Friction self-powered synchronous profiling sensor for profiling operation of agricultural machinery

Abstract

The invention discloses a friction self-powered synchronous profiling sensor for profiling operation of agricultural machinery, and relates to the technical field of sensors, a data acquisition board is arranged in a main control box body, a profiling rod is arranged on one side of the main control box body, the first end of the profiling rod is movably connected with the main control box body, and the second end of the profiling rod is used for being in contact with the ground to sense ground change; a friction generating device is arranged in the main control box body, a kinetic energy friction layer and a static energy friction layer are arranged in the friction generating device, the kinetic energy friction layer is in contact with the static energy friction layer, the kinetic energy friction layer is connected with the first end of the profiling rod, and the static energy friction layer is electrically connected with the data acquisition board. Friction self-powered synchronous profiling sensors are used for sensing the terrain change of agricultural machinery field operation and detecting the height and inclination angle of key parts of agricultural machinery operation in real time, so that the key parts of agricultural machinery operation can fluctuate up and down along with the terrain change, and the working parts of agricultural machinery are always kept at a certain height from the ground; and the operation stability of the agricultural machine under the condition of uneven cultivated land terrains in hills and mountains is improved.

Description

Technical Field

[0001] The present application relates to the field of sensor technology, and in particular to a friction self-powered synchronous profiling sensor used for agricultural machinery profiling operations. Background Art

[0002] Due to the uneven terrain of cultivated land in hilly and mountainous areas, the operation effect of agricultural machinery is unstable under such terrain, and other problems require the addition of profiling devices to agricultural machinery. Profiling devices are of great significance to the development of agricultural machinery towards automation and intelligence. Agricultural machinery profiling is a kind of agricultural machinery technology that allows agricultural machinery or working parts to move up and down with the ups and downs of the ground, that is, the ability to adapt to the ups and downs of the ground, which is called ground profiling. This technology is mainly divided into two categories: passive profiling and active profiling.

[0003] Passive profiling technology in traditional technology is generally pure mechanical profiling, with a simple structure and easy maintenance, but it is greatly affected by the ground environment, and its accuracy and sensitivity are not high. This technology mainly relies on the structure of the agricultural machinery itself and physical effects such as gravity to adapt to the ups and downs of the ground, and does not require additional power or hydraulic system support. Therefore, the advantages of passive profiling technology are low cost and easy maintenance, but the disadvantage is that its ability to adapt to ground changes is limited, and its performance may not be satisfactory for complex and changeable field environments. Active profiling technology for agricultural machinery is a technology that uses electricity and hydraulics to work together, aiming to improve the stability, accuracy and operation effect of agricultural machinery during operation. This technology uses sensors and control systems to monitor and adjust the working status of agricultural machinery in real time to adapt to ground ups and downs, thereby improving the operation quality and efficiency of agricultural machinery.

[0004] Active profiling technology has high profiling accuracy and stability, can provide more precise operation control, and plays a key role in the optimization of agricultural machinery. However, due to the complex and changeable field environment, the lag problem in the current profiling technology still exists, resulting in unstable operation of agricultural machinery in complex terrain. Summary of the invention

[0005] In order to solve the above technical problems, this application proposes the following technical solutions:

[0006] In the first aspect, an embodiment of the present application provides a friction self-powered synchronous profiling sensor for agricultural machinery profiling operations, comprising: a main control box body, a data acquisition board is arranged in the main control box body, a profiling rod is arranged on one side of the main control box body, the first end of the profiling rod is movably connected to the main control box body, and the second end is used to contact the ground to sense ground changes, a friction generating device is arranged in the main control box body, a kinetic energy friction layer and a static energy friction layer are arranged in the friction generating device, the kinetic energy friction layer is in contact with the static energy friction layer, the kinetic energy friction layer is connected to the first end of the profiling rod, and the static energy friction layer is electrically connected to the data acquisition board, which is used to transmit the friction electric signal generated by the relative friction between the kinetic energy friction layer and the static energy friction layer to the agricultural machinery controller to determine the swing direction of the profiling rod.

[0007] In a possible implementation, the first end of the contoured rod is sequentially provided with a gear groove and a cylindrical boss, a gear shaft is provided corresponding to the gear groove, the first end of the gear shaft is provided in the gear groove, the second end of the gear shaft is provided in the friction generating device, the kinetic energy friction layer is adhered to the second end of the gear shaft, and the static energy friction layer is adhered to the inside of the shell of the friction generating device; corresponding to the cylindrical boss, an arc groove is provided on the main control box body, and the cylindrical boss is slidably provided in the arc groove.

[0008] In a possible implementation, a trapezoidal groove connected to the agricultural machinery is provided on the main control box body, a circular through hole is provided directly below the trapezoidal groove, and the gear shaft is connected to the friction generating device through the circular through hole.

[0009] In a possible implementation, when the kinetic friction layer rotates at different angles relative to the static friction layer, different numbers of metal electrodes are caused to undergo friction motion, thereby generating a friction electric signal representing angle information; the rotation direction of the contoured rod is distinguished by the phase difference generated by the friction signal.

[0010] In a possible implementation, when the contoured rod is driven by agricultural machinery, it will rotate clockwise and counterclockwise. There is a phase difference between the AC signals generated during the clockwise and counterclockwise rotations, wherein the clockwise phase difference is π / 3 and the counterclockwise phase difference is 2π / 3.

[0011] In one possible implementation, when the kinetic energy friction layer rubs against the static energy friction layer, the grid electrode on the static energy friction layer generates induction and outputs an AC signal to the outside. In addition, the static energy friction layer and the kinetic energy friction layer have different friction rotation speeds, and the compactness of the output signals is different. The faster the speed, the more compact it is. When the rotation angle is constant, different speeds will not affect the angle signal.

[0012] In a possible implementation, the static energy friction layer and the kinetic energy friction layer are both flexible circuit boards, the kinetic energy friction layer is a copper-clad circular grid applied on the Kapton film, and the static energy friction layer is a copper-clad interdigitated circular grid applied on the Kapton film.

[0013] In a possible implementation, copper strips of the same width are evenly arranged along the circumference of the static energy friction layer and the kinetic energy friction layer, and the number of copper strips on the static energy friction layer is three times the number of metal strips on the kinetic energy friction layer.

[0014] In the embodiment of the present application, a friction self-powered synchronous profiling sensor is used to sense changes in terrain during field operations of agricultural machinery, and to detect the height and inclination of key components of the agricultural machinery in real time, so that the key components of the agricultural machinery can rise and fall with changes in the terrain, ensuring that the working parts of the agricultural machinery always maintain a certain height from the ground, thereby improving the stability of agricultural machinery operations in uneven cultivated land terrain in hilly and mountainous areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A structural schematic diagram of a friction self-powered synchronous profiling sensor for agricultural machinery profiling operations provided in an embodiment of the present application;

[0016] Figure 2 A schematic diagram of the structure of the kinetic friction layer provided in an embodiment of the present application;

[0017] Figure 3 A schematic diagram of a static friction layer provided in an embodiment of the present application;

[0018] Figure 4 A schematic diagram of the structure of a contoured rod provided in an embodiment of the present application;

[0019] Figure 5 A schematic diagram of a main control box provided in an embodiment of the present application;

[0020] Figure 6 A schematic diagram of a friction generating device provided in an embodiment of the present application;

[0021] Figure 7 A schematic diagram of the static friction layer housing structure provided in an embodiment of the present application;

[0022] Figure 8 It is the angle signal when the profiling rod rotates clockwise;

[0023] Fig. 9 It is the angle signal when the profiling rod rotates counterclockwise;

[0024] Figure 1-Figure 9 In the symbol, it is represented as:

[0025] 1-main control box body, 2-contact rod, 3-welding point, 4-gear groove, 5-cylindrical boss, 6-gear shaft, 7-arc groove, 8-trapezoidal groove, 9-circular through hole, 10-hanging ear groove, 11-threading hole. DETAILED DESCRIPTION

[0026] The present solution is described below in conjunction with the accompanying drawings and specific implementation methods.

[0027] See also Figure 1 The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation provided by the embodiment of the present application includes: a main control box body 1, a data acquisition board (not shown in the figure) is arranged in the main control box body 1, a profiling rod 2 is arranged on one side of the main control box body 1, a first end of the profiling rod 2 is movably connected to the main control box body 1, and a second end is used to contact with the ground to sense ground changes, a friction generating device is arranged in the main control box body 1, a kinetic energy friction layer and a static energy friction layer are arranged in the friction generating device, the kinetic energy friction layer is in contact with the static energy friction layer, the kinetic energy friction layer is connected to the first end of the profiling rod 2, and the static energy friction layer is electrically connected to the data acquisition board, which is used to transmit the friction electric signal generated by the relative friction between the kinetic energy friction layer and the static energy friction layer to the agricultural machinery controller to determine the swing direction of the profiling rod 2.

[0028] The static friction layer and kinetic friction layer in this embodiment are both flexible circuit boards. The kinetic friction layer is a copper-clad circular grid attached to the kapton film, and the static friction layer is a copper-clad interdigitated circular grid attached to the kapton film. There are three welding points 3 on the static friction layer. The welding points 3 are the positive contact point (signal 1), the negative contact point (signal 2), and the voltage signal contact point (signal 3). Three wires are drawn out to be electrically connected to the data acquisition board. See Figure 2 and Figure 3 The static energy friction layer and the kinetic energy friction layer are composed of copper strips of the same width evenly arranged along the circumference, and the number of copper strips on the static energy friction layer is three times the number of metal strips on the kinetic energy friction layer.

[0029] See also Figure 4-Figure 6, the first end of the profiling rod 2 is provided with a gear groove 4 and a cylindrical boss 5 in sequence, and a gear shaft 6 is provided corresponding to the gear groove 4, the first end of the gear shaft 6 is provided in the gear groove 4, the second end of the gear shaft 6 is provided in the friction generating device, the kinetic energy friction layer is provided on the second end of the gear shaft 6, and the static energy friction layer is provided on the housing of the friction generating device; corresponding to the cylindrical boss 5, an arc groove 7 is provided on the main control box body 1, and the cylindrical boss 5 is slidably provided in the arc groove 7, and the setting of the arc groove 7 constrains the movement of the profiling curved rod at an angle. The angle range of the arc groove 7 can be changed according to the concave and convex angle of the profiling ground. This application takes the harvesting header as an example, and the angle range is ±30°. In this embodiment, a trapezoidal groove 8 connected to the agricultural machinery is provided on the main control box body 1, and a circular through hole 9 is provided directly below the trapezoidal groove 8, and the gear shaft 6 is connected to the friction generating device through the circular through hole 9.

[0030] The static energy friction layer is attached to the static energy friction layer insulating shell, see Figure 7 A boss is provided in the center of the static friction layer insulating shell, which is concentric with the gear shaft 6. The ear groove 10 and the threading hole 11 are used to lead out the connecting wires of the three welding points. The ear groove 10 isolates the external interference to the welding point to ensure the accuracy and stability of the angle signal.

[0031] In this embodiment, when the kinetic friction layer rotates at different angles relative to the static friction layer, different numbers of metal electrodes are caused to undergo friction motion, thereby generating friction electric signals representing angle information; the rotation direction of the contour rod 2 is distinguished by the phase difference generated by the friction signal. When the kinetic friction layer rubs against the static friction layer, the grid electrodes on the static friction layer generate induction and output AC signals to the outside, and the static friction layer and the kinetic friction layer have different friction rotation speeds, and the compactness of the output signals is different. The faster the speed, the more compact it is. When the rotation angle is constant, the different speeds will not affect the angle signal.

[0032] Specifically, in this embodiment, when the contoured rod 2 is driven by the agricultural machinery, it will rotate clockwise and counterclockwise. There is a phase difference between the AC signals generated during the clockwise and counterclockwise rotations, wherein the clockwise phase difference is π / 3 and the counterclockwise phase difference is 2π / 3.

[0033] The friction self-powered profiling sensor sends the friction electric signal to the signal analysis unit of the data acquisition board to analyze the angle electric signal, and analyzes the change of the obtained signal waveform through the motion state and angle change of the profiling mechanism, a key component of agricultural operations.

[0034] When the key component of the agricultural machinery operation, the profiling mechanism, is stationary, there is no relative rotation between the static energy friction layer and the kinetic energy friction layer, there is no friction electrification process, and no angle signal (peaks and valleys) is generated. Through voltage signal analysis, it can be obtained that the ground contacted by the key component of the agricultural machinery operation, the profiling mechanism, is in a smooth state, and the key component does not need to change position at this time;

[0035] When the contour-matching mechanism of the key component of agricultural machinery moves, the static friction layer and the kinetic friction layer rotate relative to each other, generating an angle signal (peaks and troughs). Through voltage signal analysis, it can be known that the ground contacted by the contour-matching mechanism of the key component of agricultural machinery operation is undulating. At this time, the key component of operation needs to change its position according to the angle signal. When the kinetic friction layer in the middle of the sensor rubs against the static friction layer, an induction signal is generated on the grid electrode of the static friction layer, and an AC signal is output to the outside. Due to the coupling effect of friction charging and electrostatic induction, when the kinetic friction layer contacts and rubs against the static friction layer, each group of grid electrodes of the static friction layer at the bottom alternately senses the signal, and three groups of independent AC voltage signals can be output when there is an external load. When the static friction layer and the kinetic friction layer rotate in friction, the speed is different, and the compactness of the output signal is different. The faster the speed, the more compact it is. When the rotation angle is constant, the different speeds will not affect the number of angle signals (peaks and troughs), that is, it will not affect the lifting and lowering of the key components of agricultural machinery contour-matching operation. See. Figure 8 and Fig. 9 , which are signal diagrams when the contour rod 2 rotates clockwise and counterclockwise respectively.

[0036] In the embodiments of the present application, "at least one" refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0037] The above is only a specific implementation of the present application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A friction self-powered synchronous profiling sensor for agricultural machinery profiling operation, characterized in that: include: A main control box body, wherein a data acquisition board is arranged in the main control box body, a contour rod is arranged on one side of the main control box body, a first end of the contour rod is movably connected to the main control box body, and a second end is used to contact with the ground to sense ground changes, a friction generating device is arranged in the main control box body, a kinetic energy friction layer and a static energy friction layer are arranged in the friction generating device, the kinetic energy friction layer is in contact with the static energy friction layer, the kinetic energy friction layer is connected to the first end of the contour rod, and the static energy friction layer is electrically connected to the data acquisition board, and is used to transmit the friction electric signal generated by the relative friction between the kinetic energy friction layer and the static energy friction layer to the agricultural machinery controller, so as to determine the swing direction of the contour rod.

2. The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation according to claim 1 is characterized in that: The first end of the contoured rod is sequentially provided with a gear groove and a cylindrical boss, a gear shaft is provided corresponding to the gear groove, the first end of the gear shaft is provided in the gear groove, the second end of the gear shaft is provided in the friction generating device, the kinetic energy friction layer is adhered to the second end of the gear shaft, and the static energy friction layer is adhered to the inside of the shell of the friction generating device; corresponding to the cylindrical boss, an arc groove is provided on the main control box body, and the cylindrical boss is slidably provided in the arc groove.

3. The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation according to claim 2 is characterized in that: The main control box body is provided with a trapezoidal groove connected to the agricultural machinery, a circular through hole is provided directly below the trapezoidal groove, and the gear shaft is connected to the friction generating device through the circular through hole.

4. The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation according to any one of claims 1 to 3, characterized in that: When the kinetic friction layer rotates at different angles relative to the static friction layer, different numbers of metal electrodes are caused to undergo friction motion, thereby generating friction electric signals representing angle information; the rotation direction of the contoured rod is distinguished by the phase difference generated by the friction signal.

5. The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation according to claim 4, characterized in that: When the contoured rod is driven by agricultural machinery, it will rotate clockwise and counterclockwise. There is a phase difference between the AC signals generated during the clockwise and counterclockwise rotations, wherein the clockwise phase difference is π / 3 and the counterclockwise phase difference is 2π / 3.

6. The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation according to claim 5, characterized in that: When the kinetic energy friction layer rubs against the static energy friction layer, the grid electrode on the static energy friction layer generates induction and outputs an AC signal to the outside. In addition, the static energy friction layer and the kinetic energy friction layer have different friction rotation speeds, and the compactness of the output signal is different. The faster the speed, the more compact it is. For a certain rotation angle, different speeds will not affect the angle signal.

7. The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation according to claim 1, characterized in that: The static energy friction layer and the kinetic energy friction layer are both flexible circuit boards. The kinetic energy friction layer is a copper-clad circular grid attached to the Kapton film, and the static energy friction layer is a copper-clad interdigitated circular grid attached to the Kapton film.

8. The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation according to claim 7, characterized in that: Copper strips of the same width are evenly arranged along the circumference of the static energy friction layer and the kinetic energy friction layer, and the number of copper strips on the static energy friction layer is three times the number of metal strips on the kinetic energy friction layer.

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