Cotton stalk crushing feeding amount detection method, cotton stalk crushing method and cotton stalk crushing device

Abstract

The invention relates to the technical field of cotton stalk crushing, in particular to a cotton stalk crushing feeding amount detection method, a cotton stalk crushing method and a cotton stalk crushing device, and aims to solve the problem that the proportion of the cotton stalk crushing feeding amount to the spraying amount of a decomposition agent cannot be effectively controlled in an existing method. The cotton stalk crushing feed quantity detection method provided by the invention comprises the following steps: acquiring analysis data; calculating the correlation degree; the cotton stalk feeding amount is calculated, and the detection formula of the cotton stalk feeding amount is shown in the specification. According to the method, the incidence relation between relevant parameters and the cotton stalk feeding amount is analyzed through actually measured data, finally, it is determined that the correlation degree of the torque and the cotton stalk feeding amount is high, and the cotton stalk feeding amount is estimated through the torque parameter. Compared with a conventional visual detection mode which is influenced by the density, the number and the like of plants, torque data can be directly obtained through a sensor, the feeding amount of the cotton stalks can be more accurately and timely provided, and therefore the spraying amount of the decomposition agent is adjusted so that the decomposition agent can be reasonably used.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cotton stalk crushing, and particularly relates to a cotton stalk crushing feeding amount detection method, a cotton stalk crushing method and a cotton stalk crushing device. BACKGROUND

[0002] The existing cotton stalk detection method usually adopts visual detection, which is limited by plant density, quantity, plant shape change and complexity, and it is difficult to accurately evaluate the cotton stalk feeding amount in time, which affects the subsequent accurate spraying of the rotting agent, cannot effectively control the ratio of the cotton stalk crushing feeding amount and the rotting agent spraying amount, causes waste of the rotting agent or the rotting agent cannot be fully mixed with the crushed cotton stalk particles, and affects the cotton stalk returning to field effect. SUMMARY

[0003] The present application aims to provide a cotton stalk crushing feeding amount detection method, a cotton stalk crushing method and a cotton stalk crushing device to solve the problem that the existing method cannot effectively control the ratio of the cotton stalk crushing feeding amount and the rotting agent spraying amount.

[0004] To solve the above technical problems, the technical scheme provided by the present application is as follows:

[0005] The present application provides a cotton stalk crushing feeding amount detection method, which comprises the following steps:

[0006] S100, acquiring analysis data: acquiring the cotton stalk feeding amount m(k), the cotton stalk crusher crushing cutter shaft torque t1(k) and the tractor output shaft torque t2(k) at the kth sampling moment, to obtain the cotton stalk feeding amount sequence M, the cotton stalk crusher crushing cutter shaft torque sequence T1 and the tractor output shaft torque sequence T2;

[0007] M= (m(1), m(2), …, m(n));

[0008] T1= (t1(1), t1(2), …, t1(n));

[0009] T2= (t2(1), t2(2), …, t2(n));

[0010] Wherein, k=1, 2, …, n;

[0011] S200, calculating the correlation degree:

[0012] Calculating the correlation degree ζ1 of the cotton stalk feeding amount m(k) and the cotton stalk crusher crushing cutter shaft torque t1(k);

[0013] Calculating the correlation degree ζ2 of the cotton stalk feeding amount m(k) and the tractor output shaft torque t2(k);

[0014] S300, calculating the cotton stalk feeding amount:

[0015] The cotton stalk feeding amount m(k) is fitted with the cotton stalk pulverizer crushing knife shaft torque t1(k), and a relationship formula W1 of the cotton stalk feeding amount and the cotton stalk pulverizer crushing knife shaft torque is obtained;

[0016] The cotton stalk feeding amount m(k) is fitted with the tractor output shaft torque t2(k), and a relationship formula W2 of the cotton stalk feeding amount and the tractor output shaft torque is obtained;

[0017] The cotton stalk feeding amount detection formula is , which is used to predict the cotton stalk feeding amount W according to the torque;

[0018] wherein, , .

[0019] Further, in the S100 step of acquiring analysis data, the cotton stalk feeding amount m(k) at the kth sampling moment can be acquired by experimental measurement or calculated by a visual detection method;

[0020] The method of visual detection is as follows: the cotton stalk feeding amount is calculated by recognizing the cotton stalk body features through a binocular camera, ,

[0021] Q v is the cotton stalk volume passing through a certain section per unit time, v i is the total cotton stalk volume recognized in each frame of image, and the three-dimensional coordinates are as follows:

[0022]

[0023] Zc is the Z-axis direction of the camera coordinate system; X W , Y W , Z W is the world coordinate system value, with the unit of mm; dx, dy represent the physical size of the pixel unit, with the unit of mm; (u, v) represents the image plane center coordinates, with the unit of mm; R is a rotation matrix, used to describe the rotation operation of the camera coordinate system to the world coordinate system; T is a translation matrix, used to describe the translation operation of the camera coordinate system to the world coordinate system.

[0024] Further, in the S200 step of calculating the correlation degree, the following steps are specifically included:

[0025] S210 data normalization: the average value of each number series is calculated respectively, and each data in the number series is divided by the average value;

[0026] ; ;

[0027] ; ;

[0028] ; ,

[0029] S220 calculates two polar difference maximum difference and two polar difference minimum difference :

[0030] Let ∆t1 = , ∆t2 = ;

[0031] ;

[0032] ;

[0033] ;

[0034] ;;

[0035] S230 calculates the correlation degree:

[0036] The correlation degree coefficient of the cotton stalk pulverizer crushing knife shaft torque and the cotton stalk feeding amount is

[0037] , and the correlation degree is ζ1= ;

[0038] The correlation degree coefficient of the tractor output shaft torque and the cotton stalk feeding amount is

[0039] , and the correlation degree is ζ2= ;

[0040] Wherein, The value is [0, 1].

[0041] Further, in the S300 cotton stalk feeding amount calculation step, the relationship W1 and the relationship W2 with the largest determination coefficient value are selected from the fitting results.

[0042] Another aspect of the application, a cotton stalk crushing method is proposed, after cotton stalk crushing, the rotting agent is sprayed, and then the cotton stalk particles mixed with the rotting agent fall into the land; the cotton stalk crushing feeding amount detection method comprises the cotton stalk crushing feeding amount detection method according to any one of claims 1-4, and further comprises the following steps:

[0043] According to the cotton stalk crushing feeding amount W, the rotting agent spraying amount Q is adjusted L ;

[0044] Q L =a×W b, a is a constant, and b>1.

[0045] Further, the values of a and b can be measured and selected by an experimental device or adjusted according to actual spraying effects.

[0046] Further, assuming that the unit time is T, and the opening time of the electromagnetic valve in the unit time is t, then the opening degree of the electromagnetic valve is the ratio of the opening time t to the unit time T.

[0047] ×t;

[0048] Q is the flow rate through the electromagnetic valve, in mL; π is the circular constant; D is the pipe diameter, in mm; f is the resistance coefficient; Δp is the pipe pressure difference, in MPa; ρ is the liquid density, in kg / m3; t is the electromagnetic valve opening time, in s;

[0049] The actual flow rate Q0 is sampled and the deviation e(f)=Q L -Q0 is calculated, and then the control increment Δu(f) is calculated according to the incremental PID formula to adjust t so that the value of e(f) reaches the set interval;

[0050] ;

[0051] Δu(f): the control increment at the fth sampling;

[0052] K p : the proportional coefficient;

[0053] K i : the integral coefficient;

[0054] K d : the differential coefficient;

[0055] e(f): the flow rate deviation at the fth sampling, e(f)=Q L -Q0;

[0056] e(f-1): the flow rate deviation at the f-1th sampling;

[0057] e(f-2): the flow rate deviation at the f-2th sampling;

[0058] f: the sampling number of the digital signal (f=0, 1, 2…).

[0059] In a third aspect of the present application, a cotton stalk crushing device is provided for implementing the above-mentioned cotton stalk crushing method, which comprises a cotton stalk crushing assembly and a spraying assembly.

[0060] The cotton stalk crushing assembly crushes the cotton stalk and sends it into a throwing channel, and the spraying assembly sprays the decomposing agent to the crushed cotton stalk in the throwing channel.

[0061] Further, the spraying assembly comprises a medicine tank, a plunger pump and a spray rod which are sequentially communicated, and a plurality of spray heads are arranged along the length direction of the spray rod.

[0062] The plunger pump pumps the decomposing agent in the medicine tank into the spray rod and sprays out from the spray heads.

[0063] Further, the spraying assembly further comprises a height adjusting unit and an angle adjusting unit.

[0064] The height adjusting unit is used for adjusting the height of the spray rod, and the angle adjusting unit is used for driving the spray rod to rotate around the axis thereof to change the spraying angle.

[0065] The technical effects realized by the above technical solutions are as follows:

[0066] The cotton stalk crushing feeding amount detection method provided by the application comprises the following steps:

[0067] S100: acquiring analysis data, i.e., acquiring the cotton stalk feeding amount m(k), the cotton stalk crusher crushing cutter shaft torque t1(k) and the tractor output shaft torque t2(k) at the kth sampling moment, so as to obtain a cotton stalk feeding amount sequence M, a cotton stalk crusher crushing cutter shaft torque sequence T1 and a tractor output shaft torque sequence T2;

[0068] M= (m(1), m(2), …, m(n));

[0069] T1= (t1(1), t1(2), …, t1(n));

[0070] T2= (t2(1), t2(2), …, t2(n));

[0071] Wherein, k=1, 2, …, n;

[0072] S200: calculating the correlation degree:

[0073] calculating the correlation degree ζ1 of the cotton stalk feeding amount m(k) and the cotton stalk crusher crushing cutter shaft torque t1(k);

[0074] calculating the correlation degree ζ2 of the cotton stalk feeding amount m(k) and the tractor output shaft torque t2(k);

[0075] S300: calculating the cotton stalk feeding amount:

[0076] fitting the cotton stalk feeding amount m(k) and the cotton stalk crusher crushing cutter shaft torque t1(k) to obtain a relationship W1 between the cotton stalk feeding amount and the cotton stalk crusher crushing cutter shaft torque;

[0077] The cotton stalk feeding amount m(k) is fitted with the tractor output shaft torque t2(k) to obtain a relationship formula W2 between the cotton stalk feeding amount and the tractor output shaft torque;

[0078] The cotton stalk feeding amount detection formula is for predicting the cotton stalk feeding amount W according to the torque;

[0079] wherein, , ..

[0080] Compared with the conventional visual detection mode affected by plant density, quantity and the like, the torque data can be directly obtained through the sensor, and the cotton stalk feeding amount can be more accurately and timely provided, so that the spraying amount of the decomposing agent is adjusted to reasonably use the decomposing agent. BRIEF DESCRIPTION OF DRAWINGS

[0081] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the specific embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0082] Figure 1 The flow chart of the cotton stalk crushing feeding amount detection method provided by the embodiment of the present application;

[0083] Figure 2 The structural schematic diagram of the cotton stalk crushing device;

[0084] Figure 3 The enlarged view of A in Figure 2

[0085] Figure 4 The front view of the cotton stalk crushing device;

[0086] Figure 5 The structural schematic diagram of the cotton stalk crushing assembly;

[0087] Figure 6 The structural schematic diagram of the transmission unit;

[0088] Figure 7 The structural schematic diagram of the secondary cotton stalk crushing knife.

[0089] ​Icon: 110-throw channel; 120-first cotton stalk crushing knife; 130-second cotton stalk crushing knife; 140-binocular recognition camera; 111-main channel; 112-mixing channel; 113-adjustable telescopic rod; 151-first driving wheel; 152-first driven wheel; 153-speed reducer; 154-second driving wheel; 155-third driven wheel; 156-fourth driven wheel; 210-medicine box; 220-plunger pump; 230-spraying rod; 240-spraying head. DETAILED DESCRIPTION

[0090] To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the drawings of the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0091] The following will be combined with the drawings to make a detailed description of some embodiments of the present application. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0092] The existing cotton stalk detection method usually adopts visual detection, which is limited by plant density, quantity, plant shape change and complexity, and it is difficult to accurately evaluate the cotton stalk feeding amount in time, which affects the subsequent accurate spraying of the decomposing agent, cannot effectively control the cotton stalk crushing feeding amount and the decomposing agent spraying amount ratio, causes the decomposing agent to be wasted or cannot be fully mixed with the crushed cotton stalk particles, and affects the cotton stalk returning to field effect.

[0093] Therefore, the present application provides a cotton stalk crushing feeding amount detection method,

[0094] including the following steps, such as Figure 1 as shown in the figure:

[0095] S100: acquiring analysis data, acquiring the cotton stalk feeding amount m(k), the cotton stalk crusher crushing knife shaft torque t1(k) and the tractor output shaft torque t2(k) at the kth sampling moment, to obtain the cotton stalk feeding amount sequence M, the cotton stalk crusher crushing knife shaft torque sequence T1 and the tractor output shaft torque sequence T2;

[0096] M= (m(1), m(2), …, m(n));

[0097] T1= (t1(1), t1(2), …, t1(n));

[0098] T2= (t2(1), t2(2), …, t2(n));

[0099] Wherein, k=1, 2, …, n.

[0100] Specifically, the cotton stalk feeding amount m(k) at the kth sampling time can be obtained by experimental measurement or calculated by visual detection;

[0101] When the experimental measurement method is used, the cotton stalk feeding amount at the same time can be determined by measuring the amount of material discharged from the cotton stalk crushing device at the kth sampling time.

[0102] The method of visual detection is as follows: the feeding amount is calculated by recognizing the characteristics of the cotton stalk body through a binocular camera, ,

[0103] Q v is the volume of cotton stalk passing through a certain section per unit time, v i is the total volume of cotton stalk identified in each frame of image, and the three-dimensional coordinates are identified as follows:

[0104]

[0105] Zc is the Z-axis direction of the camera coordinate system; X W , Y W , Z W is the world coordinate value, with the unit of mm; dx, dy represents the physical size of the pixel unit, with the unit of mm; (u, v) represents the image plane center coordinates, with the unit of mm; R is the rotation matrix, used to describe the rotation operation of the camera coordinate system to the world coordinate system; T is the translation matrix, used to describe the translation operation of the camera coordinate system to the world coordinate system.

[0106] For relatively regular-shaped cotton stalks (which can be approximated as a combination of cuboids, cylinders and other shapes), after identifying the key geometric dimensions such as length, width, height or radius, height, etc., the corresponding volume calculation formula is used to calculate the single volume: cuboid volume: , cylinder volume: etc. Combined with the time interval of image acquisition and the conveying speed, etc., the volume flow per unit time is calculated.

[0107] S200 calculates the correlation degree:

[0108] The correlation degree ζ1 of the cotton stalk feeding amount m(k) and the cotton stalk crusher crushing cutter shaft torque t1(k) is calculated;

[0109] The correlation degree ζ2 of the cotton stalk feeding amount m(k) and the tractor output shaft torque t2(k) is calculated;

[0110] Specifically, the following steps are included:

[0111] S210 data normalization: the average value of each number sequence is calculated, and each data in the number sequence is divided by the average value;

[0112] ; ;

[0113] ; ;

[0114] ; ,

[0115] S220 calculates two polar difference maximum difference and two polar difference minimum difference :

[0116] Let ∆t1 = , ∆t2 = ;

[0117] ;

[0118] ;

[0119] ;

[0120] ;;

[0121] S230 calculates the correlation degree:

[0122] The correlation degree coefficient of the cotton stalk pulverizer pulverizing cutter shaft torque and the cotton stalk feeding amount is

[0123] , and the correlation degree is ζ1= ;

[0124] The correlation degree coefficient of the tractor output shaft torque and the cotton stalk feeding amount is

[0125] , and the correlation degree is ζ2= ;

[0126] Among them, the value is [0, 1].

[0127] S300 calculates the cotton stalk feeding amount:

[0128] The cotton stalk feeding amount m(k) is fitted with the cotton stalk pulverizer pulverizing cutter shaft torque t1(k), and the relationship W1 between the cotton stalk feeding amount and the cotton stalk pulverizer pulverizing cutter shaft torque is obtained;

[0129] The cotton stalk feeding amount m(k) is fitted with the tractor output shaft torque t2(k), and the relationship W2 between the cotton stalk feeding amount and the tractor output shaft torque is obtained;

[0130] Then the cotton stalk feeding amount detection formula is , used to predict the cotton stalk feeding amount W according to the torque;

[0131] Wherein, , .

[0132] Wherein, various ways can be used for fitting, such as logarithmic fitting, linear fitting, and the relationship formula W1 and relationship formula W2 with the largest determination coefficient value are selected from the fitting results.

[0133] It should be noted that the correlation between the speed of the tractor output shaft and the speed of the cotton stalk pulverizer pulverizing knife shaft and the cotton stalk feeding amount can also be considered. According to actual measurement, the correlation between the speed and the cotton stalk feeding amount is low, so it is not used to measure the feeding amount.

[0134] When there are multiple cotton stalk pulverizer pulverizing knife shafts, such as 2 cotton stalk pulverizer pulverizing knife shafts, three correlation degrees ζ1, ζ2, ζ3 can be obtained, and three torque and cotton stalk feeding amount relationship formulas W1, W2, W3 can be obtained, and correspondingly, + .

[0135] At this time , , .

[0136] In specific implementation, The value is 0.5. The correlation degree between the cotton stalk pulverizer pulverizing knife shaft torque and the cotton stalk feeding amount is 0.85. The relationship formula obtained by fitting is W1=0.065T1-0.687, and the determination coefficient is R=0.93.

[0137] The correlation degree between the tractor output shaft torque and the cotton stalk feeding amount is 0.82 according to actual measurement. Considering that the tractor output shaft also provides power for each key component, its load should be the sum of the loads of each key component, so its torque size increases exponentially with the increase of the feeding amount. That is, the linear fitting and logarithmic fitting are performed on the tractor output shaft data and the feeding amount data respectively. The actual result can be obtained. The determination coefficient of logarithmic fitting is R=0.85, and the relationship formula between the tractor output shaft torque and the cotton stalk feeding amount is expressed as: W2=1.78lnT2-7.96.

[0138] Based on the cotton stalk pulverizing feeding amount detection method provided in this embodiment, a cotton stalk pulverizing method is proposed, in which the cotton stalk is pulverized and then sprayed with a decomposing agent, and then the cotton stalk particles mixed with the decomposing agent fall into the land; the cotton stalk pulverizing feeding amount detection method described above further includes the following steps:

[0139] Adjust the decomposing agent spraying amount Q according to the cotton stalk pulverizing feeding amount WL ;

[0140] Q L =a×W b , a is a constant, b>1. As the cotton stalk crushing feeding amount W increases, more decomposing agent needs to be used to ensure sufficient mixing, avoiding insufficient mixing caused by adjusting the decomposing agent usage amount in proportion. That is, the increase speed of the spraying amount is higher than the increase speed of the cotton stalk crushing feeding amount to avoid the situation that the increase of the cotton stalk crushing feeding amount hinders the decomposing agent, thereby affecting the mixing effect.

[0141] Further, the values of a and b can be selected by measuring the experimental device or adjusted according to the actual spraying effect.

[0142] Further, assuming that the unit time is T, and the electromagnetic valve opening time in the unit time is t, then the opening degree of the electromagnetic valve is the ratio of the opening time t to the unit time T;

[0143] ×t;

[0144] Q is the flow rate through the electromagnetic valve, unit mL; π is the circular constant; D is the pipe diameter, unit mm; f is the resistance coefficient; Δp is the pipeline pressure difference, unit MPa; ρ is the liquid density, unit kg / m3; t is the electromagnetic valve opening time, unit s;

[0145] The actual flow rate Q0 is sampled and the deviation e(f)=Q L -Q0 is calculated, and then the control amount increment Δu(f) is calculated according to the incremental PID formula to adjust t so that the value of e(f) reaches the set interval;

[0146] ;

[0147] Δu(f): the increment of the control amount at the fth sampling;

[0148] K p : proportional coefficient;

[0149] K i : integral coefficient;

[0150] K d : differential coefficient;

[0151] e(f): flow deviation at the fth sampling, e(f)=Q L -Q0;

[0152] e(f-1): flow deviation at the f-1th sampling;

[0153] e(f-2): flow deviation at the f-2th sampling;

[0154] f digital signal sampling number (f=0, 1, 2…).

[0155] Specifically, the spraying amount control process is as follows:

[0156] Sampling: sampling the actual flow Q0 at fixed time intervals;

[0157] Calculating the deviation: calculating the spraying amount Q of the decomposing agent determined by the cotton stalk crushing feeding amount W L The deviation e(f) of the actual flow is Q L -Q0;

[0158] PID calculation: calculating the control amount increment Au(f) according to the incremental PID formula;

[0159] Adjusting the opening duration: adjusting the opening duration t of the electromagnetic valve according to Au(f), which is It can be seen from the above that the change of the opening duration t of the electromagnetic valve will cause the change of the actual flow Q0.

[0160] Repeat the above sampling, deviation calculation, PID calculation and opening duration adjustment steps until Q0 is stable Q L nearby, that is, the value of e(f) is stable within the set interval range. Wherein, Q0 can be obtained by the flow sensor.

[0161] Through the above control method, the precise regulation of the flow can be realized to ensure the matching with the spraying demand, so as to adapt to different spraying demands, ensure the cotton stalk returning effect, improve the returning efficiency and the decomposition rate.

[0162] Based on the cotton stalk crushing method provided in the embodiment, a cotton stalk crushing device is proposed, which comprises a cotton stalk crushing assembly and a spraying assembly. The structure and shape of the cotton stalk crushing device will be described in detail below: Figures 2-7

[0163] In the embodiment, the cotton stalk crushing assembly comprises a throwing channel 110, a first cotton stalk crushing knife 120 and a second cotton stalk crushing knife 130. The first cotton stalk crushing knife 120 first crushes the cotton stalk, and the crushed cotton stalk is crushed again by the second cotton stalk crushing knife 130. The twice crushed cotton stalk enters the throwing channel 110. In the throwing channel 110, the spraying assembly sprays the decomposing agent to the crushed cotton stalk, and the cotton particle mixed with the decomposing agent is thrown out of the throwing channel 110 and returned to the field.

[0164] At this time, when detecting the cotton stalk crushing feeding amount, the correlation degrees of the torques of the first cotton stalk crushing knife 120 shaft, the second cotton stalk crushing knife 130 shaft and the tractor output shaft with the cotton stalk crushing feeding amount need to be calculated respectively, and the parameter with high correlation degree is selected for calculating the cotton stalk crushing feeding amount. Generally, the correlation degree should not be lower than 0.8.

[0165] ​In order to obtain the cotton stalk crushing feeding amount data, a binocular recognition camera 140 is arranged on the cotton stalk crushing device to calculate the cotton stalk volume entering the primary cotton stalk crushing knife 120, and can be used as a reference to control the forward speed of the tractor to avoid excessive or insufficient feeding.

[0166] The cotton stalk crushing assembly further comprises a transmission unit, such as Figure 6 As shown, the transmission unit comprises a first driving wheel 151, a first driven wheel 152, a speed reducer 153, a second driving wheel 154, a third driven wheel 155 and a fourth driven wheel 156 connected in sequence. The first driving wheel 151 and the first driven wheel 152 are connected by a transmission belt, the first driven wheel 152 is connected with the input shaft of the speed reducer 153, the output shaft of the speed reducer 153 is installed with the second driving wheel 154, the second driving wheel 154 is connected with the third driven wheel 155 and the fourth driven wheel 156 by two transmission belts respectively, and the third driven wheel 155 and the fourth driven wheel 156 are installed on the shafts of the primary cotton stalk crushing knife 120 and the secondary cotton stalk crushing knife 130 respectively, so as to drive the primary cotton stalk crushing knife 120 and the secondary cotton stalk crushing knife 130 to rotate.

[0167] In this embodiment, the spraying assembly is arranged at the end of the throwing channel 110 to obtain good mixing effect. Specifically, the spraying assembly comprises a medicine box 210, a plunger pump 220 and a spray rod 230 connected in sequence, and a plurality of spray heads 240 are arranged along the length direction of the spray rod 230; the plunger pump 220 pumps the decomposing agent in the medicine box 210 into the spray rod 230 and sprays it out from the spray heads 240. In this embodiment, the spray heads 240 are arranged as PWM variable control spray heads 240; a filter is arranged between the medicine box 210 and the plunger pump 220.

[0168] Further, the spraying assembly further comprises a height adjusting unit and an angle adjusting unit; the height adjusting unit is used to adjust the height of the spray rod 230, and the angle adjusting unit is used to drive the spray rod 230 to rotate around its own axis to change the spraying angle of the spray heads 240, so as to form a uniform and stable decomposing agent medicine channel and make the decomposing agent and the cotton stalk particles form a convection, thereby ensuring the sufficient contact between the decomposing agent mist and the crushed cotton stalk. Specifically, the height adjusting unit can be arranged as a telescopic rod, such as an electric telescopic rod, or driven by a lead screw. The angle adjusting unit can be arranged as a motor for driving the spray rod 230 to rotate around its own axis, and specifically, a stepping motor or the like can be used.

[0169] In the embodiment, in order to adjust the throwing direction of the cotton stalk particles to make the cotton stalk particles fully mixed with the decomposing agent, the throwing channel 110 can be divided into a main channel 111, a mixing channel 112 and an adjusting telescopic rod 113. The mixing channel 112 is slidingly connected or rotatably connected to the main channel 111 and located at the end of the material throwing. The mixing channel 112 is arranged in an arc shape along the length direction. Specifically, one end of the adjusting telescopic rod 113 is hingedly connected to the main channel 111, and the other end is hingedly connected to the mixing channel 112. The height adjusting unit is installed on the mixing channel 112. The spray rod 230 is installed on the height adjusting unit. The angle adjusting unit is connected with the spray rod 230. The spraying range of the decomposing agent is adjusted by sliding the mixing channel 112 along the main channel 111 or swinging around the hinged shaft, so as to ensure that the decomposing agent fully contacts with the cotton stalk. When the mixing channel 112 is slidingly connected to the main channel 111, the section of the main channel 111 slidingly connected with the mixing channel 112 is arranged in an arc shape.

[0170] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cotton stalk crushing feeding amount detection method, characterized in that, It comprises the following steps: S100: obtaining analysis data: obtaining the cotton stalk feeding amount m(k), the cotton stalk pulverizer pulverizing cutter shaft torque t1(k) and the tractor output shaft torque t2(k) at the kth sampling time to obtain the cotton stalk feeding amount sequence M, the cotton stalk pulverizer pulverizing cutter shaft torque sequence T1 and the tractor output shaft torque sequence T2; M= (m(1), m(2), …, m(n)); T1= (t1(1), t1(2), …, t1(n)); T2= (t2(1), t2(2), …, t2(n)); Wherein, k=1, 2, …, n; S200: calculating the correlation degree: Calculate the correlation degree ζ1 of the cotton stalk feeding amount m(k) and the cotton stalk pulverizer pulverizing cutter shaft torque t1(k); Calculate the correlation degree ζ2 of the cotton stalk feeding amount m(k) and the tractor output shaft torque t2(k); S300: calculating the cotton stalk feeding amount: Fitting the cotton stalk feeding amount m(k) and the cotton stalk pulverizer pulverizing cutter shaft torque t1(k) to obtain the relationship W1 between the cotton stalk feeding amount and the cotton stalk pulverizer pulverizing cutter shaft torque; Fitting the cotton stalk feeding amount m(k) and the tractor output shaft torque t2(k) to obtain the relationship W2 between the cotton stalk feeding amount and the tractor output shaft torque; The cotton stalk feeding amount detection formula is for predicting the cotton stalk feeding amount W according to the torque; wherein , .

2. The cotton stalk crushing feeding amount detection method according to claim 1, characterized in that, In the S100 step of obtaining analysis data, the cotton stalk feeding amount m(k) at the kth sampling time can be obtained by experimental measurement or calculated by visual detection; The method using visual detection is as follows: the feeding amount is calculated by recognizing the features of the cotton stalk body through a binocular camera, , Q v V is the volume of cotton stalks passing through a certain section per unit time, v i V is the total volume of cotton stalks identified in each frame of image, and the three-dimensional coordinates are identified as follows: Zc is the Z-axis direction of the camera coordinate system; X W , Y W , Z W are world coordinate system values, with units of mm; dx, dy represent the physical size of a pixel unit, with units of mm; (u, v) represents the center coordinates of the image plane, with units of mm; R is a rotation matrix used to describe the rotation operation of the camera coordinate system to the world coordinate system; T is a translation matrix used to describe the translation operation of the camera coordinate system to the world coordinate system.

3. The cotton stalk crushing feeding amount detection method according to claim 1, characterized in that, The S200 step of calculating the correlation degree specifically comprises the following steps: S210: data normalization: calculating the average value of each sequence and dividing each data in the sequence by the average value; ； ； ； ； ； ， S220 calculates the maximum difference of the two-pole difference and the minimum difference of the two-pole difference respectively Let At1 = , At2 = ; ； ； ； ；； S230: calculating the correlation degree: The correlation degree coefficient of the cotton stalk pulverizer pulverizing cutter shaft torque and the cotton stalk feeding amount is , the correlation degree is ζ1= ; The correlation degree coefficient of the tractor output shaft torque and the cotton stalk feeding amount is , the correlation degree is ζ2= ; wherein, takes values [0, 1].

4. The cotton stalk crushing feeding amount detection method according to claim 1, characterized in that, In the S300 step of calculating the cotton stalk feeding amount, the relationship W1 and the relationship W2 with the largest determination coefficient value are selected from the fitting results.

5. A method of pulverizing cotton stalks, characterized by, The cotton stalk is pulverized and then sprayed with a decomposing agent, and the cotton stalk particles mixed with the decomposing agent fall into the land; the cotton stalk pulverizing feeding amount detection method according to any one of claims 1-4 further comprises the following steps: According to the cotton stalk crushing feeding amount W, the rotting agent spraying amount Q is adjusted L ; Q L = a x W b , a is a constant, b > 1.

6. The cotton stalk crushing method as claimed in claim 5, wherein, The values of a and b can be selected by experimental measurement or adjusted according to the actual spraying effect.

7. The cotton stalk pulverizing method according to claim 5, characterized in that, The opening degree of the electromagnetic valve is the ratio of the opening time t to the unit time T; ×t； Q is the flow rate through the electromagnetic valve, in mL; π is the circular constant; D is the pipe diameter, in mm; f is the resistance coefficient; Δp is the pipe pressure difference, in MPa; ρ is the liquid density, in kg / m3; t is the electromagnetic valve opening time, in s; The actual flow Q0 is sampled and the deviation e(f) = Q0 - Q is calculated L Q0, and then the control increment Au(f) is calculated according to the incremental PID formula, and t is adjusted so that the value of e(f) reaches the set interval; ； Δu(f): the increment of the control quantity at the fth sampling; K p : proportionality coefficient; K i : integration coefficient; K d : differential coefficient; e(f): flow rate deviation at the fth sampling, e(f) = Q L - Q0; e(f-1): the flow rate deviation at the f-1th sampling; e(f-2): the flow rate deviation at the f-2th sampling; f is the digital signal sampling sequence number (f=0, 1, 2…).

8. A cotton stalk pulverizing device for implementing the cotton stalk pulverizing method according to any one of claims 5 to 7, characterized in that, It comprises a cotton stalk pulverizing assembly and a spraying assembly; The cotton stalk crushing assembly sends the crushed cotton stalks into a throwing channel (110), and a spraying assembly sprays decomposing agent to the crushed cotton stalks in the throwing channel (110).

9. The cotton stalk crushing device as claimed in claim 8, wherein, The spraying assembly comprises a medicine box (210), a plunger pump (220) and a spray rod (230) which are sequentially communicated, and a plurality of spray heads (240) are arranged along the length direction of the spray rod (230); The plunger pump (220) pumps the decomposing agent in the medicine box (210) into the spray rod (230) and sprays the decomposing agent out of the spray heads (240).

10. The cotton stalk crushing device as claimed in claim 9, wherein, The spraying assembly further comprises a height adjusting unit and an angle adjusting unit; The height adjusting unit is used for adjusting the height of the spray rod (230), and the angle adjusting unit is used for driving the spray rod (230) to rotate around its own axis to change the spraying angle.

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