing pressing roller detected by the inclination sensor, and the downward pressure of the pre-sowing electric push cylinder on the pre-sowing pressing roller and the post-sowing electric push cylinder on the post-sowing pressing roller detected by the axle pin sensor, combined with the movement displacement of the pre-sowing electric push cylinder and the post-sowing electric push cylinder detected by the pull-wire displacement sensor, the positions of the pre-sowing pressing roller and the post-sowing pressing roller are adjusted to achieve dynamic soil compaction; the plastic self-evolution of the seedbed is completed, which makes the soil loose and compact before planting and the soil compacted and moisture-raising after planting.

2. The seedbed plasticity self-evolution device according to claim 1, characterized in that: The rotary tiller comprises: A front rotary tillage blade assembly is mounted on the frame via a front bearing seat and is located below the front end of the frame; The rear rotary tiller blade group is mounted on the frame via a rear bearing seat and is located behind the front rotary tiller blade group. There is a height difference between the axis of the rear rotary tiller blade group and the axis of the front rotary tiller blade group.

3. The seedbed plasticity self-evolution device according to claim 2, characterized in that: The post-sowing pressing roller is higher than the pre-sowing pressing roller.

4. The seed bed plasticity self-evolution device according to claim 1, characterized in that: The input end of the industrial computer is respectively connected to the output ends of the inclination sensor, soil compaction detection sensor, axle pin sensor, industrial camera, speed sensor and the wire displacement sensor, and the output end of the industrial computer is respectively connected to the motor of the soil crushing mechanism and the input end of the angle adjustment mechanism.

5. A method for self-evolution of seedbed plasticity, characterized in that: The seed bed plasticity self-evolution device according to any one of claims 1 to 4 is used to complete the seed bed plasticity self-evolution, comprising the following steps: S100, determining configuration parameters of the rotary tillage blade to ensure that the rotary tillage blade can crush straw and effectively cut soil, and complete the soil throwing movement to achieve soil diversion; S200, adjusting the rotation speed and position of the soil crushing mechanism based on the rotation speed of the soil crushing mechanism detected by the rotation speed sensor, the distance between the soil crushing mechanism and the pre-sowing pressing roller detected by the pull-wire displacement sensor, and the degree of soil crushing detected by the industrial camera to ensure that the soil is loosened before planting; S300, adjusting the positions of the pre-sowing and post-sowing pressing rollers based on the soil compaction before and after sowing detected by the soil compaction detection sensor, the inclination angles of the pre-sowing and post-sowing pressing rollers detected by the inclination sensor, and the downward pressure of the pre-sowing electric push cylinder on the pre-sowing pressing roller and the post-sowing electric push cylinder on the post-sowing pressing roller detected by the axle pin sensor, in combination with the movement displacement of the pre-sowing and post-sowing electric push cylinders detected by the pull-wire displacement sensor, to achieve dynamic soil compaction; S400, repeating steps S200-S300 to complete the plastic self-evolution of the seedbed, which is to loosen and compact the soil above the planting and to compact and increase the moisture content of the soil below the planting.

6. The seedbed plasticity self-evolution method according to claim 5, characterized in that: Step S100 further includes: S101. Assuming the front rotary tiller blade group rotates clockwise and the rear rotary tiller blade group rotates counterclockwise, obtain the absolute speed of any endpoint A or B of the front and rear rotary tiller blade groups: in, S102: To ensure that the rotary tiller effectively cuts the soil, the endpoint motion trajectory of the rotary tiller is a trochoid, and the rotary tillage speed ratio satisfies λ = Rω / v q >1, and derive the motion trajectory equation of any endpoint A and B on the front and rear rotary tillage blade groups, and set θ a =ω a t, θ b =ω b t、 Substitute the following to find out the rotation speed of the rotary tillage blade group: S103. After the front and rear rotary tillage blade groups throw out the soil particles, the trajectory of the oblique projection motion synthesized by the uniform linear motion in the x-axis direction and the uniformly variable linear motion in the z-axis direction is: Calculate the maximum horizontal distance M that the front and rear rotary tillage blade groups can throw soil particles backward max and height N max for: Among them, R a is the rotation radius of the front rotary tillage blade group; θ a v is the rotation angle of the front rotary tillage blade group or the angle at which the blade teeth enter the soil; a is the absolute speed of the endpoint A of the front rotary tillage blade group; ω a is the angular velocity of the front rotary tillage blade group; H a The depth of the front rotary tillage blade group into the soil; x b is the displacement of the rear rotary tillage blade group in the x-axis direction; b is the displacement of the rear rotary tillage blade group in the z-axis direction; R b is the rotation radius of the rear rotary tillage blade group; θ b x is the rotation angle of the rear rotary tillage blade group or the angle at which the blade teeth enter the soil; o’ 、y o ' is the coordinate of the rotation center of the rear rotary tillage blade group; v b is the absolute speed of the end point B of the rear rotary tillage blade group; ω b is the angular velocity of the rear rotary tillage blade group; H b The depth of the rear rotary tillage blade group into the soil; n a is the speed of the front rotary tillage blade group; n b is the speed of the rear rotary tillage blade group; x a1 z is the distance that soil particles are thrown in the x-axis direction before tillage; a1 x is the distance that soil particles are thrown in the z-axis direction; b1 z is the distance that soil particles are thrown in the x-axis direction after rotary tillage; b1 is the distance in the z-axis that soil particles are thrown after rotary tillage; and S104. Configure the machine's forward speed, soil penetration depth, rotation radius and angular velocity, and rotary blade spatial configuration parameters to ensure that the rotary blade effectively crushes straw and soil, completes soil throwing and soil diversion.

7. The seedbed plasticity self-evolution method according to claim 5 or 6, characterized in that: Step S200 further includes: S201, according to the depth H of the rear rotary tillage blade group into the soil b Calculate the thickness of the back-thrown soil as T = H b ×P, where P is the soil throwing rate; S202, theoretical crushing and throwing amount of soil by the soil crushing mechanism U0 = h0 × T0, where h0 is the theoretical distance from the soil crushing mechanism to the pre-sowing pressure roller; S203. The actual distance detected by the wire displacement sensor before adjustment is recorded as h1, and the encoder detects the angle θ1. The crushing amount of the soil-crushing mechanism is U1 = h1 × T1, and the adjusted crushing amount is U = U1 - U0. The required adjustment distance is h = (h1 × T1 - h0 × T0) / T. S204, the motor of the soil crushing mechanism needs to rotate at an angle of θ = arccos(h) = arccos((h1×T1-h0×T0) / T) = arccos((h1×H b1 ×P1-h0×H b0 ×P0) / (H b ×P)), after adjustment, the encoder detects the angle θ2 and compares θ with (θ2-θ1) to ensure that the adjustment is in place; and S205. According to the crushing degree of the thrown soil identified by the industrial camera, if the crushing degree of the soil is small, the rotation speed of the soil crushing mechanism is increased, otherwise the rotation speed is reduced.

8. The seedbed plasticity self-evolution method according to claim 5, characterized in that: Step S300 further includes: S301, using the inclination sensor to detect the inclination angle of the installation point of the pre-sowing pressing roller, the pre-sowing electric push cylinder and the pre-sowing pressing roller, and adjusting the coordinates of the front a' point to (l oa' cosθ',l oa' sinθ'), the coordinates of point b' are (l ob' cosθ1',l ob' sinθ1'), the coordinates of point a' after adjustment are (l oa” cosθ",l oa” sinθ”), the coordinates of point b’ are (l ob” cosθ1",l ob” sinθ1”), where l oa’ With l oa” are equal, and are the distances from the center of the pressure roller a', a" to the installation point 0; l ob’ With l ob” are equal, and are the distances from the center of the pressing roller b' and b" to the installation point 0; θ' and θ" are the tilt angles before and after the pressing roller is adjusted before sowing; θ1' and θ1" are the tilt angles before and after the installation point of the electric push cylinder and the pressing roller before sowing is adjusted; S302: Detect the soil compaction information before sowing using the soil compaction detection sensor. The soil compaction before and after adjustment is recorded as P' and P", respectively. The compaction force before and after adjustment is F y’ =P'×S,F y” =P”×S, where S is the area of ​​soil compaction; S303, according to the pin sensor, the downward pressure information of the electric push cylinder before sowing on the pressing roller before sowing is detected, and the downward pressure before and after adjustment is recorded as F t’ 、F t” , the downforce calculation formula is: Where l is the distance between the sections where the strain gauges are located; E is the elastic modulus of the material; W is the bending section coefficient; K is the sensitivity coefficient of the strain gauge; U1 is the input voltage; U2 is the output voltage; S304, the compaction force of the pre-sowing pressing roller changes before and after adjustment: Among them F z’ With F z” is the weight of the pressing roller before sowing; S305, using the wire displacement sensor to detect the displacement x' of the electric push cylinder device before sowing, we can get l ob” cosθ1″=l ob' Substituting cosθ1'+x' into the formula for the change in compaction force of the pre-sowing roller before and after adjustment, we get: By adjusting the displacement of the pre-sowing electric push cylinder device, the position of the pre-sowing pressing roller is adjusted to control the pressing force of the pre-sowing pressing roller; and S306. Post-sowing soil compaction adjustment is the same as pre-sowing soil compaction adjustment. Repeat steps S301-S305 to perform post-sowing soil compaction adjustment. By adjusting the displacement of the post-sowing electric push cylinder device, the position of the post-sowing pressing roller is adjusted, and the compaction force of the post-sowing pressing roller is controlled to realize the dynamic soil compaction process and achieve the purpose of plastic seed bed soil structure.

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