A potato self-adaptive picking method and device

Abstract

A potato self-adaptive picking method and device suitable for a self-propelled potato picking machine, the method comprising: digging and laying potato and soil stalk mixture on the ground surface; cutting the potato and soil ridge into blocks by soil cutting discs located on both sides of the front; picking up and conveying the potato and soil stalk mixture by a picking mechanism, and forming the overall undulating motion of the conveying chain by the vibration of the shaking adjustment mechanism during the conveying process to accelerate the separation of the potato and soil stalk mixture; and when the potato and soil stalk mixture moves to the rear section, the picking mechanism tightens the dispersion distance; the stalk separation mechanism separates and removes the stalk to obtain and collect clean potato tubers; wherein an ultrasonic sensor is used to measure the height of the front soil accumulation in real time to control the extension amount of the shaking adjustment cylinder of the shaking adjustment mechanism and the rotation speed of the hydraulic motor of the transmission mechanism of the potato self-adaptive picking device in real time, so as to realize the automatic adjustment of the picking shovel depth into the soil, the vibration amplitude of the potato and soil separation, and the conveying chain speed of the picking mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of agricultural machinery equipment, in particular to a potato self-adaptive picking method and device suitable for a self-propelled potato picking machine. BACKGROUND

[0002] Most of the existing potato mechanized harvesting adopts the segmented harvesting mode, and the potato picking link in the segmented harvesting currently relies on manual picking, which is labor-intensive and time-consuming and laborious. In recent years, with the aggravation of the aging phenomenon of rural population, the labor cost is rising, and the problem of labor shortage is becoming increasingly prominent, and the potato picking link has become the bottleneck link of potato harvesting. Therefore, it is urgent to solve the mechanization problem of the key link of potato production picking and harvesting. The development and popularization and application of the potato picking device have become an inevitable trend of the development of potato mechanized harvesting.

[0003] The current several potato picking devices all have the problem of soil accumulation in front of the picking device during actual field operation, which causes the machine to frequently stop and re-adjust the parameters such as the soil penetration depth of the picking device; at the same time, the operator's operation frequency is high and the operation difficulty is great. The above phenomenon not only affects the working efficiency of the whole machine, but also causes waste of useless work when the engine is output. The fundamental reason is that manual adjustment of the soil penetration depth of the picking device is difficult to adapt to the actual working conditions, and the reaction time of manual adjustment plus the execution time of the hydraulic mechanism causes serious lag in the control of the working parameters of the picking device. SUMMARY

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

[0005] In order to achieve the above purpose, the present application provides a potato self-adaptive picking method suitable for a self-propelled potato picking machine, which comprises the following steps:

[0006] S100, after the potato self-adaptive picking device is connected to the rear of the self-propelled potato picking machine, the self-propelled potato picking machine excavates and lays the potato and soil and stubble mixture on the ground surface;

[0007] S200, the soil cutting discs located on both sides in front of the potato self-adaptive picking device cut the potato and soil ridge into blocks;

[0008] S300, the picking mechanism of the potato self-adaptive picking device digs up and transports the potato and soil and stubble mixture, and the shaking adjustment mechanism of the potato self-adaptive picking device vibrates to form the heave motion of the whole conveying chain during the conveying process, which speeds up the separation of the potato and soil and stubble mixture; and

[0009] S400, when the potato and soil mixture moves to the rear section, the picking mechanism is contracted and dispersed; the de-stemming mechanism of the potato adaptive picking device separates the de-stemming, and clean potato tubers are obtained and collected;

[0010] The potato adaptive picking device uses an ultrasonic sensor to measure the height of the front soil pile, real-time monitors the height of the soil pile and transmits it to the controller, so as to real-time control the length of the hanging oil cylinder, the length of the shaking adjustment cylinder of the shaking adjustment mechanism and the rotating speed of the hydraulic motor of the transmission mechanism of the potato adaptive picking device, so as to realize the automatic adjustment of the picking shovel depth, the vibration amplitude of the potato-soil separation and the conveying chain speed of the picking mechanism.

[0011] The potato adaptive picking method described above, wherein a temperature sensor is further arranged on the potato adaptive picking device to measure the real-time ambient temperature, so as to avoid the influence of the ambient temperature on the speed of the ultrasonic wave.

[0012] The potato adaptive picking method described above, wherein the measurement data of the ultrasonic sensor is subjected to digital filtering processing, when the difference between the soil pile distance h1 measured by the first ultrasonic sensor and the soil pile distance h2 measured by the second ultrasonic sensor is greater than a set value, the measurement data of this time is abandoned and the measurement data of last time is used instead; and when the difference between the measurement data of this time and the measurement data of last time of the first ultrasonic sensor or the second ultrasonic sensor is greater than the set value, the measurement data of this time is abandoned and the measurement data of last time is used instead.

[0013] The potato adaptive picking method described above, wherein the controller judges whether the height of the soil pile is between the set minimum value and the set maximum value, if the height of the soil pile is less than the set minimum value, the controller does not output the instruction signal; if the height of the soil pile is greater than the set maximum value, the controller outputs the abnormal height of the soil pile signal and controls the abnormal height of the soil pile indicator light to flash alternately; if the height of the soil pile is between the set minimum value and the set maximum value, the controller outputs the signal to the corresponding proportional electromagnetic valve according to the set PWM duty ratio according to the filtered height of the soil pile, so as to change the length of the hanging oil cylinder, the length of the shaking adjustment cylinder and the rotating speed of the hydraulic motor.

[0014] The potato adaptive picking method described above, wherein the proportional electromagnetic valve includes a first proportional electromagnetic valve, a second proportional electromagnetic valve and a third proportional electromagnetic valve, the first proportional electromagnetic valve controls the length of the hanging oil cylinder to change the depth of the picking shovel into the soil; the second proportional electromagnetic valve controls the rotating speed of the hydraulic motor to change the conveying speed of the conveying chain; and the third proportional electromagnetic valve controls the length of the shaking adjustment cylinder to change the vibration amplitude of the shaking adjustment mechanism.

[0015] The potato self-adaptive picking method, wherein, when the soil pile height measurement value is greater than the preset value, the controller adjusts the PWM duty cycle, reduces the opening degree of the first proportional electromagnetic valve, reduces the elongation of the hitching oil cylinder to reduce the depth of the picking shovel into the soil; increases the opening degree of the second proportional electromagnetic valve, increases the rotating speed of the hydraulic motor to increase the conveying line speed of the conveying chain; increases the opening degree of the third proportional electromagnetic valve, increases the elongation of the shaking adjusting oil cylinder to increase the vibration amplitude of the shaking adjusting mechanism; when the soil pile height measurement value is less than the preset value, the controller adjusts the PWM duty cycle, increases the opening degree of the first proportional electromagnetic valve, increases the elongation of the hitching oil cylinder to increase the depth of the picking shovel into the soil; reduces the opening degree of the second proportional electromagnetic valve, reduces the rotating speed of the hydraulic motor to reduce the conveying line speed of the conveying chain; reduces the opening degree of the third proportional electromagnetic valve, reduces the elongation of the shaking adjusting oil cylinder to reduce the vibration amplitude of the shaking adjusting mechanism.

[0016] In order to better achieve the above-mentioned purpose, the application further provides a self-adaptive picking device installed on a self-propelled potato picking machine, wherein it comprises:

[0017] a frame;

[0018] a picking mechanism comprising a side plate, a picking shovel and a conveying chain, the picking shovel being installed at the front end of the frame, and the conveying chain being 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 installed on the frame and connected with the conveying chain;

[0020] a shaking adjusting mechanism arranged correspondingly in the middle part of the conveying chain;

[0021] a hitching oil cylinder, one end of which is connected with the frame, and the other end of which is connected with the main frame of the self-propelled potato picking machine; the controller is connected with the hitching oil cylinder, and the elongation of the hitching oil cylinder is adjusted by the first proportional electromagnetic valve to adjust the depth of the picking shovel into the soil; and

[0022] a control mechanism comprising a controller and an ultrasonic sensor, the ultrasonic sensor being installed above the front part of the frame and connected with the controller; the controller is connected with the shaking adjusting mechanism and the transmission mechanism respectively;

[0023] wherein, the transmission mechanism comprises:

[0024] a hydraulic motor installed on the frame;

[0025] a transmission shaft, both ends of which are respectively installed on the frame through bearings and connected with the hydraulic motor through a chain transmission mechanism.

[0026] A plurality of star wheels are installed on the transmission shaft and connected with the conveying chain;

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

[0028] The shaking adjusting mechanism comprises:

[0029] A shaking shaft is connected with the large swing arm and the small swing arm at two ends, and the rotation centers of the large swing arm and the small swing arm are connected with the side plates;

[0030] A plurality of supporting wheels are installed on the shaking shaft; and

[0031] A shaking adjusting oil cylinder is connected with the large swing arm at one end, and the other end of the shaking adjusting oil cylinder is installed on the frame, and the controller controls the extension amount of the shaking adjusting oil cylinder through a third proportional electromagnetic valve to adjust the supporting height of the supporting wheels.

[0032] The self-adaptive picking device, wherein the shaking adjusting mechanism further comprises a shaking wheel and a fixing block, the shaking wheel is installed on the inner side of the side plate and is in contact with the upper chain rod of the conveying chain, and the shaking wheel is located below the other end of the shaking adjusting oil cylinder; the fixing block is arranged on the inner side of the large swing arm and the small swing arm respectively.

[0033] The self-adaptive picking device, wherein the self-adaptive picking device further comprises a weeding mechanism and a cutting disc, the weeding mechanism is installed at the rear end of the frame and is arranged symmetrically with the center line of the conveying chain as the center; the cutting disc is installed at the front end of the frame and is located on both sides of the picking shovel.

[0034] The self-adaptive picking device, wherein the picking mechanism further comprises symmetrically arranged potato collecting plates, one end of each of the potato collecting plates is connected with the inner side of the middle part of the side plate, and the other end of each of the potato collecting plates is located on the two sides of the weeding mechanism.

[0035] The self-adaptive picking device has the beneficial effects that:

[0036] The self-adaptive picking device can effectively control the working parameters of the picking device, improve the working efficiency of the whole machine, reduce the operation difficulty of the operator and the working intensity of the operator, and avoid useless work of the machine.

[0037] The self-adaptive picking device will be described in detail below in combination with the accompanying drawings and specific embodiments, but is not limited to the embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 The working principle diagram of an embodiment of the self-adaptive picking device;

[0039] Figure 2 Control relationship diagram for an embodiment of the present application;

[0040] Figure 3 Structure diagram of an adaptive pickup device for an embodiment of the present application;

[0041] Figure 4 Side view of an adaptive pickup device for an embodiment of the present application;

[0042] Figure 5 Structure diagram of a shaking adjustment mechanism for an embodiment of the present application;

[0043] Figure 6 Structure diagram of a transmission mechanism for an embodiment of the present application.

[0044] Wherein, the reference signs

[0045] 1 frame

[0046] 2 transmission mechanism

[0047] 21 hydraulic motor

[0048] 22 small chain wheel

[0049] 23 large chain wheel

[0050] 24 transmission shaft

[0051] 25 star wheel

[0052] 26 bearing seat

[0053] 27 bearing

[0054] 28 chain

[0055] 3 shaking adjustment mechanism

[0056] 31 shaking wheel

[0057] 32 shaking adjustment oil cylinder

[0058] 33 large swing arm

[0059] 34 small swing arm

[0060] 35 roller

[0061] 36 fixed block

[0062] 37 shaking shaft

[0063] 4 cutting disc

[0064] 5 pickup mechanism

[0065] 51 side plate

[0066] 52 pickup shovel

[0067] 53 Conveyor Chain

[0068] 54 Potato Plate

[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 with reference to the accompanying drawings:

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

[0082] Step S100: After the potato adaptive picking device is mounted on the self-propelled potato picker, the self-propelled potato picker 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. During the conveying process, the shaking adjustment mechanism 3 of the potato adaptive picking device vibrates to form an undulating motion of the entire conveying chain 53, 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 tightens the dispersion distance; the potato seedling removal mechanism 8 of the potato adaptive picking device separates and removes the seedlings, obtaining and collecting clean potato tubers;

[0086] The potato self-adaptive picking device measures the height of the front soil pile by using an ultrasonic sensor, monitors the height of the soil pile in real time and transmits it into the controller 68, so as to control the hitch cylinder 7, the extension amount of the shaking adjusting cylinder 32 of the shaking adjusting mechanism 3 and the rotating speed of the hydraulic motor 21 of the transmission mechanism 2 in real time, so as to realize the automatic adjustment of the depth of the picking shovel 52 into the soil, the vibration amplitude of the shaking adjusting mechanism 3 and the speed of the conveying chain 53.

[0087] The potato self-adaptive picking device of the embodiment is also provided with a temperature sensor 66 for measuring the real-time ambient temperature, so as to avoid the influence of the ambient temperature on the speed of the ultrasonic wave. The measurement data of the ultrasonic sensor is subjected to digital filtering processing, when the difference between the soil pile distance h1 measured by the first ultrasonic sensor 61 and the soil pile distance h2 measured by the second ultrasonic sensor 62 is greater than a set value, the measurement data of this time is abandoned and the measurement data of last time is used instead; and when the difference between the measurement data of this time and the measurement data of last time of the first ultrasonic sensor 61 or the second ultrasonic sensor 62 is greater than the set value, the measurement data of this time is also abandoned and the measurement data of last time is used instead.

[0088] The controller 68 judges whether the height of the soil pile is between the set minimum value and the set maximum value, if the height of the soil pile is less than the set minimum value, the controller 68 does not output the instruction signal; if the height of the soil pile is greater than the set maximum value, the controller 68 outputs the abnormal signal of the height of the soil pile and controls the abnormal indication lamp 67 to flash alternately; if the height of the soil pile is between the set minimum value and the set maximum value, the controller 68 outputs the signal to the corresponding proportional electromagnetic valve according to the set PWM duty ratio according to the filtered height of the soil pile, so as to change the extension amount of the hitch cylinder 7, the shaking adjusting cylinder 32 and the rotating speed of the hydraulic motor 21.

[0089] Referring to Figure 2 , Figure 2 is the control relationship diagram of an embodiment of the application. In the embodiment, the proportional electromagnetic valve includes the first proportional electromagnetic valve 63, the second proportional electromagnetic valve 64 and the third proportional electromagnetic valve 65, the first proportional electromagnetic valve 63 controls the extension amount of the hitch cylinder 7 to change the depth of the picking shovel 52 into the soil; the second proportional electromagnetic valve 64 controls the rotating speed of the hydraulic motor 21 to change the conveying speed of the conveying chain 53; and the third proportional electromagnetic valve 65 controls the extension amount of the shaking adjusting cylinder 32 to change the vibration amplitude of the shaking adjusting mechanism 3.

[0090] When the soil accumulation height measurement value is greater than the preset value, the controller 68 adjusts the PWM duty cycle, reduces the opening of the first proportional electromagnetic valve 63, reduces the extension of the hitching oil cylinder 7 to reduce the depth of the pickup shovel 52 into the soil; increases the opening of the second proportional electromagnetic valve 64, increases the rotation speed of the hydraulic motor 21 to increase the conveying line speed of the conveying chain 53; increase the opening of the third proportional electromagnetic valve 65, increase the extension of the dither adjustment oil cylinder 32 to increase the vibration amplitude of the dither adjustment mechanism 3; when the soil accumulation height measurement value is less than the preset value, the controller 68 adjusts the PWM duty cycle, increases the opening of the first proportional electromagnetic valve 63, increases the extension of the hitching oil cylinder 7 to increase the depth of the pickup shovel 52 into the soil; reduce the opening of the second proportional electromagnetic valve 64, reduce the rotation speed of the hydraulic motor 21 to reduce the conveying line speed of the conveying chain 53; reduce the opening of the third proportional electromagnetic valve 65, reduce the extension of the dither adjustment oil cylinder 32 to reduce the vibration amplitude of the dither adjustment mechanism 3.

[0091] Referring to Figure 3 and Figure 4 , Figure 3 The adaptive pickup device structure schematic diagram of an embodiment of the present application, Figure 4The side view of the adaptive pickup device of an embodiment of the present application. The adaptive pickup device of the present application is installed on a self-propelled potato pickup machine, which comprises a rack 1, a pickup mechanism 5 comprising a side plate 51, a pickup shovel 52 and a conveying chain 53, the pickup shovel 52 being installed at the front end of the rack 1, and the conveying chain 53 being arranged behind the pickup shovel 52; the side plate 51 is installed on the rack 1 and arranged on both sides of the conveying chain 53; a transmission mechanism 2 is located at the rear end inside the conveying chain 53; it is installed on the rack 1 and connected with the conveying chain 53; a shaking adjustment mechanism 3 is arranged at the middle part of the conveying chain 53; and a control mechanism 6 comprising a controller 68, a first ultrasonic sensor 61, a second ultrasonic sensor 62, a plurality of proportional electromagnetic valves, a temperature sensor 66 and a soil heaping abnormality indicating lamp 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 above the front part of the rack 1 and connected with the controller 68, which is used to monitor the soil heaping height when the pickup device is working; the controller 68 is connected with the shaking adjustment mechanism 3 and the transmission mechanism 2 respectively. The embodiment also comprises a hitching oil cylinder 7 located above the rack 1, one end of which is connected with the rack 1, and the other end of the hitching oil cylinder 7 is connected with the main rack 1 of the self-propelled potato pickup machine, which is used to connect the adaptive pickup device with the self-propelled potato pickup machine and realize the adjustment of the soil penetration depth; the controller 68 is connected with the hitching oil cylinder 7, and the extension amount of the hitching oil cylinder 7 is controlled by the first proportional electromagnetic valve 63 to adjust the soil penetration depth of the pickup shovel 52.

[0092] The embodiment also comprises a soil cutting disc 4 installed at the front end of the rack 1 and located on both sides of the pickup shovel 52, and the pickup shovel 52 is fixed between the two soil cutting discs 4. It also comprises a seedling removing mechanism 8 installed at the rear end of the rack 1 and arranged with the center line of the conveying chain 53 as the symmetric center. The pickup mechanism 5 also comprises symmetrically arranged potato collecting plates 54 located above the rear part of the conveying chain 53; one end of each of the potato collecting plates 54 is connected with the middle part of the inner side of the side plate 51, and the other end of each of the potato collecting plates 54 is located on both sides of the seedling removing mechanism 8.

[0093] Referring to Figure 5 , Figure 5Figure 3 is a structural schematic diagram of the shaking adjusting mechanism 3 according to an embodiment of the present application. The shaking adjusting mechanism 3 according to the embodiment is located in the middle section of the inside of the conveying chain 53, and comprises a shaking shaft 37, two ends of which are connected with a large swing arm 33 and a small swing arm 34 respectively, the rotation centers of the large swing arm 33 and the small swing arm 34 are connected with the side plate 51, a supporting wheel 35 fixedly installed on the shaking shaft 37, and a shaking adjusting oil cylinder 32, one end of which is connected with the large swing arm 33 through a pin shaft, the other end of the shaking adjusting oil cylinder 32 is installed on the rack 1, and the controller 68 controls the extension amount of the shaking adjusting oil cylinder 32 through the third proportional electromagnetic valve 65 to adjust the supporting height of the supporting wheel 35 to the conveying chain 53. In the embodiment, the shaking adjusting mechanism 3 further comprises a shaking wheel 31 installed on the inside of the side plate 51 and in contact with the upper chain rod of the conveying chain 53, and the shaking wheel 31 is located below the other end of the shaking adjusting oil cylinder 32. The shaking adjusting mechanism 3 further comprises a fixing block 36 arranged on the inside of the large swing arm 33 and the small swing arm 34 respectively.

[0094] Referring to Figure 6 , Figure 6 Figure 2 is a structural schematic diagram of the transmission mechanism 2 according to an embodiment of the present application. The transmission mechanism 2 according to the embodiment comprises a hydraulic motor 21 installed on the rack 1, a transmission shaft 24, two ends of which are installed on the rack 1 through bearings 27 and connected with the hydraulic motor 21 through a chain transmission mechanism 2, the bearings 27 are installed on bearing seats 26, and the bearing seats 27 are supported and installed on the side plate 51, a sprocket wheel 25 installed on the transmission shaft 24 and connected with the conveying chain 53, and the controller 68 controls the rotating speed of the hydraulic motor 21 through the second proportional electromagnetic valve 64 to adjust the conveying speed of the conveying chain 53. The chain transmission mechanism 2 comprises a large sprocket wheel 23, a small sprocket wheel 22 and a chain 28, the small sprocket wheel 22 is connected with the hydraulic motor 21, the large sprocket wheel 23 is connected with one end of the transmission shaft 24, and the chain 28 is tensioned on the large sprocket wheel 23 and the small sprocket wheel 22. The chain transmission driven by the hydraulic motor 21 drives four sprocket wheels 25 fixedly connected with the transmission shaft 24 to rotate, and acts on the rods of the conveying chain 53 to drive the conveying chain 53.

[0095] When working, the first ultrasonic sensor 61 and the second ultrasonic sensor 62 monitor the height of the soil bank in front of the pickup device in real time, and compare it with the set soil bank height value in the controller 68. When the actual soil bank height exceeds the set soil bank height value, the controller 68 reduces the depth of the pickup shovel 52 into the soil by controlling the first proportional electromagnetic valve 63 to reduce the extension amount of the hitch oil cylinder 7; the controller 68 reduces the support height of the idler wheel 35 by controlling the third proportional electromagnetic valve 65 to increase the extension amount of the shaking adjustment oil cylinder 32 in the shaking adjustment mechanism 3, thereby increasing the shaking amplitude; the controller 68 increases the conveying speed of the conveying chain 53 by controlling the second proportional electromagnetic valve 64 to increase the rotation speed of the hydraulic motor 21. Similarly, when the actual soil bank height is lower than the set soil bank height value, the controller 68 increases the depth of the pickup shovel 52 into the soil by controlling the first proportional electromagnetic valve 63 to increase the extension amount of the hitch oil cylinder 7; the controller 68 increases the support height of the idler wheel 35 by controlling the third proportional electromagnetic valve 65 to reduce the extension amount of the shaking adjustment oil cylinder 32 in the shaking adjustment mechanism 3, thereby reducing the shaking amplitude; the controller 68 reduces the conveying speed of the conveying chain 53 by controlling the second proportional electromagnetic valve 64 to reduce the rotation speed of the hydraulic motor 21.

[0096] When the adaptive pickup device is working, the soil-cutting discs 4 on both sides in front of the pickup device complete the cutting of the potato ridges, the pickup shovel 52 picks up the potato and soil mixture laid on the ground after being excavated by the self-propelled potato pickup machine, and the star wheel 25 driven by the hydraulic motor 2 rotates, and the conveying chain 53 engaged with the star wheel 25 is conveyed. During the conveying process, the passive shaking wheel 31 rotates under the driving of the chain link movement and supports the position change of the chain link in movement, forming the up-and-down movement of the whole conveying chain 53 and accelerating the soil separation movement. When the potato and vine mixture moves to the rear section, the set potato plate 54 completes the shortening of the movement dispersion distance; when the vine moves to the rear section, the vine removal mechanism 8 separates and removes the vine, and the remaining clean potato pieces continue to move to the rear.

[0097] The present application aims at the problem of low picking efficiency caused by soil accumulation in front during potato picking process, and high difficulty and intensity of manual operation adjustment. The first ultrasonic sensor 61 and the second ultrasonic sensor 62 are used to measure the height of soil accumulation in front. Considering the influence of environmental temperature on ultrasonic speed, a temperature sensor 66 is used to measure real-time environmental temperature. The ultrasonic speed calculation formula is V=331.45+0.607T. In order to avoid the influence of protruding vines and other factors in the feeding material on the measurement results during the measurement of the height of soil accumulation, the measurement data of the ultrasonic sensor is filtered in the PLC controller 68. When the difference between the distance h1 measured by the first ultrasonic sensor 61 and the distance h2 measured by the second ultrasonic sensor 62 is greater than 200 mm at the same time, that is, |h1-h2|>200, the measurement data is abandoned, and the last measurement data is used instead. When the difference between the measurement data of any one of the first ultrasonic sensor 61 and the second ultrasonic sensor 62 and the last measurement data is greater than 200 mm, the measurement data is also abandoned, and the last measurement data is used instead. The average value of the filtered measurement values h1 and h2 is taken, that is Then the height of soil accumulation h=H-h, wherein H is the distance between the ultrasonic sensor and the surface of the picking shovel 52.

[0098] In the embodiment, the set minimum value is preferably 200 mm, and the set maximum value is preferably 400 mm. In the PLC controller 68, it is judged whether the height of soil accumulation is between the set minimum value 200 mm and the set maximum value 400 mm. If the height of soil accumulation is less than the set minimum value 200 mm, the PLC controller 68 does not output the instruction signal. If the height of soil accumulation is greater than the set maximum value 400 mm, the PLC outputs the abnormal signal of the height of soil accumulation, and controls the corresponding abnormal indication lamp 67 to flash alternately. If the height of soil accumulation is between the set minimum value 200 mm and the set maximum value 400 mm, the PLC controller 68 generates the duty cycle of PWM according to the filtered height of soil accumulation value according to the preset control program, and outputs the signal to the first proportional electromagnetic valve 63, the second proportional electromagnetic valve 64 and the third proportional electromagnetic valve 65 respectively. The first proportional electromagnetic valve 63 changes the valve opening degree according to the input current to change the oil inlet amount. Through the change of the oil inlet amount of the first proportional electromagnetic valve 63, the second proportional electromagnetic valve 64 and the third proportional electromagnetic valve 65, the elongation of the hitch oil cylinder 7 is changed to change the depth of the picking shovel 52 into the soil. The second proportional electromagnetic valve 64 changes the valve opening degree according to the input current, changes the rotational speed of the hydraulic motor 21 through the change of the oil inlet amount, and changes the conveying speed of the conveying chain 53. The third proportional electromagnetic valve 65 changes the valve opening degree according to the input current, changes the elongation of the shaking adjusting oil cylinder 32 through the change of the oil inlet amount, and changes the vibration amplitude of the shaking adjusting mechanism.

[0099] When the soil bank height measurement value is greater than the preset value, the PLC controller 68 adjusts the PWM duty ratio, reduces the opening degree of the first proportional electromagnetic valve 63, reduces the elongation of the hitching oil cylinder 7 to reduce the depth of the pickup shovel 52 into the soil, increases the opening degree of the second proportional electromagnetic valve 64, increases the rotation speed of the hydraulic motor 21 to increase the conveying line speed of the conveying chain 53, increases the opening degree of the third proportional electromagnetic valve 65, and increases the elongation of the shaking adjustment oil cylinder 32 to increase the vibration amplitude of the shaking adjustment mechanism; when the soil bank height measurement value is less than the preset value, the PLC controller 68 adjusts the PWM duty ratio, increases the opening degree of the first proportional electromagnetic valve 63, increases the elongation of the hitching oil cylinder 7 to increase the depth of the pickup shovel 52 into the soil, reduces the opening degree of the second proportional electromagnetic valve 64, reduces the rotation speed of the hydraulic motor 21 to reduce the conveying line speed of the conveying chain 53, reduces the opening degree of the third proportional electromagnetic valve 65, and reduces the elongation of the shaking adjustment oil cylinder 32 to reduce the vibration amplitude of the shaking adjustment mechanism.

[0100] When the hitching oil cylinder 7 is elongated, the pickup shovel 52 as a whole moves downward, causing the depth of the pickup shovel 52 into the soil to increase, and vice versa; when the rotation speed of the hydraulic motor 21 is increased, the rotation speed of the small sprocket 22, the large sprocket 23, the transmission shaft 24 and the quincunx wheel 25 is sequentially increased, and under the meshing of the quincunx wheel 25, the conveying chain 53 moves at a higher line speed, and vice versa; when the shaking adjustment oil cylinder 32 is elongated, the shaking shaft 37 moves towards the direction close to the shaking adjustment oil cylinder 32, the height of the idler 35 fixed thereon is lowered, the height of the chain link of the conveying chain 53 supported by the idler 35 is lowered, and the height difference between the chain link of the conveying chain 53 supported by the shaking wheel 31 is increased, so the vibration amplitude is increased, and vice versa.

[0101] The first ultrasonic sensor 61 and the second ultrasonic sensor 62 are used to monitor the soil bank height in real time and transmit the monitoring result to the controller 68, so as to control the elongation of the hitching oil cylinder 7 and the shaking adjustment oil cylinder 32 and the rotation speed of the hydraulic motor 21 in real time, and automatically adjust the depth of the pickup shovel 52 into the soil, the vibration amplitude of the potato-soil separation and the conveying speed of the conveying chain 53. The working parameters can be adjusted according to the actual working environment in the field, and the device has excellent field adaptability; at the same time, the application of automatic control can reduce the labor intensity of the operator, reduce the operation difficulty of the device, and reduce the time for adjusting the potato picking machine, increase the working efficiency of the whole machine, and reduce the generation of useless work of the machine.

[0102] Of course, the present application can have other various embodiments, and those skilled in the art can make various corresponding changes and modifications according to the present application without departing from the spirit and essence of the present application, and these corresponding changes and modifications shall all belong to the protection scope of the claims of the present application.

Claims

1. An adaptive pickup device mounted on a self-propelled potato pickup machine, characterized in that, The self-adaptive potato picking device comprises a frame, a picking mechanism, a transmission mechanism, a shaking adjusting mechanism, a hitching oil cylinder and a control mechanism. The picking mechanism comprises side plates, a picking shovel and a conveying chain. The transmission mechanism is installed on the frame and connected with the conveying chain. The shaking adjusting mechanism is correspondingly arranged at the middle part of the conveying chain. One end of the hitching oil cylinder is connected with the frame, and the other end of the hitching oil cylinder is connected with the main frame of the self-propelled potato picking machine. The control mechanism comprises a controller and an ultrasonic sensor. The controller is connected with the hitching oil cylinder and controls the extension amount of the hitching oil cylinder through a first proportional electromagnetic valve to adjust the soil penetration depth of the picking shovel. The ultrasonic sensor is installed above the front part of the frame and connected with the controller to measure the height of the front soil ridge. The transmission mechanism comprises a hydraulic motor, a transmission shaft and a sprocket wheel. The hydraulic motor is installed on the frame. The transmission shaft is installed on the frame through bearings at both ends and connected with the hydraulic motor through a chain transmission mechanism. The sprocket wheel is installed on the transmission shaft and connected with the conveying chain. The controller controls the rotating speed of the hydraulic motor through a second proportional electromagnetic valve to adjust the conveying speed of the conveying chain. The shaking adjusting mechanism comprises a shaking shaft, a supporting roller and a shaking adjusting oil cylinder. The shaking shaft is connected with a large swing arm and a small swing arm at both ends. The large swing arm and the small swing arm are connected with the side plates at the rotating centers. The supporting roller is installed on the shaking shaft.

2. The self-levelling device according to claim 1, wherein the self-levelling device is a self-levelling pick-up device. One end of the shaking adjusting oil cylinder is connected with the large swing arm, and the other end of the shaking adjusting oil cylinder is installed on the frame.

3. The self-levelling device according to claim 1 or 2, wherein The controller controls the extension amount of the shaking adjusting oil cylinder through a third proportional electromagnetic valve to adjust the supporting height of the supporting roller.

4. The self-cleaning pickup assembly of claim 3, wherein, The shaking adjusting mechanism further comprises a shaking wheel and a fixed block.

5. A potato self-adapting pickup method suitable for a self-propelled potato pickup machine, characterized in that, The shaking wheel is installed inside the side plate and touches the upper chain rod of the conveying chain. The shaking wheel is located below the other end of the shaking adjusting oil cylinder. The fixed block is arranged inside the large swing arm and the small swing arm. The self-propelled potato picking machine comprises the self-adaptive picking device. The potato self-adaptive picking method comprises the following steps: S100, after the self-adaptive picking device is connected with the self-propelled potato picking machine, the self-propelled potato picking machine digs and lays the mixture of potatoes and soil and stems on the ground surface. S200, the soil cutting discs arranged at both sides in front of the self-adaptive picking device cut the potato soil ridge. S300, the picking mechanism of the adaptive picking device picks up and transports the potato and soil sprout mixture, and the shaking adjusting mechanism of the adaptive picking device vibrates to form the heaving motion of the whole conveying chain to accelerate the separation of the potato and soil sprout mixture during the transportation process; and S400, when the potato and soil sprout mixture moves to the rear section, the picking mechanism is tightened and dispersed; the sprout removing mechanism of the adaptive picking device is separated and sprout removed to obtain and collect clean potato tubers; The adaptive picking device uses an ultrasonic sensor to measure the height of the front soil bank, real-time monitors the height of the soil bank and transmits it to the controller to real-time control the extension amount of the hitch cylinder, the shaking adjusting cylinder of the shaking adjusting mechanism and the rotation speed of the hydraulic motor of the transmission mechanism of the adaptive picking device, and realizes the automatic adjustment of the picking and shoveling depth into the soil, the vibration amplitude of the potato and soil separation and the conveying chain speed of the picking mechanism.

6. The potato self-adapting picking method of claim 5, wherein, A temperature sensor is also arranged on the adaptive picking device to measure the real-time ambient temperature to avoid the influence of the ambient temperature on the ultrasonic wave speed.

7. The potato self-adapting picking method of claim 5, wherein, The measurement data of the ultrasonic sensor is digitally filtered, and when the difference between the measured earth dam distance of the first ultrasonic sensor and the measured earth dam distance of the second ultrasonic sensor is greater than a set value, the current measurement data is discarded and the last measurement data is used instead; 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 discarded and the last measurement data is used instead.

8. Potato self-adapting picking method according to claim 5, 6 or 7, characterized in that, The controller judges whether the height of the soil bank is between the set minimum value and the set maximum value, if the height of the soil bank is less than the set minimum value, the controller does not output the instruction signal, if the height of the soil bank is greater than the set maximum value, the controller outputs the abnormal signal of the height of the soil bank and controls the abnormal soil bank indication light to flash alternately, if the height of the soil bank is between the set minimum value and the set maximum value, the controller outputs the signal to the corresponding proportional electromagnetic valve according to the set PWM duty ratio according to the filtered height of the soil bank to change the extension amount of the hitch cylinder, the shaking adjusting cylinder and the rotation speed of the hydraulic motor.

9. The potato self-adapting picking method of claim 8, wherein, The proportional electromagnetic valve includes a first proportional electromagnetic valve, a second proportional electromagnetic valve and a third proportional electromagnetic valve, the first proportional electromagnetic valve controls the extension amount of the hitch cylinder to change the depth of the picking shovel into the soil, the second proportional electromagnetic valve controls the rotation speed of the hydraulic motor to change the conveying line speed of the conveying chain, and the third proportional electromagnetic valve controls the extension amount of the shaking adjusting cylinder to change the vibration amplitude of the shaking adjusting mechanism.

10. The potato self-adapting picking method of claim 9, wherein, When the measured value of the height of the soil bank is greater than the preset value, the controller adjusts the PWM duty ratio, reduces the opening of the first proportional electromagnetic valve, reduces the extension amount of the hitch cylinder to reduce the depth of the picking shovel into the soil, increases the opening of the second proportional electromagnetic valve, increases the rotation speed of the hydraulic motor to increase the conveying line speed of the conveying chain, and increases the opening of the third proportional electromagnetic valve, increases the extension amount of the shaking adjusting cylinder to increase the vibration amplitude of the shaking adjusting mechanism; when the measured value of the height of the soil bank is less than the preset value, the controller adjusts the PWM duty ratio, increases the opening of the first proportional electromagnetic valve, increases the extension amount of the hitch cylinder to increase the depth of the picking shovel into the soil, reduces the opening of the second proportional electromagnetic valve, reduces the rotation speed of the hydraulic motor to reduce the conveying line speed of the conveying chain, and reduces the opening of the third proportional electromagnetic valve, reduces the extension amount of the shaking adjusting cylinder to reduce the vibration amplitude of the shaking adjusting mechanism.

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