Agricultural machinery soil operation resistance monitoring device and monitoring method based on penetration angle and depth measurement

Abstract

The invention discloses an agricultural machinery soil operation resistance monitoring device and monitoring method based on penetration angle and depth measurement, and belongs to the technical field of agricultural machinery equipment. The device is composed of a moving module, an operation machine tool module, an angle and depth detection module, a horizontal force measurement module and an integrated control module; the operation machine tool module is connected to the rear end of the moving module in a hung mode, the angle and depth monitoring module is installed on the operation machine tool module, and the horizontal force measuring module is installed between the moving module and the operation machine tool module. Compared with other soil resistance testing devices, the soil resistance testing device has the advantages that the function relation between the soil resistance and the soil penetration angle and the soil penetration depth is obtained during indoor testing, and then the soil resistance can be calculated by directly substituting the soil penetration angle and the soil penetration depth into the function relation during field operation. By monitoring the soil resistance in real time, the digging penetration angle and depth can be dynamically adjusted, overload or insufficient power is avoided, the crop damage rate is reduced, and mechanical equipment is protected from being damaged by sudden change resistance.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery and equipment technology, and relates to a soil operation resistance monitoring device and method, specifically to an agricultural machinery soil operation resistance monitoring device and method based on soil entry angle and depth measurement. Background Technology

[0002] In the field of harvesting machinery for root and tuber crops such as sweet potatoes and potatoes, soil resistance monitoring is a key technology for optimizing operational efficiency, reducing energy consumption of traction mechanisms, and protecting crops. By monitoring soil resistance in real time, the digging angle and depth can be dynamically adjusted to avoid overload or insufficient power, reduce crop damage, and protect machinery from damage caused by sudden changes in resistance. Current conventional monitoring methods include field traction sensors (such as S-shaped tension / compression sensors) and indoor trench testing, but these methods suffer from drawbacks such as insufficient accuracy, lack of local resistance monitoring, and lag in real-time control. For example, field sensors are susceptible to vibration and humidity interference, while trench testing struggles to reproduce complex field conditions. Therefore, it is necessary to propose a new soil resistance monitoring device and method for agricultural machinery operations. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of the existing technology by proposing a soil resistance monitoring device and method for agricultural machinery based on the measurement of soil entry angle and depth. By obtaining the functional relationship between soil resistance and soil entry angle and depth through indoor testing, the soil resistance can be calculated using the relationship between soil entry angle and depth during field operations. By monitoring soil resistance in real time, the soil entry angle and depth can be dynamically adjusted to avoid overload or insufficient power, reduce crop damage rate, and protect the machinery from damage caused by sudden changes in resistance.

[0004] The agricultural machinery soil operation resistance monitoring device based on soil penetration angle and depth measurement provided in this application adopts the following technical solution:

[0005] A soil resistance monitoring device for agricultural machinery operations based on soil penetration angle and depth measurements, comprising a mobile module; characterized in that the resistance monitoring device further comprises:

[0006] The work implement module is attached to the rear end of the mobile module;

[0007] An angle and depth detection module is connected and installed on the work tool module;

[0008] A horizontal force measuring module is placed between the moving module and the working tool module;

[0009] An integrated control module is connected and installed on the mobile module.

[0010] By adopting the above technical solution, this device organically combines multiple modules to simultaneously monitor soil resistance while considering factors such as the angle and depth of soil penetration, making soil resistance monitoring more comprehensive and accurate. It achieves real-time and precise monitoring of soil resistance during agricultural machinery operations and, by incorporating key factors such as the angle and depth of soil penetration, provides more comprehensive and accurate data support for subsequent optimization of agricultural machinery operation parameters and soil analysis. This helps improve the efficiency and quality of agricultural machinery operations and promotes the rational utilization of soil resources.

[0011] Furthermore, the work implement module consists of a work platform, a connecting plate, a mounting bracket, a first push rod, a second push rod, a middle push rod, and a digging shovel; the connecting plate is fixedly connected to the moving module, the bottom end of the mounting bracket is hinged to the work platform, one end of the first push rod and the second push rod are hinged to the connecting plate, and the other end is hinged to the top end of the mounting bracket, one end of the middle push rod is welded and fixed to the connecting plate, and the other end is hinged to the top end of the mounting bracket, and the digging shovel is welded to the middle of the work platform.

[0012] By adopting the above technical solution, a modular design for adjusting the soil entry angle and depth of agricultural machinery during operations, along with monitoring changes in soil resistance, has been developed. This design addresses the previous issues of inaccurate soil resistance monitoring and poor operational results caused by the inability of machinery to adjust its entry position in a timely manner according to soil conditions and operational requirements. Through the configuration of the first push rod, second push rod, and intermediate push rod, along with the coordination of components such as the mounting bracket, flexible adjustment of the soil entry angle and depth of the working platform can be achieved. This allows the device to adapt to different soil conditions and operational needs, improving the adaptability and accuracy of soil resistance monitoring. It also helps optimize agricultural machinery operations, enhancing operational quality and efficiency.

[0013] Furthermore, there are two second push rods, symmetrically arranged on both sides of the middle push rod.

[0014] By adopting the above technical solution, the layout of the push rod in the working tool module has been specifically optimized, resulting in a more balanced force when adjusting the soil entry angle of the working platform. This ensures that the working platform can be adjusted smoothly, avoiding swaying or excessive local force, thus improving the accuracy and stability of soil entry angle adjustment. In turn, this also helps to improve the accuracy of soil resistance monitoring.

[0015] Furthermore, the extension and retraction of the first and second push rods can change the soil entry angle of the excavator shovel. If the second push rod extends, the soil entry angle increases, and vice versa. The middle push rod is used to change the soil entry depth of the working platform. If the middle push rod extends, the soil entry depth decreases, and vice versa.

[0016] By adopting the above technical solution, the specific adjustment relationship between the first push rod, the third push rod, and the intermediate push rod and the soil entry angle and depth of the working platform is clarified. By operating each push rod, the soil entry angle and depth of the working platform can be precisely controlled, making the adjustment of the soil entry angle and depth simpler and clearer. This facilitates the quick and accurate adjustment of the soil entry state of the working platform according to the actual soil conditions and operational requirements, improves the operability and practicality of the device, and further ensures the accuracy and effectiveness of soil resistance monitoring data.

[0017] Furthermore, the angle and depth detection module consists of a clamping plate, an angle disk, an angle encoder, a radar rangefinder mounting base, and a radar rangefinder; the clamping plate is connected and fixed to the work platform, one side of the angle disk is connected and fixed to the clamping plate, the angle encoder is fixed at the center of the angle disk, the radar rangefinder mounting base is connected and fixed to the rotating shaft of the angle encoder, and the radar rangefinder is mounted on the radar rangefinder mounting base.

[0018] By adopting the above technical solution, the purpose of the angle and depth detection module is to solve the technical challenge of accurately measuring the soil penetration angle and depth, providing more comprehensive and accurate parameter data for soil resistance monitoring. Utilizing high-precision measuring components such as angle encoders and radar rangefinders, the soil penetration angle and depth information of the working platform can be acquired in real time and accurately. Furthermore, through a reasonable structural design, such as the connection between the radar rangefinder mounting base and the angle encoder shaft, the accuracy and stability of the measurement are ensured. This provides reliable data support for subsequent analysis of the relationship between soil resistance and soil penetration angle and depth, helping to further optimize agricultural machinery operating parameters and soil management strategies.

[0019] Furthermore, the horizontal force measuring module consists of a pressure support frame, a front end plate, a rear end plate, and a horizontal force measuring instrument; the pressure support frame is generally in the form of a straight triangular prism structure, the front end plate is connected and fixed to one side of the pressure support frame, the rear end plate is connected and fixed to the other side of the pressure support frame, and the horizontal force measuring instrument is fixedly mounted on the rear end plate.

[0020] By adopting the above technical solution, the composition structure of the horizontal force measuring module has been further refined. In actual soil resistance monitoring, a stable and reliable structure is needed to accurately measure soil resistance in the horizontal direction. Previously, such a specifically designed force measuring structure may have been lacking. The structural design of this horizontal force measuring module aims to solve the problem of how to accurately obtain horizontal soil resistance. It provides a stable working platform for the horizontal force measuring instrument, effectively ensuring the accuracy of the measurement results, thereby improving the performance and reliability of the entire soil resistance monitoring device, enabling it to more realistically reflect the horizontal resistance generated by the soil on agricultural machinery operations.

[0021] Furthermore, there are two front-end plates, which are welded to one end of the pressure support frame near the moving module.

[0022] By adopting the above technical solution, the structural design of the horizontal force measuring module has been further refined. By setting two front end plates, the horizontal force measuring module is more firmly attached to the two tires of the tractor, which improves the structural stability and further enhances the accuracy and reliability of the horizontal force measuring instrument in measuring soil resistance.

[0023] Furthermore, one end of the horizontal force gauge is arc-shaped to facilitate contact with different work tool modules.

[0024] By adopting the above technical solution, the arc-shaped end can better fit various shapes of working platforms, increasing the effective contact area between the force gauge and the working platform, improving the force transmission efficiency and accuracy during the force measurement process, enabling the force gauge to more realistically reflect the horizontal resistance generated by the soil on the working platform, and enhancing the applicability and reliability of the entire monitoring device in different agricultural machinery operation scenarios.

[0025] Furthermore, the radar rangefinder mounting base rotates with the shaft of the angle encoder. The angle encoder can directly obtain the angle of the excavator entering the soil. One end of the radar rangefinder mounting base is the pointer tip, which, together with the angle disk, can indirectly obtain the angle of the excavator entering the soil. The data measured by the radar rangefinder can be indirectly converted into the depth of the excavator entering the soil.

[0026] By adopting the above technical solutions, on the one hand, the angle encoder can directly provide relatively accurate soil penetration angle data; on the other hand, the combination of the radar rangefinder mounting base and the angle disk, as well as the indirect measurement method of the radar rangefinder, provide multiple guarantees and verification methods for the detection of soil penetration angle and depth. These methods complement and corroborate each other, greatly improving the accuracy and stability of soil penetration angle and depth measurements. This provides strong support for the quality of soil resistance monitoring data and helps to study the intrinsic relationship between soil resistance and soil penetration angle and depth more deeply.

[0027] The method for monitoring soil resistance during agricultural machinery operations based on the measurement of soil penetration angle and depth provided in this application adopts the following technical solution:

[0028] (1) Indoor test: The tractor is stationary. One end of the horizontal force measuring module is close to the rear wheel of the tractor, and the other end is in contact with the digging shovel of the working platform. The first push rod and the second push rod work together to extend and retract to change the tilt angle of the inclined surface of the working platform. The middle push rod changes the overall height of the working platform. The radar rangefinder mounting base rotates with the shaft of the angle encoder. The tilt angle of the inclined surface of the working platform is obtained through the angle encoder, that is, the simulated soil entry angle θ. Alternatively, the angle can be indirectly obtained by identifying the scale of the angle disk pointed to by the tip of the radar rangefinder mounting base.

[0029] (2) The radar rangefinder always points vertically to the ground under the action of gravity, and the distance between the radar rangefinder and the horizontal soil surface can be measured. Given that the distance from the clamp to the tip of the excavator and the distance from the clamp along the inclined surface of the working platform to the horizontal soil surface are known, the simulated soil depth H under this state can be calculated.

[0030] (3) By repeatedly changing the lengths of the first push rod, the second push rod, and the middle push rod, the functional relationship between the value of the horizontal force gauge and the soil penetration angle and depth is calculated.

[0031] (4) When there is no horizontal force measuring module during field operations, the control box controls the operation tool module to be adjusted to a certain angle with the ground. The operation platform is pulled into the soil by the tractor. By reading the soil entry angle and soil entry depth of the agricultural machinery displayed on the control box, the soil resistance F can be obtained by substituting it into the above function relationship.

[0032] By adopting the above technical solution, this method simulates soil resistance under different soil entry angles and depths through indoor testing, establishes a functional relationship, and then uses this functional relationship in combination with the actual soil entry angle and depth during field operations to accurately calculate the soil resistance. This method enables a better understanding of the changes in soil resistance during agricultural machinery operations, providing data support for the design, improvement, and optimization of agricultural machinery operation modes. It helps to improve the performance and adaptability of agricultural machinery, reduce energy consumption, and enhance the modernization level and economic benefits of agricultural production.

[0033] In summary, the present invention has at least one of the following beneficial technical effects:

[0034] (1) This invention has a novel structure and a clear working principle. Compared with other soil resistance testing devices, this invention obtains the functional relationship between soil resistance and the entry angle and depth during indoor testing. Therefore, during field operations, the soil resistance can be directly calculated by substituting the entry angle and depth into the functional relationship. This allows for dynamic adjustment of the excavation angle and depth through real-time monitoring of soil resistance, avoiding overload or insufficient power, reducing crop damage, and protecting machinery from damage caused by sudden changes in resistance.

[0035] (2) By organically combining multiple modules, the device of the present invention can simultaneously monitor soil resistance and take into account factors such as the angle and depth of soil penetration, making soil resistance monitoring more comprehensive and accurate. It realizes real-time and precise monitoring of soil resistance during agricultural machinery operation, providing more comprehensive and accurate data support for subsequent optimization of agricultural machinery operation parameters and soil analysis.

[0036] (3) In this invention, the setting of the first push rod, the second push rod and the middle push rod, as well as the cooperation with the hanging bracket and other components, can realize the flexible adjustment of the soil entry angle and depth of the working platform, so that the device can adapt to different soil conditions and operating needs, improve the adaptability and accuracy of soil resistance monitoring, and at the same time help to optimize the agricultural machinery operation process and improve the quality and efficiency of operation.

[0037] (4) This invention utilizes high-precision measuring elements such as angle encoders and radar rangefinders to obtain real-time and accurate information on the soil entry angle and depth of the working platform, providing reliable data support for subsequent analysis of the relationship between soil resistance and soil entry angle and depth. This helps to further optimize agricultural machinery operating parameters and soil management strategies, rationally utilize soil resources, and improve the modernization level and economic benefits of agricultural production. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the device structure for indoor testing of the present invention.

[0039] Figure 2 This is a schematic diagram of the first angle structure of the working tool module in this invention.

[0040] Figure 3 This is a schematic diagram of the second angle structure of the working tool module in this invention.

[0041] Figure 4 This is a schematic diagram of the first angle structure of the angle and depth detection module in this invention.

[0042] Figure 5 This is a schematic diagram of the second angle structure of the angle and depth detection module in this invention.

[0043] Figure 6 This is a schematic diagram of the horizontal force measuring module structure in this invention.

[0044] Figure 7 This is a schematic diagram of the device structure for field operations according to the present invention.

[0045] Figure 8 This is a force analysis diagram of the excavator shovel in this invention.

[0046] In the diagram: mobile module 100, working implement module 200, working platform 201, connecting plate 202, hanging bracket 203, first push rod 204, second push rod 205, intermediate push rod 206, digging shovel 207, angle and depth detection module 300, clamping plate 301, angle disc 302, angle encoder 303, radar rangefinder mounting base 304, radar rangefinder 305, horizontal force measuring module 400, pressure support frame 401, front end plate 402, rear end plate 403, horizontal force measuring instrument 404, integrated control module 500. Detailed Implementation

[0047] The present invention will be further described below with reference to the accompanying drawings:

[0048] like Figure 1 As shown, the soil resistance monitoring device for agricultural machinery operations based on the measurement of soil penetration angle and depth consists of a mobile module 100, an operating implement module 200, an angle and depth detection module 300, a horizontal force measuring module 400, and an integrated control module 500. The mobile module 100 is set on the ground, the operating implement module 200 is attached to the rear end of the mobile module 100, the angle and depth monitoring module 300 is installed on the operating implement module 200, and the horizontal force measuring module 400 is installed between the mobile module 100 and the operating implement module 200.

[0049] like Figure 2-3 As shown, the work implement module 200 consists of a work platform 201, a connecting plate 202, a mounting bracket 203, a first push rod 204, a second push rod 205, a middle push rod 206, and a digging shovel 207. The work platform 201 is fixedly connected to the rear of the mobile module 100 through the connecting plate 202. The lower end of the mounting bracket 203 is hinged to the work platform 201. One end of the first push rod 204 and the second push rod 205 are hinged to the connecting plate 202, and the other end is hinged to the mounting bracket 203. One end of the middle push rod 206 is welded to the connecting plate 202, and the other end is hinged to the mounting bracket 203. The digging shovel 207 is welded to the middle of the work platform 201.

[0050] like Figure 4-5 As shown, the angle and depth detection module 300 consists of a clamping plate 301, an angle disc 302, an angle encoder 303, a radar rangefinder mounting base 304, and a radar rangefinder 305. The clamping plate 301 is fixed to the working platform 201 by bolts. One end of the angle disc 302 has a short steel plate welded to the clamping plate 301, which is engraved with 180° scale. The angle encoder 303 is fixed to the angle disc 302 by bolts. This device can accurately record the rotation angle of its own shaft. The slot of the radar rangefinder mounting base 304 is inserted into the rotating shaft of the angle encoder 303. The radar rangefinder 305 is mounted on the radar rangefinder mounting base 303.

[0051] like Figure 6 As shown, the horizontal force measuring module 400 consists of a pressure support frame 401, a front end plate 402, a rear end plate 403, and a horizontal force measuring instrument 404. The pressure support frame 401 is located behind the rear wheel of the moving module 100. The front end plate 402 is welded to the pressure support frame 401 and is close to the rear wheel of the moving module. The rear end plate 403 is welded to the other side of the pressure support frame 401. The horizontal force measuring instrument 404 is located on the rear end plate 403.

[0052] like Figure 7-8As shown, taking the monitoring of soil resistance in potato-soil mixtures as an example, the monitoring method is as follows: The force on the digging shovel is shifted to the angle and depth detection module for analysis. It can be seen that during digging and harvesting, the digging shovel is subjected to the weight of the potato-soil mixture and the frictional resistance between the shovel surface and the potato-soil mixture. The calculation formula is as follows:

[0053] Fcosθ+Gsinθ=F f +F' Formula (1)

[0054] F N =Gcosθ-Fsinθ Formula (2)

[0055] F f =μF N Formula (3)

[0056] F'=kA formula (4)

[0057] Where: F—force required to dig the mixture of potato and soil, N;

[0058] G – The weight of the mixture of potato and soil, in N;

[0059] F N —The reaction force of the digging shovel on the potato-soil mixture, in N;

[0060] F f —The frictional resistance of the potato-soil mixture to the surface of the digging shovel, in N;

[0061] θ — the angle of the digging shovel, i.e., the angle at which it enters the soil;

[0062] μ —— According to available data, the coefficient of friction between soil and shovel surface, μ, ranges from 0.5 to 0.7.

[0063] F' – The force required by the excavator to cut the soil when digging, in N;

[0064] k — resistivity of the soil cutting the ridge, N / m 2 The resistivity of lightweight soil ranges from 10,000 to 20,000 N / m. 2 ;

[0065] A – Cross-sectional area of ​​the ridged land, m 2 ;

[0066] The formula for calculating the weight G of the potato-soil mixture is as follows:

[0067]

[0068] From formulas (1), (2), (3), and (4), we can calculate:

[0069]

[0070] Where ρ is the density of the potato-soil mixture, which, according to available data, is 1230 kg / m³. 3 B is the width of the digging shovel, H is the depth of the digging shovel into the soil, g is the acceleration due to gravity, H1 is the distance between the radar rangefinder and the horizontal soil surface, L is the distance from the clamping plate to the tip of the digging shovel, and L1 is the distance from the clamping plate along the inclined surface of the working platform to the horizontal soil surface.

[0071] For example, when the coefficient of friction between the soil and the shovel surface is 0.6, the width of the shovel is 0.5m, the length of the shovel surface is 0.6m, and the acceleration due to gravity is 9.8m / s². 2 The distance from the clamping plate to the tip of the excavator shovel is 2.4m, the distance from the clamping plate along the inclined surface of the working platform to the horizontal soil surface is 2m, the entry angle is 30°, and the specific drag coefficient k of the soil is taken as 15000N / m. 2 The cross-sectional area of ​​the ridged land is A = 0.088 m². 2 Substituting into formula (4), the force required for the digging shovel to cut the soil can be calculated as F' = 15000 × 0.088 = 1320 N. Substituting into formula (5), the depth of penetration can be calculated as H = sin30° × (2.4 - 2) = 0.2 m. Substituting into formula (6), the weight of the potato-soil mixture can be calculated. Substituting this into formula (7), the force required to excavate the potato-soil mixture can be calculated.

Claims

1. A soil resistance monitoring device for agricultural machinery operations based on soil penetration angle and depth measurement, comprising a mobile module (100); characterized in that, The resistance monitoring device also includes: The working implement module (200) is attached to the rear end of the mobile module (100) and is used to complete the digging and harvesting of root crops such as sweet potatoes and potatoes; An angle and depth detection module (300) is connected to the working tool module (200) and is used to measure the soil entry angle of the digging shovel (207) and the distance between the radar rangefinder (305) and the soil horizontal plane in real time. A horizontal force measuring module (400) is placed between the moving module (100) and the working tool module (200) for real-time measurement of the horizontal resistance experienced by the digging shovel (207) during indoor testing; An integrated control module (500) is connected and installed on the moving module (100) for controlling the extension and retraction of the first push rod (204), the second push rod (205), and the intermediate push rod (206) and displaying the values ​​of the soil penetration angle and depth.

2. The soil resistance monitoring device for agricultural machinery operations based on the measurement of soil penetration angle and depth as described in claim 1, characterized in that: The working tool module (200) consists of a working platform (201), a connecting plate (202), a mounting bracket (203), a first push rod (204), a second push rod (205), a middle push rod (206), and a digging shovel (207). The connecting plate (202) is connected and fixed to the moving module (100). The bottom end of the mounting bracket (203) is hinged to the working platform (201). One end of the first push rod (204) and the second push rod (205) are hinged to the connecting plate (202), and the other end is hinged to the top end of the mounting bracket (203). One end of the middle push rod (206) is welded and fixed to the connecting plate (202), and the other end is hinged to the top end of the mounting bracket (203). The digging shovel (207) is welded to the middle part of the working platform (201).

3. The soil resistance monitoring device for agricultural machinery operations based on the measurement of soil penetration angle and depth as described in claim 2, characterized in that: There are two second push rods (205), which are symmetrically arranged on both sides of the middle push rod (206).

4. The soil resistance monitoring device for agricultural machinery operations based on the measurement of soil penetration angle and depth as described in claim 2, characterized in that: The extension and retraction of the first push rod (204) and the second push rod (205) can change the soil entry angle of the excavator shovel (207). If the second push rod (205) is extended, the soil entry angle becomes larger, and vice versa. The middle push rod (206) is used to change the soil entry depth of the working platform (301). If the middle push rod (206) is extended, the soil entry depth decreases, and vice versa.

5. The soil resistance monitoring device for agricultural machinery operations based on the measurement of soil penetration angle and depth according to claim 1, characterized in that: The angle and depth detection module (300) consists of a clamping plate (301), an angle disc (302), an angle encoder (303), a radar rangefinder mounting base (304), and a radar rangefinder (305). The clamping plate (301) is connected and fixed to the working platform (201). One side of the angle disc (302) is connected and fixed to the clamping plate (301). The angle encoder (303) is fixed at the center of the angle disc (302). The radar rangefinder mounting base (304) is connected and fixed to the rotating shaft of the angle encoder (303). The radar rangefinder (305) is mounted on the radar rangefinder mounting base (303).

6. The soil resistance monitoring device for agricultural machinery operations based on the measurement of soil penetration angle and depth as described in claim 1, characterized in that: The horizontal force measuring module (400) consists of a pressure support frame (401), a front end plate (402), a rear end plate (403), and a horizontal force measuring instrument (404). The pressure support frame is in the shape of a straight triangular prism. The front end plate (402) is connected and fixed to one side of the pressure support frame (401), and the rear end plate (403) is connected and fixed to the other side of the pressure support frame (401). The horizontal force measuring instrument (404) is fixedly mounted on the rear end plate (403).

7. The soil resistance monitoring device for agricultural machinery operations based on the measurement of soil penetration angle and depth according to claim 6, characterized in that: The number of front-end plates (402) is two, which are welded to one end of the pressure support frame (401) near the moving module (100).

8. The soil resistance monitoring device for agricultural machinery operations based on the measurement of soil penetration angle and depth according to claim 6, characterized in that: One end of the horizontal force gauge (404) is arc-shaped to facilitate contact with different work tool modules (200).

9. The soil resistance monitoring device for agricultural machinery operations based on the measurement of soil penetration angle and depth according to claim 5, characterized in that: The radar rangefinder mounting base (304) rotates with the shaft of the angle encoder (303). The angle encoder (303) can directly obtain the soil entry angle of the digging shovel (207). One end of the radar rangefinder mounting base (304) is the tip of the pointer. With the help of the angle disc (302), the soil entry angle of the digging shovel (207) can be indirectly obtained. The data measured by the radar rangefinder (305) can be indirectly converted into the soil entry depth of the digging shovel (207).

10. A method for monitoring soil resistance during agricultural machinery operations based on measurements of soil penetration angle and depth, characterized in that, The method of using the agricultural machinery operation soil resistance monitoring device according to any one of claims 1-9 is as follows: (1) Indoor testing: With the tractor stationary, one end of the horizontal force measuring module is in close contact with the tractor's rear wheel, and the other end is in contact with the digging shovel of the work platform. The first and second push rods work together to extend and retract, changing the inclination angle of the work platform's slope. The middle push rod changes the overall height of the work platform. The radar rangefinder mounting base rotates with the shaft of the angle encoder. The inclination angle of the work platform's slope is obtained through the angle encoder, which is the simulated soil entry angle. θ Alternatively, the angle can be indirectly obtained by identifying the scale of the angle disc pointed to by the tip of the radar rangefinder mounting base; (2) The radar rangefinder always points vertically to the ground under the influence of gravity, and the distance between the radar rangefinder and the horizontal soil surface can be measured. Given that the distance from the clamp to the tip of the excavator and the distance from the clamp along the inclined surface of the working platform to the horizontal soil surface are known, the simulated depth of penetration under this condition can be calculated. H ; (3) By repeatedly changing the lengths of the first push rod, the second push rod, and the middle push rod, the functional relationship between the value of the horizontal force gauge and the soil penetration angle and depth is calculated. (4) When there is no horizontal force measuring module during field operations, the control box controls the working implement module to be adjusted to a certain angle with the ground. The working platform extends into the soil under the traction of the tractor. By reading the soil entry angle and soil entry depth displayed on the control box, the soil resistance can be obtained by substituting them into the above function relationship. F Size.

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