Self-adaptive adjustment method for operation parameters of vibration subsoiler

Abstract

The invention discloses a vibration subsoiler operation parameter self-adaptive adjustment method, and relates to the technical field of vibration subsoiler operation parameter measurement. The method at least comprises the following steps: S1, calibrating a sensor, namely calibrating the sensor in the operation of the vibration subsoiler; s2, detecting data of the ultrasonic sensor, the first inclination angle sensor and the second inclination angle sensor serve as input of a controller, and the actual tilling depth is calculated through the controller. Through the design of the whole method, the digital signal identification unit performs one-to-one correspondence on the operation parameter information of the subsoiling process and the information of the detected object, and the adopted automatic identification and measurement technology can improve the identification accuracy and the data security by adding a legality verification step in the information identification process of the detected object; the situation that the actual operation parameters in the deep scarification process cannot be confirmed finally due to inaccurate operation parameter matching caused by wrong identification information is avoided.

Description

Technical Field

[0001] The invention relates to the technical field of vibration subsoiler operating parameter measurement, in particular to a vibration subsoiler operating parameter adaptive adjustment method. Background Art

[0002] A vibrating deep tiller is an agricultural machine used for agricultural soil improvement and tillage. It can effectively loosen deep soil, improve soil structure, and increase soil air permeability and water permeability through a combination of vibration and tillage, thereby contributing to crop growth. Specifically, a vibrating deep tiller generates vibrations through a vibration device installed at the rear of the tractor. These vibrations can be effectively transmitted to the soil to promote deep loosening of the soil.

[0003] However, there are the following technical problems under the existing technology:

[0004] Since the parameters of the vibrating deep tiller are not easy to measure during operation, the operating parameters are not accurately matched due to incorrect identification information, and ultimately the actual operating parameters of the deep tillage process cannot be confirmed;

[0005] When the actual operating parameters of the deep plowing process cannot be confirmed, the overall operating requirements and implementation effects will be affected;

[0006] Therefore, a new solution to the above problems needs to be proposed. Summary of the invention

[0007] The purpose of the present invention is to provide a method for adaptively adjusting the operating parameters of a vibrating deep tiller to solve the deficiencies of the prior art mentioned in the background technology.

[0008] To achieve the above object, the present invention provides the following technical solution: a method for adaptively adjusting operating parameters of a vibrating subsoiler, comprising at least the following steps:

[0009] S1: Calibrate the sensor, calibrate the sensor in the vibration subsoiler operation;

[0010] S2: using the detection data of the ultrasonic sensor, the first inclination sensor and the second inclination sensor as inputs of the controller, calculating the actual tillage depth through the controller, comparing the calculated actual tillage depth with the tillage depth setting value, and adjusting the tillage depth through the controller based on the difference generated by the comparison, until the actual tillage depth reaches the tillage depth setting value, and then tilling;

[0011] S3: using the detection data of the tension sensor and the torque sensor as the input of the controller, calculating the actual traction power and the actual vibration power through the controller, obtaining the actual total power by summing the actual traction power and the actual vibration power, comparing the actual total power with the total power setting value, controlling the throttle of the tractor based on the difference generated by the comparison, changing the forward speed of the tractor, and controlling the speed of the tractor power output shaft to adjust the speed until the actual total power reaches the total power setting value, and then performing tillage;

[0012] S4: The real-time pressure of the deep plowing shovel measured by the pressure sensor is input into the controller. When the pressure of the deep plowing shovel is greater than the set value, the corresponding adjustment component is controlled by the controller to adjust the inclination angle of the vibrating wing plate and change the vibration angle of the vibrating wing plate. At the same time, the eccentric adjustment mechanism is controlled by the controller to adjust the vibration amplitude of the vibrating wing plate, and the gearbox is controlled by the controller to adjust the vibration frequency to meet the farming needs.

[0013] Preferably, the S2 at least includes the following steps:

[0014] S201: Use the depth measured by the ultrasonic sensor as the measured value, refer to the following formula:

[0015] H=H6-H5

[0016] Among them: H6 is the actual distance from the end face of the ultrasonic sensor probe to the shovel tip, H5 is the actual distance from the end face of the ultrasonic sensor probe to the ground during deep loosening operation, and H is the measured value;

[0017] S202: Determine the posture of the deep tiller according to the data of the first inclination sensor, referring to the following formula:

[0018] H7=H7cos(α)

[0019] Among them: α is the actual tilt angle of the deep loosening machine, H7 is the actual value;

[0020] S203: Using the patch pressure sensor as a comparison value;

[0021] S204: When the difference between the actual value and the comparison value is between 0-2 cm, and the measured value is greater than the set value, the measured value is considered valid and the process goes to S206; otherwise, the process goes to S201;

[0022] S205: The controller controls the corresponding adjustment component to adjust the tillage depth and compensate for the deep loosening depth until the actual tillage depth reaches the tillage depth setting value, refer to the following formula:

[0023] H 10 =H4-H7, H9=H8-R

[0024] H 11 =H 10 -H9,H11 =H3cos(β)-H3cos(β+θ)

[0025] Where: H 11 is the deep loosening depth compensation value, H 10 is the difference between the theoretical depth H4 and the actual depth H7, H9 is the difference between the actual value H8 of the limited depth wheel spacing ground and the theoretical value R, the theoretical value R is the limited depth wheel radius, β is the actual inclination angle measured by the second inclination sensor, and θ is the compensation inclination angle;

[0026] S206: Start farming.

[0027] Preferably, S3 at least includes the following steps:

[0028] S301: The pulling resistance is measured by the tension sensor, and the tractor torque is measured by the torque sensor, refer to the following formula:

[0029] P=P1+P2

[0030] P1=FV

[0031] P2=π / (30*T*n)

[0032] Where: P1 is the traction power, P2 is the vibration power, F is the traction resistance, V is the forward speed, T is the tractor torque, n is the tractor power output shaft speed, and P is the total power measurement value of deep plowing operation;

[0033] S302: Under the premise of ensuring the deep tillage depth, reduce the total power of deep tillage operation;

[0034] S303: When the total power measurement value of deep tillage operation is less than the set value, it is considered that the vibration deep tillage has achieved the effect, and the process goes to S305;

[0035] S304: When the total power measurement value of the deep tillage operation is greater than the set value, the controller controls the throttle of the tractor, changes the forward speed of the tractor, and controls the tractor power output shaft to adjust the speed. When the total power of the deep tillage operation is adjusted to less than the set value, the process goes to S305;

[0036] S305: Start farming.

[0037] Preferably, the S4 at least includes the following steps:

[0038] S401: measuring the actual tillage resistance of the deep tillage shovel according to the pressure sensor;

[0039] S402: Compare the actual tillage resistance with the set value. When the actual tillage resistance is less than the set value, it is considered that the vibration drag reduction effect is achieved, and the process goes to S404;

[0040] S403: Control the corresponding adjustment component through the controller to adjust the inclination angle of the vibrating wing plate, change the vibration angle of the vibrating wing plate, and at the same time, control the eccentric adjustment mechanism through the controller to adjust the vibration amplitude of the vibrating wing plate, and control the gearbox through the controller to adjust the vibration frequency. When the actual tillage resistance is adjusted to be less than the set value, go to S404;

[0041] S404: Start farming.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] The present invention designs an overall method in which a digital signal recognition unit makes a one-to-one correspondence between the operating parameter information of the deep plowing process and the information of the detected object. The automatic recognition and measurement technology adopted can improve the accuracy of recognition and the security of data by adding a legitimacy verification step in the process of identifying the information of the detected object, thereby avoiding inaccurate matching of operating parameters due to incorrect identification information, and ultimately failing to confirm the actual operating parameters of the deep plowing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for describing the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0045] Figure 1 It is the whole machine diagram of the present invention;

[0046] Figure 2 This is a simplified diagram of the theoretical state of a subsoiler;

[0047] Figure 3 This is a simplified diagram of the actual operating status of this deep tiller;

[0048] Figure 4 This is a simplified diagram of the height adjustment of the depth limiting wheel of this deep tiller;

[0049] Figure 5 It is the control principle diagram;

[0050] Figure 6 It is a flow chart of the present invention.

[0051] Among them: 1. Tension sensor; 2. First ultrasonic sensor; 3. First inclination sensor; 4. Second inclination sensor; 5. Pressure sensor; 6. Angle sensor; 7. Patch sensor; 8. Second ultrasonic sensor; 9. Electric push rod; 10. Hydraulic adjustment cylinder; 11. Torque sensor; 12. Eccentric adjustment mechanism. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0053] Embodiment 1:

[0054] See also Figure 2-Figure 6 , a method for adaptively adjusting the operating parameters of a vibrating deep tiller, comprising at least the following steps:

[0055] S1: Calibrate the sensor, calibrate the sensor in the vibration subsoiler operation;

[0056] S2: using the detection data of the ultrasonic sensor, the first inclination sensor and the second inclination sensor as inputs of the controller, calculating the actual tillage depth through the controller, comparing the calculated actual tillage depth with the tillage depth setting value, and adjusting the tillage depth through the controller based on the difference generated by the comparison, until the actual tillage depth reaches the tillage depth setting value, and then tilling;

[0057] S3: using the detection data of the tension sensor and the torque sensor as the input of the controller, calculating the actual traction power and the actual vibration power through the controller, obtaining the actual total power by summing the actual traction power and the actual vibration power, comparing the actual total power with the total power setting value, controlling the throttle of the tractor based on the difference generated by the comparison, changing the forward speed of the tractor, and controlling the speed of the tractor power output shaft to adjust the speed until the actual total power reaches the total power setting value, and then performing tillage;

[0058] S4: The real-time pressure of the deep plowing shovel measured by the pressure sensor is input into the controller. When the pressure of the deep plowing shovel is greater than the set value, the corresponding adjustment component is controlled by the controller to adjust the inclination angle of the vibrating wing plate and change the vibration angle of the vibrating wing plate. At the same time, the eccentric adjustment mechanism is controlled by the controller to adjust the vibration amplitude of the vibrating wing plate, and the gearbox is controlled by the controller to adjust the vibration frequency to meet the farming needs.

[0059] S2 at least includes the following steps:

[0060] S201: Use the depth measured by the ultrasonic sensor as the measured value, refer to the following formula:

[0061] H=H6-H5

[0062] Among them: H6 is the actual distance from the end face of the ultrasonic sensor probe to the shovel tip, H5 is the actual distance from the end face of the ultrasonic sensor probe to the ground during deep loosening operation, and H is the measured value;

[0063] S202: Determine the posture of the deep tiller according to the data of the first inclination sensor, referring to the following formula:

[0064] H7=H7cos(α)

[0065] Among them: α is the actual tilt angle of the deep loosening machine, H7 is the actual value;

[0066] S203: Using the patch pressure sensor as a comparison value;

[0067] S204: When the difference between the actual value and the comparison value is between 0-2 cm, and the measured value is greater than the set value, the measured value is considered valid and the process goes to S206; otherwise, the process goes to S201;

[0068] S205: The controller controls the corresponding adjustment component to adjust the tillage depth and compensate for the deep loosening depth until the actual tillage depth reaches the tillage depth setting value, refer to the following formula:

[0069] H 10 =H4-H7, H9=H8-R

[0070] H 11 =H 10 -H9,H 11 =H3cos(β)-H3cos(β+θ)

[0071] Where: H 11 is the deep loosening depth compensation value, H 10 is the difference between the theoretical depth H4 and the actual depth H7, H9 is the difference between the actual value H8 of the limited depth wheel spacing ground and the theoretical value R, the theoretical value R is the limited depth wheel radius, β is the actual inclination angle measured by the second inclination sensor, and θ is the compensation inclination angle;

[0072] S206: Start farming.

[0073] S3 includes at least the following steps:

[0074] S301: The pulling resistance is measured by the tension sensor, and the tractor torque is measured by the torque sensor, refer to the following formula:

[0075] P=P1+P2

[0076] P1=FV

[0077] P2=π / (30*T*n)

[0078] Where: P1 is the traction power, P2 is the vibration power, F is the traction resistance, V is the forward speed, T is the tractor torque, n is the tractor power output shaft speed, and P is the total power measurement value of deep plowing operation;

[0079] S302: Under the premise of ensuring the deep tillage depth, reduce the total power of deep tillage operation;

[0080] S303: When the total power measurement value of deep tillage operation is less than the set value, it is considered that the vibration deep tillage has achieved the effect, and the process goes to S305;

[0081] S304: When the total power measurement value of the deep tillage operation is greater than the set value, the controller controls the throttle of the tractor, changes the forward speed of the tractor, and controls the tractor power output shaft to adjust the speed. When the total power of the deep tillage operation is adjusted to less than the set value, the process goes to S305;

[0082] S305: Start farming.

[0083] S4 at least includes the following steps:

[0084] S401: measuring the actual tillage resistance of the deep tillage shovel according to the pressure sensor;

[0085] S402: Compare the actual tillage resistance with the set value. When the actual tillage resistance is less than the set value, it is considered that the vibration drag reduction effect is achieved, and the process goes to S404;

[0086] S403: Control the corresponding adjustment component through the controller to adjust the inclination angle of the vibrating wing plate, change the vibration angle of the vibrating wing plate, and at the same time, control the eccentric adjustment mechanism through the controller to adjust the vibration amplitude of the vibrating wing plate, and control the gearbox through the controller to adjust the vibration frequency. When the actual tillage resistance is adjusted to be less than the set value, go to S404;

[0087] S404: Start farming.

[0088] Embodiment 2:

[0089] See also Figure 1 , this embodiment proposes a specific vibrating subsoiler to which the above method can be applied;

[0090] The vibration deep tiller includes a tension sensor 1, a first ultrasonic sensor 2, a first inclination sensor 3, a second inclination sensor 4, a pressure sensor 5, an angle sensor 6, a patch sensor 7, a second ultrasonic sensor 8, an electric push rod 9, a hydraulic adjustment cylinder 10, a torque sensor 11 and an eccentric adjustment mechanism 12.

[0091] The tension sensor 1 is used to measure the traction resistance of the deep tiller during tillage. The first ultrasonic sensor 2 is used to measure the distance between the frame and the ground. The first inclination sensor 3 is used to measure the overall inclination angle of the deep tiller. The second angle sensor 4 is installed on the depth limit wheel bracket to measure the inclination angle of the depth limit wheel. The pressure sensor 5 is installed inside the deep tiller to measure the resistance of the soil to the deep tiller. The angle sensor 6 is used to measure the inclination angle of the vibrating wing plate. The patch sensor 7 is used to detect the deep tillage depth, the second ultrasonic sensor 8 is used to detect the height of the depth limit wheel from the ground, the electric push rod 9 is used to adjust the inclination angle of the depth limit wheel, the hydraulic adjustment cylinder 10 is used to adjust the vibration angle of the vibrating wing plate, the torque sensor 11 is used to measure the vibration power, and the eccentric adjustment mechanism 12 is used to adjust the vibration amplitude of the vibrating wing plate.

[0092] Embodiment three:

[0093] In combination with the above-mentioned embodiment 1 and embodiment 2, a method flow of a specific application is proposed:

[0094] A. Calibrate the sensor:

[0095] B. The controller 13 calculates the actual tillage depth based on the detection data of the ultrasonic sensor 2, the first inclination sensor 3, and the second inclination sensor 4, compares it with the tillage depth setting value, and then controls the electric push rod 7 to adjust the tillage depth until the actual tillage depth reaches the tillage depth setting value.

[0096] C. The controller 13 calculates the traction power and vibration power of the deep tiller according to the detection data of the tension sensor 1 and the torque sensor 11. The total power is the sum of the traction power and the vibration power. The actual total power is compared with the set value, and then the throttle of the tractor is controlled to change the forward speed of the tractor and control the tractor power output shaft to adjust the speed until the actual total power reaches the total power set value.

[0097] D. The controller 13 measures the real-time pressure of the deep plowing shovel according to the pressure sensor 5. When the pressure of the deep plowing shovel is greater than the set value, the controller 13 controls the hydraulic adjustment cylinder 10 to adjust the inclination angle of the vibrating wing plate and change the vibration angle of the vibrating wing plate; the controller 13 controls the eccentric adjustment mechanism to adjust the vibration amplitude of the vibrating wing plate; the controller 13 controls the gearbox to adjust the vibration frequency.

[0098] Before starting tillage, set the tillage depth range, and tillage according to the set tillage depth. A position sensor is attached to the handle of the deep tillage shovel to detect the tillage depth. A tension sensor is installed at the connection between the frame and the tractor to measure the traction resistance. An angle sensor is installed at the vibration wing to measure the tillage amplitude. A torque sensor is installed between the tractor drive shaft and the deep tillage machine vibration device to measure the vibration power. The sum of the traction power and the vibration power is the total power.

[0099] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and range of equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for adaptively adjusting operating parameters of a vibrating deep tiller, characterized in that: At least the following steps are included: S1: Calibrate the sensor, calibrate the sensor in the vibration subsoiler operation; S2: using the detection data of the ultrasonic sensor, the first inclination sensor and the second inclination sensor as inputs of the controller, calculating the actual tillage depth through the controller, comparing the calculated actual tillage depth with the tillage depth setting value, and adjusting the tillage depth through the controller based on the difference generated by the comparison, until the actual tillage depth reaches the tillage depth setting value, and then tilling; S3: using the detection data of the tension sensor and the torque sensor as the input of the controller, calculating the actual traction power and the actual vibration power through the controller, obtaining the actual total power by summing the actual traction power and the actual vibration power, comparing the actual total power with the total power setting value, controlling the throttle of the tractor based on the difference generated by the comparison, changing the forward speed of the tractor, and controlling the speed of the tractor power output shaft to adjust the speed until the actual total power reaches the total power setting value, and then performing tillage; S4: The real-time pressure of the deep plowing shovel measured by the pressure sensor is input into the controller. When the pressure of the deep plowing shovel is greater than the set value, the corresponding adjustment component is controlled by the controller to adjust the inclination angle of the vibrating wing plate and change the vibration angle of the vibrating wing plate. At the same time, the eccentric adjustment mechanism is controlled by the controller to adjust the vibration amplitude of the vibrating wing plate, and the gearbox is controlled by the controller to adjust the vibration frequency to meet the farming needs.

2. The method for adaptively adjusting operating parameters of a vibrating subsoiler according to claim 1, characterized in that: The S2 at least comprises the following steps: S201: Use the depth measured by the ultrasonic sensor as the measured value, refer to the following formula: H=H6-H5 Among them: H6 is the actual distance from the end face of the ultrasonic sensor probe to the shovel tip, H5 is the actual distance from the end face of the ultrasonic sensor probe to the ground during deep loosening operation, and H is the measured value; S202: Determine the posture of the deep tiller according to the data of the first inclination sensor, referring to the following formula: H7=H7cos(α) Among them: α is the actual tilt angle of the deep loosening machine, H7 is the actual value; S203: Using the patch pressure sensor as a comparison value; S204: When the difference between the actual value and the comparison value is between 0-2 cm, and the measured value is greater than the set value, the measured value is considered valid and the process goes to S206; otherwise, the process goes to S201; S205: The controller controls the corresponding adjustment component to adjust the tillage depth and compensate for the deep loosening depth until the actual tillage depth reaches the tillage depth setting value, refer to the following formula: H 10 =H4-H7,H9=H8-R H 11 =H 10 -H9,H 11 =H3cos(β)-H3cos(β+θ) Where: H 11 is the deep loosening depth compensation value, H 10 is the difference between the theoretical depth H4 and the actual depth H7, H9 is the difference between the actual value H8 of the limited depth wheel spacing ground and the theoretical value R, the theoretical value R is the limited depth wheel radius, β is the actual inclination angle measured by the second inclination sensor, and θ is the compensation inclination angle; S206: Start farming.

3. The method for adaptively adjusting operating parameters of a vibrating subsoiler according to claim 1, characterized in that: The S3 at least includes the following steps: S301: The pulling resistance is measured by the tension sensor, and the tractor torque is measured by the torque sensor, refer to the following formula: P=P1+P2 P1=FV P2=π / (30*T*n) Where: P1 is the traction power, P2 is the vibration power, F is the traction resistance, V is the forward speed, T is the tractor torque, n is the tractor power output shaft speed, and P is the total power measurement value of deep plowing operation; S302: Under the premise of ensuring the deep tillage depth, reduce the total power of deep tillage operation; S303: When the total power measurement value of deep tillage operation is less than the set value, it is considered that the vibration deep tillage has achieved the effect, and the process goes to S305; S304: When the total power measurement value of the deep tillage operation is greater than the set value, the controller controls the throttle of the tractor, changes the forward speed of the tractor, and controls the tractor power output shaft to adjust the speed. When the total power of the deep tillage operation is adjusted to less than the set value, the process goes to S305; S305: Start farming.

4. The method for adaptively adjusting operating parameters of a vibrating subsoiler according to claim 1, characterized in that: The S4 at least comprises the following steps: S401: measuring the actual tillage resistance of the deep tillage shovel according to the pressure sensor; S402: Compare the actual tillage resistance with the set value. When the actual tillage resistance is less than the set value, it is considered that the vibration drag reduction effect is achieved, and the process goes to S404; S403: Control the corresponding adjustment component through the controller to adjust the inclination angle of the vibrating wing plate, change the vibration angle of the vibrating wing plate, and at the same time, control the eccentric adjustment mechanism through the controller to adjust the vibration amplitude of the vibrating wing plate, and control the gearbox through the controller to adjust the vibration frequency. When the actual tillage resistance is adjusted to be less than the set value, go to S404; S404: Start farming.

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