A trenching device for agricultural planting

Abstract

The present invention relates to the field of agricultural planting, and in particular to a furrowing device for agricultural planting, wherein a processor in the device controls a vehicle body to move at a uniform speed; changes the height of a front plow blade and a rear plow blade for multiple times; obtains a control power sequence and the difference in power between the height after each change and before each change when the height is changed each time, and obtains a control loss power according to the difference between the control power sequence and the difference; obtains a target height and a control loss height when the target power and the control loss power reach a minimum respectively; obtains a final height according to the degree of change of the output power sequence, the target height and the control loss height when the height of the front plow blade and the rear plow blade do not change during uniform motion; and the front plow blade and the rear plow blade move at a uniform speed at the final height. The present invention automatically controls the furrowing device to perform furrowing, saves power consumption, improves the endurance of the furrowing device, and improves furrowing efficiency.

Description

Technical Field

[0001] The invention relates to the field of agricultural planting, and in particular to a trenching device used for agricultural planting. Background Art

[0002] The furrowing equipment in agricultural planting is an important mechanical equipment, which is used in preparing planting beds, irrigation systems, drainage systems and other agricultural purposes. For example, CN117322182A discloses a convenient konjac planting equipment for sowing and fertilizing; CN103477757B discloses an asparagus field furrowing plow for efficient furrowing or sowing.

[0003] However, although the existing trenching equipment can be adapted to different land types or adjust the trenching depth and width to a certain extent, it is too dependent on manual labor. For example, it is necessary to manually pull the trenching equipment with the help of agricultural machinery, or manually set the parameters of the trenching equipment (such as the height of the trenching plow) according to the specific land type and soil conditions. It is impossible to automatically and efficiently complete the entire trenching process according to the specific soil conditions. Summary of the invention

[0004] In order to solve the above problems, the present invention provides a trenching device for agricultural planting.

[0005] An embodiment of the present invention provides a furrowing device for agricultural planting, the device comprising: a vehicle body, wheels, a driving motor for driving the wheels, a front plow post, a rear plow post, a front plow blade, and a rear plow blade, the front plow post and the rear plow post are respectively mounted on a front lifting frame and a rear lifting frame, the front lifting frame and the rear lifting frame are respectively connected to a front hydraulic rod and a rear hydraulic rod fixed on the vehicle body; a processor in an automatic control cabinet is used to control the front hydraulic rod, the rear hydraulic rod and the driving motor;

[0006] The working principle of the trenching equipment is as follows: the processor uses a PID algorithm to control the drive motor so that the vehicle body moves at a constant speed at a set speed;

[0007] During the uniform motion, the processor changes the height of the front plow blade and the rear plow blade multiple times by controlling the front hydraulic rod and the rear hydraulic rod; during each change of the height of the front plow blade and the rear plow blade, the output power sequence of the drive motor is recorded as the control power sequence; the output power of the drive motor after and before each change of the height of the front plow blade and the rear plow blade is recorded as the target power and the initial power; the difference between the target power and the initial power is obtained, and the control loss power is obtained according to the difference between the control power sequence and the difference; during the multiple changes of the height of the front plow blade and the rear plow blade, when the target power and the control loss power reach the minimum respectively, the height of the front plow blade or the rear plow blade is recorded as the target height and the control loss height; when the uniform motion is in progress and the height of the front plow blade and the rear plow blade does not change, the final height of the front plow blade and the rear plow blade is obtained according to the degree of change of the output power sequence of the drive motor, as well as the target height and the control loss height; then the processor controls the front hydraulic rod and the rear hydraulic rod so that the front plow blade and the rear plow blade are at the final height for uniform motion.

[0008] Preferably, for any one of the front lifting frame and the rear lifting frame, the lifting frame comprises a threaded screw, a screw motor, a sleeve, and a bearing; wherein the screw motor controls the sleeve to move left and right on the threaded screw, and any one of the front plow post and the rear plow post is fixed on the sleeve.

[0009] Preferably, the processor changes the height of the front plow blade and the rear plow blade multiple times by controlling the front hydraulic rod and the rear hydraulic rod; in each process of changing the height of the front plow blade and the rear plow blade, the output power sequence of the drive motor is recorded as the control power sequence, which includes the following specific steps:

[0010] During the uniform motion, the processor controls the rear hydraulic rod to keep the rear plow blade at the preset height, and the front plow blade increases or decreases the height by a preset percentage at random each time;

[0011] The height of the front plow blade before each height change is recorded as A, and the height of the front plow blade after the height change is recorded as B;

[0012] The process in which the height of the rear plow blade remains unchanged and the height of the front plow blade changes from A to B is recorded as the process of changing the height of the front plow blade and the rear plow blade each time.

[0013] Preferably, the step of obtaining the difference between the target power and the initial power, and obtaining the control loss power according to the difference between the control power sequence and the difference, comprises the following specific steps:

[0014] The control power sequence includes the power value at each moment. In the coordinate system with time as the horizontal axis and power as the vertical axis, the control power sequence constitutes a power change curve. The area enclosed by the power change curve and the horizontal axis is recorded as the work done when the height changes. The ratio of the work done when the height changes to the length of the control power sequence is recorded as P1, the difference between the target power and the initial power is recorded as P2, and the difference between P1 and P2 is recorded as the control loss power.

[0015] Preferably, when the front plow blade and the rear plow blade do not change in the uniform motion process, the final heights of the front plow blade and the rear plow blade are obtained according to the degree of change of the output power sequence of the driving motor, the target height and the controlled loss height, and the specific steps include the following:

[0016] The output power sequence of the driving motor during uniform motion includes the power sequence when the height of the front plow blade and the rear plow blade does not change, which is recorded as L2; ​​the degree of change of L2 is recorded as w; the final height h0=(1-w)×h1+w×h2; where h1 represents the target height and h2 represents the control loss height.

[0017] Preferably, the front plow blade and the rear plow blade are in a final height and move at a uniform speed, and then the specific steps included are as follows:

[0018] When the output of the driving motor during uniform motion is greater than the average output power during historical motion, the processor again changes the height of the front plow blade and the rear plow blade multiple times by controlling the front hydraulic rod and the rear hydraulic rod, and obtains the final height of the front plow blade and the rear plow blade again. Then the processor controls the front hydraulic rod and the rear hydraulic rod to make the front plow blade and the rear plow blade move at a uniform speed at the final height obtained again.

[0019] Preferably, during the uniform motion, when the processor changes the heights of the front plow blade and the rear plow blade multiple times by controlling the front hydraulic rod and the rear hydraulic rod, the height of the rear plow blade is greater than the height of the front plow blade.

[0020] Preferably, the specific steps for obtaining the degree of change of L2 are as follows:

[0021] The power values ​​in L2 are linearly normalized, and the normalized power values ​​are clustered into several categories. The category with the smallest mean power value and the category with the largest mean power value are obtained, and the difference between the average power value of the category with the largest mean power value and the average power value of the category with the smallest mean power value is recorded as the degree of change.

[0022] Preferably, the clustering is K-Means clustering.

[0023] Preferably, the height of the front plow blade and the rear plow blade is equal to the extended length of the front hydraulic rod and the rear hydraulic rod.

[0024] The beneficial effects of the technical solution of the present invention are:

[0025] In the present invention, when the front plow blade and the rear plow blade respectively move at a uniform speed at the target height, it can be ensured that the drive motor has a smaller power output; when the front plow blade and the rear plow blade respectively move at a uniform speed at the controlled loss height, it can be ensured that the height change process will not waste too much power of the drive motor.

[0026] The present invention integrates the target height and the control loss height according to the influence of soil conditions on the operation of the vehicle body during the ditching process (described by the degree of change in the output power sequence). On the one hand, the height of the changed front plow blade or rear plow blade can enable the drive motor to ditch with relatively small power. On the other hand, it avoids the situation where the motion state changes due to the height change when the height of the front plow blade or rear plow blade is changed again, and the power consumed to restore the motion state is too large. In summary, the present invention automatically controls the ditching equipment to ditch based on the specific distribution of soil, saves power consumption, improves the endurance of the ditching equipment, and improves the ditching efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 It is a schematic diagram of the overall structure of a trenching device for agricultural planting provided by one embodiment of the present invention;

[0029] Figure 2 It is a structural schematic diagram of a rear lifting frame of a trenching device for agricultural planting provided by an embodiment of the present invention.

[0030] In the figure: 1. vehicle body; 2. front hydraulic rod; 3. rear hydraulic rod; 4. front plow column; 5. rear plow column; 6. front lifting frame; 7. rear lifting frame; 8. front plow blade; 9. rear plow blade; 10. wheel; 11. automatic control cabinet; 12. processor; 13. drive motor; 14. threaded screw; 15. sleeve; 16. screw motor; 17. bearing. DETAILED DESCRIPTION

[0031] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation, structure, features and effects of a trenching device for agricultural planting proposed by the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0032] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0033] The specific scheme of the trenching equipment for agricultural planting provided by the present invention is described in detail below with reference to the accompanying drawings.

[0034] Embodiment 1:

[0035] See also Figure 1 and Figure 2 , which shows a trenching device for agricultural planting provided by the first embodiment of the present invention, the device comprises a vehicle body 1, wheels 10, and a driving motor 13 for driving the wheels 10;

[0036] The wheels 10 in this embodiment include four wheels in the front, rear, left and right directions, wherein the two rear wheels are driven by a drive motor 13. The vehicle body 1, the wheels 10 and the drive motor 13 are well-known technologies. For example, a convenient konjac planting device disclosed in CN117322182A includes a feasible structure of the vehicle body 1 and the wheels 10, which will not be described in detail in this embodiment.

[0037] A front plow column 4, a rear plow column 5, a front plow blade 8 and a rear plow blade 9 are arranged on the vehicle body 1, wherein the front plow blade 8 is fixed to the lower end of the front plow column 4 by bolts, and the rear plow blade 9 is fixed to the lower end of the rear plow column 5 by bolts. In other embodiments, the plow blades can be fixed by welding.

[0038] Furthermore, the upper ends of the front plow posts 4 and the rear plow posts 5 are respectively mounted on the front lifting frame 6 and the rear lifting frame 7, which are respectively connected to the front hydraulic rod 2 and the rear hydraulic rod 3, wherein the hydraulic cylinders of the front hydraulic rod 2 and the rear hydraulic rod 3 are welded to the vehicle body 1.

[0039] The processor 12 in the automatic control cabinet 11 is used to control the front hydraulic rod 2, the rear hydraulic rod 3 and the drive motor 13. When the front hydraulic rod 2 and the rear hydraulic rod 3 are extended or retracted, the front plow blade 8 and the rear plow blade 9 also follow the downward and upward movement.

[0040] Among them, the front lifting frame 6 and the rear lifting frame 7 have the same structure. For any one of the front lifting frame 6 and the rear lifting frame 7, the lifting frame includes a threaded screw 14, a screw motor 16, a sleeve 15, and a bearing 17; wherein the two ends of the threaded screw 14 are fixed by bearings 17; the inner wall of the sleeve 15 has a thread that is mutually engaged with the threaded screw 14, and the mover of the screw motor 16 is connected to the threaded screw 14. When the screw motor 16 rotates, the threaded screw 14 rotates accordingly, and the sleeve 15 moves left and right on the threaded screw 14; for any one of the front plow column 4 and the rear plow column 5, the top of the plow column is welded to the sleeve 15. When the sleeve 15 moves left and right, the plow column will drive the front plow blade 8 or the rear plow blade 9 to move left and right. By setting the rotation angle of the screw motor 16, the horizontal spacing between the front plow blade 8 and the rear plow blade 9 can be adjusted. At the same time, the vertical distance between the front plow blade 8 and the rear plow blade 9 (that is, the height of the front plow blade 8 and the rear plow blade 9) can be controlled by adjusting the telescopic length of the front hydraulic rod 2 and the rear hydraulic rod 3.

[0041] The working principle of the device is:

[0042] Before furrowing, the lowest points of the front plow blade 8 and the rear plow blade 9 are at the same horizontal plane as the lowest point of the wheel 10, and the height of the front plow blade 8 and the rear plow blade 9 at this time is recorded as 0. The screw motor 16 sets the furrowing width by adjusting the horizontal spacing between the front plow blade 8 and the rear plow blade 9.

[0043] It should be noted that, for any data m, when the front plow blade 8 and the rear plow blade 9 are lowered by m, the height of the front plow blade 8 and the rear plow blade 9 is recorded as m; that is, the height of the front plow blade 8 and the rear plow blade 9 is equal to the distance that the front plow blade 8 and the rear plow blade 9 are lowered (or the length of the extension of the front hydraulic rod 2 and the rear hydraulic rod 3).

[0044] Start the drive motor 13, the vehicle body 1 automatically moves forward, and then extend the front hydraulic rod 2 and the rear hydraulic rod 3, so that the height of the front plow blade 8 and the rear plow blade 9 reaches the set height. In this embodiment, the set height reached by the rear plow blade 9 is the furrowing depth (the furrowing depth in this embodiment is 50 cm), and the set height reached by the front plow blade 8 is half of the set height reached by the rear plow blade 9. In other embodiments, other furrowing depths can be set, or the set height reached by the front plow blade 8 can be set to other values. This embodiment does not make specific limitations, and it is only necessary to make the height of the rear plow blade 9 greater than the height of the front plow blade 8.

[0045] When the front plow blade 8 and the rear plow blade 9 reach the set heights respectively, the vehicle body 1 moves at a constant speed along the set furrowing path.

[0046] The trenching path in this embodiment is a path of linear reciprocating motion, which is also a commonly used trenching path for agricultural planting. In other embodiments, other trenching paths can be set according to specific soil conditions or terrain conditions, which are not specifically limited in this embodiment.

[0047] In this embodiment, the processor 12 uses the PID algorithm to control the drive motor 13, so that the vehicle body 1 moves at a set speed (for example, 20 meters per second) at a constant speed; wherein the general working principle of the PID algorithm is: the speed and movement direction of the vehicle body 1 are obtained in real time through the speed sensor and the gyroscope. When the speed and movement direction of the vehicle body 1 deviate from the set speed and ditching path, the processor 12 changes the speed and movement direction of the vehicle body 1 (that is, controls the output power of the drive motor 13 and the movement direction of the wheel 10) through the proportional (P) control, integral (I) control, and differential (D) control in the PID algorithm, so that the speed and movement direction of the vehicle body 1 gradually approach and are equal to the set speed and ditching path, that is, when the movement state of the vehicle body 1 changes, the PID algorithm can restore the movement state of the vehicle body 1. The PID algorithm is a well-known technology, and the specific principle will not be repeated in this embodiment.

[0048] During the above-mentioned uniform motion process, the height of the front plow blade 8 is less than the height of the rear plow blade 9 (that is, the front plow blade 8 is above the rear plow blade 9). The front plow blade 8 will open up a part of the soil layer in advance, so that the rear plow blade 9 does not have to expend a large amount of work when opening up the soil, thereby saving the power of the control drive motor 13 and improving the endurance of the trenching equipment.

[0049] However, considering that different soil conditions or soil conditions may be encountered during the trenching process or when trenching in different areas, such as soil with different vegetation thickness (weeds, etc.) or gravel soil, the height of the front plow blade 8 needs to be adaptively adjusted to save the power of the drive motor 13 as much as possible and improve the endurance of the trenching equipment. Even the appropriate height of the front plow blade 8 can ensure that the vehicle body 1 can move more stably and at a uniform speed along the set trenching path, avoiding changes in soil conditions during the trenching process that lead to changes in the motion state of the vehicle body 1, thereby causing the PID algorithm to recover to the set speed and trenching path. The problem of too long a recovery time or more power consumption.

[0050] Based on this, this embodiment needs to adjust the height of the front plow blade 8. It should be noted that in other embodiments, if there is no requirement for the furrowing depth or the furrowing depth only needs to fluctuate within a certain range, the height of the rear plow blade 9 can also be adjusted (it is only necessary to ensure that the height of the rear plow blade 9 meets the set variation range, for example, in the variation range of [60 cm, 40 cm]), which is equivalent to adjusting the relative height (i.e., height difference) of the front plow blade 8 and the rear plow blade 9.

[0051] The height of the front plow blade 8 is adjusted, including the following steps:

[0052] Step 1: The processor 12 changes the height of the front plow blade 8 multiple times by controlling the front hydraulic rod 2 and the rear hydraulic rod 3.

[0053] In a feasible embodiment, the height of the front plow blade 8 is changed multiple times, including:

[0054] The height of the front plow blade 8 is changed 5 times (5 can be replaced by other values ​​in other embodiments); the front plow blade 8 randomly increases or decreases the height by a preset percentage each time. For example, the height of the front plow blade 8 is recorded as A1, and the height A1 of the front plow blade 8 is randomly increased or decreased by 10%, recorded as B1, and then the processor 12 controls the front hydraulic rod 2 to change the height of the front plow blade 8 from A1 to B1. This process is recorded as the first process of changing the height of the front plow blade 8. Next, the height of the front plow blade 8 is recorded as A2 (A2=B1 at this time), and then the height A1 of the front plow blade 8 is randomly increased or decreased by 10%, recorded as B2, and then the processor 12 controls the front hydraulic rod 2 to change the height of the front plow blade 8 from A2 to B2. This process is recorded as the second process of changing the height of the front plow blade 8, and so on, the height of the front plow blade 8 is changed multiple times.

[0055] As another feasible embodiment, the height of the front plow blade 8 is changed multiple times, including:

[0056] The height of the front plow blade 8 is recorded as A1, and the height A1 of the front plow blade 8 is reduced by 20%, recorded as B1, and then the processor 12 controls the front hydraulic rod 2 to change the height of the front plow blade 8 from A1 to B1. This process is recorded as the first process of changing the height of the front plow blade 8. Then, in the first process of changing the height of the front plow blade 8, it is determined whether the output power of the drive motor 13 after the height change is greater than or equal to the output power of the drive motor 13 before the height change; if greater than or equal to, let B2=(A1+B1) / 2, the processor 12 controls the front hydraulic rod 2 to change the height of the front plow blade 8 from A2 (A2=B1 at this time) to B2; if less than, the height B1 of the front plow blade 8 is reduced by 20%, recorded as B2, and the processor 12 controls the front hydraulic rod 2 to change the height of the front plow blade 8 from A2 to B2. The process of changing from A2 to B2 is recorded as the second process of changing the height of the front plow blade 8; further, in the second process of changing the height of the front plow blade 8, it is determined whether the output power of the drive motor 13 after the height change is greater than or equal to the output power of the drive motor 13 before the height change. If it is greater than or equal to, let B3=(A2+B2) / 2, and the processor 12 controls the front hydraulic rod 2 to change the height of the front plow blade 8 from A3 (A3=B2 at this time) to B3; if it is less than, the height B2 of the front plow blade 8 is reduced by 20%, recorded as B3, and the processor 12 controls the front hydraulic rod 2 to change the height of the front plow blade 8 from A3 to B3. The process of changing from A3 to B3 is recorded as the third process of changing the height of the front plow blade 8, and so on, the height of the front plow blade 8 is changed multiple times.

[0057] In other embodiments, the above 10% and 20% may be replaced by other values, which are not specifically limited in this embodiment.

[0058] It should be noted that, during the above-mentioned process of changing the height of the front plow blade 8 for multiple times, the vehicle body 1 still moves at a uniform speed along the set furrowing path under the control of the PID algorithm.

[0059] The purpose of changing the height of the front plow blade 8 for multiple times is to facilitate the subsequent analysis of the change in output power during the uniform motion of the vehicle body 1 at different heights, thereby helping to analyze the soil conditions and provide a data basis for further setting the height of the front plow blade 8.

[0060] In other embodiments, when the height of the rear plow blade 9 is also involved in the adjustment and change, several heights can be set for the rear plow blade 9 in advance, for example, three heights of 60 cm, 50 cm, and 40 cm are set, and then the rear plow blade 9 keeps one of the heights unchanged, and the height of the front plow blade 8 is changed multiple times. For example, the rear plow blade 9 is kept at 60 cm, and then the height of the front plow blade 8 is changed multiple times, then the rear plow blade 9 is kept at 50 cm, and then the height of the front plow blade 8 is changed multiple times, and so on, until the changes in the heights of the front plow blade 8 and the rear plow blade 9 are completed.

[0061] In this embodiment, the processor 12 obtains the power value output by the drive motor 13 every second;

[0062] Step 2: Each time the height of the front plow blade 8 is changed, the time sequence formed by the output power of the drive motor 13 is recorded as the control power sequence.

[0063] When the height changes, the motion state of the vehicle body 1 changes. At this time, the processor 12 uses the PID algorithm to restore the motion state of the vehicle body 1. The control power sequence describes the change in the power consumed when restoring the motion state of the vehicle body 1.

[0064] During each height change, after and before the height of the front plow blade 8 is changed, the output power of the drive motor 13 is recorded as the target power and the initial power; the difference between the target power and the initial power is obtained. The difference in this embodiment refers to the difference.

[0065] The difference between the target power and the initial power describes the power change before and after the height. The larger the difference, the higher the change in height, the more power the drive motor 13 will pay. At this time, the height of the front plow blade 8 is not suitable for the current soil conditions. For example, the soil layer opened by the front plow blade 8 on the soil with weeds is not enough for the rear plow blade 9 to efficiently open the lower soil. The smaller the difference, the lower the power the drive motor 13 will pay for the change in height. At this time, the height of the front plow blade 8 is suitable for the current soil conditions, and efficient furrowing can be performed.

[0066] The control power loss is obtained as a function of the difference between the control power sequence and the difference.

[0067] Considering that the process of restoring the motion state of the vehicle body 1 is not completed instantly, there may be a situation in which the output power of the drive motor 13 is too large or the power fluctuates at a high frequency in a local time during this process. This leads to the situation that the drive motor 13 may pay a large power in the process of restoring the vehicle body 1 even when the difference between the target power and the initial power is small. In this case, although the output power of the drive motor 13 is reduced by changing the height, the drive motor 13 pays a large power in the process of height adjustment. Therefore, the above-mentioned control loss power describes the difference between the power paid by the drive motor 13 in the process of height adjustment and the power gain before and after the height adjustment. The larger the control loss power, the greater the power loss (relatively large to the above-mentioned difference) that the drive motor 13 needs to pay when restoring the vehicle body 1 due to the interference of soil conditions. The smaller the control loss power, the less influence the soil conditions have on the adjustment of the height. Therefore, the control loss power describes the influence of soil conditions on the trenching equipment in the trenching process to a certain extent.

[0068] As an example, the control loss power is obtained according to the difference between the control power sequence and the difference.

[0069] The difference between the target power and the initial power is recorded as P2.

[0070] The control power sequence contains the power value at each moment. In a coordinate system with time as the horizontal axis and power as the vertical axis, the control power sequence constitutes a power change curve. At the same time, a straight line is constructed in the coordinate system, whose slope is equal to the ratio of P2 to the length of the control power sequence, and whose intercept is the intercept of the power change curve.

[0071] The difference between the power value on the power change curve and the power value on the straight line at the same time is obtained, and the difference between the power values ​​at all times is averaged and recorded as the control loss power.

[0072] As another example, the control loss power is obtained according to the difference between the control power sequence and the difference.

[0073] The area enclosed by the power variation curve and the horizontal axis is recorded as the work done when the height changes, the ratio of the work done when the height changes to the length of the control power sequence is recorded as P1, and the difference between P1 and P2 is recorded as the control loss power.

[0074] Step 3: During the process of changing the height of the front plow blade 8 for multiple times, when the target power and the controlled power loss reach the minimum, the height of the front plow blade 8 is recorded as the target height and the controlled power loss height. In other embodiments, when the height of the rear plow blade 9 is also changed, when the target power and the controlled power loss reach the minimum, the height of the rear plow blade 9 is also recorded as the target height and the controlled power loss height.

[0075] The target height and controlled loss height corresponding to the front plow blade 8 are h11 and h12, and the target height and controlled loss height corresponding to the rear plow blade 9 are h21 and h22.

[0076] When the front plow blade 8 and the rear plow blade 9 move at a uniform speed at the heights of h11 and h21 respectively, it can be ensured that the drive motor 13 has a smaller power output; when the front plow blade 8 and the rear plow blade 9 move at a uniform speed at the heights of h12 and h22 respectively, it can be ensured that the height change process will not waste too much power of the drive motor 13.

[0077] Step 4: When the front plow blade 8 and the rear plow blade 9 are in uniform motion and the heights do not change, the final heights of the front plow blade 8 and the rear plow blade 9 are obtained according to the degree of change of the output power sequence of the drive motor 13, as well as the target height and the control loss height; then the processor 12 controls the front hydraulic rod 2 and the rear hydraulic rod 3 to make the front plow blade 8 and the rear plow blade 9 move at a uniform speed at the final height.

[0078] This process takes into account that in order to comprehensively consider the power output by the driving motor 13 when the vehicle body 1 moves at a constant speed and when the height changes, it is necessary to merge the heights corresponding to the minimum power output during constant motion and when the height changes (that is, the target height and the controlled loss height) according to the specific movement conditions of the vehicle body 1 during the trenching process and the soil conditions, and merge them into the final height.

[0079] As a preferred example, the final heights of the front plow blade 8 and the rear plow blade 9 are obtained according to the degree of change of the output power sequence of the drive motor 13, as well as the target height and the controlled loss height, including the steps of:

[0080] The output power sequence of the driving motor 13 during the uniform motion includes the power sequence when the height of the front plow blade 8 and the rear plow blade 9 changes, which is recorded as L1, and the power sequence when the height of the front plow blade 8 and the rear plow blade 9 does not change, which is recorded as L2;

[0081] The change of power value in the power sequence corresponding to L2 can reflect the approximate distribution of soil quality. If the soil condition changes greatly, or there is an uncertain interference of soil condition on the ditching process, or the soil condition frequently interferes with or changes the motion state of the vehicle body 1, then when the processor 12 uses the PID algorithm to restore the motion state of the vehicle body 1, the output power of the drive motor 13 will be relatively large. If the soil condition does not interfere much with the change of the motion of the vehicle body 1, or the front plow blade 8 and the rear plow blade 9 are highly adapted to the current soil condition, for example, when adapted to the thickness of vegetation such as grass, the vehicle body 1 can complete the ditching process at a stable and uniform speed, and the power value in the power sequence corresponding to L2 will not fluctuate greatly.

[0082] This embodiment uses the variation degree of the power value in L2 to describe the approximate distribution of soil quality.

[0083] As an example, a method for obtaining the degree of change of the power value in L2 is: linearly normalize the power value in L2, and use the variance of the normalized power value as the degree of change of the power value in L2. The greater the degree of change, the more uncertain interference the soil conditions have on the ditching process, and the smaller the degree of change, the less obvious the interference caused by the soil conditions on changing the movement of the vehicle body 1.

[0084] As a preferred example, the method for obtaining the degree of change of the power value in L2 is: linearly normalize the power value in L2, K-Means cluster the normalized power value into several (for example, 5) categories, obtain the category with the smallest mean power value and the category with the largest mean power value, and the difference between the average power value of the category with the largest mean power value and the average power value of the category with the smallest mean power value is recorded as the degree of change.

[0085] Further, the target height and the control loss height are integrated according to the degree of change of the power value in L2 to obtain the final height. As a preferred example, the specific process includes:

[0086] The target height and control loss height are denoted as h1 and h2 respectively, and the degree of change is denoted as w; the final height h0 = (1-w) × h1 + w × h2.

[0087] Another optional example, the method for obtaining the final height is as follows:

[0088] When w is less than the threshold th1, h1 is used as the final height, otherwise h2 is used as the final height.

[0089] This embodiment is described by taking th1=0.4 as an example. In other embodiments, it can be set to other values, which are not specifically limited in this embodiment.

[0090] The target height h11 and the controlled loss height h12 corresponding to the front plow blade 8 are recorded as h10 using the final height obtained above; the target height h21 and the controlled loss height h22 corresponding to the rear plow blade 9 are recorded as h20 using the final height obtained above;

[0091] Next, the processor 12 controls the front hydraulic rod 2 and the rear hydraulic rod 3 to make the front plow blade 8 and the rear plow blade 9 move at a uniform speed at the final heights h10 and h20 respectively, and complete the furrowing process.

[0092] The above process integrates the target height and the control loss height according to the influence of the soil conditions on the operation of the vehicle body 1 during the ditching process (that is, the degree of change of the power value in L2). On the one hand, the height of the changed front plow blade 8 or rear plow blade 9 can enable the drive motor 13 to ditch with relatively small power. On the other hand, it avoids the situation where the motion state changes due to the height change when the height of the front plow blade 8 or rear plow blade 9 is changed again in the future, and the power consumed to restore the motion state is too large. In summary, this embodiment automatically controls the ditching equipment to ditch based on the specific distribution of soil, saves power consumption, improves the endurance of the ditching equipment, and improves the ditching efficiency.

[0093] Embodiment 2:

[0094] The difference between this embodiment and the first embodiment lies in the different processing methods after obtaining the final heights h10 and h20.

[0095] Specifically, after obtaining the final heights h10 and h20 in this embodiment, the processor 12 controls the front hydraulic rod 2 and the rear hydraulic rod 3 to make the front plow blade 8 and the rear plow blade 9 move at a uniform speed at the final heights h10 and h20, respectively.

[0096] When the output of the driving motor 13 during the uniform motion process is greater than the average output power during the historical motion process, the processor 12 again changes the height of the front plow blade 8 and the rear plow blade 9 multiple times by controlling the front hydraulic rod 2 and the rear hydraulic rod 3, and obtains the final height of the front hydraulic rod 2 and the rear hydraulic rod 3 again, and then the processor 12 controls the front hydraulic rod 2 and the rear hydraulic rod 3 to make the front plow blade 8 and the rear plow blade 9 move at a uniform speed at the final height obtained again.

[0097] The specific process is the same as the first to fourth steps in the embodiment, and will not be described in detail in this embodiment.

[0098] The process in this embodiment is subsequently repeated until the trenching process is completed.

[0099] In some other embodiments, the above method is used to regain the final heights of the front plow blade 8 and the rear plow blade 9 at regular intervals (for example, every 10 minutes), and the heights of the front plow blade 8 and the rear plow blade 9 are changed to the final heights for furrowing.

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A trenching device for agricultural planting, the device comprising: A vehicle body (1), wheels (10), a driving motor (13) for driving the wheels (10), a front plow post (4), a rear plow post (5), a front plow blade (8), and a rear plow blade (9), wherein the front plow post (4) and the rear plow post (5) are respectively mounted on a front lifting frame (6) and a rear lifting frame (7), and the front lifting frame (6) and the rear lifting frame (7) are respectively connected to a front hydraulic rod (2) and a rear hydraulic rod (3) fixed to the vehicle body (1); and a processor (12) in an automatic control cabinet (11) is used to control the front hydraulic rod (2), the rear hydraulic rod (3) and the driving motor (13); The working principle of the trenching device is as follows: the processor (12) uses a PID algorithm to control the driving motor (13) so that the vehicle body (1) moves at a set speed at a constant speed; During the uniform motion, the processor (12) controls the front hydraulic rod (2) and the rear hydraulic rod (3) to change the height of the front plow blade (8) and the rear plow blade (9) multiple times; in each process of changing the height of the front plow blade (8) and the rear plow blade (9), the output power sequence of the drive motor (13) is recorded as the control power sequence; the output power of the drive motor (13) before and after each change in the height of the front plow blade (8) and the rear plow blade (9) is recorded as the target power and the initial power; the difference between the target power and the initial power is obtained, and the control loss power is obtained according to the difference between the control power sequence and the difference; the front plow blade (8) and the rear plow blade (9) are changed multiple times. During the process of adjusting the height of the rear plow blade (9), when the target power and the control loss power reach the minimum respectively, the height of the front plow blade (8) or the rear plow blade (9) is recorded as the target height and the control loss height; during the uniform motion process and when the height of the front plow blade (8) and the rear plow blade (9) does not change, the final height of the front plow blade (8) and the rear plow blade (9) is obtained according to the degree of change of the output power sequence of the drive motor (13), as well as the target height and the control loss height; then the processor (12) controls the front hydraulic rod (2) and the rear hydraulic rod (3) to make the front plow blade (8) and the rear plow blade (9) move at a uniform speed at the final height; During the uniform motion process, when the processor (12) controls the front hydraulic rod (2) and the rear hydraulic rod (3) to change the heights of the front plow blade (8) and the rear plow blade (9) multiple times, the height of the rear plow blade (9) is greater than the height of the front plow blade (8).

2. A trenching device for agricultural planting according to claim 1, characterized in that: For any one of the front lifting frame (6) and the rear lifting frame (7), the lifting frame comprises a threaded screw (14), a screw motor (16), a sleeve (15), and a bearing (17); wherein the screw motor (16) controls the sleeve (15) to move left and right on the threaded screw (14), and any one of the front plow post (4) and the rear plow post (5) is fixed on the sleeve (15).

3. A trenching device for agricultural planting according to claim 1, characterized in that: The processor (12) changes the height of the front plow blade (8) and the rear plow blade (9) multiple times by controlling the front hydraulic rod (2) and the rear hydraulic rod (3); in each process of changing the height of the front plow blade (8) and the rear plow blade (9), the output power sequence of the drive motor (13) is recorded as a control power sequence, which includes the following specific steps: During the uniform motion, the processor (12) controls the rear hydraulic rod (3) so that the rear plow blade (9) always maintains a preset height, and the front plow blade (8) randomly increases or decreases the height by a preset percentage each time; The height of the front plow blade (8) before each height change is recorded as A, and the height of the front plow blade (8) after the height change is recorded as B; The process in which the height of the rear plow blade (9) remains unchanged and the height of the front plow blade (8) changes from A to B is recorded as the process of changing the height of the front plow blade (8) and the rear plow blade (9) each time.

4. A trenching device for agricultural planting according to claim 1, characterized in that: The step of obtaining the difference between the target power and the initial power and obtaining the control loss power according to the difference between the control power sequence and the difference includes the following specific steps: The control power sequence includes the power value at each moment. In the coordinate system with time as the horizontal axis and power as the vertical axis, the control power sequence constitutes a power change curve. The area enclosed by the power change curve and the horizontal axis is recorded as the work done when the height changes. The ratio of the work done when the height changes to the length of the control power sequence is recorded as P1, the difference between the target power and the initial power is recorded as P2, and the difference between P1 and P2 is recorded as the control loss power.

5. A trenching device for agricultural planting according to claim 1, characterized in that: When the front plow blade (8) and the rear plow blade (9) do not change in height during the uniform motion, the final heights of the front plow blade (8) and the rear plow blade (9) are obtained according to the degree of change of the output power sequence of the drive motor (13), the target height and the controlled loss height, and the specific steps include the following: The output power sequence of the driving motor (13) during the uniform motion includes a power sequence when the heights of the front plow blade (8) and the rear plow blade (9) do not change, which is recorded as L2; ​​the degree of change of L2 is recorded as w; the final height h0=(1-w)×h1+w×h2; Where h1 represents the target height and h2 represents the control loss height.

6. A trenching device for agricultural planting according to claim 1, characterized in that: The front plow blade (8) and the rear plow blade (9) are in uniform motion at the final height, and the specific steps thereafter are as follows: When the output of the driving motor (13) during the uniform motion is greater than the average output power during the historical motion, the processor (12) controls the front hydraulic rod (2) and the rear hydraulic rod (3) to change the height of the front plow blade (8) and the rear plow blade (9) multiple times, and obtains the final height of the front plow blade (8) and the rear plow blade (9) again. Then, the processor (12) controls the front hydraulic rod (2) and the rear hydraulic rod (3) to make the front plow blade (8) and the rear plow blade (9) move at a uniform speed at the final height obtained again.

7. A trenching device for agricultural planting according to claim 5, characterized in that: The specific steps for obtaining the degree of change of L2 are as follows: The power values ​​in L2 are linearly normalized, and the normalized power values ​​are clustered into several categories. The category with the smallest mean power value and the category with the largest mean power value are obtained, and the difference between the average power value of the category with the largest mean power value and the average power value of the category with the smallest mean power value is recorded as the degree of change.

8. A trenching device for agricultural planting according to claim 7, characterized in that: The clustering is K-Means clustering.

9. A trenching device for agricultural planting according to claim 1, characterized in that: The heights of the front plow blade (8) and the rear plow blade (9) are equal to the extended lengths of the front hydraulic rod (2) and the rear hydraulic rod (3).

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