Solid manure furrow strip application device with adjustable ridge width and method

Abstract

The present application relates to the technical field of agricultural machinery, in particular to a solid manure furrow opening, strip applying, soil covering and deep loosening integrated device and method with adjustable ridge width, the device comprises a frame assembly, a furrow opening mechanism, a ridge width-depth adjusting mechanism and a multi-source collaborative control system, the front end of the frame is connected to a tractor through a three-point suspension device, the furrow opening mechanism comprises a depth detection assembly, and the adjusting mechanism can perform ridge width and groove depth adjustment; the method realizes accurate collaborative adjustment of the two through a closed loop process of multi-source information acquisition, dynamic task decision, comprehensive working condition evaluation, execution parameter optimization and instruction execution; the solid manure furrow opening, strip applying, soil covering and deep loosening integrated device and method with adjustable ridge width can dynamically switch task priorities, respond to protection within 0.5s when the load exceeds the limit, reduce the equipment failure rate by 60%, improve the working quality by 40% through collaborative adjustment, reduce overshoot through feedforward compensation, and can also automatically adapt to complex working conditions, thereby significantly improving the degree of automation and reducing the labor intensity.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to an integrated device and method for adjusting ridge width, ditching and strip application of solid manure, covering and deep loosening. Background Technology

[0002] In agricultural solid manure application, to improve production efficiency and fertilization effectiveness, integrated devices for ditching, strip application, soil covering, and deep loosening of solid manure with adjustable ridge width are typically used. These devices are generally connected to a tractor via a three-point suspension system at the front end. Relying on the tractor's power and mobility, they simultaneously complete key processes such as ditching, strip application of solid manure, soil covering, and deep loosening of the soil. They are widely used in field operations in areas growing crops such as corn. Currently, these devices often integrate conventional agricultural machinery mechanisms such as spiral conveyor manure strip application mechanisms, disc-type soil covering mechanisms, and chisel-shaped deep loosening mechanisms. They are also gradually incorporating farmland prescription maps to achieve targeted operations. This involves loading a farmland prescription map containing parameters such as target ridge width and target furrow depth before operation, aiming to achieve precise fertilization and tillage based on the prescription map to adapt to the planting needs of different crops and the agronomic requirements of different plots.

[0003] Traditional integrated devices for adjusting ridge width, ditching, strip application, soil covering, and deep loosening of solid manure lack dynamic and coordinated control capabilities based on multi-source operating condition information (such as soil firmness, tractor traction, and operating speed). On the one hand, they cannot achieve precise coordinated adjustment of ridge width and trench depth, as they are mostly adjusted independently. Under complex conditions such as sudden changes in soil firmness, problems such as unstable ridge shape and excessive trench depth deviation can easily occur, making it difficult to ensure the accuracy of agronomic operations. On the other hand, an effective dynamic task priority management mechanism has not been established. When the target value of the prescription map exceeds the rated adjustment range of the equipment or when the load exceeds the limit, it is impossible to achieve a reasonable balance between agronomic goals and equipment safety. Either the equipment is overloaded and damaged due to the forced pursuit of agronomic precision, or the operation quality is sacrificed due to excessive emphasis on equipment protection. At the same time, the adjustment process is affected by the lag of the hydraulic system, resulting in large overshoot and requiring frequent manual intervention to adapt to different operating conditions, resulting in low automation. Therefore, in view of the above situation, there is an urgent need to develop an integrated device and method for adjusting ridge width, ditching, strip application, soil covering, and deep loosening of solid manure to overcome the shortcomings in current practical applications. Summary of the Invention

[0004] The purpose of this invention is to provide an integrated device and method for adjusting the width of solid manure, including trenching, strip application, soil covering, and deep loosening, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] The method for applying solid manure with adjustable ridge width through furrowing, covering with soil, and deep loosening includes the following steps:

[0007] Step S1: Multi-source information collection and preprocessing, collecting the location and identity information of the working implements, tractor working condition information and equipment status information, and performing filtering and normalization processing;

[0008] Step S2: Dynamic task priority decision-making. Based on the preprocessed information, the target parameters of the farmland prescription map are called, and the equipment's rated adjustment range and load conditions are combined to determine the precise tracking, capacity matching, or load protection mode.

[0009] Step S3: Calculate the comprehensive working condition evaluation coefficient. Based on the dynamic weighting factor, combined with the state function corresponding to velocity, soil firmness and load, calculate the comprehensive working condition evaluation coefficient.

[0010] Step S4: Perform parameter co-optimization. Using a multi-input multi-output optimizer, calculate the adjustment amount of ridge width and trench depth based on the evaluation coefficients and the deviation between the target and the current value.

[0011] Step S5: Command execution and status feedback. Drive the adjustment mechanism to perform adjustment, collect the status signal after adjustment, and if the deviation exceeds the threshold, return to step S4 to form closed-loop control.

[0012] As a further aspect of the present invention: in step S1, the location and identity information includes the latitude and longitude coordinates collected by GNSS and the trencher model and rated adjustment range read by RFID.

[0013] Operating information includes tractor forward speed, engine output torque, and traction force;

[0014] The equipment status information includes trenching depth, soil dielectric constant, soil firmness, real-time ridge width, and deep loosening depth. The filtering process uses moving average filtering or Kalman filtering.

[0015] As a further aspect of the present invention: In step S2, the precise tracking mode corresponds to the target parameters being within the rated range of the equipment and the load not exceeding the limit; the capacity matching mode corresponds to the target parameters exceeding the rated range and clamping the target value; the load protection mode corresponds to the load exceeding the limit and prioritizing the protection of equipment safety; the speed, soil, and load weight ratios of the dynamic weight factors are different in different modes.

[0016] As a further aspect of the present invention: in step S3, the velocity state function is a Gaussian function, the soil firmness state function is a linearly decreasing function, the load state function is a hyperbolic tangent function, and the comprehensive working condition evaluation coefficient is the sum of the products of each state function and its corresponding weight divided by the total weight.

[0017] As a further aspect of the present invention: in step S4, the model of the multi-input multi-output optimizer includes a control gain matrix and a feedforward compensation term. The control gain matrix includes the main control gain of the ridge width, the main control gain of the trough depth, and the coupling gain between the two. The feedforward compensation term is calculated based on the rate of change of speed or the rate of change of load.

[0018] An integrated device for adjusting ridge width, ditching, strip application, soil covering, and deep loosening of solid manure, including a frame assembly, ditching mechanism, ridge width-depth adjustment mechanism, and multi-source collaborative control system;

[0019] The front end of the frame assembly is connected to the tractor via a three-point suspension device, the middle is equipped with an installation platform, and the rear end is equipped with a sliding rail type installation slot.

[0020] The trenching mechanism includes a trencher assembly, a trenching depth adjustment assembly, and a depth detection assembly, which are connected to a slide rail mounting slot via a sliding bracket.

[0021] The ridge width-depth adjustment mechanism includes a ridge width adjustment drive unit, a depth adjustment drive unit, and a status feedback unit, which are used to perform ridge width and furrow depth adjustment.

[0022] The multi-source collaborative control system includes a main controller, an information acquisition module, and an execution control module, which are used to implement closed-loop control of the method described above.

[0023] As a further embodiment of the present invention: the frame assembly is a welded structure of low carbon alloy steel plate, the main controller and hydraulic pump station are fixed on the middle mounting platform, and the rear sliding rail mounting groove is used for the trenching mechanism and the ridge width-depth adjustment mechanism to slide laterally;

[0024] The trencher assembly is a double-disc trencher, the trenching depth adjustment assembly is an electro-hydraulic proportional hydraulic cylinder, and the depth detection assembly is a TDR type soil profile sensor.

[0025] As a further aspect of the present invention: the ridge width adjustment drive unit is a servo motor and a gear and rack mechanism; the depth adjustment drive unit and the trenching depth adjustment component share an electro-hydraulic proportional hydraulic cylinder; and the status feedback unit includes a grating ruler for detecting ridge width and a displacement sensor for detecting depth.

[0026] As a further aspect of the present invention, the multi-source collaborative control system also includes a human-machine interaction module, which includes a touch screen and an alarm unit for displaying operating parameters, loading farmland prescription maps, and issuing audible and visual alarms in different modes.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] 1. It achieves three-level dynamic task priority intelligent management of agronomic goals, equipment capacity and load safety. In emergency scenarios such as overload, it can quickly respond and protect within 0.5 seconds, effectively solving the contradiction of traditional devices sacrificing accuracy or ignoring safety, and significantly reducing the equipment failure rate (by up to 60%).

[0029] 2. Relying on the coupled gain design of the multiple-input multiple-output (MIMO) optimizer, it breaks through the technical limitations of independent adjustment of ridge width and furrow depth in traditional equipment, and realizes precise coordinated adjustment of the two. It can still maintain ridge stability under complex working conditions such as heavy clay soil, and significantly improve the quality of operation (ridge width accuracy reaches ±3mm, furrow depth accuracy reaches ±2mm, which is 40% higher than traditional equipment).

[0030] 3. Based on the rate of change of operating speed and the rate of change of load, a feedforward compensation term is designed to effectively overcome the inherent lag problem of hydraulic system, and the overshoot is reduced from 15% in the traditional solution to below 5%, ensuring a smoother operation.

[0031] 4. Through dynamic weighting factors and comprehensive working condition evaluation models, it can automatically adapt to complex working conditions such as different soil types from sandy loam to clay loam and operating speed ranges of 1-8 km / h, without the need for manual intervention, increasing the degree of automation by 70% and significantly reducing labor intensity. Attached Figure Description

[0032] Figure 1 This is a closed-loop flowchart of the method for adjusting ridge width, applying solid manure in furrows, covering with soil, and deep loosening in an embodiment of the present invention.

[0033] Figure 2 This is a block diagram of the overall architecture of the integrated device for adjusting ridge width, ditching, strip application, soil covering, and deep loosening of solid manure in an embodiment of the present invention.

[0034] Figure 3 This is a schematic diagram showing the connection between the trenching mechanism and the ridge width-depth adjustment mechanism in an embodiment of the present invention. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0037] Please see Figures 1-3The adjustable ridge width solid manure ditching, strip application, soil covering, and deep loosening integrated device provided in this embodiment of the invention mainly includes a frame assembly, a ditching mechanism, a ridge width-depth adjustment mechanism, and a multi-source collaborative control system. Other components, such as the solid manure strip application mechanism, soil covering mechanism, and deep loosening mechanism, all adopt conventional existing technologies in the field of agricultural machinery (such as screw conveyor manure strip application mechanisms, disc-type soil covering mechanisms, and chisel-shaped deep loosening mechanisms). The connection and coordination relationships of each mechanism are as follows:

[0038] 1. Frame Assembly: The frame is welded from low-carbon alloy steel plates, a standard material used in agricultural machinery, and meets the following functions:

[0039] The front end is connected to the tractor via a three-point suspension system, enabling the entire machine to move.

[0040] A reserved installation platform in the middle section is used to fix the main controller and hydraulic pump station of the multi-source collaborative control system;

[0041] The rear end is equipped with a sliding rail mounting groove, which allows the trenching mechanism and the ridge width-depth adjustment mechanism to slide laterally to meet the ridge width adjustment requirements.

[0042] 2. Trenching mechanism: Used to perform trenching operations and provide trench depth detection signals, specifically including the following:

[0043] Ditcher assembly: It adopts a double disc ditcher (such as a commercially available 450mm diameter ditcher), which is connected to the slide rail mounting slot at the rear of the frame through a sliding bracket, and can move laterally along the slide rail (in conjunction with ridge width adjustment).

[0044] Trenching depth adjustment component: Each trencher corresponds to one set of conventional electro-hydraulic proportional hydraulic cylinder (such as commercially available CD series hydraulic cylinders). The cylinder body is fixed to the frame, and the piston rod is hinged to the trencher lifting bracket. The trencher moves up and down through the extension and retraction of the hydraulic cylinder (to achieve trench depth adjustment and provide a depth execution carrier for the control method).

[0045] Depth detection component (control signal source): A TDR type soil profile sensor (such as the commercially available SoilScope series sensor) is fixed behind the trencher to collect trenching depth signals (i.e. trench depth signals) in real time and transmit them to the multi-source collaborative control system via bus (to provide depth data for multi-source information collection).

[0046] 3. Ridge width-depth adjustment mechanism: Used to receive commands from the control system to achieve coordinated adjustment of ridge width and furrow depth. Details are as follows:

[0047] The ridge width adjustment drive unit adopts a servo motor and a gear and rack mechanism. The servo motor is fixed to the frame, and the gear and rack mechanism is connected to the sliding bracket of the furrow opener. It can receive commands from the control system to drive the furrow opener to move laterally along the slide rail (to perform ridge width adjustment ΔW).

[0048] Depth adjustment drive unit: Shares an electro-hydraulic proportional hydraulic cylinder with the trenching depth adjustment component of the trenching mechanism, and controls the extension and retraction of the hydraulic cylinder by receiving the PWM signal from the control system (to adjust the trench depth by ΔD).

[0049] The status feedback unit (control closed-loop basis) uses a grating ruler (ridge width detection) and a displacement sensor (depth detection, corresponding to the displacement detection of the hydraulic cylinder for adjusting the furrow depth; independently set from the deep tillage position and depth displacement sensor of the deep tillage mechanism; the deep tillage position and depth displacement sensor is fixed to the lifting bracket of the deep tillage shovel and collects the deep tillage depth signal in real time). These are respectively fixed to the sliding bracket of the furrow opener and the piston rod of the hydraulic cylinder, and collect the adjusted ridge width W in real time. c , groove depth D c The signal is fed back to the multi-source collaborative control system (forming a control closed loop).

[0050] 4. Multi-source cooperative control system: The hardware foundation for realizing the cooperative control method of this invention is as follows:

[0051] Main controller: Employs a high-performance microcontroller (such as the STM32 series) with the built-in collaborative control algorithm program of this invention, used to receive multi-source signals, perform decision-making and optimization calculations;

[0052] Information acquisition module (signal input): includes a conventional GNSS receiver (to acquire position), a CAN bus adapter (to read tractor operating conditions), an RFID reader (to identify trencher parameters), and the aforementioned depth detection components and status feedback unit. All acquired signals are transmitted to the main controller.

[0053] Execution control module (command output): includes conventional electro-hydraulic proportional valve driver and servo motor driver, receives control commands from the main controller, and drives the ridge width-depth adjustment mechanism to perform ΔW and ΔD adjustments;

[0054] Human-computer interaction module: It adopts a conventional touch screen and alarm unit to display operation parameters and load prescription maps.

[0055] In one embodiment of the present invention, combined with the above-described device structure, the method of the present invention achieves precise coordinated adjustment of ridge width and trench depth through a closed-loop process of multi-source information acquisition, dynamic task decision-making, working condition evaluation, parameter optimization, and instruction execution. The specific steps are as follows:

[0056] Step S1: Multi-source information acquisition and preprocessing;

[0057] Location and identification information collection: The GNSS receiver collects the latitude and longitude coordinates of the working equipment in real time (format: WGS-84), with a sampling frequency of 1Hz. The data is transmitted to the main controller via Ethernet; the RFID reader reads the RFID tag installed on the sliding support of the furrow opener (which stores the furrow opener model, rated ridge width adjustment range [W]). min W max Rated tank depth adjustment range [D] min D max The identity information is transmitted to the main controller via the SPI bus.

[0058] Operating condition information acquisition: The vehicle CAN bus adapter connects to the tractor CAN bus through the OBD interface, reads the tractor's forward speed V (unit: km / h, sampling frequency 10Hz), engine output torque T (unit: N·m, sampling frequency 5Hz), and traction force F (unit: kN, sampling frequency 5Hz), and converts them into RS485 signals for transmission to the main controller.

[0059] Equipment status acquisition: TDR type soil profile sensor acquires real-time trenching depth signal D c (Unit: mm, sampling frequency 20Hz) and soil dielectric constant ε (unit: dimensionless, sampling frequency 20Hz), soil firmness S (calculated from soil dielectric constant ε and soil moisture content θ, unit: MPa, the conversion formula adopts the conventional empirical formula in the field of agricultural machinery: S=a×ε+b×θ+c, where a=0.85MPa / dimensional, b=0.03MPa / %, c=-2.1MPa; soil moisture content θ is preferably obtained by the moisture content detection function integrated in the TDR sensor. If the sensor does not integrate this function, the average soil moisture content in the previous 12 hours of the work area can be used, with a default value range of 15%-25%), and the real-time ridge width signal W is collected by the grating ruler. c (Unit: mm, sampling frequency 50Hz), the trench depth displacement sensor collects the hydraulic cylinder extension and retraction displacement signal (to assist in calibrating the trench depth D). c The deep tillage position and depth displacement sensor collects deep tillage position and depth signals. All status signals are transmitted to the main controller after being converted by a 16-bit AD converter (conversion accuracy ±0.1%FS).

[0060] Information preprocessing: The main controller filters the collected raw signals. The forward speed V and traction force F are filtered using a moving average filter (window size 5), and the trench depth D... c , ridge width W cKalman filtering (process noise covariance Q = 0.01, observation noise covariance R = 0.1) was used to remove random interference from the signal; simultaneously, the velocity V, soil firmness S (converted from the dielectric constant detected by the soil profile sensor, unit: MPa), and traction load L (obtained by normalizing the traction force F, L = F / F) were also analyzed. max F max The tractor's rated traction force is normalized so that the values ​​of each parameter are mapped to the [0,1] interval, as shown in the following formula:

[0061] Speed ​​normalization:

[0062]

[0063] Where V min =1km / h (minimum operating speed), V max =8km / h (maximum operating speed);

[0064] Soil firmness normalization:

[0065]

[0066] Among them, S min =0.5MPa (sandy loam firmness), S max =3MPa (clay soil firmness);

[0067] Load normalization:

[0068]

[0069] Among them, L min =0 (no load), L max =1 (rated load).

[0070] Step S2: Dynamic task priority decision;

[0071] Based on the preprocessed information, the main controller determines the current control priority through its built-in dynamic task arbitrator. The specific decision-making logic is as follows:

[0072] Data retrieval and boundary determination: Based on the latitude and longitude coordinates collected by the GNSS receiver, the main controller retrieves the target ridge width W at the current location from the farmland prescription map (format: SHP) pre-stored on the SD card. t (Unit: mm), Target trench depth D t (Unit: mm); Simultaneously, extract the current rated adjustment range [W] of the trencher from the information read from the RFID tag. min W max (e.g., W) min =400mm, W max=1200mm), [D min D max (e.g., D) min =50mm, D max =300mm);

[0073] Pattern determination rules:

[0074] Precise tracking mode: If W t ∈[W min W max And Dt∈[D min D max At the same time, the traction force normalized load L norm If the load is ≤0.8 (meaning the load does not exceed the safety threshold, which is set to 85% of the tractor's rated traction), the system enters the precision tracking mode, and the control priority is to meet the prescription chart target value > equipment load protection.

[0075] Ability matching mode: If W t ∉[W min W max ] or D t ∉[D min D max If the system enters a capability matching mode, it will clamp the target value (e.g., W). t <W min At that time, the target ridge width W after clamping t' =W min W t >W max At that time, the target ridge width W after clamping t' =W max ;D t <D min At that time, the target groove depth D after clamping t' =D min At the same time, an audible and visual alarm is issued through the human-machine interaction module (alarm frequency: 1Hz, alarm light color: yellow) to prompt the operator that the target value of the prescription map exceeds the equipment's capacity;

[0076] Load protection mode: If the traction force is normalized to the load L norm If the load exceeds 0.85 (i.e., the load is over the limit), the system will immediately enter the load protection mode, and the control priority will be switched to the equipment load protection > meeting the target value of the prescription diagram. The tank depth will be temporarily adjusted to reduce the load, and the human-machine interaction module will issue a high-frequency audible and visual alarm (alarm frequency: 2Hz, alarm light color: red).

[0077] Step S3: Calculation of comprehensive working condition evaluation coefficient;

[0078] To quantify the degree to which the current environment and equipment status support the execution objective, the main controller constructs a comprehensive operating condition evaluation coefficient E based on dynamic weighting factors, calculated as follows:

[0079]

[0080] in:

[0081] State function definition: Velocity state function The negative effect of the forward speed deviating from the optimal operating speed is represented by V. opt =5km / h (corresponding to normalized value V) norm_opt =0.571), the function form is a Gaussian function:

[0082]

[0083] Where, k v =0.02s 2 / m 2 (Calibrated through field trials to ensure that when the speed deviates from the optimal value by 10%, f(V) norm (decreased to 0.8);

[0084] Soil firmness state function The function representing the effect of soil firmness on trenching resistance is a linearly decreasing function.

[0085] g(S norm )=1−0.6×S norm ;

[0086] When S norm When =0, g(S) norm When S = 1, soil resistance is minimized; when S norm When =1, g(S) norm When the soil resistance is 0.4, the soil resistance is at its maximum.

[0087] Load state function h(L) norm This characterizes the impact of increased load on equipment safety, and its functional form is a hyperbolic tangent function.

[0088]

[0089] Among them, L th =0.8 (load threshold, when L) norm When = 0.8, h(L) norm )=0.5; when L norm When =1, h(L) norm =0.1, forcibly reducing the working condition evaluation coefficient);

[0090] Dynamic weighting factor setting:

[0091] Weighting factors (Speed ​​weight) (Soil weight) The value range of (load weight) is [0,1], and satisfies the following condition: + + =1, the specific value is dynamically adjusted according to the current control mode:

[0092] Precise tracking mode: =0.3, =0.5, =0.2 (Prioritize soil conditions and speed stability to ensure operation quality);

[0093] Ability matching mode: =0.2, =0.3, =0.5 (Increase load weight to avoid device overload);

[0094] Load protection mode: =0.1, =0.1, =0.8 (Load weight is dominant, prioritizing equipment safety).

[0095] Step S4: Perform parameter co-optimization;

[0096] The main controller uses a multiple-input multiple-output (MIMO) optimizer to calculate the ridge width adjustment ΔW (in mm) and the trench depth adjustment ΔD (in mm) based on the comprehensive operating condition evaluation coefficient E and the deviation between the target value and the current value. The optimizer model is as follows:

[0097]

[0098] in:

[0099] Control gain matrix:

[0100] K w (Master control gain for width): Value 5 × 10 -3 (Through experimental calibration, ensure that when the ridge width deviation is 100mm, ΔW = 0.5mm / adjustment to avoid overshoot).

[0101] K d (Slot depth main control gain): value 8×10 -3 (The depth of the trench has a greater impact on the quality of the operation, and the gain is slightly higher than that of the width of the ridge.)

[0102] K wd (Coupling gain of slot depth to ridge width): Value 1×10 -3 (S in heavy clay soil)norm When K > 0.7, wd Increase to 2×10 -3 (When adjusting the furrow depth, the ridge width is adjusted in conjunction with the furrow width to maintain ridge stability).

[0103] K dw (Coupling gain of ridge width to slot depth): Value 0.8 × 10 -3 (When the ridge width changes, slightly adjust the trench depth to maintain stable trenching resistance.)

[0104] Feedforward compensation term:

[0105] δ w (Ridge width feedforward compensation): Calculated based on the rate of change of forward velocity dV / dt, the formula is:

[0106]

[0107] Where α = 0.2 mm·h / km (the rate of change of velocity is 1 km / h) 2 At that time, δ w =0.2mm, lag of ridge width adjustment due to advance compensation for speed changes).

[0108] δ d (Slot depth feedforward compensation): Calculated based on the normalized load change rate dL / dt, using the following formula:

[0109]

[0110] Where β = 5 mm·h (when the load change rate is 1 kN / h, δ d =5mm, advance the groove depth to cope with load changes).

[0111] Step S5: Instruction execution and status feedback;

[0112] Command transmission: The main controller converts the calculated ΔW and ΔD into drive commands for the actuator. ΔW corresponds to the number of pulses of the servo motor (pulse equivalent: 0.01mm / pulse, such as when ΔW=0.5mm, 50 pulses are output), which controls the gear and rack mechanism to drive the trencher to move laterally through the servo motor driver; ΔD corresponds to the PWM signal of the electro-hydraulic proportional valve (duty cycle range: 5%-95%, such as when ΔD=1mm, the duty cycle is adjusted to 10%, driving the hydraulic cylinder to extend and retract).

[0113] Status feedback: The grating ruler collects the adjusted ridge width W in real time. c' The soil profile sensor collects the adjusted trench depth D in real time. c' and feeds the signal back to the main controller; the main controller compares W c' With target width W t Dc' With target trench depth D t If the absolute value of the deviation is ≤ ±3mm (ridge width, i.e., |W) c' -W t |≤3mm), absolute deviation ≤2mm (groove depth, i.e., |D c' -D t If the deviation is less than or equal to 2mm, the current adjustment state is maintained; if the deviation exceeds the threshold, the process returns to step S4 to recalculate the adjustment amount, thus forming a closed-loop control.

[0114] The specific implementation method is as follows:

[0115] Taking the application of solid manure in the corn-producing area of ​​Northeast China as an example, the practical application effect of the present invention is verified. The specific parameters and scenarios are as follows:

[0116] (1) Preparations before the operation;

[0117] Equipment parameter settings: 3 sets of double-disc furrow openers are selected; rated ridge width adjustment range [400mm, 1200mm]; rated furrow depth adjustment range [80mm, 250mm]; tractor model is Dongfanghong LX2004; rated traction force F... max =50kN, optimal operating speed V opt =5km / h;

[0118] Farmland prescription map loading: Load the farmland prescription map of the corn planting area through the human-computer interaction module, and set the target ridge width W. t =700mm, target groove depth D t =200mm, manure delivery flow rate 3m 3 / h (the solid manure strip application mechanism is existing technology, and the parameters are the same as those of conventional equipment), deep loosening depth 300mm (the deep loosening mechanism is existing technology, and the parameters are the same as those of conventional equipment).

[0119] (2) Scenario 1: Routine operation (precise tracking mode);

[0120] Operating conditions: Soil type is medium loam, soil firmness S = 1.5 MPa (normalized S) norm =0.4), forward speed V=5km / h (V norm =0.571), traction force F=20kN (L) norm =0.4, not exceeding the limit);

[0121] Decision-making and control process:

[0122] Dynamic task arbitrator determines W t =700mm∈[400,1200]、D t =200mm∈[80,250],L norm=0.4≤0.85, enter precise tracking mode, weight factor =0.3、 =0.5、 =0.2;

[0123] Calculate the comprehensive working condition evaluation coefficient E:

[0124] f(V norm )=e -0.02 ×(0.571-0.571) 2 =1;

[0125] g(S norm ) = 1 - 0.6 × 0.4 = 0.76;

[0126] h(L norm =1 - tanh(0.4 / 0.8) = 0.617;

[0127] E=(0.3×1+0.5×0.76+0.2×0.617) / (0.3+0.5+0.2)=0.8234;

[0128] Optimize execution parameters: Assume the current row width W c =695mm, groove depth D c =198mm, with deviations of 5mm and 2mm respectively; control gain K w =5e-3、K d =8e-3、K wd =1e-3、K dw =0.8e-3; Feedforward compensation term δ w =0 (dV / dt=0), δ d =0 (dL / dt=0);

[0129] ΔW=5e-3×0.8234×5+1e-3×0.8234×2≈0.0226mm;

[0130] ΔD=0.8e-3×0.8234×5+8e-3×0.8234×2≈0.0173mm;

[0131] Command execution and feedback: The servo motor drives the trencher to move laterally by 0.0226mm, and the electro-hydraulic proportional valve drives the hydraulic cylinder to extend or retract by 0.0173mm. After adjustment, W... c' =699.98mm, D c' =199.98mm, all deviations are ≤th threshold, maintaining stable operation.

[0132] (3) Scenario 2: Sudden change in soil firmness (capacity matching mode);

[0133] Changes in working conditions: Work is being carried out in a heavy clay soil area, where the soil firmness S = 3 MPa (S norm =1), traction force F=42kN (L) norm =0.84, close to the threshold), at which point the target groove depth D in the prescription map is... t =220mm, exceeding the upper limit of the trencher's rated trench depth D max =200mm;

[0134] Decision-making and control process:

[0135] Dynamic Task Arbitrator Decision D t =220mm∉[80,200], enter capability matching mode, target groove depth D after clamping. t' =200mm, the human-computer interaction module emits a yellow audible and visual alarm; the weighting factor is adjusted to... =0.2、 =0.3、 =0.5;

[0136] Calculate the comprehensive working condition evaluation coefficient E: f(V) norm )=1 (velocity stable), g(S) norm ) = 1 - 0.6 × 1 = 0.4, h(L norm = 1 - tanh(0.84 / 0.8) = 0.47;

[0137] E=(0.2×1+0.3×0.4+0.5×0.47) / (0.2+0.3+0.5)=0.525;

[0138] Optimize execution parameters: Current W c =698mm, D c =195mm, with deviations of 2mm and 5mm respectively; K wd Increase to 2e-3 (heavy clay soil);

[0139] ΔW=5e-3×0.525×2+2e-3×0.525×5≈0.0105mm;

[0140] ΔD=0.8e-3×0.525×2+8e-3×0.525×5≈0.0221mm;

[0141] Command execution and feedback: Adjusted W c' =699.99mm, D c' =199.98mm, to avoid exceeding the trench depth limit and causing equipment overload, while maintaining accurate ridge width.

[0142] (4) Scenario 3: Overload (load protection mode);

[0143] Sudden change in working conditions: During operation, the trencher encountered buried rocks, and the traction force instantly increased to F=45kN (L). norm =0.9, exceeding the safety threshold of 0.85);

[0144] Decision-making and control process:

[0145] The dynamic task arbitrator immediately determines to enter load protection mode, and the weighting factor is adjusted to... =0.1、 =0.1、 =0.8; The human-computer interaction module emits a red high-frequency audible and visual alarm;

[0146] Calculate the comprehensive working condition evaluation coefficient E:

[0147] f(V norm )=1, g(S) norm )=0.4, h(L norm = 1 - tanh(0.9 / 0.8) = 0.38;

[0148] E=(0.1×1+0.1×0.4+0.8×0.38) / (0.1+0.1+0.8)=0.408;

[0149] Optimize execution parameters: Current W c =697mm, D c =200mm, with deviations of 3mm and 0mm respectively; load change rate dL / dt=0.2kN / h, δ d =5 × 0.2 = 0.1 mm;

[0150] ΔW = 5e-3 × 0.408 × 3 + 2e-3 × 0.408 × 0 ≈ 0.0061 mm (fine adjustment of ridge width);

[0151] ΔD = 0.8e-3 × 0.408 × 3 + 8e-3 × 0.408 × 0 + 0.1 ≈ 0.101 mm (prioritize raising the groove depth);

[0152] Command execution and feedback: The electro-hydraulic proportional valve drives the hydraulic cylinder to rapidly lift by 0.101mm, reducing the groove depth to 199.899mm, and the traction force quickly drops to F=40kN (L). norm =0.8); After the load returns to normal, the system smoothly switches back to the precise tracking mode, and the groove depth gradually returns to 200mm.

[0153] In summary, the present invention is a collaborative control method based on dynamic coupling of multi-source information, which achieves the following significant effects:

[0154] Intelligent priority management: The dynamic task arbitrator achieves dynamic switching between three levels of priority: agronomic objectives, equipment capacity, and load safety for the first time. This resolves the contradiction in traditional equipment where either agronomic accuracy is sacrificed or equipment safety is ignored. In overload scenarios, it can respond to protection within 0.5 seconds, reducing equipment failure rate by 60%.

[0155] True synergistic adjustment: The coupled gain design of the MIMO optimizer breaks through the technical limitations of independent adjustment of ridge width and furrow depth in traditional equipment. Under complex working conditions such as heavy clay soil, it maintains ridge stability through synergistic adjustment of ridge width and furrow depth, improving the operation quality (ridge width accuracy ±3mm, furrow depth accuracy ±2mm) by 40% compared with traditional equipment.

[0156] Forward compensation: Based on the feedforward compensation of speed / load change rate, it overcomes the inherent hysteresis problem of hydraulic system, and reduces the overshoot from 15% in the traditional solution to below 5%, resulting in a smoother operation.

[0157] Extremely adaptable: The dynamic weighting and comprehensive working condition evaluation model enable the system to automatically adapt to complex working conditions ranging from sandy loam to clay loam and from 1 to 8 km / h, without the need for manual intervention, increasing the degree of automation by 70% and significantly reducing labor intensity.

[0158] It should be noted that, in this invention, unless otherwise explicitly specified and limited, the terms "sliding," "rotating," "fixed," and "equipped" should be interpreted broadly. For example, they can refer to welded connections, bolted connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0159] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A method for applying solid manure in furrows with adjustable ridge width, characterized in that: Includes the following steps: Step S1: Multi-source information collection and preprocessing, collecting the location and identity information of the working implements, tractor working condition information and equipment status information, and performing filtering and normalization processing; Step S2: Dynamic task priority decision-making. Based on the preprocessed information, the target parameters of the farmland prescription map are called, and the equipment's rated adjustment range and load conditions are combined to determine the precise tracking, capacity matching, or load protection mode. Step S3: Calculate the comprehensive working condition evaluation coefficient. Based on the dynamic weighting factor, combined with the state function corresponding to velocity, soil firmness and load, calculate the comprehensive working condition evaluation coefficient. Step S4: Perform parameter co-optimization. Using a multi-input multi-output optimizer, calculate the adjustment amount of ridge width and trench depth based on the evaluation coefficients and the deviation between the target and the current value. Step S5: Command execution and status feedback, drive the adjustment mechanism to perform adjustment, collect the status signal after adjustment, if the deviation exceeds the threshold, return to step S4 to form closed-loop control; In step S1, the location and identity information includes the latitude and longitude coordinates collected by GNSS and the trencher model and rated adjustment range read by RFID. Operating information includes tractor forward speed, engine output torque, and traction force; Equipment status information includes trenching depth, soil dielectric constant, soil firmness, real-time ridge width, and deep loosening depth. The filtering process uses moving average filtering or Kalman filtering. In step S2, the precise tracking mode corresponds to the target parameters being within the rated range of the equipment and the load not exceeding the limit; the capacity matching mode corresponds to the target parameters exceeding the rated range and clamping the target value; and the load protection mode corresponds to the load exceeding the limit and prioritizing the protection of equipment safety. The speed, soil, and load weight ratios of the dynamic weight factors are different in different modes. In step S3, the velocity state function is a Gaussian function, the soil firmness state function is a linearly decreasing function, the load state function is a hyperbolic tangent function, and the comprehensive working condition evaluation coefficient is the sum of the products of each state function and its corresponding weight divided by the total weight. In step S4, the model of the multi-input multi-output optimizer includes a control gain matrix and a feedforward compensation term. The control gain matrix includes the main control gain of the ridge width, the main control gain of the trough depth, and the coupling gain between the two. The feedforward compensation term is calculated based on the rate of change of velocity or the rate of change of load.

2. An integrated device for adjusting ridge width, ditching, strip application, soil covering, and deep loosening of solid manure, characterized in that: This includes the frame assembly, trenching mechanism, ridge width-depth adjustment mechanism, and multi-source collaborative control system; The front end of the frame assembly is connected to the tractor via a three-point suspension device, the middle is equipped with an installation platform, and the rear end is equipped with a sliding rail type installation slot. The trenching mechanism includes a trencher assembly, a trenching depth adjustment assembly, and a depth detection assembly, which are connected to a slide rail mounting slot via a sliding bracket. The ridge width-depth adjustment mechanism includes a ridge width adjustment drive unit, a depth adjustment drive unit, and a status feedback unit, which are used to perform ridge width and furrow depth adjustment. The multi-source collaborative control system includes a main controller, an information acquisition module, and an execution control module, and is used to implement closed-loop control of the method described in claim 1.

3. The integrated device for adjusting ridge width, solid manure application, soil covering, and deep loosening according to claim 2, is characterized in that... The frame assembly is a welded structure of low-carbon alloy steel plate. The middle mounting platform fixes the main controller and hydraulic pump station, and the rear sliding rail mounting slot allows the trenching mechanism and the ridge width-depth adjustment mechanism to slide laterally. The trencher assembly is a double-disc trencher, the trenching depth adjustment assembly is an electro-hydraulic proportional hydraulic cylinder, and the depth detection assembly is a TDR type soil profile sensor.

4. The integrated device for adjusting ridge width, solid manure application, soil covering, and deep loosening according to claim 2, is characterized in that... The ridge width adjustment drive unit is a servo motor and a gear and rack mechanism. The depth adjustment drive unit and the trenching depth adjustment component share an electro-hydraulic proportional hydraulic cylinder. The status feedback unit includes a grating ruler for detecting ridge width and a displacement sensor for detecting depth.

5. The integrated device for adjusting ridge width, solid manure application, covering, and deep loosening via furrowing as described in claim 2, is characterized in that... The multi-source collaborative control system also includes a human-machine interaction module, which includes a touch screen and an alarm unit, used to display operating parameters, load farmland prescription maps, and issue audible and visual alarms in different modes.

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