A friction self-powered synchronous profiling sensor for agricultural machinery profiling operation

Abstract

The present application discloses a friction self-powered synchronous profiling sensor for agricultural machinery profiling operations, which relates to the technical field of sensors. A data acquisition board is arranged inside the main control box body, and a profiling rod is arranged on one side. 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 inside the main control box body, and a kinetic friction layer and a static energy friction layer are arranged inside the friction generating device. The kinetic friction layer is in contact with the static energy friction layer, the kinetic 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. By using the friction self-powered synchronous profiling sensor to sense the terrain changes during the field operation of agricultural machinery, the height and inclination angle of the key components of the agricultural machinery operation are detected in real time, so that the key components of the agricultural machinery operation can rise and fall with the changes of the terrain, ensuring that the working components of the agricultural machinery always maintain a certain height from the ground, and improving the stability of the agricultural machinery operation under the condition of uneven cultivated land terrain in hilly and mountainous areas.

Description

Technical Field

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

[0002] Due to the uneven terrain of cultivated land in hilly and mountainous areas, problems such as unstable operation of agricultural machinery in this terrain have led to the addition of profiling devices to agricultural machinery. The profiling device is of great significance for the development of agricultural machinery towards automation and intelligence. Agricultural machinery profiling is an agricultural machinery technology that allows agricultural implements or working parts to move up and down with the ground undulations, that is, the ability to adapt to ground undulations is called the profiling property of the ground. This technology is mainly divided into two categories: passive profiling and active profiling.

[0003] In traditional technologies, passive profiling technology is generally pure mechanical profiling, with a simple structure and easy maintenance, but it is greatly affected by the ground environment, and both the accuracy and sensitivity are not high. This technology mainly relies on the physical effects such as the structure and gravity of agricultural implements themselves to adapt to the ground undulations, and does not require additional power or hydraulic system support. Therefore, the advantage of passive profiling technology is low cost and easy maintenance, but the disadvantage is that the ability to adapt to ground changes is limited, and its performance may not be satisfactory for complex and variable field environments. Agricultural machinery active profiling technology 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 state of agricultural machinery in real time to adapt to ground undulations, thereby improving the operation quality and efficiency of agricultural machinery.

[0004] The profiling accuracy and stability of active profiling technology are relatively high, which can provide more precise operation control and play a key role in the optimization of agricultural machinery. However, due to the complex and variable field environment, the lag problem still exists in the current profiling technology, resulting in unstable operation of agricultural machinery in complex terrains. Summary of the Invention

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

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

[0007] In a possible implementation manner, a gear groove and a cylindrical boss are sequentially arranged at the first end of the profiling rod, a gear shaft is arranged corresponding to the gear groove, a first end of the gear shaft is arranged in the gear groove, a second end of the gear shaft is arranged inside the friction generating device, the kinetic friction layer is attached to the second end of the gear shaft, and the static energy friction layer is attached to the inside of the housing of the friction generating device; corresponding to the cylindrical boss, an arc-shaped groove is arranged on the main control box body, and the cylindrical boss is slidably arranged in the arc-shaped groove.

[0008] In a possible implementation manner, a trapezoidal groove for connecting with agricultural machinery is arranged on the main control box body, a circular through hole is arranged 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 manner, when the kinetic friction layer rotates at different angles relative to the static energy friction layer, different numbers of metal electrodes undergo frictional movement, thereby generating a frictional electrical signal characterizing the angle information; the rotation direction of the profiling rod is distinguished by the phase difference generated by the frictional signal.

[0010] In a possible implementation manner, when the profiling rod rotates clockwise and counterclockwise under the drive of agricultural machinery operations, there is a phase difference between the AC signals generated during clockwise and counterclockwise rotations, where the clockwise phase difference is π / 3 and the counterclockwise phase difference is 2π / 3.

[0011] In a possible implementation manner, when the kinetic friction layer and the static energy friction layer rub against each other, the grid electrodes on the static energy friction layer generate induction and output an AC signal to the outside, and the rubbing and rotating speeds of the static energy friction layer and the kinetic friction layer are different, and the compactness of the output signal is different. The faster the speed, the more compact it is. With a certain rotation angle, different speeds will not affect the angle signal.

[0012] In a possible implementation, both the static energy friction layer and the kinetic energy friction layer are flexible circuit boards. The kinetic energy friction layer is a copper-clad circular grating attached to the kapton film, and the static energy friction layer is a copper-clad finger-fork circular grating attached to the kapton film.

[0013] In a possible implementation, copper strips of the same width are evenly arranged along the circumference on 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, the friction self-powered synchronous profiling sensor senses the changes in the terrain during the agricultural machinery field operation, and detects the height and inclination angle of the key components of the agricultural machinery in real time, so that the key components of the agricultural machinery can rise and fall with the changes in the terrain, ensuring that the working components of the agricultural machinery always maintain a certain height from the ground, and improving the stability of the agricultural machinery during operation on the uneven cultivated land in hilly and mountainous areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic structural diagram of a friction self-powered synchronous profiling sensor for agricultural machinery profiling operation provided by an embodiment of the present application;

[0016] Figure 2 It is a schematic structural diagram of the kinetic energy friction layer provided by an embodiment of the present application;

[0017] Figure 3 It is a schematic diagram of the static energy friction layer provided by an embodiment of the present application;

[0018] Figure 4 It is a schematic structural diagram of the profiling rod provided by an embodiment of the present application;

[0019] Figure 5 It is a schematic diagram of the main control box body provided by an embodiment of the present application;

[0020] Figure 6 It is a schematic diagram of the friction generating device provided by an embodiment of the present application;

[0021] Figure 7 It is a schematic structural diagram of the static energy friction layer housing provided by an embodiment of the present application;

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

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

[0024] Figures 1-9 In, the symbols are represented as:

[0025] 1 - Main control box body, 2 - Profiling 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 - Wire threading hole. Specific implementation mode

[0026] The following combines the accompanying drawings and specific implementation modes to elaborate on this solution.

[0027] See 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, the first end of the profiling rod 2 is movably connected to the main control box body 1, 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 1, a kinetic friction layer and a static energy friction layer are arranged in the friction generating device, the kinetic friction layer is in contact with the static energy friction layer, the kinetic 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, and is used to transmit the frictional electrical signal generated by the relative friction between the kinetic friction layer and the static energy friction layer to the agricultural machinery controller to determine the swinging direction of the profiling rod 2.

[0028] In this embodiment, both the static energy friction layer and the kinetic friction layer are flexible circuit boards. The kinetic friction layer is a copper - clad circular grid - shaped film attached to a kapton film, and the static energy friction layer is a copper - clad finger - fork circular grid - shaped film attached to a kapton film. There are three welding points 3 on the static energy friction layer. The welding points 3 are the positive contact point (signal one), the negative contact point (signal two), and the voltage signal contact point (signal three), and three wires are led out and electrically connected to the data acquisition board. See Figure 2 and Figure 3 , the static energy friction layer and the kinetic friction layer are composed of copper strips with the same width arranged uniformly 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 friction layer.

[0029] See Figures 4-6, a gear slot 4 and a cylindrical boss 5 are successively arranged at the first end of the profiling rod 2. A gear shaft 6 is arranged corresponding to the gear slot 4. The first end of the gear shaft 6 is arranged in the gear slot 4, and the second end of the gear shaft 6 is arranged in the friction generating device. The kinetic energy friction layer is attached to the second end of the gear shaft 6, and the static energy friction layer is attached to the inner part of the housing of the friction generating device. Corresponding to the cylindrical boss 5, an arc-shaped groove 7 is arranged on the main control box body 1. The cylindrical boss 5 is slidably arranged in the arc-shaped groove 7, and the arrangement of the arc-shaped groove 7 restricts the movement angle of the profiling curved rod. The angle range of the arc-shaped groove 7 can be changed according to the concave and convex angle of the profiling ground. In this application, taking the harvesting cutter bar as an example, the angle range is ±30°. In this embodiment, a trapezoidal groove 8 for connecting with agricultural machinery is arranged on the main control box body 1, and a circular through hole 9 is arranged directly below the trapezoidal groove 8. 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. Refer to Figure 7 , a boss is arranged at the center of the static energy friction layer insulating shell and is concentrically matched with the gear shaft 6. The ear hanging groove 10 and the wire passing hole 11 are used to lead out the connecting wires of the three solder joints. The ear hanging groove 10 isolates the interference of the outside world to the solder joints and ensures the accuracy and stability of the angle signal.

[0031] In this embodiment, when the kinetic energy friction layer rotates at different angles relative to the static energy friction layer, different numbers of metal electrodes are caused to have frictional movement, thereby generating a triboelectric signal representing angle information; the rotation direction of the profiling rod 2 is distinguished by the phase difference generated by the friction signal. When the kinetic energy friction layer rubs against the static energy friction layer, the grid electrodes on the static energy friction layer generate induction and output an alternating current signal to the outside. Moreover, when the static energy friction layer and the kinetic energy friction layer rub at different rotation speeds, the compactness of the generated signal is different. The faster the speed, the more compact it is. When the rotation angle is certain, different speeds will not affect the angle signal.

[0032] Specifically, in this embodiment, when the profiling rod 2 rotates clockwise and counterclockwise under the drive of agricultural machinery operation, there is a phase difference in the alternating current signals generated during clockwise and counterclockwise rotations. Among them, the clockwise phase difference is π / 3, and the counterclockwise phase difference is 2π / 3.

[0033] The triboelectric self-powered profiling sensor sends the triboelectric 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 according to the movement state and angle change of the profiling mechanism of the key components of agricultural operations.

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

[0035] When the profiling mechanism of the key component of the agricultural machinery operation is moving, relative rotation occurs between the static energy friction layer and the kinetic energy friction layer, generating an angular signal (peak and valley). It can be known through voltage signal analysis that the ground contacted by the profiling mechanism of the key component of the agricultural machinery operation has undulations. At this time, the key component of the operation needs to change its position according to the angular signal. When the kinetic energy friction layer in the middle of the sensor rubs against the static energy friction layer, an induced signal is generated on the grid electrode of the static energy friction layer and an alternating current signal is output to the outside. Due to the coupling effect of frictional charging and electrostatic induction, when the kinetic energy friction layer contacts and rubs against the static energy friction layer, each group of grid electrodes at the bottom of the static energy friction layer alternately induces signals, and three independent alternating voltage signals can be output when there is an external load. When the static energy friction layer and the kinetic energy friction layer rub and rotate, the speeds are different, and the compactness of the generated signals is different. The faster the speed, the more compact. When the rotation angle is fixed, different speeds will not affect the number of angular signals (peaks and valleys), that is, it will not affect the lifting of the key component for the profiling operation of the agricultural machinery. See Figure 8 and Figure 9 , which are the signal diagrams when the profiling rod 2 rotates clockwise and counterclockwise respectively.

[0036] In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent the situation of A existing alone, A and B existing simultaneously, and B existing alone. Where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one of the following" and its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, and c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0037] As mentioned above, the above is only the specific implementation manner of the present application. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. The protection scope of the present application shall be subject to 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, 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, a first end of the profiling 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 profiling 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 profiling rod; 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.

2. The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation according to claim 1 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.

3. The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation according to claim 1 or 2, 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.

4. The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation according to claim 3 is 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.

5. The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation according to claim 4, 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.

6. 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.

7. The friction self-powered synchronous profiling sensor for agricultural machinery profiling operation according to claim 6, 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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