Self-adaptive potato picking method and device

Abstract

A self-adaptive potato picking method and device are suitable for a self-propelled potato picking machine, and the method comprises the following steps: digging and paving potatoes and a soil and seedling mixture on the ground surface; soil cutting discs located on the two front sides cut potato soil ridges into blocks; the picking mechanism shovels and conveys the potatoes and the soil-seedling mixture, the shaking adjusting mechanism vibrates in the conveying process to form the overall fluctuating motion of the conveying chain, and separation of the potatoes and the soil-seedling mixture is accelerated; when the mixture of the potatoes and the soil seedlings moves to the rear section, the scattering distance of the picking mechanism is shrunk; the seedling removing mechanism is used for separating and removing seedlings to obtain and collect clean potato blocks; wherein an ultrasonic sensor is adopted to measure the height of front hilling in real time so as to control the hanging oil cylinder of the self-adaptive potato picking device, the elongation of a shaking adjusting oil cylinder of the shaking adjusting mechanism and the rotating speed of a hydraulic motor of the transmission mechanism in real time; the automatic adjustment of the soil penetration depth of the picking shovel of the picking mechanism, the potato-soil separation vibration amplitude and the conveying chain speed is realized.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery and equipment, in particular to a potato adaptive picking method and device suitable for a self-propelled potato picker. Background Art

[0002] Most of the existing mechanized potato harvesting methods adopt segmented harvesting. The potato picking process in the segmented harvesting currently relies on manual picking, which is labor-intensive, time-consuming and labor-intensive. In addition, with the aggravation of the aging of the rural population in recent years, the continuous increase in labor costs, and the increasing difficulty in hiring workers, the potato picking process has become a bottleneck in potato harvesting. Therefore, it is urgent to solve the problem of mechanization of the key link of potato production picking and harvesting. The development and promotion of potato picking devices have become an inevitable trend in the development of mechanized potato harvesting.

[0003] Several current potato picking devices have the problem of soil accumulation at the front end of the picking device during actual field operations, causing the machine to frequently stop and readjust parameters such as the picking device's burrowing depth. At the same time, the operator has to operate frequently and the operation is difficult. The above phenomenon not only affects the operating efficiency of the entire machine, but also causes a waste of useless work when the engine is output. The fundamental reason is that it is difficult to adapt the manual adjustment of the picking device's burrowing depth to the actual working conditions. The manual adjustment reaction time plus the execution time of the hydraulic mechanism cause a serious lag in the control of the picking device's working parameters. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a potato adaptive picking method and device in view of the above-mentioned defects of the prior art.

[0005] In order to achieve the above object, the present invention provides a potato adaptive picking method, which is applicable to a self-propelled potato picker, and includes the following steps:

[0006] S100, after the potato adaptive picking device is hung on the self-propelled potato picking machine, the self-propelled potato picking machine digs and spreads the potato and soil mixture on the ground surface;

[0007] S200, the soil cutting discs located on both sides in front of the potato adaptive picking device cut the potato soil ridges into pieces;

[0008] S300, the picking mechanism of the potato adaptive picking device scoops up and conveys the mixture of potatoes and soil vines, and during the conveying process, the shaking adjustment mechanism of the potato adaptive picking device vibrates to form an undulating motion of the entire conveying chain, thereby accelerating the separation of the mixture of potatoes and soil vines; and

[0009] S400, when the potato and soil mixture moves to the rear section, the picking mechanism tightens the dispersion distance; the potato self-adaptive picking device removes the potato seedlings and obtains and collects clean potato tubers;

[0010] Among them, the potato adaptive picking device uses an ultrasonic sensor to measure the height of the soil in front, monitors the soil height in real time and transmits it to the controller, so as to control the elongation of the hanging cylinder of the potato adaptive picking device, the vibration adjustment cylinder of the vibration adjustment mechanism and the speed of the hydraulic motor of the transmission mechanism in real time, so as to realize the automatic adjustment of the soil penetration depth of the picking shovel of the picking mechanism, the vibration amplitude of potato-soil separation and the speed of the conveyor chain.

[0011] In the above-mentioned potato adaptive picking method, the potato adaptive picking device is also provided with a temperature sensor to measure the real-time ambient temperature to avoid the influence of the ambient temperature on the ultrasonic wave velocity.

[0012] In the above-mentioned potato adaptive picking method, the measurement data of the ultrasonic sensor is digitally filtered, and when the soil-covering distance h measured by the first ultrasonic sensor is 1 The distance h from the soil measured by the second ultrasonic sensor 2 When the difference between the current measurement data and the last measurement data of the first ultrasonic sensor or the second ultrasonic sensor is greater than the set value, the current measurement data is abandoned and replaced by the last measurement data; and when the difference between the current measurement data and the last measurement data of the first ultrasonic sensor or the second ultrasonic sensor is greater than the set value, the current measurement data is abandoned and replaced by the last measurement data.

[0013] In the above-mentioned adaptive potato picking method, the controller determines whether the mounding height is between a set minimum value and a set maximum value. If the mounding height is less than the set minimum value, the controller does not output a command signal; if the mounding height is greater than the set maximum value, the controller outputs an abnormal mounding height signal and controls the abnormal mounding indicator light to flash alternately; if the mounding height is between the set minimum value and the set maximum value, the controller outputs signals to the corresponding proportional solenoid valves according to the filtered mounding height value and the set PWM duty cycle to change the elongation of the hooking cylinder and the jitter adjustment cylinder and the speed of the hydraulic motor.

[0014] In the above-mentioned adaptive potato picking method, the proportional solenoid valve includes a first proportional solenoid valve, a second proportional solenoid valve and a third proportional solenoid valve, the first proportional solenoid valve controls the extension of the attachment cylinder to change the depth of the picking shovel into the soil; the second proportional solenoid valve controls the rotation speed of the hydraulic motor to change the conveying line speed of the conveyor chain; the third proportional solenoid valve controls the extension of the vibration adjustment cylinder to change the vibration amplitude of the vibration adjustment mechanism.

[0015] The above-mentioned potato adaptive picking method, wherein, when the measured value of the earth-covering height is greater than the preset value, the controller adjusts the PWM duty cycle, reduces the opening of the first proportional solenoid valve, reduces the extension of the connecting cylinder to reduce the depth of the picking shovel into the soil; increases the opening of the second proportional solenoid valve, increases the speed of the hydraulic motor to increase the conveying line speed of the conveyor chain; increases the opening of the third proportional solenoid valve, increases the extension of the jitter adjustment cylinder to increase the vibration amplitude of the jitter adjustment mechanism; when the measured value of the earth-covering height is less than the preset value, the controller adjusts the PWM duty cycle, increases the opening of the first proportional solenoid valve, increases the extension of the connecting cylinder to increase the depth of the picking shovel into the soil; reduces the opening of the second proportional solenoid valve, reduces the speed of the hydraulic motor to reduce the conveying line speed of the conveyor chain; reduces the opening of the third proportional solenoid valve, reduces the extension of the jitter adjustment cylinder to reduce the vibration amplitude of the jitter adjustment mechanism.

[0016] In order to better achieve the above-mentioned purpose, the present invention also provides an adaptive picking device installed on a self-propelled potato picker, which includes:

[0017] frame;

[0018] The picking mechanism comprises a side plate, a picking shovel and a conveying chain, wherein the picking shovel is installed at the front end of the frame, and the conveying chain is arranged behind the picking shovel; the side plate is installed on the frame and arranged on both sides of the conveying chain;

[0019] A transmission mechanism, mounted on the frame and connected to the conveyor chain;

[0020] A jitter adjustment mechanism is correspondingly arranged at the middle part of the conveying chain;

[0021] A hooking cylinder, one end of which is connected to the frame, and the other end of which is connected to the main frame of the self-propelled potato picker; the controller is connected to the hooking cylinder, and controls the extension of the hooking cylinder through a first proportional solenoid valve to adjust the depth of the picking shovel into the soil; and

[0022] A control mechanism, comprising a controller and an ultrasonic sensor, wherein the ultrasonic sensor is mounted above the front of the frame and connected to the controller; the controller is respectively connected to the vibration adjustment mechanism and the transmission mechanism;

[0023] Wherein, the transmission mechanism comprises:

[0024] A hydraulic motor mounted on the frame;

[0025] A transmission shaft, both ends of which are mounted on the frame through bearings and connected to the hydraulic motor through a chain transmission mechanism;

[0026] A plum blossom wheel, mounted on the transmission shaft and connected to the conveyor chain;

[0027] The controller controls the rotation speed of the hydraulic motor through the second proportional solenoid valve to adjust the conveying speed of the conveying chain;

[0028] The vibration adjustment mechanism comprises:

[0029] A shaking shaft, with two ends respectively connected to a large swing arm and a small swing arm, and the rotation centers of the large swing arm and the small swing arm are connected to the side plate;

[0030] A supporting wheel mounted on the shaking shaft; and

[0031] One end of the vibration adjustment cylinder is connected to the large swing arm, and the other end of the vibration adjustment cylinder is installed on the frame. The controller controls the extension of the vibration adjustment cylinder through the third proportional solenoid valve to adjust the support height of the support wheel.

[0032] The above-mentioned adaptive picking device, wherein the jitter adjustment mechanism also includes a jitter wheel and a fixed block, the jitter wheel is installed on the inner side of the side plate and contacts with the upper chain rod of the conveying chain, and the jitter wheel is located below the other end of the jitter adjustment cylinder; the fixed blocks are respectively arranged on the inner sides of the large swing arm and the small swing arm.

[0033] The above-mentioned adaptive picking device also includes a seedling removal mechanism and a soil cutting disc. The seedling removal mechanism is installed at the rear end of the frame and is set with the center line of the conveying chain as the symmetry center; the soil cutting disc is installed at the front end of the frame and is located on both sides of the picking shovel.

[0034] The above-mentioned adaptive picking device, wherein the picking mechanism also includes symmetrically arranged potato collecting plates, one end of which is connected to the inner side of the middle part of the side plate, and the other end of the potato collecting plate is respectively located on both sides of the seedling removing mechanism.

[0035] The beneficial effects of the present invention are:

[0036] The present invention can effectively control the working parameters of the picking device, improve the working efficiency of the whole machine, reduce the operating difficulty of the machine operator, alleviate the working intensity of the machine operator, and avoid the machine from generating useless work.

[0037] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1A working principle diagram of an embodiment of the present invention;

[0039] Figure 2 A control relationship diagram of an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of the structure of an adaptive picking device according to an embodiment of the present invention;

[0041] Figure 4 A side view of an adaptive picking device according to an embodiment of the present invention;

[0042] Figure 5 A schematic diagram of the structure of a jitter adjustment mechanism according to an embodiment of the present invention;

[0043] Figure 6 The figure is a schematic diagram of the transmission mechanism structure of an embodiment of the present invention.

[0044] Among them, the reference numerals

[0045] 1 Rack

[0046] 2 Transmission mechanism

[0047] 21 Hydraulic motor

[0048] 22 Small sprocket

[0049] 23 Large sprocket

[0050] 24 Drive shaft

[0051] 25 Plum Blossom Wheel

[0052] 26 Bearing seat

[0053] 27 Bearings

[0054] 28 Chain

[0055] 3. Jitter adjustment mechanism

[0056] 31. Shaking wheel

[0057] 32 Vibration adjustment cylinder

[0058] 33 Large swing arm

[0059] 34 Small swing arm

[0060] 35 Support roller

[0061] 36 Fixed block

[0062] 37 Shake Axis

[0063] 4 Cutting discs

[0064] 5 Pick-up mechanism

[0065] 51 Side Panel

[0066] 52 Pickup Shovel

[0067] 53 Conveyor Chain

[0068] 54 potato chips

[0069] 6 Control mechanism

[0070] 61 First Ultrasonic Sensor

[0071] 62 Second ultrasonic sensor

[0072] 63 first proportional solenoid valve

[0073] 64 Second proportional solenoid valve

[0074] 65 third proportional solenoid valve

[0075] 66 Temperature Sensor

[0076] 67 Abnormal soil filling indicator

[0077] 68 Controller

[0078] 7Hooking cylinder

[0079] 8. Seedling removal mechanism DETAILED DESCRIPTION

[0080] The structural principle and working principle of the present invention are described in detail below in conjunction with the accompanying drawings:

[0081] See also Figure 1 , Figure 1 The working principle diagram of an embodiment of the present invention is shown in FIG. The potato adaptive picking method of the present invention is applicable to a self-propelled potato picking machine and comprises the following steps:

[0082] Step S100: After the potato adaptive picking device is hung on the self-propelled potato picking machine, the self-propelled potato picking machine digs and spreads the potato and soil mixture on the ground surface;

[0083] Step S200, four soil cutting discs located on both sides of the front of the potato adaptive picking device cut the potato soil into pieces;

[0084] Step S300, the picking mechanism 5 of the potato adaptive picking device scoops up and conveys the potato and soil mixture, and during the conveying process, the shaking adjustment mechanism 3 of the potato adaptive picking device vibrates to form an undulating motion of the conveying chain 53 as a whole, thereby accelerating the separation of the potato and soil mixture; and

[0085] Step S400: When the potato and soil mixture moves to the rear section, the picking mechanism 5 shortens the dispersion distance; the potato self-adaptive picking device removes the potato seedlings and obtains and collects clean potato tubers;

[0086] Among them, the potato adaptive picking device uses an ultrasonic sensor to measure the height of the soil in front, monitors the soil height in real time and transmits it to the controller 68, so as to control the connecting cylinder 7 of the potato adaptive picking device, the extension of the shaking adjustment cylinder 32 of the shaking adjustment mechanism 3 and the speed of the hydraulic motor 21 of the transmission mechanism 2 in real time, so as to realize the automatic adjustment of the soil penetration depth of the picking shovel 52 of the picking mechanism 5, the potato-soil separation vibration amplitude of the shaking adjustment mechanism 3 and the speed of the conveying chain 53.

[0087] The potato adaptive picking device of this embodiment is also provided with a temperature sensor 66 to measure the real-time ambient temperature to avoid the influence of the ambient temperature on the ultrasonic velocity. The measurement data of the ultrasonic sensor is digitally filtered. When the soil-covering distance h measured by the first ultrasonic sensor 61 is 1 The distance h from the soil covered by the second ultrasonic sensor 62 is 2 When the difference between the current measurement data and the last measurement data of the first ultrasonic sensor 61 or the second ultrasonic sensor 62 is greater than the set value, the current measurement data is also abandoned and replaced by the last measurement data.

[0088] Among them, the controller 68 determines whether the earth-covering height is between the set minimum value and the set maximum value. If the earth-covering height is less than the set minimum value, the controller 68 does not output a command signal; if the earth-covering height is greater than the set maximum value, the controller 68 outputs an abnormal earth-covering height signal and controls the abnormal earth-covering indicator light 67 to flash alternately; if the earth-covering height is between the set minimum value and the set maximum value, the controller 68 outputs signals to the corresponding proportional solenoid valves according to the filtered earth-covering height value and the set PWM duty cycle to change the extension of the attachment cylinder 7, the jitter adjustment cylinder 32 and the speed of the hydraulic motor 21.

[0089] See also Figure 2 , Figure 2The control relationship diagram of an embodiment of the present invention. In this embodiment, the proportional solenoid valve includes a first proportional solenoid valve 63, a second proportional solenoid valve 64 and a third proportional solenoid valve 65. The first proportional solenoid valve 63 controls the extension of the hook cylinder 7 to change the depth of the pick-up shovel 52 into the soil; the second proportional solenoid valve 64 controls the speed of the hydraulic motor 21 to change the conveying line speed of the conveying chain 53; the third proportional solenoid valve 65 controls the extension of the vibration adjustment cylinder 32 to change the vibration amplitude of the vibration adjustment mechanism 3.

[0090] Among them, when the measured value of the earth-covering height is greater than the preset value, the controller 68 adjusts the PWM duty cycle, reduces the opening of the first proportional solenoid valve 63, reduces the extension of the hook cylinder 7 to reduce the depth of the pick-up shovel 52 into the soil; increases the opening of the second proportional solenoid valve 64, increases the speed of the hydraulic motor 21 to increase the conveying line speed of the conveying chain 53; increases the opening of the third proportional solenoid valve 65, increases the extension of the vibration adjustment cylinder 32 to increase the vibration amplitude of the vibration adjustment mechanism 3; When the measured value of the earth-covering height is less than the preset value, the controller 68 adjusts the PWM duty cycle, increases the opening of the first proportional solenoid valve 63, and increases the extension of the hook cylinder 7 to increase the depth of the picking shovel 52 into the soil; reduces the opening of the second proportional solenoid valve 64, reduces the speed of the hydraulic motor 21 to reduce the conveying line speed of the conveyor chain 53; reduces the opening of the third proportional solenoid valve 65, reduces the extension of the jitter adjustment cylinder 32 to reduce the vibration amplitude of the jitter adjustment mechanism 3.

[0091] See also Figure 3 and Figure 4 , Figure 3 Schematic diagram of the structure of an adaptive picking device according to an embodiment of the present invention. Figure 4The figure is a side view of an adaptive picking device according to an embodiment of the present invention. The adaptive picking device of the present invention is installed on a self-propelled potato picker, and the adaptive picking device comprises: a frame 1; a picking mechanism 5, comprising a side plate 51, a picking shovel 52 and a conveying chain 53, wherein the picking shovel 52 is installed at the front end of the frame 1, and the conveying chain 53 is arranged behind the picking shovel 52; the side plate 51 is installed on the frame 1 and arranged on both sides of the conveying chain 53; a transmission mechanism 2 is located at the rear end of the conveying chain 53; it is installed on the frame 1 and connected to the conveying chain 53; a vibration adjustment mechanism 3 is arranged correspondingly in the middle of the conveyor chain 53; and a control mechanism 6, including a controller 68, a first ultrasonic sensor 61, a second ultrasonic sensor 62, a plurality of proportional solenoid valves, a temperature sensor 66 and an abnormal soil filling indicator 67, etc. The controller 68 is preferably a PLC controller, the first ultrasonic sensor 61 and the second ultrasonic sensor 62 are installed on both sides of the upper front of the frame 1, and are connected to the controller 68, for monitoring the soil filling height when the picking device is in operation; the controller 68 is connected to the vibration adjustment mechanism 3 and the transmission mechanism 2 respectively. This embodiment also includes a hooking cylinder 7, which is located above the frame 1, one end of which is connected to the frame 1, and the other end of the hooking cylinder 7 is connected to the main frame 1 of the self-propelled potato picker, for connecting the adaptive picking device with the self-propelled potato picker and adjusting the depth of burying; the controller 68 is connected to the hooking cylinder 7, and controls the extension of the hooking cylinder 7 through the first proportional solenoid valve 63 to adjust the burying depth of the picking shovel 52.

[0092] This embodiment further includes a soil cutting disc 4, which is installed at the front end of the frame 1 and located on both sides of the picking shovel 52, and the picking shovel 52 is fixed between the two soil cutting discs 4. It also includes a seedling removal mechanism 8, which is installed at the rear end of the frame 1 and is arranged with the center line of the conveying chain 53 as the symmetrical center. The picking mechanism 5 also includes a symmetrically arranged potato collecting plate 54, which is located at the upper rear section of the conveying chain 53; one end of the potato collecting plate 54 is respectively connected to the inner side of the middle part of the side plate 51, and the other end of the potato collecting plate 54 is respectively located on both sides of the seedling removal mechanism 8.

[0093] See also Figure 5 , Figure 5The structure diagram of the shaking adjustment mechanism 3 of an embodiment of the present invention. The shaking adjustment mechanism 3 of this embodiment is located in the middle section of the conveying chain 53; it includes: a shaking shaft 37, the two ends of which are respectively connected to the large swing arm 33 and the small swing arm 34, and the rotation center of the large swing arm 33 and the small swing arm 34 is connected to the side plate 51; a supporting wheel 35, three supporting wheels 35 are fixedly installed on the shaking shaft 37; and a shaking adjustment cylinder 32, one end of which is connected to the large swing arm 33 through a pin shaft, and the other end of the shaking adjustment cylinder 32 is installed on the frame 1, and the controller 68 controls the elongation of the shaking adjustment cylinder 32 through the third proportional solenoid valve 65 to adjust the support height of the supporting wheel 35 on the conveying chain 53. In this embodiment, the shaking adjustment mechanism 3 also includes a shaking wheel 31, which is installed on the inner side of the side plate 51 and contacts the upper chain rod of the conveying chain 53, and the shaking wheel 31 is located below the other end of the shaking adjustment cylinder 32. The vibration adjustment mechanism 3 further includes a fixing block 36 which is respectively arranged on the inner side of the large swing arm 33 and the small swing arm 34 .

[0094] See also Figure 6 , Figure 6 The schematic diagram of the transmission mechanism 2 of an embodiment of the present invention. The transmission mechanism 2 of this embodiment includes: a hydraulic motor 21, which is installed on the frame 1; a transmission shaft 24, both ends of which are installed on the frame 1 through bearings 27, and connected to the hydraulic motor 21 through a chain transmission mechanism 2, and the bearings 27 are installed on the bearing seat 26, and the bearing seat 27 can be supported and installed on the side plate 51; a plum wheel 25, which is installed on the transmission shaft 24 and connected to the conveying chain 53; the controller 68 controls the speed of the hydraulic motor 21 through the second proportional solenoid valve 64 to adjust the conveying speed of the conveying chain 53. Among them, the chain transmission mechanism 2 includes a large sprocket 23, a small sprocket 22 and a chain 28, the small sprocket 22 is connected to the hydraulic motor 21, the large sprocket 23 is connected to one end of the transmission shaft 24, and the chain 28 is tensioned on the large sprocket 23 and the small sprocket 22. The hydraulic motor 21 drives the four plum wheels 25 connected to the transmission shaft 24 to operate through chain transmission, and acts on the rods of the conveying chain 53 to drive the conveying chain 53.

[0095] During operation, the first ultrasonic sensor 61 and the second ultrasonic sensor 62 monitor the height of the earth in front of the picking device in real time, and compare it with the earth height value set in the controller 68 . When the actual earth-covering height exceeds the set earth-covering height value, the controller 68 controls the first proportional solenoid valve 63 to reduce the extension of the connecting cylinder 7 to reduce the depth of the picking shovel 52 into the soil; the controller 68 controls the third proportional solenoid valve 65 to increase the extension of the shaking adjustment cylinder 32 in the shaking adjustment mechanism 3 to reduce the support height of the supporting wheel 35 and increase the shaking amplitude; the controller 68 controls the second proportional solenoid valve 64 to increase the speed of the hydraulic motor 21 to increase the conveying speed of the conveying chain 53; similarly, when the actual earth-covering height is lower than the set earth-covering height value, the controller 68 controls the first proportional solenoid valve 63 to increase the extension of the connecting cylinder 7 to increase the depth of the picking shovel 52 into the soil; the controller 68 controls the third proportional solenoid valve 65 to reduce the extension of the shaking adjustment cylinder 32 in the shaking adjustment mechanism 3 to increase the support height of the supporting wheel 35 and reduce the shaking amplitude; the controller 68 controls the second proportional solenoid valve 64 to reduce the speed of the hydraulic motor 21 to reduce the conveying speed of the conveying chain 53.

[0096] When the adaptive picking device is in operation, the soil cutting discs 4 located on both sides of the front of the picking device cut the potato soil ridges into pieces, and the picking shovel scoops up the potato and soil mixture spread on the ground after being excavated by the self-propelled potato picking machine, and the plum blossom wheel 25 driven by the hydraulic motor 2 is operated, and the conveying chain 53 meshing with the plum blossom wheel 25 is transported. During the transportation process, the passive shaking wheel 31 rotates under the drive of the chain rod movement, and supports the chain rod in motion to change its position up and down, forming the overall undulating movement of the conveying chain 53, accelerating the separation movement of the soil. When the potato and vine mixture moves to the rear section, the movement dispersion distance is tightened under the action of the potato collecting plate 54; when the vines move to the rear section, the vines are separated and removed under the action of the vine removal mechanism 8, and the remaining clean potato pieces continue to move backward.

[0097] In view of the problem that, during the potato picking process, soil is easily piled up in front, resulting in low picking efficiency, and manual operation is difficult and labor-intensive, the present invention adopts a first ultrasonic sensor 61 and a second ultrasonic sensor 62 to measure the height of the soil piled up in front. Considering the influence of ambient temperature on ultrasonic wave velocity, a temperature sensor 66 is used to measure the real-time ambient temperature. The ultrasonic wave velocity calculation formula is: V=331.45+0.607T. In order to avoid the influence of factors such as protruding vines in the feeding material on the measurement result when measuring the soil pile height, a digital filtering method is adopted in the PLC controller 68 to filter the measurement data of the ultrasonic sensor. At the same time, when the distance h from the soil piled up measured by the first ultrasonic sensor 61 is 1 and the distance h from the backfill measured by the second ultrasonic sensor 62 2When the difference between them is greater than 200 mm, that is, |h 1 -h 2 |>200, the current measurement data is abandoned and replaced by the last measurement data; and when the difference between the current measurement data and the last measurement data of any sensor of the first ultrasonic sensor 61 and the second ultrasonic sensor 62 is greater than 200mm, the current measurement data is also abandoned and replaced by the last measurement data. 1 、h 2 Take the average value, that is Then the height of the earth is h=Hh, where H is the distance between the ultrasonic sensor and the shovel surface of the pick-up shovel 52.

[0098] In this embodiment, the set minimum value is preferably 200mm, and the set maximum value is preferably 400mm. In the PLC controller 68, it is determined whether the earth-covering height is between the set minimum value of 200mm and the set maximum value of 400mm. If the earth-covering height is less than the set minimum value of 200mm, the PLC controller 68 does not output a command signal; if the earth-covering height is greater than the set maximum value of 400mm, the PLC outputs an abnormal earth-covering height signal, and controls the corresponding earth-covering abnormality indicator light 67 to flash alternately; if the earth-covering height is between the set minimum value of 200mm and the set maximum value of 400mm, the PLC controller 68 generates a PWM duty cycle according to the filtered earth-covering height value according to a preset control program, and outputs signals to the first proportional solenoid valve 63, the second proportional solenoid valve 64 and the third proportional solenoid valve 65 respectively. The first proportional solenoid valve 63 changes the valve body opening according to the input current to change the valve oil inlet amount. By changing the oil intake of the first proportional solenoid valve 63, the second proportional solenoid valve 64, and the third proportional solenoid valve 65, the extension of the hanging cylinder 7 is changed to change the depth of the picking shovel 52 into the ground; the second proportional solenoid valve 64 changes the valve body opening according to the input current, and changes the rotation speed of the hydraulic motor 21 by changing the oil intake to change the conveying line speed of the conveying chain 53; the third proportional solenoid valve 65 changes the valve body opening according to the input current, and changes the extension of the jitter adjustment cylinder 32 by changing the oil intake to change the vibration amplitude of the jitter adjustment mechanism.

[0099] When the measured value of the earth-covering height is greater than the preset value, the PLC controller 68 adjusts the PWM duty cycle, reduces the opening of the first proportional solenoid valve 63, reduces the extension of the connecting cylinder 7 to reduce the depth of the picking shovel 52 into the soil, increases the opening of the second proportional solenoid valve 64, increases the speed of the hydraulic motor 21 to increase the conveying line speed of the conveying chain 53, increases the opening of the third proportional solenoid valve 65, and increases the extension of the jitter adjustment cylinder 32 to increase the vibration amplitude of the jitter adjustment mechanism; when the measured value of the earth-covering height is less than the preset value, the PLC controller 68 adjusts the PWM duty cycle, increases the opening of the first proportional solenoid valve 63, increases the extension of the connecting cylinder 7 to increase the depth of the picking shovel 52 into the soil, reduces the opening of the second proportional solenoid valve 64, reduces the speed of the hydraulic motor 21 to reduce the conveying line speed of the conveying chain 53, reduces the opening of the third proportional solenoid valve 65, and reduces the extension of the jitter adjustment cylinder 32 to reduce the vibration amplitude of the jitter adjustment mechanism.

[0100] When the coupling cylinder 7 is extended, the picking shovel 52 moves downward as a whole, causing the depth of burial in the soil to increase. Similarly, when the coupling cylinder 7 is shortened, the picking shovel 52 moves upward as a whole, causing the depth of burial in the soil to decrease. When the speed of the hydraulic motor 21 increases, the speeds of the small sprocket 22, the large sprocket 23, the transmission shaft 24, and the plum blossom wheel 25 are increased in turn. Under the meshing of the plum blossom wheel 25, the linear velocity of the conveying chain 53 increases. Similarly, when the speed of the hydraulic motor 21 decreases, the linear velocity of the conveying chain 53 decreases. When the vibration adjustment cylinder 32 is extended, the vibration shaft 37 moves in the direction close to the vibration adjustment cylinder 32, and the height of the supporting wheel 35 fixed thereon decreases. The height of the chain rod of the conveying chain 53 supported by the supporting wheel 35 at this position decreases, and the height difference between the chain rod of the conveying chain 53 supported by the shaking wheel 31 increases, so the vibration amplitude increases. Similarly, when the vibration adjustment cylinder 32 is shortened, the vibration amplitude decreases.

[0101] The present invention monitors the height of the soil in real time through the first ultrasonic sensor 61 and the second ultrasonic sensor 62 and transmits it to the controller 68, so as to control the extension of the hook cylinder 7 and the shaking adjustment cylinder 32 and the speed of the hydraulic motor 21 in real time, and realize the automatic adjustment of the soil penetration depth of the picking shovel 52 of the picking device, the vibration amplitude of potato-soil separation and the speed of the conveying chain 53. The working parameters can be adjusted according to the actual working environment in the field, and it has excellent field adaptability; at the same time, the application of automatic control can reduce the labor intensity of the operator, reduce the difficulty of operating the device, and reduce the time for the potato picking machine to stop and readjust, while reducing the potato damage rate, thereby increasing the working efficiency of the whole machine and reducing the generation of useless work of the machine.

[0102] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A potato adaptive picking method, suitable for a self-propelled potato picker, characterized in that: The steps include: S100, after the potato adaptive picking device is hung on the self-propelled potato picking machine, the self-propelled potato picking machine digs and spreads the potato and soil mixture on the ground surface; S200, the soil cutting discs located on both sides in front of the potato adaptive picking device cut the potato soil ridges into pieces; S300, the picking mechanism of the potato adaptive picking device scoops up and conveys the mixture of potatoes and soil vines, and during the conveying process, the shaking adjustment mechanism of the potato adaptive picking device vibrates to form an undulating motion of the entire conveying chain, thereby accelerating the separation of the mixture of potatoes and soil vines; and S400, when the potato and soil mixture moves to the rear section, the picking mechanism tightens the dispersion distance; the potato self-adaptive picking device removes the potato seedlings and obtains and collects clean potato tubers; Among them, the potato adaptive picking device uses an ultrasonic sensor to measure the height of the soil in front, monitors the soil height in real time and transmits it to the controller, so as to control the elongation of the hanging cylinder of the potato adaptive picking device, the vibration adjustment cylinder of the vibration adjustment mechanism and the speed of the hydraulic motor of the transmission mechanism in real time, so as to realize the automatic adjustment of the soil penetration depth of the picking shovel of the picking mechanism, the vibration amplitude of potato-soil separation and the speed of the conveyor chain.

2. The potato adaptive picking method according to claim 1, characterized in that: The potato adaptive picking device is also provided with a temperature sensor to measure the real-time ambient temperature to avoid the influence of the ambient temperature on the ultrasonic wave velocity.

3. The potato adaptive picking method according to claim 1, characterized in that: The measurement data of the ultrasonic sensor is digitally filtered. When the difference between the earth-covering distance h1 measured by the first ultrasonic sensor and the earth-covering distance h2 measured by the second ultrasonic sensor is greater than a set value, the current measurement data is abandoned and replaced by the last measurement data; and when the difference between the current measurement data and the last measurement data of the first ultrasonic sensor or the second ultrasonic sensor is greater than the set value, the current measurement data is abandoned and replaced by the last measurement data.

4. The potato adaptive picking method according to claim 1, 2 or 3, characterized in that: The controller determines whether the earth-covering height is between a set minimum value and a set maximum value. If the earth-covering height is less than the set minimum value, the controller does not output a command signal; if the earth-covering height is greater than the set maximum value, the controller outputs an abnormal earth-covering height signal and controls the abnormal earth-covering indicator light to flash alternately; if the earth-covering height is between the set minimum value and the set maximum value, the controller outputs signals to the corresponding proportional solenoid valves according to the filtered earth-covering height value and the set PWM duty cycle to change the elongation of the attachment cylinder, the dither adjustment cylinder and the speed of the hydraulic motor.

5. The potato adaptive picking method according to claim 4, characterized in that: The proportional solenoid valve includes a first proportional solenoid valve, a second proportional solenoid valve and a third proportional solenoid valve. The first proportional solenoid valve controls the extension of the hanging cylinder to change the depth of the picking shovel into the soil; the second proportional solenoid valve controls the rotation speed of the hydraulic motor to change the conveying line speed of the conveyor chain; the third proportional solenoid valve controls the extension of the jitter adjustment cylinder to change the vibration amplitude of the jitter adjustment mechanism.

6. The potato adaptive picking method according to claim 5, characterized in that: When the measured value of the earth-covering height is greater than the preset value, the controller adjusts the PWM duty cycle, reduces the opening of the first proportional solenoid valve, and reduces the extension of the connecting cylinder to reduce the depth of the picking shovel into the soil; increases the opening of the second proportional solenoid valve, increases the speed of the hydraulic motor to increase the conveying line speed of the conveyor chain; increases the opening of the third proportional solenoid valve, increases the extension of the jitter adjustment cylinder to increase the vibration amplitude of the jitter adjustment mechanism; when the measured value of the earth-covering height is less than the preset value, the controller adjusts the PWM duty cycle, increases the opening of the first proportional solenoid valve, increases the extension of the connecting cylinder to increase the depth of the picking shovel into the soil; reduces the opening of the second proportional solenoid valve, reduces the speed of the hydraulic motor to reduce the conveying line speed of the conveyor chain; reduces the opening of the third proportional solenoid valve, reduces the extension of the jitter adjustment cylinder to reduce the vibration amplitude of the jitter adjustment mechanism.

7. An adaptive picking device, mounted on a self-propelled potato picker, characterized in that: include: frame; The picking mechanism comprises a side plate, a picking shovel and a conveying chain, wherein the picking shovel is installed at the front end of the frame, and the conveying chain is arranged behind the picking shovel; the side plate is installed on the frame and arranged on both sides of the conveying chain; A transmission mechanism, mounted on the frame and connected to the conveyor chain; A jitter adjustment mechanism is correspondingly arranged at the middle part of the conveying chain; A hooking cylinder, one end of which is connected to the frame, and the other end of which is connected to the main frame of the self-propelled potato picker; the controller is connected to the hooking cylinder, and controls the extension of the hooking cylinder through a first proportional solenoid valve to adjust the depth of the picking shovel into the soil; and A control mechanism, comprising a controller and an ultrasonic sensor, wherein the ultrasonic sensor is mounted above the front of the frame and connected to the controller; the controller is respectively connected to the vibration adjustment mechanism and the transmission mechanism; Wherein, the transmission mechanism comprises: A hydraulic motor mounted on the frame; A transmission shaft, both ends of which are mounted on the frame through bearings and connected to the hydraulic motor through a chain transmission mechanism; A plum blossom wheel, mounted on the transmission shaft and connected to the conveyor chain; The controller controls the rotation speed of the hydraulic motor through the second proportional solenoid valve to adjust the conveying speed of the conveying chain; The vibration adjustment mechanism comprises: A shaking shaft, with two ends respectively connected to a large swing arm and a small swing arm, and the rotation centers of the large swing arm and the small swing arm are connected to the side plate; A supporting wheel mounted on the shaking shaft; and One end of the vibration adjustment cylinder is connected to the large swing arm, and the other end of the vibration adjustment cylinder is installed on the frame. The controller controls the extension of the vibration adjustment cylinder through the third proportional solenoid valve to adjust the support height of the support wheel.

8. The adaptive picking device according to claim 7, characterized in that The jitter adjustment mechanism also includes a jitter wheel and a fixed block. The jitter wheel is installed on the inner side of the side plate and contacts the upper chain rod of the conveying chain. The jitter wheel is located below the other end of the jitter adjustment cylinder. The fixed blocks are respectively arranged on the inner sides of the large swing arm and the small swing arm.

9. The adaptive picking device according to claim 7 or 8, characterized in that: It also includes a seedling removal mechanism and a soil cutting disc. The seedling removal mechanism is installed at the rear end of the frame and is set with the center line of the conveying chain as the symmetry center; the soil cutting disc is installed at the front end of the frame and is located on both sides of the picking shovel.

10. The adaptive picking device according to claim 9, characterized in that The picking mechanism also includes symmetrically arranged potato collecting plates, one end of which is respectively connected to the inner side of the middle part of the side plate, and the other end of the potato collecting plate is respectively located on both sides of the seedling removing mechanism.

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