A hitched detachable self-adapting profiling rape machine sowing ditch cleaning device

Abstract

The present application relates to the technical field of agricultural machinery, and discloses a detachable self-adaptive profiling oilseed rape machine sowing and ditch cleaning device, which comprises a connecting rod, one end of which is hingedly connected to a seeding machine; a cross beam is externally sleeved to the end of the connecting rod away from the seeding machine; and a data acquisition assembly is arranged on the top of the cross beam. The seeding machine drives the frame to move and drives the frame to rotate through a driving element, so that the soil cleaning disc can dig out the soil in the longitudinal ridge ditch. Since the frame is in an inclined state, the soil in the soil cleaning disc can fall from the inside of the soil cleaning disc after the soil cleaning disc rotates for a quarter of a circle, thereby realizing the cleaning of the soil in the longitudinal ridge ditch. The data processing module calculates and adjusts the angle and distance adjustment value of the soil cleaning disc according to the data collected by the data acquisition assembly, so that the soil cleaning disc can clean the longitudinal ridge ditch with different row spacings, and the practicality of the ditch cleaning device is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery technology, in particular to a hanging type detachable self-adaptive profiling rape machine sowing and ditch cleaning device. BACKGROUND

[0002] Rape is the most important oil and economic crops development stable, rape flower industry development rape is China's most important oil crop, in addition to the use of oil and feed, in the food industry can also be made of artificial butter, artificial protein, also in metallurgy, machinery, rubber, chemical, paint, textile, soap, paper, leather and pharmaceuticals, etc. have a wide range of purposes, has important economic value

[0003] In the end of the work stage of rape sowing, the soil in the ditch will be thrown to both sides when the transverse and longitudinal furrows are ditched, which will cause the head of the longitudinal furrow to be blocked, thereby affecting its normal drainage, so cleaning the longitudinal furrow of the rape field is an important task. The traditional cleaning method usually relies on manual or mechanical force, which has the problems of low efficiency, large workload and high cost. SUMMARY

[0004] The purpose of the present application is to provide a hanging type detachable self-adaptive profiling rape machine sowing and ditch cleaning device, which solves the following technical problems:

[0005] How to improve the work efficiency of cleaning the soil in the longitudinal furrow of the rape field.

[0006] The purpose of the present application can be achieved by the following technical solutions:

[0007] A hanging type detachable self-adaptive profiling rape machine sowing and ditch cleaning device, comprising a connecting rod, one end of the connecting rod is hinged to a seeding machine, one side of the seeding machine is provided with a plurality of longitudinal furrows;

[0008] The outer end of the connecting rod away from the seeding machine is provided with a cross beam, the top of the cross beam is provided with a data acquisition assembly, the data acquisition assembly is used to acquire data information of the rape field, the bottom of the cross beam is rotatably connected with a telescopic suspension frame through a driving piece, the bottom of the telescopic suspension frame is hinged to a machine frame, the outer wall of the machine frame is horizontally hinged with a plurality of connecting frames, each connecting frame is distributed at equal intervals, one end of each connecting frame away from the machine frame is hinged with a connecting shaft, and one end of each connecting shaft away from the connecting frame is fixedly connected with a soil cleaning disc, the soil cleaning disc is arranged in parallel with the cross beam, the soil cleaning disc is arranged in a circular arc shape, and the outer end of the soil cleaning disc is solid and the inner end is hollow.

[0009] The data acquisition assembly is electrically connected with an external management end, the management end comprises a data processing module, and the data processing module is used to adjust the angle and distance of the soil cleaning disc according to the data collected by the data acquisition assembly.

[0010] Further, the driving member comprises a driving motor fixedly connected in the cross beam, an output shaft of the driving motor is fixedly connected with the telescopic suspension frame, one side of each of the connecting frames is fixedly connected with an electric push rod, the driving motor and the electric push rod are electrically connected with an external management end, one end of each of the electric push rods close to the adjacent connecting shafts is hingedly connected with an L-shaped rod, and one end of each of the L-shaped rods away from the electric push rod is fixedly connected with the connecting shaft.

[0011] Further, one end of each of the connecting frames away from the electric push rod is hingedly connected with a hydraulic cylinder, and an output end of each of the hydraulic cylinders is hingedly connected with the outer wall of the adjacent connecting frame.

[0012] Further, the data acquisition assembly comprises a mounting frame fixedly connected at the top of the cross beam, a camera is rotatably connected to the top of the mounting frame, an angle sensor is fixedly connected to the top of the cross beam, and an ultrasonic distance sensor is fixedly connected to one side of the cross beam.

[0013] Further, the angle sensor is used for measuring the acute angle between the cleaning disc and the horizontal plane, the ultrasonic distance sensor is used for measuring the distance between the longitudinal furrow and the cross beam, and the camera is used for shooting the image information of the soil in the longitudinal furrow before and after cleaning, and analyzing the cleaning effect through the data processing module.

[0014] Further, the process handled by the data processing module comprises:

[0015] When the seeding machine keeps uniform straight-line forward movement, the following relationship can be established according to force balance:

[0016]

[0017] and the angle relationship between the cleaning disc and the ground when the cleaning disc contacts the longitudinal furrow is obtained through the formula

[0018] wherein θ is the acute angle between the cleaning disc and the horizontal plane, which is obtained through the angle sensor, T0 is the traction coefficient of the cleaning disc to the frame, which is set according to experience fitting, T1 is the pressure coefficient of the cleaning disc, which is set according to experience fitting, F is the resistance coefficient of the soil in the furrow to the cleaning disc, which is set according to experience fitting, f is the friction coefficient of the soil in the longitudinal furrow to the cleaning disc, which is set according to experience fitting, and G is the gravity coefficient of the cleaned soil to the cleaning disc, which is set according to experience fitting.

[0019] Further, the process handled by the data processing module further comprises:

[0020] the formula ​Calculate the distance r of the soil cleaning disc in the a-th operation from the frame a ;

[0021] Wherein, a is any operation, r0 is the preset distance between the soil cleaning disc and the frame, f x is the adjustment coefficient table function, the influence of the value range of on the calculation result is obtained based on the test, JL a is the distance between the beam and the longitudinal furrow in the a-th operation, JL1 is the standard value of JL a , Sh a is the ultrasonic loss coefficient in the a-th operation.

[0022] Further, the process handled by the data processing module also includes;

[0023] The ultrasonic loss coefficient Sh a in the a-th operation is calculated by the formula ;

[0024] Wherein, wd a is the temperature in the a-th operation, wd x is the preset temperature, wd1 is the standard value of wd a , hc a is the dust content in the air in the a-th operation, fs a is the wind speed in the a-th operation, hc x is the preset dust content in the air, fs x is the preset wind speed, f c is the noise influence function, the influence of the noise of the seeding machine on the ultrasonic loss coefficient is obtained based on the test, mu a is the noise value of the seeding machine in the a-th operation, x1 and x2 are weight coefficients.

[0025] The beneficial effects of the present application are:

[0026] (1) The present application drives the frame to move through the seeding machine and drives the frame to rotate through the driving part when the ditch cleaning operation is performed, so that the soil in the longitudinal furrow can be dug out by the soil cleaning disc, and because the frame is in an inclined state, the soil in the interior of the soil cleaning disc can fall from the interior of the soil cleaning disc after the soil cleaning disc rotates one quarter of a circle, thereby realizing the cleaning of the soil in the longitudinal furrow, and through the data processing module, the angle and distance adjustment value of the soil cleaning disc are calculated and adjusted according to the data collected by the data acquisition assembly, so that the cleaning operation of the longitudinal furrow with different row spacing can be realized, and the practicability of the ditch cleaning device is improved.

[0027] (2) The application adjusts the angle of the current soil disc by calculating the adjustment value of the angle of the current soil disc and controlling the driving electric push rod to work through the management end, thereby adjusting the angle of the connecting shaft and further adjusting the angle of the soil disc, so that the angle of the current soil disc is more suitable for the current working environment, thereby improving the cleaning effect of the soil disc and improving the working efficiency of cleaning the soil in the longitudinal furrow of the rapeseed field.

[0028] (3) When the frame moves to the side of a longitudinal furrow during the ditch cleaning operation, the data processing module calculates the distance between the soil disc and the frame for this operation, and drives the hydraulic cylinder to work through the management end, thereby adjusting the distance between the soil disc and the frame, so that the position of the soil disc is more suitable for the current working environment, further improving the cleaning effect of the soil disc and improving the working efficiency of cleaning the soil in the longitudinal furrow of the rapeseed field.

[0029] (4) The application calculates the ultrasonic loss coefficient for the a-th operation. Since the temperature, dust content and wind speed in the air can cause loss of ultrasonic waves emitted by the ultrasonic distance sensor, the ultrasonic loss coefficient for the a-th operation is calculated to compensate for the ultrasonic waves emitted by the ultrasonic distance sensor, thereby ensuring the accuracy of the collection results of the ultrasonic distance sensor and further improving the accuracy of adjusting the distance between the soil disc and the frame. BRIEF DESCRIPTION OF DRAWINGS

[0030] The application will be further described below in conjunction with the drawings.

[0031] Figure 1 is a structural schematic diagram in the application;

[0032] Figure 2 is a perspective view of the application;

[0033] Figure 3 is an enlarged view of A in 2;

[0034] Figure 4 is a structural schematic diagram of the frame in the application;

[0035] Figure 5 is a position schematic diagram of the longitudinal furrow in the application.

[0036] Reference signs: 1, soil disc; 2, frame; 3, connecting frame; 4, connecting shaft; 5, L-shaped rod; 6, electric push rod; 7, hydraulic cylinder; 8, telescopic suspension frame; 9, ultrasonic distance sensor; 10, mounting frame; 11, camera; 12, angle sensor; 13, cross beam; 14, connecting rod; 15, longitudinal furrow. DETAILED DESCRIPTION

[0037] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort are within the scope of the present application.

[0038] Please refer to Figure 1 - Figure 5 As shown in the drawings, in one embodiment, the present application provides a hitch type detachable self-adaptive profiling rape machine sowing and cleaning ditch device, which comprises a connecting rod 14, one end of the connecting rod 14 is hinged to a seeding machine, and one side of the seeding machine is provided with a plurality of longitudinal ridges 15;

[0039] An outer end of the connecting rod 14 away from the seeding machine is externally provided with a cross beam 13, a top of the cross beam 13 is provided with a data acquisition assembly, the data acquisition assembly is used for acquiring data information of a rape field, a bottom of the cross beam 13 is rotationally connected with a telescopic suspension frame 8 through a driving member, a bottom of the telescopic suspension frame 8 is hinged to a rack 2, an outer wall of the rack 2 is horizontally hinged to a plurality of connecting frames 3, each of the connecting frames 3 is equidistantly distributed, an outer end of each of the connecting frames 3 away from the rack 2 is hinged to a connecting shaft 4, and an outer end of each of the connecting shafts 4 away from the connecting frame 3 is fixedly connected with a cleaning disc 1, the cleaning disc 1 is parallel to the cross beam 13, the cleaning disc 1 is arc-shaped, and an outer end of the cleaning disc 1 is solid and an inner end of the cleaning disc 1 is hollow;

[0040] The data acquisition assembly is electrically connected with an external management end, the management end comprises a data processing module, and the data processing module is used for adjusting an angle and a distance of the cleaning disc 1 according to data acquired by the data acquisition assembly;

[0041] Through the above technical solution, the present embodiment provides a rape machine sowing and cleaning ditch device. In working, a worker first hingingly connects the connecting frame 3 with the seeding machine, then rotates the rack 2 hingingly connected with the telescopic suspension frame 8, so that the rack 2 is in an inclined state, and the angle of the connecting frame 3 is adjusted to ensure that the cleaning disc 1 close to the longitudinal ridge 15 side is in contact with a bottom of the longitudinal ridge 15 (the position of the longitudinal ridge 15 is as shown in the drawings, and the cleaning disc 1 is in contact with the bottom of the longitudinal ridge 15) Figure 5The data acquisition assembly can collect the current data in the longitudinal ridge ditch 15 when the rack 2 moves to the side of the longitudinal ridge ditch 15 during movement of the seeding machine, and the data processing module adjusts the angle and distance of the soil cleaning disc 1 according to the data. After the adjustment is completed, the rack 2 is driven to rotate one revolution by the driving member. During the rotation of the rack 2, the soil cleaning disc 1 outside the rack 2 rotates synchronously. At this time, the soil cleaning disc 1 with adjusted angle and distance can dig out the soil in the longitudinal ridge ditch 15. Since the rack 2 is in an inclined state, the soil in the soil cleaning disc 1 can fall from the inside of the soil cleaning disc 1 after the soil cleaning disc 1 rotates one quarter of a circle, thereby cleaning the soil in the longitudinal ridge ditch 15 of the oilseed rape field and avoiding the situation that the head of the longitudinal ridge ditch 15 is blocked, thereby affecting normal drainage.

[0042] By such an arrangement, during the ditch cleaning operation, the rack 2 is moved by the seeding machine, and the rack 2 is driven to rotate by the driving member, so that the soil cleaning disc 1 can dig out the soil in the longitudinal ridge ditch 15. Since the rack 2 is in an inclined state, the soil in the soil cleaning disc 1 can fall from the inside of the soil cleaning disc 1 after the soil cleaning disc 1 rotates one quarter of a circle, thereby realizing cleaning of the soil in the longitudinal ridge ditch 15. By the data processing module calculating and adjusting the angle and distance adjustment values of the soil cleaning disc 1 according to the data collected by the data acquisition assembly, cleaning operation of the longitudinal ridge ditch 15 with different row spacings can be realized, and the practicality of the ditch cleaning device is improved.

[0043] Please refer to Figure 2 、 Figure 3 The driving member includes a driving motor fixedly connected in the cross beam 13. The output shaft of the driving motor is fixedly connected to the top of the telescopic suspension frame 8. Each side outer wall of each connecting frame 3 is fixedly connected with an electric push rod 6. The driving motor and the electric push rod 6 are electrically connected with an external management end. Each end of each electric push rod 6 near the adjacent connecting shaft 4 is hingedly connected with an L-shaped rod 5. Each end of each L-shaped rod 5 away from the electric push rod 6 is fixedly connected with the connecting shaft 4.

[0044] Through the technical scheme, the embodiment provides the driving motor and the electric push rod 6, when the seeder drives the support to move to the side of a longitudinal ridge 15, the data acquisition component collects the data of the current ridge, and the data processing module calculates the adjustment value of the angle of the current soil cleaning disc 1, and then the management end controls the driving of the electric push rod 6, so that the angle of the connecting shaft 4 is adjusted, and the angle of the soil cleaning disc 1 is adjusted; then the management end controls the driving of the driving motor, and the driving motor drives the frame 2 to rotate, and the frame 2 drives the soil cleaning disc 1 outside the frame 2 to rotate synchronously, at this time, the soil cleaning disc 1 with the adjusted angle and distance can dig out the soil in the longitudinal ridge 15, and because the frame 2 is in an inclined state, the soil in the soil cleaning disc 1 can fall from the inside of the soil cleaning disc 1 after the soil cleaning disc 1 rotates one quarter of a circle, so that the soil in the longitudinal ridge 15 of the oilseed rape field is cleaned.

[0045] Through the above technical scheme, when the ditch cleaning operation is performed, the adjustment value of the angle of the current soil cleaning disc 1 is calculated, and the management end controls the driving of the electric push rod 6, so that the angle of the connecting shaft 4 is adjusted, and the angle of the soil cleaning disc 1 is adjusted, so that the angle of the current soil cleaning disc 1 is more suitable for the current working environment, and the cleaning effect of the soil cleaning disc 1 is improved, so that the working efficiency of cleaning the soil in the longitudinal ridge 15 of the oilseed rape field is improved.

[0046] Please refer to Figure 2 、 Figure 3 As shown in the figure, one end of each of the connecting frames 3 away from the electric push rod 6 is hinged with a hydraulic cylinder 7, and the output end of each of the hydraulic cylinders 7 is hinged with the outer wall of the adjacent connecting frame 3.

[0047] Through the above technical scheme, the embodiment provides the hydraulic cylinder 7, when the seeder drives the support to move to the side of a longitudinal ridge 15, the data acquisition component collects the data of the current ridge, and the data processing module calculates the adjustment value of the distance between the current soil cleaning disc 1 and the frame 2, and then the management end drives the hydraulic cylinder 7 to work, so that the distance between the soil disc and the frame 2 is adjusted, so that the position of the soil cleaning disc 1 is more suitable for the current working environment, and the cleaning effect of the soil cleaning disc 1 is further improved, so that the working efficiency of cleaning the soil in the longitudinal ridge 15 of the oilseed rape field is improved.

[0048] Please refer to Figure 2 As shown in the figure, the data acquisition component comprises a mounting bracket 10 fixedly connected to the top of the cross beam 13, the top of the mounting bracket 10 is rotatably connected with a camera 11, the top of the cross beam 13 is fixedly connected with an angle sensor 12, and one side of the cross beam 13 is fixedly connected with an ultrasonic distance sensor 9.

[0049] Through the technical scheme, the data acquisition assembly is arranged, and the data acquisition assembly includes the camera 11, the angle sensor 12 and the ultrasonic distance sensor 9; the data acquisition assembly can collect the data of the longitudinal furrow 15 during the furrow cleaning operation, so that the data processing module can calculate and adjust the angle and distance adjustment value of the soil cleaning disc 1, and the working efficiency of cleaning the soil in the longitudinal furrow 15 of the oilseed rape field is improved.

[0050] As shown in Figure 2 The angle sensor 12 is used for measuring the acute angle between the horizontal plane and the horizontal beam 13, that is, the acute angle between the soil cleaning disc 1 and the horizontal plane; the ultrasonic distance sensor 9 is used for measuring the distance between the longitudinal furrow 15 and the horizontal beam 13; and the camera 11 is used for respectively shooting the image information of the soil in the longitudinal furrow 15 before and after cleaning, and analyzing the furrow cleaning effect through the data processing module.

[0051] Through the technical scheme, the angle sensor 12, the ultrasonic distance sensor 9 and the camera 11 are provided; the angle sensor 12 can measure the acute angle between the horizontal beam 13 and the horizontal plane, that is, the acute angle between the soil cleaning disc 1 and the horizontal plane; the ultrasonic distance sensor 9 can measure the distance between the longitudinal furrow 15 and the horizontal beam 13; through the acquisition of the data, the accuracy of the calculation result of the subsequent data processing module is improved, and then the angle and distance of the soil cleaning disc 1 are adjusted accurately, so that the working efficiency of cleaning the soil in the longitudinal furrow 15 of the oilseed rape field is improved; and the camera can respectively shoot the image information of the soil in the longitudinal furrow 15 before and after cleaning, so that the furrow cleaning effect can be analyzed through the data processing module, and the rotation number 10 can be adjusted for the subsequent furrow cleaning operation.

[0052] The process handled by the data processing module includes:

[0053] When the seeding machine keeps uniform straight-line forward movement, the following relationship can be established according to the force balance:

[0054]

[0055] The angle relationship between the soil cleaning disc 1 and the ground when the soil cleaning disc 1 contacts the longitudinal furrow 15 is calculated through the formula

[0056] Wherein, θ is the acute angle between the soil cleaning disc 1 and the horizontal plane, which is obtained through the angle sensor 12; T0 is the traction coefficient of the soil cleaning disc 1 received by the rack 2, which is set according to experience fitting; T1 is the pressure coefficient of the soil cleaning disc 1, which is set according to experience fitting; F is the resistance coefficient of the soil in the furrow to the soil cleaning disc 1, which is set according to experience fitting; f is the friction force coefficient of the soil in the longitudinal furrow 15 to the soil cleaning disc 1, which is set according to experience fitting; and G is the gravity coefficient of the cleaned soil to the soil cleaning disc 1, which is set according to experience fitting.​

[0057] Through the technical solution, the embodiment provides the angle relationship between the cleaning disc 1 and the ground when the cleaning disc 1 contacts the longitudinal furrow 15, which can be obtained by the formula , wherein the acute angle between the cleaning disc 1 and the horizontal plane can be obtained by the angle sensor 12, and the traction coefficient of the cleaning disc 1 received by the frame 2, the pressure coefficient of the cleaning disc 1 received, the resistance coefficient of the soil in the furrow to the cleaning disc 1, the friction coefficient of the soil in the longitudinal furrow 15 to the cleaning disc 1, and the gravity coefficient of the already-cleaned soil to the cleaning disc 1 are all set by fitting the allowable deviation in the historical data. All the angle relationship between the cleaning disc 1 and the ground when the cleaning disc 1 contacts the longitudinal furrow 15 can be calculated to adjust the working angle of the cleaning disc 1, thereby improving the ditch cleaning efficiency.

[0058] The process handled by the data processing module further includes:

[0059] The distance r a a between the cleaning disc 1 and the frame 2 when the cleaning disc 1 is operated for the a-th time is calculated by the formula .

[0060] , wherein a is any operation, r0 is the preset distance between the cleaning disc 1 and the frame 2, f x is an adjustment coefficient table function, and the influence of the value range of f on the calculation result is obtained based on tests, JL a is the distance between the cross beam 13 and the longitudinal furrow 15 when the cleaning disc 1 is operated for the a-th time, and JL1 is the standard value of JL a , which can be set by fitting the allowable error in the empirical data, Sh a is the ultrasonic loss coefficient when the cleaning disc 1 is operated for the a-th time.

[0061] Through the technical solution, the embodiment provides the distance r a a between the cleaning disc 1 and the frame 2 when the cleaning disc 1 is operated for the a-th time, which can be calculated by the formula . When the frame 2 moves to the side of a longitudinal furrow 15 during the ditch cleaning operation, the data processing module calculates the distance between the cleaning disc 1 and the frame 2 for this operation, and drives the hydraulic cylinder 7 through the management end to adjust the distance between the cleaning disc 1 and the frame 2, so that the position of the cleaning disc 1 is more suitable for the current working environment, further improving the cleaning effect of the cleaning disc 1, thereby improving the working efficiency of cleaning the soil in the longitudinal furrow 15 of the rape field.

[0062] The process handled by the data processing module further includes:

[0063] The ultrasonic loss coefficient Sh a when the cleaning disc 1 is operated for the a-th time is calculated by the formulaa ;

[0064] wherein, wd a is the temperature at the a-th operation, wd x is the preset temperature, wd1 is the standard value of wd a , the standard value can be set according to the allowable error fitting in the empirical data, hc a is the dust content in the air at the a-th operation, fs a is the wind speed at the a-th operation, hc x is the preset dust content in the air, fs x is the preset wind speed, f c is the noise influence function, which is obtained based on the test according to the influence of the noise of the seeding machine on the ultrasonic loss coefficient, μ a is the noise value of the seeding machine at the a-th operation, x1 and x2 are weight coefficients, and the weight coefficients can be set according to the fitting of the empirical data;

[0065] Through the above technical solution, the embodiment provides the ultrasonic loss coefficient Sh a at the a-th operation, which can be obtained by the formula . The ultrasonic loss coefficient at the a-th operation is obtained by calculation. Since the temperature, dust content and wind speed in the air will cause the loss of the ultrasonic wave emitted by the ultrasonic distance sensor 9, the ultrasonic loss coefficient at the a-th operation is obtained by calculation, so that the ultrasonic wave emitted by the ultrasonic distance sensor 9 can be compensated, thereby ensuring the accuracy of the collection result of the ultrasonic distance sensor 9, and further improving the accuracy of adjusting the distance between the soil disc and the frame 2.

[0066] The above has described one embodiment of the present application in detail, but the content described is only the preferred embodiment of the present application, and cannot be considered as limiting the scope of the present application. Any equivalent changes and improvements made according to the scope of the present application should still belong to the patent coverage range of the present application.

Claims

1. A hook-on detachable adaptive contour-following rapeseed planter furrow clearing device, comprising a connecting rod (14), one end of which is hinged to the planter, and the planter having multiple sets of longitudinal furrows (15) on one side; Its features are, A crossbeam (13) is fitted on the outside of the end of the connecting rod (14) away from the seeder. A data acquisition component is set on the top of the crossbeam (13). The data acquisition component is used to collect data information of the rapeseed field. A telescopic suspension frame (8) is rotatably connected to the bottom of the crossbeam (13) through a drive component. A frame (2) is hinged to the bottom of the telescopic suspension frame (8). Multiple sets of connecting frames (3) are horizontally hinged to the outer wall of the frame (2). Each connecting frame (3) is equidistantly distributed. A connecting shaft (4) is hinged to the end of each connecting frame (3) away from the frame (2). A soil cleaning plate (1) is fixedly connected to the end of each connecting shaft (4) away from the connecting frame (3). The soil cleaning plate (1) is parallel to the crossbeam (13). The soil cleaning plate (1) is arc-shaped. The outer end of the soil cleaning plate (1) is solid and the inner end is hollow. The data acquisition component is electrically connected to an external management terminal, which includes a data processing module. The data processing module is used to adjust the angle and distance of the soil clearing plate (1) based on the data acquired by the data acquisition component.

2. The hook-on detachable adaptive contour-following rapeseed planting and furrow-clearing device according to claim 1, characterized in that, The driving component includes a drive motor fixedly connected in the crossbeam (13), the output shaft of the drive motor is fixedly connected to the top of the telescopic suspension frame (8), and an electric push rod (6) is fixedly connected to one side outer wall of each of the connecting frames (3). The drive motor and the electric push rod (6) are both electrically connected to the external management end. An L-shaped rod (5) is hinged to one end of each electric push rod (6) near the adjacent connecting shaft (4), and the end of each L-shaped rod (5) away from the electric push rod (6) is fixedly connected to the connecting shaft (4).

3. The hook-on detachable adaptive contour-following rapeseed planting and furrow-clearing device according to claim 2, characterized in that, Each of the connecting frames (3) has a hydraulic cylinder (7) hinged to the outer wall of the connecting frame (3) and the end away from the electric push rod (6), and the output end of each hydraulic cylinder (7) is hinged to the outer wall of the adjacent connecting frame (3).

4. The hook-on detachable adaptive contour-following rapeseed planting and furrow-clearing device according to claim 3, characterized in that, The data acquisition component includes a mounting bracket (10) fixedly connected to the top of the crossbeam (13), a camera (11) rotatably connected to the top of the mounting bracket (10), an angle sensor (12) fixedly connected to the top of the crossbeam (13), and an ultrasonic distance sensor (9) fixedly connected to one side of the crossbeam (13).

5. A detachable, self-adaptive contour-following rapeseed planting and furrow-clearing device according to claim 4, characterized in that, The angle sensor (12) is used to measure the acute angle between the crossbeam (13) and the horizontal plane, so as to obtain the acute angle between the soil clearing plate (1) and the horizontal plane. The ultrasonic distance sensor (9) is used to measure the distance between the longitudinal furrow (15) and the crossbeam (13). The camera (11) is used to capture images of the soil in the longitudinal furrow (15) before and after soil clearing, and analyze the ditch clearing effect through the data processing module.

6. The hook-on detachable adaptive contour-following rapeseed planting and furrow-clearing device according to claim 5, characterized in that, The data processing module performs the following processes: When the seeder maintains a constant speed and moves forward in a straight line, the following relationship can be established based on the force balance: And through the formula The angle between the soil clearing plate (1) and the ground is calculated when the soil clearing plate (1) contacts the longitudinal furrow (15); Wherein, θ is the acute angle between the soil clearing plate (1) and the horizontal plane, obtained by the angle sensor (12), T0 is the traction coefficient of the soil clearing plate (1) under the action of the frame (2), set according to empirical fitting, T1 is the pressure coefficient of the soil clearing plate (1), set according to empirical fitting, F is the resistance coefficient of the soil in the furrow to the soil clearing plate (1), set according to empirical fitting, f is the friction coefficient of the soil in the longitudinal furrow (15) to the soil clearing plate (1), set according to empirical fitting, and G is the gravity coefficient of the soil clearing plate (1) applied by the soil clearing plate (1), set according to empirical fitting.

7. A detachable, self-adaptive contour-following rapeseed planting and furrow-clearing device according to claim 6, characterized in that, The data processing module also includes the following process: Through formula The distance r between the soil clearing plate (1) and the machine frame (2) during the a-th operation was calculated. a ; Where a represents any single operation, r0 is the preset distance between the soil clearing disc (1) and the frame (2), and f x To adjust the coefficient lookup table function, according to The impact of the value range on the calculation results is based on testing. JL a JL1 is the distance between the crossbeam (13) and the longitudinal furrow (15) during the a-th operation. a Standard value, SH a Let be the ultrasonic loss coefficient during the a-th operation.

8. A detachable, self-adaptive contour-following rapeseed planting and furrow-clearing device according to claim 7, characterized in that, The data processing module also includes the following processes: Through formula Calculate the ultrasonic loss coefficient SH for the a-th operation. a ; Among them, wd a The temperature during the a-th operation, wd x The preset temperature is wd1, which is wd. a Standard value, hc a Let fs be the dust content in the air during the a-th operation. a Let hc be the wind speed during the a-th operation. x fs is the preset dust content in the air. x For the preset wind speed, f c The noise effect function, μ, is obtained based on tests, according to the influence of the seeder's noise on the ultrasonic loss coefficient. a Let x1 be the noise value of the seeder during the a-th operation, and x2 be the weighting coefficients.

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