A self-adaptive adjustment method for operating parameters of a vibrating deep tiller

Abstract

The present invention discloses a method for adaptively adjusting the operating parameters of a vibratory deep tiller, and relates to the technical field of measuring the operating parameters of a vibratory deep tiller. The present invention includes at least the following steps: S1: calibrating the sensor, calibrating the sensor in the operation of the vibratory deep tiller; S2: using the detection data of the ultrasonic sensor, the first inclination sensor, and the second inclination sensor as the input of the controller, and calculating the actual tillage depth through the controller. Through the design of the overall method, the present invention uses a digital signal recognition unit to make a one-to-one correspondence between the operating parameter information of the deep tillage process and the information of the detected object, and the automatic recognition and measurement technology used 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 tillage process.

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 vibratory 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 permeability and water permeability through a combination of vibration and tillage, thereby contributing to crop growth. Specifically, a vibratory deep tiller generates vibrations through a vibration device installed at the rear of a tractor. These vibrations can be effectively transmitted to the soil, promoting deep loosening of the soil.

[0003] However, the following technical problems exist in the existing technology:

[0004] Since the parameters of the vibrating subsoiler 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 subsoil process cannot be confirmed;

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

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

[0007] The object 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 art.

[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 during the vibration subsoiler operation;

[0010] S2: Detection data from the ultrasonic sensor, the first tilt sensor, and the second tilt sensor are used as inputs to the controller, which calculates the actual tillage depth. The calculated actual tillage depth is compared with the set tillage depth value. Based on the difference between the two values, the controller controls the corresponding adjustment component to adjust the tillage depth until the actual tillage depth reaches the set tillage depth value, and then tillage is performed.

[0011] S3: Using the detection data of the tension sensor and the torque sensor as input to the controller, the controller calculates the actual traction power and the actual vibration power, and obtains the actual total power by summing the actual traction power and the actual vibration power. The actual total power is compared with the total power set value, and the difference generated by the comparison is used to control the throttle of the tractor, change the forward speed of the tractor, and control the speed of the tractor power output shaft until the actual total power reaches the total power set value, and then plowing is carried out;

[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 controller controls the corresponding adjustment component 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 controller controls the eccentric adjustment mechanism to adjust the vibration amplitude of the vibrating wing plate, and controls the gearbox to adjust the vibration frequency to meet the needs of farming.

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

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

[0015] H=H6-H5

[0016] Where: 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 plowing operation, and H is the measured value;

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

[0018] H7=H7cos(α)

[0019] Among them: α is the actual tilt angle of the subsoiler, 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 set tillage depth value, as shown in the following formula:

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

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

[0025] Among them: 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 depth-limiting wheelbase and the theoretical value R, the theoretical value R is the depth-limiting 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, said S3 at least includes the following steps:

[0028] S301: Measure the traction resistance with a tension sensor and the tractor torque with a 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 the subsoiling operation;

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

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

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

[0036] S305: Start farming.

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

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

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

[0040] S403: The controller controls the corresponding adjustment components 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 controller controls the eccentric adjustment mechanism to adjust the vibration amplitude of the vibrating wing plate and the controller controls the gearbox to adjust the vibration frequency. When the actual tillage resistance is adjusted to be less than the set value, the process proceeds to S404.

[0041] S404: Start farming.

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

[0043] Through the design of an overall method, the present invention uses a digital signal recognition unit to make 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, 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 following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0045] Figure 1 This is a diagram of the entire machine of the present invention;

[0046] Figure 2 This is a schematic diagram of the theoretical state of the deep loosening machine;

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

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

[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 clearly and completely described 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] Example 1:

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

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

[0056] S2: Detection data from the ultrasonic sensor, the first tilt sensor, and the second tilt sensor are used as inputs to the controller, which calculates the actual tillage depth. The calculated actual tillage depth is compared with the set tillage depth value. Based on the difference between the two values, the controller controls the corresponding adjustment component to adjust the tillage depth until the actual tillage depth reaches the set tillage depth value, and then tillage is performed.

[0057] S3: Using the detection data of the tension sensor and the torque sensor as input to the controller, the controller calculates the actual traction power and the actual vibration power, and obtains the actual total power by summing the actual traction power and the actual vibration power. The actual total power is compared with the total power set value, and the difference generated by the comparison is used to control the throttle of the tractor, change the forward speed of the tractor, and control the speed of the tractor power output shaft until the actual total power reaches the total power set value, and then plowing is carried out;

[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 controller controls the corresponding adjustment component 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 controller controls the eccentric adjustment mechanism to adjust the vibration amplitude of the vibrating wing plate, and controls the gearbox to adjust the vibration frequency to meet the needs of farming.

[0059] S2 includes at least the following steps:

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

[0061] H=H6-H5

[0062] Where: 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 plowing operation, and H is the measured value;

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

[0064] H7=H7cos(α)

[0065] Among them: α is the actual tilt angle of the subsoiler, 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 set tillage depth value, as shown in 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] Among them: 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 depth-limiting wheelbase and the theoretical value R, the theoretical value R is the depth-limiting 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: Measure the traction resistance with a tension sensor and the tractor torque with a 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 the subsoiling operation;

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

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

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

[0082] S305: Start farming.

[0083] S4 includes at least the following steps:

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

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

[0086] S403: The controller controls the corresponding adjustment components 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 controller controls the eccentric adjustment mechanism to adjust the vibration amplitude of the vibrating wing plate and the controller controls the gearbox to adjust the vibration frequency. When the actual tillage resistance is adjusted to be less than the set value, the process proceeds to S404.

[0087] S404: Start farming.

[0088] Example 2:

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

[0090] The vibrating deep loosening machine 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-limiting wheel bracket and is used to measure the inclination angle of the depth-limiting 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. 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-limiting wheel from the ground, the electric push rod 9 is used to adjust the inclination angle of the depth-limiting wheel, the hydraulic adjustment cylinder 10 is used to adjust the vibration angle of the vibrating wing, 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.

[0092] Example 3:

[0093] In combination with the above-mentioned embodiment 1 and embodiment 2, a specific application method process 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 set value, and then controls the electric push rod 7 to adjust the tillage depth until the actual tillage depth reaches the tillage depth set value.

[0096] C. The controller 13 calculates the traction power and vibration power of the deep loosening machine based on 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 the speed of the tractor power output shaft is controlled to adjust 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 regulating 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 commencing tillage, the tillage depth range is set and tillage is carried out to the set depth. A position sensor is attached to the handle of the subsoiler to detect tillage depth. A tension sensor is installed at the connection between the frame and the tractor to measure traction resistance. An angle sensor is installed on the vibrating wing to measure tillage amplitude. A torque sensor is installed between the tractor drive shaft and the subsoiler's vibrating device to measure vibration power. The sum of traction power and vibration power is the total power.

[0099] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A method for adaptively adjusting operating parameters of a vibrating subsoiler, characterized by: At least the following steps are included: S1: Calibrate the sensor, calibrate the sensor during the vibration subsoiler operation; S2: Detection data from the ultrasonic sensor, the first tilt sensor, and the second tilt sensor are used as inputs to the controller, which calculates the actual tillage depth. The calculated actual tillage depth is compared with the set tillage depth value. Based on the difference between the two values, the controller controls the corresponding adjustment component to adjust the tillage depth until the actual tillage depth reaches the set tillage depth value, and then tillage is performed. S3: Using the detection data of the tension sensor and the torque sensor as input to the controller, the controller calculates the actual traction power and the actual vibration power, and obtains the actual total power by summing the actual traction power and the actual vibration power. The actual total power is compared with the total power set value, and the difference generated by the comparison is used to control the throttle of the tractor, change the forward speed of the tractor, and control the speed of the tractor power output shaft until the actual total power reaches the total power set value, and then plowing is carried out; 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 controller controls the corresponding adjustment component 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 controller controls the eccentric adjustment mechanism to adjust the vibration amplitude of the vibrating wing plate, and controls the gearbox to adjust the vibration frequency to meet the needs of farming.

2. The method for adaptively adjusting operating parameters of a vibratory deep tiller according to claim 1, characterized in that: The S2 at least includes the following steps: S201: Use the depth measured by the ultrasonic sensor as the measurement value, refer to the following formula: H=H6-H5 Where: 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 plowing operation, and H is the measured value; S202: Determine the posture of the subsoiler according to the data from the first inclination sensor, referring to the following formula: H7=H7cos(α) Among them: α is the actual tilt angle of the subsoiler, 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 set tillage depth value, as shown in the following formula: H 10 =H4-H7,H9=H8-R H 11 =H 10 -H9,H 11 =H3cos(β)-H3cos(β+θ) Among them: 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 depth-limiting wheelbase and the theoretical value R, the theoretical value R is the depth-limiting 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 vibratory deep tiller according to claim 1, characterized in that: The S3 at least includes the following steps: S301: Measure the traction resistance with a tension sensor and the tractor torque with a 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 the subsoiling operation; S302: Under the premise of ensuring the deep plowing depth, reduce the total power of the deep plowing operation; S303: When the total power measurement value of the deep plowing operation is less than the set value, it is considered that the vibration deep plowing has achieved the effect, and the process goes to S305; S304: When the total power measurement value of the deep plowing operation is greater than the set value, the controller controls the throttle of the tractor to change the forward speed of the tractor and controls the tractor power output shaft to adjust the speed. When the total power of the deep plowing 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 vibratory deep tiller according to claim 1, characterized in that: The S4 at least includes the following steps: S401: measuring the actual tillage resistance of the deep plowing shovel according to the pressure sensor; S402: Compare the actual tillage resistance with the set value. If the actual tillage resistance is less than the set value, it is considered that the vibration resistance reduction effect has been achieved, and the process goes to S404. S403: The controller controls the corresponding adjustment components 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 controller controls the eccentric adjustment mechanism to adjust the vibration amplitude of the vibrating wing plate and the controller controls the gearbox to adjust the vibration frequency. When the actual tillage resistance is adjusted to be less than the set value, the process proceeds to S404. S404: Start farming.

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