Electrically-driven intelligent peanut harvester and control method thereof

Abstract

The invention discloses an electrically-driven intelligent peanut harvester and a control method thereof. The electrically-driven intelligent peanut harvester comprises a tractor, a harvester body and a control system. A rack of the harvester body is provided with a seedling pressing roller, a digging shovel, a conveying and lifting mechanism and a seedling turning and laying mechanism which are driven by a first motor and a second motor to operate respectively. The electric drive system comprises a generator, a battery pack and a speed increasing box which are installed on the machine frame, the generator is electrically connected with the battery pack, and the speed increasing box establishes a power transmission relation between a tractor PTO output shaft and a generator input shaft. Both the generator and the battery pack can supply power to the power utilization circuit, and at least the connection and disconnection between the battery pack and the power utilization circuit can be controlled by the control system. The electric drive system works cooperatively with the speed increasing box through the generator, the battery pack and the speed increasing box, efficient and flexible energy management and power supply are achieved, and continuous operation is guaranteed. The control system can accurately regulate and control the rotating speed of the first motor and the rotating speed of the second motor, and therefore accurate control over the running speed of the conveying and lifting mechanism and the seedling turning and laying mechanism is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of peanut harvesters, and in particular to an electric-driven intelligent peanut harvester and a control method thereof. Background Art

[0002] With the continuous improvement of agricultural mechanization, automated peanut harvesting has become an important means of improving agricultural production efficiency and reducing labor intensity. During the peanut harvest, processes such as digging, transporting, and turning and drying directly affect the harvest quality and fruit integrity. Proper turning and drying can help improve drying efficiency and reduce losses, which is crucial for achieving an efficient and high-quality harvest.

[0003] The patent application number 2023113175662 previously filed by the applicant discloses a root and fruit crop digging and drying machine, which includes a frame, a digging mechanism, a conveying mechanism, a turning and spreading mechanism, and a transmission system. The digging mechanism, the conveying mechanism, and the turning and spreading mechanism are installed on the frame in sequence from front to back. The transmission system consists of an input box, a first shaft, a second shaft, a commutator, a belt assembly, and a chain drive assembly, which realizes the power transmission from the tractor output shaft to each working component. In the above-mentioned patent solution, the tractor PTO output shaft is used as the power source, and the various working components are driven by mechanical transmission. However, the operating speed ratio of each part is fixed and cannot be flexibly adjusted according to the working conditions, making it difficult for the conveying mechanism and the turning and spreading mechanism to match the operating speed of the machine, and the adaptability is poor. Although other solutions using motor drive have achieved structural simplification and certain control functions, they usually rely on batteries for power supply and require frequent charging, which affects the ability to operate continuously. In addition, the existing technology lacks an effective control mechanism for the reasonable matching between the conveying speed, laying speed and the forward speed of the machine, which can easily cause congestion or missed harvests, restricting the intelligent and efficient development of mechanized peanut harvesting. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides an electric-driven intelligent peanut harvester and a control method thereof that can accurately adjust the machine's operating speed, conveying speed, and laying speed, and can ensure that the machine can operate continuously.

[0005] Technical Solution: To achieve the above-mentioned objectives, the present invention provides an electrically driven intelligent peanut harvester comprising a tractor, a harvester body, and a control system. The harvester body comprises a frame having a three-point suspension mechanism at the front end thereof connected to the tractor. The frame is provided with a seedling pressing roller, a digging shovel, a conveying and lifting mechanism, and a seedling turning and laying mechanism arranged in sequence from front to back. The conveying and lifting mechanism and the seedling turning and laying mechanism are driven by a first motor and a second motor, respectively.

[0006] The tractor further includes an electric drive system, the electric drive system including a generator, a battery pack, and a speed increasing gearbox mounted on the frame, the generator being electrically connected to the battery pack; the speed increasing gearbox establishing a power transmission relationship between the PTO output shaft of the tractor and the input shaft of the generator;

[0007] The generator and the battery pack can both supply power to the power line, and at least the connection and disconnection between the battery pack and the power line can be controlled by a control system; the power units in the power line include the first motor and the second motor.

[0008] The above-mentioned electric drive system can realize multiple power supply modes: the first is that when the battery pack is fully charged, the PTO output shaft of the tractor does not rotate, the battery pack and the power line are in a conductive state, and the battery pack directly supplies power to the power units including the first motor and the second motor; the second is that when the battery pack power is lower than a first preset threshold, the PTO output shaft of the tractor is started, and the connection between the battery pack and the power line is cut off at the same time. At this time, the power output by the PTO output shaft is converted into electrical energy by the generator and supplies power to the power line, and the excess electrical energy is charged to the battery pack until the battery pack power is higher than a second preset threshold.

[0009] Furthermore, the tractor's PTO output shaft is connected to the input shaft of the speed-increasing gearbox via a universal joint drive shaft. Furthermore, the generator and speed-increasing gearbox are arranged one above the other, with the output shaft of the speed-increasing gearbox connected to the input shaft of the generator via a belt drive mechanism. The power output from the PTO output shaft is then transferred to the generator after being accelerated by the speed-increasing gearbox.

[0010] Furthermore, the generator is connected to the battery pack and the power line through a power distribution module. The control system controls the power distribution module to give priority to the power supply of the power line, and when there is excess power, the excess power is charged to the battery pack.

[0011] Furthermore, the connection between the generator and the battery pack can be controlled by the control system. This electric drive system enables a third power supply mode: when there is a sudden high-power supply demand, the control system disconnects the generator from the battery pack and connects the battery pack to the power lines. This allows the generator and battery pack to simultaneously provide kinetic energy to the power lines, meeting the high-power supply demand without increasing the specifications of the battery pack or generator, effectively saving costs.

[0012] Furthermore, in the three-point hitch mechanism, the two lower hitch points are in rotational connection with the tractor, and the upper hitch point is connected to the tractor via an electric push rod; the electric push rod is also an electric unit in the power circuit;

[0013] Both ends of the rice seedling pressing roller are connected to the frame through elastic mechanisms, and a linear potentiometer is provided between each end and the frame; the linear potentiometer and the electric push rod are both connected to the control system.

[0014] The above-mentioned electric push rod works intermittently. When the electric push rod does not need to work, the first power supply mode or the second power supply mode can be used to power the power circuit; when the electric push rod needs to work, since the power of the electric push rod is relatively large, the above-mentioned third power supply mode is used to power the power circuit.

[0015] A control method for an electric-driven intelligent peanut harvester is applied to the above-mentioned electric-driven intelligent peanut harvester, and the method comprises:

[0016] Obtaining remaining power data of the battery pack, and determining whether the remaining power is lower than a first preset threshold;

[0017] When the remaining power is lower than a first preset threshold, starting the PTO output shaft of the tractor and simultaneously disconnecting the battery pack from the power line;

[0018] When the remaining power is higher than a second preset threshold, the connection between the battery pack and the power line is connected, and the PTO output shaft of the tractor is stopped.

[0019] Furthermore, the method further comprises:

[0020] Obtaining a first rotational speed and a second rotational speed corresponding to the first motor and the second motor, and obtaining a forward speed of the tractor;

[0021] Based on the first rotational speed and the second rotational speed, respectively, a conveying speed of the conveying and lifting mechanism and a laying speed of the rice seedling turning and laying mechanism are calculated, and accordingly, a ratio of the conveying speed to the forward speed is calculated as a first ratio, and a ratio of the laying speed to the conveying speed is calculated as a second ratio;

[0022] It is determined whether the first ratio and the second ratio are compatible with the preset first ratio and the preset second ratio respectively; if not, the speed of the corresponding motor is adjusted.

[0023] In this solution, the preset value range of the first ratio is 0.8~1.2, and the preset value range of the second ratio is 0.5~0.7.

[0024] Furthermore, the method further comprises:

[0025] Calculating ridge height data based on the data of the linear potentiometer;

[0026] Based on the ridge height data and the current digging depth data, it is determined whether the two match. If they do not match, the electric push rod is controlled to operate to adjust the digging depth of the digging shovel.

[0027] Beneficial effects: The electric-driven intelligent peanut harvester and the control method thereof of the present invention have the following beneficial effects:

[0028] (1) The electric drive system of the above-mentioned electric drive intelligent peanut harvester achieves efficient and flexible energy management and power supply through the coordinated work of the generator, battery pack and speed increaser, realizing efficient energy utilization and continuous operation, allowing the machine to operate for a long time without worrying about the battery pack running out of power, thereby improving the intelligence and energy saving of peanut harvesting. The control system can accurately adjust the speed of the first motor and the second motor as needed to achieve precise control of the operating speed of both the conveying and lifting mechanism and the rice seedling turning and laying mechanism.

[0029] (2) The ridge pressing roller can not only push the peanut ridge forward to facilitate digging and subsequent turning, but also detect the height of the ridge. The control system can obtain the ridge height data according to the displacement value collected by the linear potentiometer, and adjust the extension and contraction amount of the electric push rod based on the ridge height data to control the digging depth of the excavator shovel, so that the digging depth data is appropriate, avoiding digging too shallowly to miss the fruit or digging too deep to cause excessive resistance to the forward movement of the machine.

[0030] (3) The speed of the first motor and the second motor is adjusted based on the preset first ratio and second ratio, which can ensure that the relationship between the machine speed, the conveying speed of the conveying and lifting mechanism, and the laying speed of the rice seedling turning and laying mechanism always remains reasonable, thereby preventing the crops from being jammed at the digging shovel due to the mismatch between the machine speed and the conveying speed, and preventing the peanut plants from being pulled backward and transported before they are completely dug out. It can also prevent the losses caused by the unreasonable distribution of peanut plants on the conveying and lifting mechanism due to the laying speed being too fast or too slow. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a side view of the electric-driven intelligent peanut harvester;

[0032] Figure 2 This is a top view of the electric-driven intelligent peanut harvester;

[0033] Figure 3 for Figure 1 A magnified structural diagram of part A;

[0034] Figure 4 This is the structural diagram of the conveying and lifting mechanism;

[0035] Figure 5 The figure is a flow chart of the control method of the electric-driven intelligent peanut harvester.

[0036] In the figure: 1-frame; 11-three-point suspension mechanism; 2-seedling pressing roller; 3-digging shovel; 4-conveying and lifting mechanism; 41-chain; 42-rod; 43-vibrating wheel assembly; 44-support weighing mechanism; 44a-support wheel; 44b-pressure sensor; 5-seedling turning and laying mechanism; 6-electric drive system; 61-generator; 62-battery pack; 63-speed increaser; 64-first motor; 65-second motor; 66-electric push rod; 67-universal joint drive shaft; 68-belt drive mechanism; 71-elastic mechanism; 72-linear potentiometer; A-tractor; B-harvester body. DETAILED DESCRIPTION

[0037] The present invention will be further described below with reference to the accompanying drawings.

[0038] like Figure 1 and Figure 2 The electrically driven intelligent peanut harvester shown includes a tractor A, a harvester body B, and a control system. The harvester body B includes a frame 1, the front end of which has a three-point suspension mechanism 11 connected to the tractor A. The frame 1 is equipped with a rice seedling pressing roller 2, a digging shovel 3, a conveying and lifting mechanism 4, and a rice seedling turning and laying mechanism 5, arranged in order from front to back. The conveying and lifting mechanism 4 and the rice seedling turning and laying mechanism 5 are driven by a first motor 64 and a second motor 65, respectively.

[0039] The tractor further includes an electric drive system 6, which includes a generator 61, a battery pack 62, and a speed increasing gearbox 63 mounted on the frame 1. The generator 61 is electrically connected to the battery pack 62. The speed increasing gearbox 63 establishes a power transmission relationship between the PTO output shaft of the tractor A and the input shaft of the generator 61.

[0040] The generator 61 and the battery pack 62 can both supply power to the power line, and at least the connection and disconnection between the battery pack 62 and the power line can be controlled by a control system; the power units in the power line include the first motor 64 and the second motor 65.

[0041] The above-mentioned electric drive system 6 can realize multiple power supply modes: first, when the battery pack 62 is fully charged, the PTO output shaft of the tractor A does not rotate, the battery pack 62 and the power line are in a conductive state, and the battery pack 62 directly supplies power to the power units including the first motor 64 and the second motor 65; second, when the charge of the battery pack 62 is lower than a first preset threshold, the PTO output shaft of the tractor A is started, and the connection between the battery pack 62 and the power line is cut off. At this time, the power output by the PTO output shaft is converted into electrical energy by the generator 61 and supplies power to the power line. The excess electrical energy is charged to the battery pack 62 until the charge of the battery pack 62 is higher than the second preset threshold.

[0042] Preferably, the PTO output shaft of the tractor A is connected to the input shaft of the speed increaser 63 via a universal joint drive shaft 67. Furthermore, the generator 61 and the speed increaser 63 are arranged vertically, and the output shaft of the speed increaser 63 is connected to the input shaft of the generator 61 via a belt drive mechanism 68. The power outputted by the PTO output shaft is accelerated by the speed increaser 63 and then transmitted to the generator 61.

[0043] The electric drive system 6 of the above-mentioned intelligent peanut harvester achieves efficient and flexible energy management and power supply through the coordinated operation of the generator 61, battery pack 62, and speed increaser 63. This ensures efficient energy utilization and continuous operation, allowing the machine to operate for extended periods without worrying about battery pack 62 running out of power, thereby enhancing the intelligent and energy-efficient nature of peanut harvesting. The control system can precisely adjust the speed of the first motor 64 and the second motor 65 as needed to achieve precise control of the operating speeds of both the conveying and lifting mechanism 4 and the rice seedling turning and laying mechanism 5.

[0044] Preferably, the generator 61 is connected to the battery pack 62 and the power line through a power distribution module. The control system controls the power distribution module to give priority to the power supply of the power line, and when there is excess power, the excess power is charged to the battery pack 62.

[0045] Preferably, the connection between the generator 61 and the battery pack 62 can be controlled by the control system. Based on this electric drive system 6, a third power supply mode can be implemented: when there is a transient high-power supply demand, the control system disconnects the generator 61 and the battery pack 62 and connects the battery pack 62 to the power line. In this way, the generator 61 and the battery pack 62 can simultaneously provide kinetic energy to the power line, meeting the high-power supply demand without increasing the specifications of the battery pack 62 or the generator 61, which can effectively save costs.

[0046] Preferably, in the three-point hitch mechanism 11, the two lower hitch points are in rotational connection with the tractor A, and the upper hitch point is connected to the tractor A via an electric push rod 66; the electric push rod 66 is also an electrical unit in the electrical circuit;

[0047] like Figure 3 As shown, the two ends of the press roller 2 are connected to the frame 1 through elastic mechanisms 71 respectively. The elastic mechanisms 71 enable the two ends of the press roller 2 to slide elastically relative to the frame 1 respectively, and a linear potentiometer 72 is provided between each end of the press roller 2 and the frame 1; the linear potentiometer 72 and the electric push rod 66 are both connected to the control system.

[0048] The ridge pressing roller 2 can not only push the peanut ridge forward to facilitate digging and subsequent turning of the ridge, but also detect the ridge height. The control system can obtain the ridge height data according to the displacement value collected by the linear potentiometer 72, and adjust the extension and contraction amount of the electric push rod 66 based on the ridge height data to control the digging depth of the digging shovel 3, so that the digging depth data is appropriate, avoiding digging too shallowly to miss the fruit or digging too deep to cause excessive forward resistance of the machine.

[0049] The above-mentioned electric push rod 66 works intermittently. When the electric push rod 66 does not need to work, the first power supply mode or the second power supply mode can be used to power the power line; when the electric push rod 66 needs to work, since the power of the electric push rod 66 is relatively large, the above-mentioned third power supply mode is used to power the power line.

[0050] A control method for an electric drive intelligent peanut harvester is applied to the above-mentioned electric drive intelligent peanut harvester, such as Figure 5 As shown, the method includes the following steps S101-S103:

[0051] Step S101, obtaining the remaining power data of the battery pack 62, and determining whether the remaining power is lower than a first preset threshold, if yes, proceeding to step S102;

[0052] Step S102: start the PTO output shaft of tractor A and simultaneously cut off the connection between the battery pack 62 and the power line;

[0053] Step S103 : When the remaining power is higher than a second preset threshold, the connection between the battery pack 62 and the power line is connected, and the PTO output shaft of the tractor A is stopped.

[0054] Preferably, the method further includes the following steps S201-S203:

[0055] Step S201, obtaining a first rotational speed and a second rotational speed corresponding to the first motor 64 and the second motor 65, and obtaining a forward speed of the tractor A;

[0056] Step S202, based on the first rotational speed and the second rotational speed, respectively, calculating a conveying speed of the conveying and lifting mechanism 4 and a laying speed of the rice seedling turning and laying mechanism 5, and accordingly calculating a ratio of the conveying speed to the forward speed as a first ratio, and a ratio of the laying speed to the conveying speed as a second ratio;

[0057] Step S203 , determining whether the first ratio and the second ratio are compatible with the preset first ratio and the preset second ratio respectively; if not, adjusting the speed of the corresponding motor.

[0058] In this embodiment, the preset first ratio ranges from 0.8 to 1.2, and the preset second ratio ranges from 0.5 to 0.7.

[0059] By adjusting the speed of the first motor 64 and the second motor 65 based on the preset first ratio and the second ratio, it can be ensured that the relationship between the machine speed, the conveying speed of the conveying and lifting mechanism 4, and the laying speed of the rice seedling turning and laying mechanism 5 always remains reasonable, preventing the crops from being jammed at the digging shovel 3 due to the mismatch between the machine speed and the conveying speed, and preventing the peanut plants from being pulled backward and transported before they are completely dug out. It can also prevent the losses caused by the unreasonable distribution of peanut plants on the conveying and lifting mechanism 4 due to the laying speed being too fast or too slow.

[0060] Preferably, the method further includes the following steps S301-S302:

[0061] Step S301, calculating ridge height data based on the data of the linear potentiometer 72;

[0062] Step S302 , based on the ridge height data and the current digging depth data, it is determined whether the two match. If they do not match, the electric push rod 66 is controlled to operate to adjust the digging depth of the digging shovel 3 .

[0063] like Figure 4As shown, the above-mentioned conveying and lifting mechanism 4 includes two groups of chains 41 arranged on the left and right, and a plurality of rods 42 erected between the two groups of chains 41, and also includes a vibration wheel assembly 43 acting on the rod 42, and support weighing mechanisms 44 disposed on the front and rear sides of the vibration wheel assembly 43. The two support weighing mechanisms 44 are positioned one high and one low, and the support weighing mechanism 44 acts on the chain 41. The support weighing mechanism 44 includes a support wheel 44a engaged with the chain 41 and a pressure sensor 44b. The support wheel 44a and the pressure sensor 44b are connected by a rotating shaft, and one end of the rotating shaft is connected to the pressure sensor 44b through a fixed seat. With this structure, the control system can estimate based on the weight data collected by the pressure sensor 44b. The control system can estimate the time t required for the same batch of crops to move from the lower support weighing mechanism 44 to the higher support weighing mechanism 44 based on the operating speed of the conveying and lifting mechanism 4 and the distance between the two sets of support weighing mechanisms 44. Based on this, after collecting the first weight data generated by the lower support weighing mechanism 44, the second weight data generated by the higher support weighing mechanism 44 after t time is collected. The weight of the removed soil can be obtained based on the difference between the two weight data, and the soil removal rate (the ratio of the removed soil weight to the first weight data) can be calculated based on this. When the soil removal rate is higher than the preset maximum soil removal rate, it means that the digging depth of the excavating shovel 3 is too large, and it is necessary to control the electric push rod 66 to operate to reduce the digging depth; when the soil removal rate is lower than the preset minimum soil removal rate, it means that the digging depth of the excavating shovel 3 is too small, and it is necessary to control the electric push rod 66 to operate to increase the digging depth. Based on this, the baseline digging depth can be determined, and combined with the linear potentiometer 72 for joint regulation, the accuracy of the digging depth control can be effectively improved.

[0064] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An electric-driven intelligent peanut harvester, comprising a tractor (A), a harvester body (B) and a control system; the harvester body (B) comprises a frame (1), the front end of the frame (1) having a three-point suspension mechanism (11) connected to the tractor (A); the frame (1) is provided with a seedling pressing roller (2), a digging shovel (3), a conveying and lifting mechanism (4) and a seedling turning and laying mechanism (5) arranged in sequence from front to back; the conveying and lifting mechanism (4) and the seedling turning and laying mechanism (5) are driven and operated by a first motor (64) and a second motor (65) respectively; the characteristics are: The tractor (A) further comprises an electric drive system (6), the electric drive system (6) comprising a generator (61), a battery pack (62), and a speed increasing box (63) mounted on the frame (1), the generator (61) being electrically connected to the battery pack (62); the speed increasing box (63) establishing a power transmission relationship between the PTO output shaft of the tractor (A) and the input shaft of the generator (61); The generator (61) and the battery pack (62) are both capable of supplying power to a power line, and at least the on-off connection between the battery pack (62) and the power line can be controlled by a control system; the power units in the power line include the first motor (64) and the second motor (65).

2. The electric drive intelligent peanut harvester according to claim 1, characterized in that: The PTO output shaft of the tractor (A) is connected to the input shaft of the speed increasing box (63) via a universal joint transmission shaft (67).

3. The electric drive intelligent peanut harvester according to claim 1, characterized in that: The generator (61) is connected to the battery pack (62) and the power line via a power distribution module.

4. The electric drive intelligent peanut harvester according to claim 1, characterized in that: The connection line between the generator (61) and the battery pack (62) can be controlled to be on and off by the control system.

5. The electric drive intelligent peanut harvester according to claim 1, characterized in that: In the three-point suspension mechanism (11), the two lower connection points are in a rotational connection relationship with the tractor (A), and the upper connection point is connected to the tractor (A) via an electric push rod (66); the electric push rod (66) is also an electric unit in the electric circuit; Both ends of the rice seedling pressing roller (2) are connected to the frame (1) via elastic mechanisms (71), and a linear potentiometer (72) is provided between each end and the frame (1); the linear potentiometer (72) and the electric push rod (66) are both connected to the control system.

6. A control method for an electric-driven intelligent peanut harvester, applied to the electric-driven intelligent peanut harvester according to claim 5, characterized in that: Methods include: Acquiring remaining power data of the battery pack (62), and determining whether the remaining power is lower than a first preset threshold; When the remaining power is lower than a first preset threshold, the PTO output shaft of the tractor (A) is started, and the connection between the battery pack (62) and the power line is cut off; When the remaining power is higher than a second preset threshold, the connection between the battery pack (62) and the power line is connected, and the PTO output shaft of the tractor (A) is stopped.

7. The control method according to claim 6, characterized in that: The method further comprises: Obtaining a first rotational speed and a second rotational speed corresponding to the first motor (64) and the second motor (65), and obtaining a forward speed of the tractor (A); Based on the first rotational speed and the second rotational speed, the conveying speed of the conveying and lifting mechanism (4) and the laying speed of the rice seedling turning and laying mechanism (5) are respectively calculated, and accordingly, the ratio of the conveying speed to the forward speed is calculated as a first ratio, and the ratio of the laying speed to the conveying speed is calculated as a second ratio; It is determined whether the first ratio and the second ratio are compatible with the preset first ratio and the preset second ratio respectively; if not, the speed of the corresponding motor is adjusted.

8. The control method according to claim 7, characterized in that: The method further comprises: Calculating ridge height data based on data from the linear potentiometer (72); Based on the ridge height data and the current digging depth data, it is determined whether the two match; if they do not match, the electric push rod (66) is controlled to operate to adjust the digging depth of the digging shovel (3).

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