Bionic residual film recycling device based on fuzzy adaptive control system

Abstract

The bionic residual film recycling device based on a fuzzy adaptive control system belongs to the technical field of intelligent agricultural equipment, and the vibration film lifting mechanism adopts a bionic film lifting tooth, the soil entering part of which is profiled according to the profile curve of the first claw toe of the front leg of the northern mole cricket, and the dynamic adjustment of the soil entering depth is realized in combination with an air spring and a floating four-bar mechanism; the detection mechanism realizes the real-time monitoring of the operation parameters through a posture sensor and an ultrasonic sensor, and adjusts the air pressure transmission system based on a fuzzy PID control algorithm, so as to ensure the stable operation of the film lifting tooth; the residual film conveying mechanism is mainly designed as a pickup chain net, residual film pickup and separation are completed through tines and a film stripping plate, and the film winding mechanism adopts a film winding chain net to efficiently collect the film. The bionic residual film recycling device based on the fuzzy adaptive control system can solve the problems of the unadjustable soil entering depth and the low soil film separation efficiency of the existing residual film recycling machine, can significantly improve the residual film recycling rate and the operation adaptability, and has high automation degree and work efficiency and low energy consumption.

Description

Technical Field

[0001] This invention belongs to the field of intelligent agricultural equipment technology, specifically relating to a biomimetic residual film recycling device based on a fuzzy adaptive control system. Background Technology

[0002] Currently, ordinary plastic film is still the primary method of agricultural production both domestically and internationally. Despite the expanding scale of its use, the problem of prioritizing its use over its recycling has not improved. Plastic film residue in the soil increases soil bulk density, decreases porosity, and reduces permeability, affecting solute transport and microbial activity. Due to the isolation effect of residual film, cotton seeds have difficulty germinating, and cotton plant root growth is hindered, impeding the crop's absorption and utilization of soil moisture and nutrients, thus affecting overall cotton yield. Residual plastic film not only affects crop growth and farmers' income but also causes serious white pollution, hindering sustainable agricultural development.

[0003] Currently, the main methods for recycling plastic film are manual collection, mechanized collection, and the use of biodegradable plastic film.

[0004] Manual collection of plastic film is effective but inefficient and costly. Biodegradable plastic film degrades naturally in the field, eliminating the need for recycling, but its manufacturing process is complex, costly, and expensive. Furthermore, its degradation performance and impact on crops require further research, limiting its widespread adoption. Mechanized collection offers large-scale, high-efficiency recycling of residual film, making it the best method for recovering plastic film pollution. However, mechanized collection often results in residual film containing large amounts of straw and soil impurities, hindering reuse. Most of the collected film is burned on-site or buried in wastelands, causing secondary pollution to the environment and soil. Therefore, in designing mechanized plastic film recycling operations, it is essential to research equipment that separates residual film from straw, soil, and other impurities, reducing the impurity content and improving the recycling rate.

[0005] Existing residual film recycling machines generally have poor operational stability and energy consumption. Furthermore, current film-lifting devices mostly use rigid blades or fixed-frequency vibration mechanisms, whose working parameters (such as soil entry angle and vibration amplitude) cannot be dynamically adjusted according to real-time field conditions, resulting in technical defects such as poor soil adaptability, low soil separation efficiency, and excessive energy consumption.

[0006] The design of the film-lifting device in mainstream residual film recycling machines generally draws on the design principles of subsoil shovels and ridge-loosening cutters. However, with improvements in mechanical control precision, automation levels, response speed, and transmission efficiency, mechanical transmission and hydraulic control alone are no longer sufficient to meet the demands of agricultural machinery. Mechanical transmission complicates the overall machine structure, is susceptible to environmental influences, and suffers from low reliability. Hydraulic transmission offers convenient operation, fast response, and good safety, but still presents challenges in long-distance control and controllability. Therefore, the application of electro-hydraulic control systems in agricultural machinery to enhance automation has become an inevitable trend.

[0007] Depth control technology is widely used in agricultural machinery, mainly applied to fertilization, deep soil loosening and tillage, crop sowing, and harvesting of underground fruits. Depth control technology can be categorized by principle into mechanical, hydraulic, and automatic control types. Mechanical adjustment cannot or is inconvenient to adjust during operation, resulting in low adjustment accuracy. Hydraulic adjustment has high labor costs and its accuracy relies entirely on the operator's experience, also leading to low accuracy. With the advent of the intelligent era, mechanical and hydraulic depth control technologies are rarely studied anymore. Summary of the Invention

[0008] The purpose of this invention is to address the problem that the soil penetration depth cannot be adjusted in real time during the current residual film recycling and film lifting operation. This invention develops a vibration film lifting device control system for a residual film recycling machine, designs biomimetic shovel teeth using bionics principles, develops a vibration film lifting device to reduce soil penetration pressure and film lifting resistance, and constructs a residual film picking and recycling machine based on this.

[0009] This invention discloses a biomimetic residual film recycling device based on a fuzzy adaptive control system, comprising a vibratory film-raising mechanism A, a frame assembly B, a film winding mechanism C, a residual film conveying mechanism D, and a detection component E. The detection component E consists of a power line 49 and a data storage and processor 50. The detection component E is located near the left end of the upper crossbeam 2 of the main support arm A1 in the vibratory film-raising mechanism A, and is connected to the data storage and processor 50 via the power line 49. The vibration assembly IA2 of the vibratory film-raising mechanism A and... The horizontal plate of the vibration component IIA4 is fixedly connected to the front of the frame plate of the frame component B, I28; the two vertical plates of the film winding mechanism C, II36, are fixedly connected to the rear ends of the two frame plates of the frame component B, I28; the two ends of the roller III47 of the residual film conveying mechanism D are fixedly connected to the lower front of the two frame plates of the frame component B, I28, and the two ends of the roller I42 of the residual film conveying mechanism D are fixedly connected to the upper rear of the two frame plates of the frame component B, I28, forming an overall posture that is lower in the front and higher in the back.

[0010] The vibration film-forming mechanism A consists of a main support arm A1, a vibration component IA2, a bionic film-forming component A3, and a vibration component IIA4. The main support arm A1 comprises air spring components IA5 and IIA6, a left longitudinal beam 1, an upper crossbeam 2, a lower crossbeam 3, and a right longitudinal beam 4. Air spring components IA5 and IIA6 have identical structures, each consisting of an ultrasonic sensor 5 and an air spring 6, with the ultrasonic sensor 5 fixedly attached to the bottom of the air spring 6. The left longitudinal beam 1 and right longitudinal beam 4 are fixedly attached to both ends of the lower crossbeam 3. Air spring components IA5 and IIA6 are movably connected to the upper crossbeam 2 and the lower crossbeam 3, respectively. The bionic film-forming component A3 consists of a central shaft 16 and 15 film-forming teeth of a film-forming tooth assembly 17, with the 15 teeth evenly distributed and fixedly attached to the central shaft 16. Vibration components IA2 and IIA4 have identical structures but opposite left-right orientations, each consisting of a spring 7, a support rod 8, and a cross plate. 9. The rear vertical plate 10, attitude sensor 11, horizontal tube 12, front vertical plate 13, support 14, and connecting rod pair 15 are composed of a rear vertical plate 10, an attitude sensor 11, a horizontal tube 12, a front vertical plate 13, a support 14, and a connecting rod pair 15. The upper end of the rear vertical plate 10 is fixed to the rear part of the horizontal plate 9; the lower end of the front vertical plate 13 is fixed to the top of the horizontal tube 12; the upper and lower ends of the two connecting rods of the connecting rod pair 15 are movably connected to the middle of the rear vertical plate 10 and the front vertical plate 13 respectively via pins; the spring 7 is limited by the support rod 8, the upper end of the support rod 8 is pinned to the lower part of the front of the horizontal plate 9, and the lower end of the support rod 8 is pinned to the support 14; attitude sensor 11, horizontal tube 12, front vertical plate 13, support 14, and connecting rod pair 15. The state sensor 11 is fixed to the upper end of the front vertical plate 13; the front ends of the two horizontal plates of the vibration assembly IIA4 and vibration assembly IA2 are respectively fixed to the left and right ends of the rear vertical plate 10 in the main support arm A1; the two supports of the vibration assembly IA2 and vibration assembly IIA4 are respectively fixed to the upper ends of the left longitudinal beam 1 and the right longitudinal beam 4 in the main support arm A1; the left and right ends of the central shaft 16 of the bionic film-forming assembly A3 are respectively fixed to the two horizontal tubes of the vibration assembly IA2 and vibration assembly IIA4.

[0011] The frame assembly B consists of a wheel frame 18, a base 19, a connecting rod 20, a hydraulic cylinder 21, a suspension frame 22, a pin 23, a rear suspension 24, a pair of upright plates I 25, a pair of rear suspensions 26, a rear depth limiting roller 27, a pair of frame plates I 28, a front depth limiting roller 29, an axle 30, a pair of wheels 31, a pair of front suspensions 32, a pair of front upright plates 33, and a pair of rear upright plates 34. The suspension frame 22, hydraulic cylinder 21, connecting rod 20, base 19, rear suspension 24, and wheel frame 18 are arranged and fixedly connected from back to front. The two upright plates of the pair of upright plates I 25 and the two frames of the pair of frame plates I 28 are fixedly connected to the left and right sides of the rear suspension 24. The axle 30 is fixedly connected to the bottom of the wheel frame 18 at its center, and the two wheels of the wheel pair 31 are movably connected to the left and right sides of the axle 30; the two rear uprights of the rear uprights of the rear uprights of the rear uprights of the frame plate pair 34 are respectively fixedly connected to the inner rear part of the two frames of the frame plate pair Ⅰ28, and the two rear suspensions of the rear suspension pair 26 are respectively fixedly connected to the outer side of the two rear uprights; the two ends of the rear limiting roller 27 are movably connected to the lower ends of the two rear suspensions; the two front uprights of the front uprights of the front uprights of the front uprights of the frame plate pair Ⅰ28 are respectively fixedly connected to the inner rear part of the two frames of the frame plate pair Ⅰ28, and the two front suspensions of the front suspension pair 32 are respectively fixedly connected to the inner side of the two front uprights; the two ends of the front limiting roller 29 are movably connected to the lower ends of the two front suspensions; the pin 23 is located at the rear end of the suspension frame 22.

[0012] The film winding mechanism C consists of a frame C1, a film winding shaft assembly C2, a film winding chain mesh shaft group C3, and a film winding chain mesh 35. The frame C1 consists of a pair of upright plates II 36 and a connecting rod group 37. The two upright plates of the pair of upright plates II 36 are fixedly connected by three connecting rods of the connecting rod group 37. The upright plates are provided with sliding grooves 38. The film winding shaft assembly C2 consists of a film winding shaft 39 and a pair of baffles 40. The two baffles of the pair of baffles 40 are fixedly connected to the middle of the film winding shaft 39. The film winding shaft 39 of the film winding shaft assembly C2 is slidably connected to the sliding groove of the frame C1. The film winding chain mesh shaft group C3 consists of three film winding chain mesh shafts, which are movably connected to the upper rear, lower rear, and front positions between the vertical plate pair II 36, respectively. The film winding chain mesh 35 is sleeved on the outside of the three film winding chain mesh shafts. The film winding shaft 39 of the film winding shaft assembly C2 is located on the film winding chain mesh 35, and the two baffles of the baffle pair 40 are located on the left and right sides of the film winding chain mesh 35.

[0013] The residual film conveying mechanism D consists of a cover plate 41, roller I 42, frame plate pair II 43, cleaning plate 44, roller II 45, auger blade 46, roller III 47, and toothed stripping belt 48. Rollers I 42, II 45, and III 47 are arranged sequentially from back to front, and their left and right ends are movably connected to the two plates of frame plate pair II 43. The inner edge of the auger blade 46 is fixed to the outer ring of roller II 45. The toothed stripping belt 48 is fitted around roller I 42, roller II 45, and roller III 47, which are fixed to the auger blade 46, and is tumbling connected. The cover plate 41 is located on top of roller I 42. The cleaning plate 44 is obliquely fixed to the lower side of the two frame plates of frame plate pair II 43. The roller II 45, which is fixed to the auger blade 46, is located above the cleaning plate 44 and is connected to the front of the two frame plates of frame plate pair II 43 through roller II 45.

[0014] The aforementioned film-forming tooth, with its soil-entry end 17a having a contour curve biomimetic to the contour curve of the first toe of the mole cricket's foreclaw, has Gaussian equations for fitting the front and rear contours of the first toe of the mole cricket's foreclaw:

[0015] ;

[0016] Where: a is the amplitude coefficient, representing the peak height of the Gaussian function; b is the center position, representing the center of symmetry of the Gaussian function; c is the width parameter, where the two Gaussian peaks of the inner contour are defined by amplitude coefficients a1=0.126, a2=0.146, center position b1=0.464, b2=0.656 and width parameters c1=0.0635, c2=0.465 respectively, with a fitting effect of SSE=1.742 and R²=0.99959; the two Gaussian peaks of the outer contour are defined by amplitude coefficients a1=2062.908, a2=-2.811, center position b1=0.32721, b2=1.278 and width parameters c1=-0.759, c2=-2.755 respectively, with a fitting effect of SSE=6.574 and R²=0.99927.

[0017] Attitude sensor 11 provides data on the soil insertion attitude of the membrane lifting shovel; ultrasonic sensor 5 is used to measure the elongation of the air spring. The received change signals are converted into soil insertion depth information of the membrane lifting shovel teeth through a certain conversion relationship.

[0018] The data storage and processor 50 mainly comprises a main control module, a data acquisition module, a communication module, a power supply module, a solenoid valve drive module, and other modules. The main control module coordinates and manages the other modules, ensuring the system can perform its intended functions. The data acquisition module focuses on measuring ground height and the distance from the shovel tip to the frame, providing crucial data for the system. The communication module ensures smooth communication between the host computer of the control system and the main control module. The power supply module ensures each module can operate stably at its rated voltage. The solenoid valve drive module bridges the main control module and the solenoid valves. Other modules include a buzzer and an emergency stop switch; if the film-raising device control system malfunctions during the operation of the residual film recycling machine, the buzzer will sound an alarm.

[0019] The control system described is a fuzzy controller designed according to the operation process of the residual film recycling machine, conforming to this study. The difference between the actual and set depth is defined as E, and the error rate of change is EC. E and EC serve as the two inputs to the fuzzy controller, while the correction values ​​Δkp, Δki, and Δkd of the PID parameters are used as the outputs. First, E and EC are fuzzified. Fuzzy rules and membership functions are established to perform fuzzy inference on E and EC. Finally, the fuzzy values ​​are defuzzified to obtain the correction values ​​for the PID control algorithm. These correction values ​​are then applied to the PID controller, resulting in the PID control algorithm tuned to the fuzzy control algorithm. Finally, the air pressure control system adjusts the air spring to regulate the depth of the film-lifting shovel in the soil.

[0020] During operation, the film-lifting device conforms to the terrain under the influence of gravity and spring pressure, with the bionic film-lifting teeth always embedded in the soil. In the field, sensors connected to the conforming rod receive angle change signals, which are then converted into information about the depth of the film-lifting teeth's penetration into the soil. This information is then used by a pneumatic control system based on a fuzzy control algorithm and a PID control algorithm to adjust the spring's compression deformation, thereby controlling the pressure applied to the film-lifting device and adjusting the penetration depth of the teeth. As the machine moves forward, the bionic film-lifting teeth loosen the film adhering to the surface. As the teeth scrape across the loose, compacted soil, the deformation caused by the pressure of the teeth peels off any remaining film. With further movement, the remaining film is gradually lifted by adjacent teeth. The picking teeth on the plastic film picking chain lift the plastic film, which then rotates under power. The lifted film is transported obliquely upward with the chain, and then detached by the film-removing device. During the lifting process, the film undergoes a 180° rotation. When it reaches the film-removing device, due to the integrity and strength of the weather-resistant plastic film, the residual film on the teeth overcomes the friction between the teeth and the residual film under the action of the outer circle of the film-removing device, gradually detaching from the tooth mechanism and adhering to the film-removing device, thus completing the film removal process. The residual film finally falls from the film-removing device into the film-winding device. The wound film is then turned over by the hydraulic cylinder of the film-winding device to unload the film, and finally the residual film falls to the ground, completing the residual film recycling process.

[0021] The beneficial effects of this invention are as follows:

[0022] 1. The automatic control system of the present invention can effectively improve the film formation rate and residual film recovery rate during the operation of the residual film recycling machine, and the film formation quality is greatly improved.

[0023] 2. The biomimetic film-lifting spatula has a significantly higher film-lifting efficiency than the ordinary film-lifting spatula.

[0024] 3. The film winding chain can significantly improve film winding efficiency. Attached Figure Description

[0025] Figure 1 This is an axonometric view of a biomimetic residual film recycling device based on a fuzzy adaptive control system; Figure 2 This is an axonometric view of the vibratory film-forming mechanism (A);

[0026] Figure 3 This is an axonometric view of the main support arm (A1) of the vibratory film-forming mechanism (A);

[0027] Figure 4 Axonometric view of the air spring assembly I (A5) of the main support arm (A1);

[0028] Figure 5This is an axonometric view of the vibration component I (A2) of the vibration film-forming mechanism (A);

[0029] Figure 6 Axonometric view of the biomimetic film-forming component (A3) of the vibration film-forming mechanism (A);

[0030] Figure 7 Axonal view of the biomimetic film-forming spade teeth;

[0031] Figure 8 Left view of the vibratory film-forming mechanism (A);

[0032] Figure 9 The coordinates and fitted curves of the anterior and posterior contours of the first toe of the foreleg of the mole cricket in North China;

[0033] Figure 10 This is an isometric view of the rack assembly (B);

[0034] Figure 11 This is an axonometric view of the film winding mechanism (C);

[0035] Figure 12 This is an axonometric view of the main support structure of the film winding mechanism (C).

[0036] Figure 13 This is an axonometric view of the film roll assembly (C2);

[0037] Figure 14 This is an axonometric view of the film-coated chain shaft assembly (C3);

[0038] Figure 15 Axonometric view of the push auger (46) of the residual film conveying mechanism (D) and the frame body;

[0039] Figure 16 This is an isometric view of the residual film conveying mechanism (D);

[0040] Figure 17 Axonometric view of the inspection component (E);

[0041] Figure 18 A block diagram of the hardware system;

[0042] Figure 19 This is a schematic diagram of the fuzzy PID algorithm model;

[0043] Among them: A. Vibration film raising mechanism A1. Main support arm A2. Vibration component I A3. Film raising component A4. Vibration component II A5. Air spring component I A6. Air spring component II B. Frame assembly C. Film winding mechanism C1. Frame C2. Film winding shaft assembly C3. Film winding chain shaft group D. Residual film conveying mechanism E. Detection components 1. Left longitudinal beam 2. Upper crossbeam 3. Lower crossbeam 4. Right longitudinal beam 5. Ultrasonic sensor 6. Air spring 7. Spring 8. Support rod 9. Horizontal plate 10. Rear vertical plate 11. Attitude sensor 12. Horizontal tube 13. Front vertical plate 14. Support 15. Linkage pair 16. Central shaft 17. Film raising gear group 17a. Soil entry end 18. Wheel frame 19. Base 20. Linkage 21. Hydraulic cylinder 22. Suspension frame 23. Pin 24. Rear suspension 25. Vertical plate pair I 26. Rear suspension pair 27. Rear depth limiting roller 28. Frame plate pair I 29. Front limit roller 30. Axle 31. Wheel pair 32. Front suspension pair 33. Front upright pair 34. Rear upright pair 35. Film winding chain mesh 36. Upright pair II 37. Linkage assembly 38. Slide groove 39. Film winding shaft 40. Baffle pair 41. Cover plate 42. Roller I 43. Frame plate pair II 44. Cleaning plate 45. Roller II 46. Screwdriver blades 47. Roller III 48. Toothed stripping belt 49. Power supply line 50. Data storage and processor. Detailed Implementation

[0044] The present invention will now be described in conjunction with the accompanying drawings.

[0045] As attached Figure 1 As shown, the present invention discloses a biomimetic residual film recycling device based on a fuzzy adaptive control system, comprising a vibratory film-raising mechanism A, a frame assembly B, a film winding mechanism C, a residual film conveying mechanism D, and a detection component E. The detection component E consists of a power line 49 and a data storage and processor 50. The detection component E is located near the left end of the upper crossbeam 2 of the main support arm A1 in the vibratory film-raising mechanism A, and is connected to the data storage and processor 50 via the power line 49. The vibration assembly ⅠA2 of the vibratory film-raising mechanism A... The horizontal plate of the vibration component IIA4 is fixedly connected to the front of the frame plate of the frame assembly B to I28; the two vertical plates of the film winding mechanism C to II36 are fixedly connected to the rear ends of the two frame plates of the frame assembly B to I28; the two ends of the roller III47 of the residual film conveying mechanism D are fixedly connected to the lower front of the two frame plates of the frame assembly B to I28, and the two ends of the roller I42 of the residual film conveying mechanism D are fixedly connected to the upper rear of the two frame plates of the frame assembly B to I28, forming an overall posture that is lower in the front and higher in the back.

[0046] like Figures 2 to 8As shown, the vibration film-forming mechanism A consists of a main support arm A1, a vibration component IA2, a bionic film-forming component A3, and a vibration component IIA4. The main support arm A1 is composed of air spring components IA5 and IIA6, a left longitudinal beam 1, an upper crossbeam 2, a lower crossbeam 3, and a right longitudinal beam 4. Air spring components IA5 and IIA6 have identical structures, both consisting of an ultrasonic sensor 5 and an air spring 6, with the ultrasonic sensor 5 fixedly attached to the bottom of the air spring 6. The left longitudinal beam 1 and right longitudinal beam 4 are respectively fixed to both ends of the lower crossbeam 3. Air spring components IA5 and IIA6 are respectively movably connected to the upper crossbeam 2 and the lower crossbeam 3 via pins. The bionic film-forming component A3 consists of a central shaft 16 and 15 film-forming teeth of a film-forming tooth assembly 17, with the 15 teeth evenly distributed and fixed to the central shaft 16. Vibration components IA2 and IIA4 have identical structures but opposite left-right orientations, both consisting of a spring 7, a support rod 8, and a crossbeam 4. The system consists of plate 9, rear vertical plate 10, attitude sensor 11, horizontal tube 12, front vertical plate 13, support 14, and connecting rod pair 15. The upper end of the rear vertical plate 10 is fixed to the rear of the horizontal plate 9; the lower end of the front vertical plate 13 is fixed to the top of the horizontal tube 12; the upper and lower ends of the two connecting rods of the connecting rod pair 15 are movably connected to the middle of the rear vertical plate 10 and the front vertical plate 13 respectively via pins; the spring 7 is limited by the support rod 8, the upper end of the support rod 8 is pin connected to the lower front of the horizontal plate 9, and the lower end of the support rod 8 is pin connected to the support 14. The attitude sensor 11 is fixed to the upper end of the front vertical plate 13; the front ends of the two horizontal plates of the vibration assembly IIA4 and vibration assembly IA2 are respectively fixed to the left and right ends of the rear vertical plate 10 in the main support arm A1; the two supports of the vibration assembly IA2 and vibration assembly IIA4 are respectively fixed to the upper ends of the left longitudinal beam 1 and the right longitudinal beam 4 in the main support arm A1; the left and right ends of the central shaft 16 of the bionic film-forming assembly A3 are respectively fixed to the two horizontal tubes of the vibration assembly IA2 and vibration assembly IIA4.

[0047] like Figure 9 As shown, a high-definition camera was used to collect information on the structure of the first toe of the foreleg of the North China mole cricket. The two-dimensional contour curve of the first toe was obtained through image processing software. Then, the two-dimensional contour curve was imported into AutoCAD to assign horizontal and vertical coordinate values. The coordinate data was imported into the data processing software ORIGIN and scatter plots of the front and rear contours of the first toe were drawn respectively. Peak fitting was used in the data analysis tool to perform fitting analysis on the two sets of scatter plots, and the coordinates of the front and rear contours of the first toe of the foreleg of the North China mole cricket and the fitting curve were obtained.

[0048] like Figure 10As shown, the frame assembly B consists of a wheel frame 18, a base 19, a connecting rod 20, a hydraulic cylinder 21, a suspension frame 22, a pin 23, a rear suspension 24, a pair of upright plates I 25, a pair of rear suspensions 26, a rear depth limiting roller 27, a pair of frame plates I 28, a front depth limiting roller 29, an axle 30, a pair of wheels 31, a pair of front suspensions 32, a pair of front upright plates 33, and a pair of rear upright plates 34. The suspension frame 22, hydraulic cylinder 21, connecting rod 20, base 19, rear suspension 24, and wheel frame 18 are arranged and fixedly connected in sequence from back to front. The two upright plates of the pair of upright plates I 25 and the two frames of the pair of frame plates I 28 are fixedly connected to the left and right sides of the rear suspension 24. Both sides; the axle 30 is fixedly connected to the bottom of the wheel frame 18, and the two wheels of the wheel pair 31 are movably connected to the left and right sides of the axle 30; the two rear uprights of the rear uprights of the rear uprights of the rear uprights of the frame plate pair I28 are respectively fixed to the inner rear part of the frame, and the two rear suspensions of the rear suspension pair 26 are respectively fixed to the outer side of the two rear uprights; the two ends of the rear limiting roller 27 are movably connected to the lower ends of the two rear suspensions; the two front uprights of the front uprights of the front uprights of the front uprights of the front uprights of the frame plate pair I28 are respectively fixed to the inner rear part of the frame, and the two front suspensions of the front suspension pair 32 are respectively fixed to the inner side of the two front uprights; the two ends of the front limiting roller 29 are movably connected to the lower ends of the two front suspensions; the pin 23 is located at the rear end of the suspension frame 22.

[0049] like Figures 11 to 14 As shown, the film winding mechanism C consists of a frame C1, a film winding shaft assembly C2, a film winding chain mesh shaft group C3, and a film winding chain mesh 35. The frame C1 consists of a pair of upright plates II 36 and a connecting rod group 37. The two upright plates of the pair of upright plates II 36 are fixedly connected by three connecting rods of the connecting rod group 37. The upright plates are provided with sliding grooves 38. The film winding shaft assembly C2 consists of a film winding shaft 39 and a pair of baffles 40. The two baffles of the pair of baffles 40 are fixedly connected to the middle of the film winding shaft 39. The film winding shaft 39 of the film winding shaft assembly C2 is slidably connected to the sliding groove of the frame C1. The film winding chain mesh shaft group C3 consists of three film winding chain mesh shafts, which are movably connected to the upper rear, lower rear, and front positions between the vertical plate pair II 36, respectively. The film winding chain mesh 35 is sleeved on the outside of the three film winding chain mesh shafts. The film winding shaft 39 of the film winding shaft assembly C2 is located on the film winding chain mesh 35, and the two baffles of the baffle pair 40 are located on the left and right sides of the film winding chain mesh 35.

[0050] like Figure 15As shown, the film winding mechanism C consists of a frame C1, a film winding shaft assembly C2, a film winding chain shaft group C3, and a film winding chain 35. The frame C1 consists of upright plate pairs II 36 and a connecting rod group 37. The two upright plates of the upright plate pairs II 36 are fixedly connected by three connecting rods of the connecting rod group 37. Sliding grooves 38 are provided on the upright plates. The film winding shaft assembly C2 consists of a film winding shaft 39 and a baffle pair 40. The two baffles of the baffle pair 40 are fixedly connected to the middle of the film winding shaft 39. The film winding shaft 39 of the film winding shaft assembly C2 is slidably connected to the slide groove of the frame C1; the film winding chain net shaft group C3 consists of three film winding chain net shafts, which are respectively movably connected to the upper rear, lower rear, and front positions between the vertical plate pair II 36; the film winding chain net 35 is sleeved on the outside of the three film winding chain net shafts, the film winding shaft 39 of the film winding shaft assembly C2 is located on the film winding chain net 35, and the two baffles of the baffle pair 40 are located on the left and right sides of the film winding chain net 35.

[0051] like Figure 16 and Figure 17 As shown, the detection component E consists of a power supply line 49 and a data storage and processor 50. The data storage and processor mainly includes a main control module, a data acquisition module, a communication module, a power supply module, a solenoid valve drive module, and other modules. The main control module is responsible for coordinating and managing other modules to ensure that the system can perform its intended functions; the data acquisition module focuses on measuring the ground height and the distance from the tip of the shovel teeth to the frame, providing key data for the system; the communication module ensures smooth communication between the host computer of the control system and the main control module; the power supply module ensures that each module can operate stably at its rated voltage; the solenoid valve drive module is used to bridge the main control module and the solenoid valves; other modules include a buzzer and an emergency stop switch. If the control system of the film-raising device malfunctions during the operation of the residual film recycling machine, the buzzer will sound an alarm.

[0052] like Figure 18 As shown, the control system defines the difference between the actual soil penetration depth and the set soil penetration depth as E, and the error change rate as EC. E and EC serve as the two inputs to the fuzzy controller, and the correction values ​​Δkp, Δki, and Δkd of the PID parameters serve as the outputs of the fuzzy controller. First, E and EC are fuzzified. By formulating fuzzy rules and membership functions, fuzzy inference is performed on E and EC. Finally, the fuzzy values ​​are defuzzified to obtain the correction values ​​for the PID control algorithm. These correction values ​​are then applied to the PID controller, resulting in the PID control algorithm tuned to the fuzzy control algorithm. Finally, the air pressure control system adjusts the air spring to regulate the soil penetration depth of the membrane excavator.

Claims

1. A biomimetic residual film recycling device based on a fuzzy adaptive control system, comprising a vibrating film-raising mechanism (A), a frame assembly (B), a film winding mechanism (C), a residual film conveying mechanism (D), and a detection component (E), wherein the detection component (E) comprises a power line (49) and a data storage and processor (50); the detection component (E) is located on the upper crossbeam (2) of the main support arm (A1) in the vibrating film-raising mechanism (A) near the left end, and is connected to the data storage and processor (50) via the power line (49) of the detection component (E); the cross plates of the vibration components I (A2) and II (A4) of the vibrating film-raising mechanism (A) are connected to the frame assembly (B). The frame plate is fixed to the front of I (28); the two upright plates of the film winding mechanism (C) are fixed to the rear ends of the two frame plates of the frame plate of I (28) of the frame assembly (B); the two ends of the roller III (47) of the residual film conveying mechanism (D) are fixed to the lower front of the two frame plates of I (28) of the frame assembly (B), and the two ends of the roller I (42) of the residual film conveying mechanism (D) are fixed to the upper rear of the two frame plates of I (28) of the frame assembly (B), forming an overall posture that is lower in the front and higher in the back; the frame assembly (B) consists of a wheel frame (18), a base (19), a connecting rod (20), a hydraulic cylinder (21), and a suspension. The suspension consists of a bracket (22), pins (23), rear suspension (24), upright plate pair I (25), rear suspension pair (26), rear depth limiting roller (27), frame plate pair I (28), front depth limiting roller (29), wheel axle (30), wheel pair (31), front suspension pair (32), front upright plate pair (33), and rear upright plate pair (34). The suspension bracket (22), hydraulic cylinder (21), connecting rod (20), base (19), rear suspension (24), and wheel frame (18) are arranged and fixed from back to front. The two upright plates of upright plate pair I (25) and the two frames of frame plate pair I (28) are fixed to the left and right sides of the rear suspension (24). The wheel axle (30) The center is fixed to the bottom of the wheel frame (18), and the two wheels of the wheel pair (31) are movably connected to the left and right sides of the axle (30); the two rear uprights of the rear uprights (34) are respectively fixed to the inner rear of the two frames of the frame plate pair I (28), and the two rear suspensions of the rear suspension pair (26) are respectively fixed to the outer side of the two rear uprights; the two ends of the rear limiting roller (27) are movably connected to the lower ends of the two rear suspensions; the two front uprights of the front uprights (33) are respectively fixed to the inner rear of the two frames of the frame plate pair I (28), and the two front suspensions of the front suspension pair (32) are respectively fixed to the inner side of the two front uprights; the two ends of the front limiting roller (29) are movably connected to the lower ends of the two front suspensions; the pin (23) is located at the rear end of the suspension frame (22);The film winding mechanism (C) consists of a frame (C1), a film winding shaft assembly (C2), a film winding chain shaft group (C3), and a film winding chain (35). The frame (C1) consists of a pair of upright plates (36) and a linkage group (37). The two upright plates of the pair of upright plates (36) are fixedly connected by the three linkages of the linkage group (37). The upright plates are provided with a sliding groove (38). The film winding shaft assembly (C2) consists of a film winding shaft (39) and a pair of baffles (40). The two baffles of the pair of baffles (40) are fixedly connected to the middle of the film winding shaft (39). The film winding shaft (39) of the film winding shaft assembly (C2) is slidably connected to the sliding groove of the frame (C1). The film winding chain shaft assembly (C3) consists of three film winding chain shafts, which are movably connected to the upper rear, lower rear, and front of the vertical plate pair II (36) respectively; the film winding chain net (35) is sleeved on the outside of the three film winding chain shafts, and the film winding shaft (39) of the film winding shaft assembly (C2) is located on the film winding chain net (35), and the two baffles of the baffle pair (40) are located on the left and right sides of the film winding chain net (35); the residual film conveying mechanism (D) consists of a cover plate (41), roller I (42), frame plate pair II (43), cleaning plate (44), roller II (45), auger blades (46), roller III (47), and nail tooth stripping belt (48), wherein roller I (42), roller II (45), and roller III (47) are... Arranged from back to front, the left and right ends of rollers I (42), II (45), and III (47) are movably connected to the two plates of frame plate pair II (43); the inner edge of the auger blade (46) is fixed to the outer ring of roller II (45); the toothed stripping belt (48) is sleeved on roller I (42), roller II (45) and roller III (47) which are fixed to the auger blade (46), and is rolled together; the cover plate (41) is located on top of roller I (42); the cleaning plate (44) is inclinedly fixed to the lower side of the two frame plates of frame plate pair II (43); the roller II (45) which is fixed to the auger blade (46) is located above the cleaning plate (44) and is connected to the front of the two frame plates of frame plate pair II (43) through roller II (45); Its features are, The vibration film-forming mechanism (A) consists of a main support arm (A1), vibration component I (A2), a bionic film-forming component (A3), and vibration component II (A4). The main support arm (A1) consists of air spring component I (A5), air spring component II (A6), a left longitudinal beam (1), an upper crossbeam (2), a lower crossbeam (3), and a right longitudinal beam (4). Air spring component I (A5) and air spring component II (A6) have the same structure, both consisting of an ultrasonic sensor (5) and an air spring (6), and the ultrasonic sensor (5) is fixed to the air spring. Below the gas spring (6); the left longitudinal beam (1) and the right longitudinal beam (4) are respectively fixed to both ends of the lower crossbeam (3); the air spring assembly I (A5) and the air spring assembly II (A6) are respectively connected to the upper crossbeam (2) and the lower crossbeam (3); the bionic film-forming assembly (A3) consists of a central shaft (16) and 15 film-forming teeth of the film-forming tooth group (17), the 15 film-forming teeth are evenly distributed and fixed to the central shaft (16); the vibration assembly I (A2) and the vibration assembly II (A4) have the same structure, but opposite left and right directions, and both consist of a spring (7), a support rod (8), and a cross plate (9). The system consists of a rear vertical plate (10), an attitude sensor (11), a horizontal tube (12), a front vertical plate (13), a support (14), and a connecting rod pair (15). The upper end of the rear vertical plate (10) is fixed to the rear of the horizontal plate (9); the lower end of the front vertical plate (13) is fixed to the top of the horizontal tube (12); the upper and lower ends of the two connecting rods of the connecting rod pair (15) are respectively movably connected to the middle of the rear vertical plate (10) and the front vertical plate (13) by pins; the spring (7) is limited by the support rod (8), the upper end of the support rod (8) is connected to the lower part of the front of the horizontal plate (9) by a pin, and the lower end of the support rod (8) is connected to the support (14) by a pin. Connection; the attitude sensor (11) is fixed to the upper end of the front vertical plate (13); the front ends of the two horizontal plates of the vibration component II (A4) and vibration component I (A2) are respectively fixed to the left and right ends of the rear vertical plate (10) in the main support arm (A1); the two supports of vibration component I (A2) and vibration component II (A4) are respectively fixed to the left longitudinal beam (1) and right longitudinal beam (4) in the main support arm (A1); the left and right ends of the central axis (16) of the bionic film forming component (A3) are respectively fixed to the two horizontal tubes of vibration component I (A2) and vibration component II (A4).

2. The biomimetic residual film recycling device based on a fuzzy adaptive control system according to claim 1, characterized in that: The contour curve of the soil-penetrating tooth (17a) is biomimetic to the contour curve of the first toe of the foreclaw of the mole cricket in North China. The fitting Gaussian equations for the front and rear contours of the first toe of the mole cricket's foreclaw are: ； Where: a is the amplitude coefficient, representing the peak height of the Gaussian function; b is the center position, representing the center of symmetry of the Gaussian function; c is the width parameter, where the two Gaussian peaks of the inner contour are defined by amplitude coefficients a1=0.126, a2=0.146, center position b1=0.464, b2=0.656 and width parameters c1=0.0635, c2=0.465 respectively, with a fitting effect of SSE=1.742 and R²=0.99959; the two Gaussian peaks of the outer contour are defined by amplitude coefficients a1=2062.908, a2=-2.811, center position b1=0.32721, b2=1.278 and width parameters c1=-0.759, c2=-2.755 respectively, with a fitting effect of SSE=6.574 and R²=0.99927.

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