Automatic film and rod collecting machine for small arch shed and control method thereof

Abstract

The present invention belongs to the technical field of arch shed recycling, and specifically relates to an automatic film and pole collecting machine for small arch sheds and a control method thereof, comprising: a frame, a traveling mechanism provided at the bottom of the frame, the traveling mechanism being equipped with a speed sensor; a film recovery mechanism, a shed pole recovery mechanism, and a control unit being installed on the frame; the control unit comprising: a shed pole conveying control module, for obtaining the traveling speed collected by the speed sensor, dynamically adjusting the rotation speeds of a first motor and a second motor according to the speed difference between the traveling speed and the speed of the upper and lower conveyor belts, and adaptively correcting the shed pole offset caused by the speed difference; a film winding control module, for obtaining the traveling speed collected by the speed sensor and the rotation speed signal collected by an encoder, controlling the torque of a third motor according to the traveling speed and the rotation speed signal, and maintaining constant tension during the film retraction process. The present invention achieves precise recovery of shed poles and films, ensuring that it can maintain efficient and stable operation under different working conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of arch shed recycling, and in particular relates to an automatic film and rod collecting machine for a small arch shed and a control method thereof. Background Art

[0002] Reasonable planting methods are important for increasing cantaloupe yield and improving its quality. Using small arched film to grow cantaloupe can significantly increase ground temperature, facilitate early sowing, extend the melon's growing period, and improve the melon's resilience to abnormal weather conditions such as low temperatures and sandstorms during the seedling stage, achieving high-quality and high-yield cantaloupe. Furthermore, timely film removal and recycling after the seedling stage can effectively prevent film contamination in cotton fields. The applicant, in publication number CN 109526477 A, provides a shed film covering machine capable of automatically inserting poles and automatically constructing shed film, enabling mechanized construction of small arched films.

[0003] During the test, the small arch film covering machine can complete the operations of pole insertion, film covering and soil covering at one time, and its operating performance meets the design requirements. In the subsequent research and development process, the applicant successively applied for patent technologies including CN 115211316 A, CN 115488127 A, and CN116649133 A for the recycling of shed poles and shed films. However, in practice, it was found that the following problems still exist: when the shed poles are pulled off the ground, they are usually stretched and deformed until their ends are separated from the ground. The excessively long deformation process can easily cause plastic deformation of the shed poles, affecting their performance and lifespan in secondary use. When the shed poles are finally separated from the ground, they usually produce violent vibrations. This vibration not only damages the shed poles themselves, but may also cause the pole-collecting device to shift relative to the ground or equipment, affecting the overall pole-collecting effect and efficiency. In the existing film-collecting device, when the film is separated from the shed poles or the soil, this instantaneous large resistance can easily cause the film to be torn, and the speed change of the tractor during the traction process will affect the tension in the film-collecting process, making it difficult to ensure the film-collecting effect and the integrity of the film, increasing the loss and difficulty of secondary processing. Summary of the Invention

[0004] Purpose of the invention: The purpose of the present invention is to address the deficiencies in the existing technology and provide an automatic film and pole collecting machine for small greenhouses and a control method thereof, so as to achieve accurate recovery of greenhouse poles and covering film, ensure that it can still maintain efficient and stable operation under different working conditions, and improve the automation and intelligence level of film and pole recovery in agricultural small greenhouses.

[0005] Technical solution: The automatic film and pole winding machine for a small arch shed of the present invention comprises a frame, a walking mechanism is provided at the bottom of the frame, and a speed sensor is installed on the walking mechanism for real-time detection of the walking speed; a film recovery mechanism, a shed pole recovery mechanism and a control unit are installed on the frame; the shed pole recovery mechanism has an upper conveyor belt and a lower conveyor belt, and the upper conveyor belt and the lower conveyor belt are driven by a first motor and a second motor respectively; the film recovery mechanism has a winding roller, one end of which is coaxially connected to a third motor and the other end of which is equipped with an encoder;

[0006] The control unit includes: a shed pole conveying control module, which is used to obtain the walking speed collected by the speed sensor, dynamically adjust the rotation speed of the first motor and the second motor according to the walking speed and the speed difference between the upper and lower conveyor belts, and adaptively correct the shed pole offset caused by the speed difference; a film winding control module, which is used to obtain the walking speed collected by the speed sensor and the rotation speed signal collected by the encoder, and control the torque of the third motor according to the walking speed and the rotation speed signal to keep the tension constant during the film retraction process.

[0007] To further improve the above technical solution, the speed of the upper conveyor belt is v1, the speed of the lower conveyor belt is v2, and in the initial state, v1=v2=v0, where v0 is the set target speed. According to the acquired real-time walking speed vt, the following judgment is made: if the walking speed vt is greater than v0, the speed of the upper conveyor belt v1 is slowed down and the speed of the lower conveyor belt v2 is accelerated to correct the forward deviation of the shed pole; if the walking speed vt is less than v0, the speed of the upper conveyor belt v1 is accelerated and the speed of the lower conveyor belt v2 is slowed down to correct the backward deviation of the shed pole.

[0008] Furthermore, the dynamic adjustment method of the upper conveyor belt and the lower conveyor belt is: calculating the speed difference between the walking speed vt and v0 : ; Calculate the speed difference adjustment , K is the control gain coefficient, which is used to adjust the response sensitivity of the speed difference to the speed difference; according to Slow down or speed up the upper conveyor belt v1 and the second conveyor belt v2.

[0009] Furthermore, the upper conveyor belt and the lower conveyor belt are arranged at an angle, and the inclination angle is adjustable, and the inclination angle can be configured to adapt to small arch sheds of different heights.

[0010] Furthermore, a position sensor is provided on the frame in front of the shed pole recovery mechanism for collecting position information of the shed pole. After acquiring the position information of the shed pole, the control unit dynamically adjusts the upper conveyor belt and the lower conveyor belt.

[0011] Furthermore, the third motor is a torque motor, which drives the winding roller to rotate, and the speed signal collected by the encoder is transmitted to the control unit; the control process of the film winding control module is: calculating the film torque according to the set tension value: , where D is the real-time coil diameter, To set the tension value, is the reduction ratio; obtain the speed signal collected by the encoder and calculate the speed compensation based on the speed: ,in, is the basic compensation coefficient, which is related to the speed Proportional, is the rated torque of the torque motor; the control unit outputs a torque control signal For constant tension control: .

[0012] Furthermore, the walking speed vt collected by the speed sensor is obtained to determine whether the current walking state is acceleration or deceleration. If it is acceleration or deceleration, the control unit performs acceleration or deceleration torque compensation, and the compensation amount is proportional to the speed change rate;

[0013] Calculate acceleration torque compensation: , is the acceleration compensation coefficient; calculate the deceleration torque compensation: , is the deceleration compensation coefficient; the torque control signal output by the control unit during the acceleration phase : The torque control signal output by the control unit during the deceleration phase : .

[0014] The control method of the automatic film and rod collecting machine for a small shed includes the following steps:

[0015] S1: Set target speed v0 and tension value ;

[0016] S2: Obtain the real-time walking speed vt collected by the speed sensor and the real-time rotation speed w collected by the encoder;

[0017] S3: Perform shed pole recovery control, including:

[0018] Calculate the speed difference between walking speed vt and v0 : , calculate the speed difference adjustment , K is the control gain coefficient, which is used to adjust the response sensitivity of the speed difference to the speed difference. Adjust the speed of the upper and lower conveyor belts,

[0019] If the walking speed vt is greater than v0, then: , ,

[0020] If the walking speed vt is less than v0, then , ;

[0021] S4: Control the film coating and winding

[0022] Calculate the coating torque according to the set tension value: , where D is the real-time coil diameter, To set the tension value, is the reduction ratio;

[0023] Get the speed signal collected by the encoder and calculate the speed compensation based on the speed: ,in, is the basic compensation coefficient, which is related to the speed Proportional, is the rated torque of the torque motor;

[0024] The control unit outputs a torque control signal For constant tension control: ;

[0025] Determine whether the current walking state is acceleration or deceleration. If it is acceleration or deceleration, the control unit performs acceleration or deceleration torque compensation, and the compensation amount is proportional to the speed change rate;

[0026] Calculate acceleration torque compensation: , is the acceleration compensation coefficient; calculate the deceleration torque compensation: , is the deceleration compensation coefficient;

[0027] The torque control signal output by the control unit during the acceleration phase : The torque control signal output by the control unit during the deceleration phase : .

[0028] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0029] The present invention predicts the current pole offset state based on the upper and lower conveyor belts and the walking speed, and adaptively corrects the pole offset by introducing differential control, thereby reducing the plastic deformation and vibration of the pole, and ensuring the stability and position accuracy of the pole during the recovery process; when the pole is about to leave the ground, the control unit collects the pole position through the position sensor and predicts this moment in advance, thereby ensuring the stability and accuracy of the pole retracting device; the tilt setting and adjustable angle enable it to adapt to small arch sheds of different heights.

[0030] The present invention performs constant tension control on the film recovery mechanism, ensures that the film maintains appropriate tension during the winding process, avoids the film from being loose or too tight, and thus improves the winding quality and neatness of the film.

[0031] Adaptive control is implemented based on the tractor's speed. A speed sensor monitors the tractor's speed in real time and feeds the signal back to the control unit. The control unit dynamically adjusts the operating speeds of the pole and film retraction systems based on the tractor's speed, ensuring system stability and consistency at varying speeds and improving the efficiency and quality of pole and film retraction. The introduction of this adaptive control solution further enhances the system's overall stability and efficiency, ensuring optimal performance under varying operating conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0033] Figure 2 It is a structural schematic diagram of the shed pole recovery mechanism of the present invention;

[0034] Figure 3 2. It is a schematic diagram of the working state of the present invention for recovering shed poles;

[0035] Figure 4 2. It is a schematic diagram of the state in which the shed poles are shifted forward when the shed poles are recovered according to the present invention;

[0036] Figure 5 This is a schematic diagram of the state in which the shed poles are offset backwards when the shed poles are recovered according to the present invention;

[0037] Figure 6 It is a principle block diagram of the control method of the present invention;

[0038] Figure 7 It is a flow chart of the control method of the present invention.

[0039] In the figure: 1. Frame, 2. Traveling mechanism, 3. Film recovery mechanism, 4. Pole recovery mechanism, 31. Winding roller, 32. Third motor, 41. Upper conveyor belt, 42. Lower conveyor belt, 43. First driving wheel, 44. Second driving wheel, 5. Pole. DETAILED DESCRIPTION

[0040] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0041] Example 1: Figure 1 The automatic film and pole collecting machine for small arch sheds shown in the figure includes: a frame, a walking mechanism is provided at the bottom of the frame, and the walking mechanism is equipped with a speed sensor for real-time detection of the walking speed; a film recovery mechanism, a shed pole recovery mechanism and a control unit are installed on the frame; the control unit includes a shed pole conveying control module and a film winding control module.

[0042] like Figure 2 As shown, the shed pole recovery mechanism has an upper conveyor belt and a lower conveyor belt, and the upper conveyor belt and the lower conveyor belt are driven by a first motor and a second motor respectively.

[0043] like Figure 3 The schematic diagram of the state of the shed pole being retracted is shown. By obtaining the walking speed collected by the speed sensor, and according to the speed difference between the walking speed and the upper and lower conveyor belts, the upper and lower conveyor belts are set at an angle, and the inclination angle is adjustable. By configuring the inclination angle, small arch sheds of different heights can be adapted. For the inclined upper and lower conveyor belts, according to their inclination angles, the speed components of the upper and lower conveyor belts in the horizontal direction are calculated as the upper conveyor belt speed v1 and the lower conveyor belt speed v2. In the initial state, v1=v2=v0, and v0 is the set target speed. According to the obtained real-time walking speed vt, the speed difference between the walking speed vt and v0 is calculated. : , dynamically adjust the speed of the first motor and the second motor, and adaptively correct the pole offset caused by the speed difference.

[0044] like Figure 4 As shown, if the walking speed vt is greater than v0, the shed pole is in a forward offset state, and the speed difference adjustment amount is calculated , K is the control gain coefficient, which is used to adjust the sensitivity of the response to the speed difference. At this time, the speed of the upper conveyor belt v1 is slowed down and the speed of the lower conveyor belt v2 is accelerated to correct the forward deviation of the shed pole;

[0045] like Figure 5 As shown, if the walking speed vt is less than v0, the shed pole is in a backward deflection state. At this time, the speed of the upper conveyor belt v1 is accelerated and the speed of the lower conveyor belt v2 is slowed down to correct the backward deflection of the shed pole.

[0046] A position sensor is provided on the frame in front of the shed pole recovery mechanism for collecting the position information of the shed pole. After obtaining the position information of the shed pole, the control unit dynamically adjusts the upper conveyor belt and the lower conveyor belt.

[0047] Example 2: Tension has nonlinear characteristics, and the travel speed of the frame is one of the factors affecting the tension. In order to ensure constant tension during the film recovery process, the output torque of the third motor must be increased while the diameter of the film wound on the winding roller increases. At the same time, in order to keep the linear speed of the wound film unchanged, the speed of the winding roller must be reduced accordingly. The mechanical characteristics of the torque motor just meet this requirement. When the winding diameter of the winding roller becomes larger, the torque of the wound film can also be increased by controlling the input voltage of the torque motor.

[0048] The film recovery mechanism includes a winding roller, one end of which is coaxially connected to the torque motor, and an encoder is installed on the other end of the winding roller. The film is tensioned by the tension wheel and wound onto the winding roller. The torque motor drives the winding roller to rotate, and the encoder transmits the speed signal to the control unit. The roll diameter changes in real time during the film winding process. The real-time roll diameter D is obtained by real-time calculation of the initial radius of the winding roller, film thickness, and film length, or through an external diameter gauge. When the roll diameter thickness changes, the winding speed is controlled in advance.

[0049] Calculate the coating torque according to the set tension value: ,

[0050] Where D is the real-time coil diameter, To set the tension value, is the reduction ratio;

[0051] Get the speed signal collected by the encoder and calculate the speed compensation based on the speed: ,

[0052] in, is the basic compensation coefficient, which is related to the speed Proportional, is the rated torque of the torque motor;

[0053] The control unit outputs a torque control signal For constant tension control: .

[0054] Get the walking speed vt collected by the speed sensor. If the walking speed vt is greater than the set target speed, perform acceleration torque compensation. If the walking speed vt is less than the set target speed, perform deceleration torque compensation. The compensation amount is proportional to the speed change rate.

[0055] Acceleration torque compensation: , is the acceleration compensation coefficient;

[0056] Deceleration torque compensation: , is the deceleration compensation coefficient;

[0057] Total torque calculation:

[0058] During the acceleration phase: ;

[0059] During the deceleration phase: ;

[0060] Low speed limit calculation: .

[0061] Example 3: A control method for an automatic film and rod collecting machine for a small arch shed, such as 6, Figure 7 As shown, the following steps are included:

[0062] S1: Set target speed v0 and tension value ;

[0063] S2: Obtain the real-time walking speed vt collected by the speed sensor and the real-time rotation speed w collected by the encoder;

[0064] S3: Perform shed pole recovery control, including:

[0065] Calculate the speed difference between walking speed vt and v0 : ,

[0066] Calculate speed difference adjustment , K is the control gain coefficient, which is used to adjust the response sensitivity of the speed difference to the speed difference. Adjust the speed of the upper and lower conveyor belts,

[0067] If the walking speed vt is greater than v0, then: , ,

[0068] If the walking speed vt is less than v0, then , ;

[0069] S4: Control the film coating and winding

[0070] Calculate the coating torque according to the set tension value: ,

[0071] Where D is the real-time coil diameter, To set the tension value, is the reduction ratio;

[0072] Get the speed signal collected by the encoder and calculate the speed compensation based on the speed: ,

[0073] in, is the basic compensation coefficient, which is related to the speed Proportional, is the rated torque of the torque motor;

[0074] The control unit outputs the torque control signal For constant tension control: ;

[0075] Determine whether the current walking state is acceleration or deceleration. If it is acceleration or deceleration, the control unit performs acceleration or deceleration torque compensation, and the compensation amount is proportional to the speed change rate;

[0076] Calculate acceleration torque compensation: , is the acceleration compensation coefficient;

[0077] Calculate the deceleration torque compensation: , is the deceleration compensation coefficient;

[0078] The torque control signal output by the control unit during the acceleration phase : ;

[0079] The torque control signal output by the control unit during the deceleration phase : .

[0080] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes may be made to it in form and detail without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. An automatic film and rod collecting machine for a small arch shed, comprising: The frame comprises a walking mechanism provided at the bottom of the frame, the walking mechanism being equipped with a speed sensor for detecting the walking speed in real time; a film recovery mechanism, a pole recovery mechanism and a control unit being installed on the frame; the pole recovery mechanism having an upper conveyor belt and a lower conveyor belt, the upper conveyor belt and the lower conveyor belt being driven by a first motor and a second motor respectively; the film recovery mechanism having a winding roller, one end of which is coaxially connected to the third motor and the other end of which is equipped with an encoder; the control unit comprising: The pole conveying control module is used to obtain the walking speed collected by the speed sensor, dynamically adjust the speed of the first motor and the second motor according to the walking speed and the speed difference between the upper and lower conveyor belts, and adaptively correct the pole deviation caused by the speed difference; a film rewinding control module, configured to obtain a traveling speed acquired by a speed sensor and a rotational speed signal acquired by an encoder, and control the torque of the third motor according to the traveling speed and rotational speed signal to maintain a constant tension during the film retraction process; The speed of the upper conveyor belt is v1, and the speed of the lower conveyor belt is v2. In the initial state, v1=v2=v0, where v0 is the set target speed. Based on the obtained real-time walking speed vt, the following judgment is made: If the walking speed vt is greater than v0, the speed of the upper conveyor belt v1 is slowed down and the speed of the lower conveyor belt v2 is accelerated to correct the forward deviation of the shed pole; If the walking speed vt is less than v0, the speed of the upper conveyor belt v1 is increased and the speed of the lower conveyor belt v2 is slowed down to correct the backward deviation of the shed pole; The dynamic adjustment method of the upper conveyor belt and the lower conveyor belt is: Calculate the speed difference between walking speed vt and v0 : ; Calculate speed difference adjustment , K is the control gain coefficient, which is used to adjust the response sensitivity; according to Slow down or speed up the upper conveyor belt v1 and the second conveyor belt v2; The third motor is a torque motor, which drives the winding roller to rotate. The speed signal collected by the encoder is transmitted to the control unit. The control process of the film winding control module is as follows: Calculate the coating torque according to the set tension value: , Where D is the real-time coil diameter, To set the tension value, is the reduction ratio; Get the speed signal collected by the encoder and calculate the speed compensation based on the speed: , in, is the basic compensation coefficient, which is related to the speed Proportional, is the rated torque of the torque motor; The control unit outputs a torque control signal For constant tension control: ; Obtain the walking speed vt collected by the speed sensor and determine whether the current walking state is acceleration or deceleration. If it is acceleration or deceleration, the control unit performs acceleration or deceleration torque compensation, and the compensation amount is proportional to the speed change rate; Calculate acceleration torque compensation: , is the acceleration compensation coefficient; Calculate the deceleration torque compensation: , is the deceleration compensation coefficient; The torque control signal output by the control unit during the acceleration phase : ; The torque control signal output by the control unit during the deceleration phase : .

2. The automatic film and rod collecting machine for a small arch shed according to claim 1, characterized in that: The upper conveyor belt and the lower conveyor belt are arranged in an inclined manner, and the inclination angle is adjustable. By configuring the inclination angle, they can adapt to small arch sheds of different heights.

3. The automatic film and rod collecting machine for a small arch shed according to claim 1, characterized in that: A position sensor is provided on the frame in front of the shed pole recovery mechanism for collecting position information of the shed pole. After acquiring the position information of the shed pole, the control unit dynamically adjusts the upper conveyor belt and the lower conveyor belt.

4. The control method of the automatic film and rod collecting machine for a small arch shed according to claim 1 is characterized in that: The steps include: S1: Set target speed v0 and tension value ; S2: Obtain the real-time walking speed vt collected by the speed sensor and the real-time rotation speed w collected by the encoder; S3: Perform shed pole recovery control, including: Calculate the speed difference between walking speed vt and v0 : , Calculate speed difference adjustment , K is the control gain coefficient, which is used to adjust the response sensitivity. Adjust the speed of the upper and lower conveyor belts, If the walking speed vt is greater than v0, then: , , If the walking speed vt is less than v0, then , ; S4: Control the film coating and winding Calculate the coating torque according to the set tension value: , Where D is the real-time coil diameter, To set the tension value, is the reduction ratio; Get the speed signal collected by the encoder and calculate the speed compensation based on the speed: , in, is the basic compensation coefficient, which is related to the speed Proportional, is the rated torque of the torque motor; The control unit outputs a torque control signal For constant tension control: ; Determine whether the current walking state is acceleration or deceleration. If it is acceleration or deceleration, the control unit performs acceleration or deceleration torque compensation, and the compensation amount is proportional to the speed change rate; Calculate acceleration torque compensation: , is the acceleration compensation coefficient; Calculate the deceleration torque compensation: , is the deceleration compensation coefficient; The torque control signal output by the control unit during the acceleration phase : ; The torque control signal output by the control unit during the deceleration phase : .

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