Mixed burying decay promotion control method for green manure or rice straw

Abstract

The invention discloses a mixed burying decay promotion control method for green manure or rice straw. The method comprises the following steps: acquiring operation mode information of decay promoter spraying operation and crushing mixed burying depth regulation and control operation; when the spraying operation of the corrosion promoting agent is switched to the automatic spraying mode, obtaining the spraying flow at the ending moment of the manual spraying mode and the operation parameters of the crushing device, and taking the spraying flow and the operation parameters as first reference values; regulating and controlling the spraying flow of the corrosion promoting agent based on the first reference value and the real-time operation parameters of the crushing device; when the crushing, mixing and burying depth regulation and control operation is switched to the automatic regulation and control mode, the rotating speed of the crushing knife roll and the load of the side transmission shaft at the ending moment of the manual regulation and control mode are obtained and serve as second reference numerical values; and the expansion amount of the oil cylinder is automatically adjusted based on the real-time rotating speed of the crushing knife roll and the real-time load of the side transmission shaft. According to the invention, the spraying flow of the corrosion promoting agent and the crushing and mixed burying depth can be intelligently regulated and controlled, and the device adapts to different working environments.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology for agricultural machinery, and in particular to a method for controlling the decomposition of green manure or rice straw through mixed burial. Background Technology

[0002] In agricultural production, returning green manure crops and organic materials such as rice straw to the field is an important measure to improve soil fertility, improve soil structure, and promote sustainable agricultural development. Traditional returning operations typically involve crushing and burying green manure or rice straw, supplemented with an appropriate amount of composting accelerator to accelerate the decomposition process. However, in practice, due to differences in soil texture, moisture, and crop residue levels, operating conditions are highly uncertain, making it difficult for existing returning equipment to achieve precise matching and dynamic adjustment of operating parameters. In particular, in controlling the flow rate of composting accelerator and the depth of crushing and burying, most equipment still relies on manual settings based on human experience, lacking the ability to perceive and adjust the operating status in real time. This easily leads to problems such as uneven spraying, incomplete crushing, or burying too deep or too shallow, which not only affects the decomposition efficiency of organic materials but may also adversely affect subsequent cultivation.

[0003] In the prior art, patent CN108990527A provides a green manure crushing and returning machine, which has a crushing device arranged in the front and a rotary tillage and compaction device arranged in the rear. It also includes a lifting device to limit the overall height of the frame. In this green manure crushing and returning machine, the crushing and burying height is fixed and it is difficult to adaptively adjust the height parameter according to actual needs, which cannot guarantee the continuous stability of the operation.

[0004] Patent CN116171739A provides a green manure crushing and returning device and its operation method, which includes a crushing device and a dosing device. The dosing device can spray a composting agent onto the green manure when the crushing device is crushing. The device includes a curved swing arm for adaptively adjusting the flow rate of the composting agent. However, the curved swing arm and its connected transmission mechanism in this patent have a complex structure, high cost and poor reliability. Furthermore, it cannot adjust the correspondence between the rotation speed and the flow rate of the composting agent as needed, resulting in poor overall applicability. Summary of the Invention

[0005] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the present invention provides a method for controlling the composting of green manure or rice straw by mixing and burying, which can realize intelligent control of the spraying flow rate of composting agent and the crushing and burying depth, and ensure the continuous stability of operation quality.

[0006] Technical solution: To achieve the above objectives, the present invention provides a method for controlling the decomposition of green manure or rice straw through mixed landfill. The control method is implemented by a control system and includes:

[0007] The system acquires the operation mode information for both the application of composting accelerators and the control of the crushing and landfill depth. Specifically, the control system determines the operation mode of composting accelerator application based on whether the automatic spraying button is pressed. If the button is pressed, it is in automatic spraying mode; otherwise, it is in manual spraying mode. The system also determines the operation mode of crushing and landfill depth control based on whether the automatic control button is pressed. If the button is pressed, it is in automatic control mode; otherwise, it is in manual control mode.

[0008] When the operation mode of the preservative spraying operation is manual spraying mode, the spraying flow rate is adjusted according to the control signal generated by the first control unit;

[0009] When the operation mode of the crushing and landfill depth control operation is manual control mode, the extension and retraction of the hydraulic cylinder is adjusted according to the control signal generated by the second control unit.

[0010] When the operation mode of the preservative spraying operation is switched to automatic spraying mode, the following operation is performed: obtain the spraying flow rate Q at the time when the previous manual spraying mode ended. b The operating parameters of the crushing device are used as a first reference value; the spraying flow rate of the preservative is adjusted based on the first reference value and the real-time operating parameters of the crushing device; the operating parameters of the crushing device include the rotational speed N of the crushing roller. b In automatic spraying mode, the first control unit fails.

[0011] When the operation mode of the crushing and landfill depth control operation is switched to automatic control mode, the following operation is performed: obtain the rotational speed N of the crushing roller at the time when the manual control mode ended. f and the load F of the side drive shaft b The real-time rotational speed n of the crushing roller and the real-time load F of the side drive shaft are used as the second reference value. The extension and retraction of the hydraulic cylinder connecting the depth-limiting pressure roller and the frame are automatically adjusted based on the real-time rotational speed n of the crushing roller and the real-time load F of the side drive shaft, so that the real-time rotational speed n of the crushing roller and the real-time load F of the side drive shaft are close to the corresponding values ​​in the second reference value. In automatic control mode, the second control unit is disabled.

[0012] Furthermore, adjusting the spraying flow rate of the composting agent based on the first reference value and the real-time operating parameters of the pulverizing device includes:

[0013] Obtain the real-time rotational speed n of the crushing roller, and apply formula Q b ·n / N b The calculated value is used as the target spraying flow rate;

[0014] Based on the target spraying flow rate, the control voltage of the variable valve is changed. The control signal of the variable valve is an analog voltage signal of 0-5V. By precisely changing the voltage value of the analog voltage signal, the flow rate of the causative agent can be continuously adjusted.

[0015] Furthermore, the method also includes:

[0016] Determine if the target spray flow rate is 0. If it is, disconnect the power supply to the electric pump; otherwise, supply power to the electric pump.

[0017] Furthermore, the automatic adjustment of the extension and retraction of the hydraulic cylinder based on the real-time rotational speed n of the crushing roller and the real-time load F of the side drive shaft includes:

[0018] Determine the real-time load F and the real-time rotational speed n relative to the second reference value F. b With N f Size relationship;

[0019] When F > F b And n < N f When the conditions are met and the cumulative duration t is greater than the preset time threshold, the extension rod of the hydraulic cylinder is extended to press down the depth-limiting pressure roller and reduce the crushing and burial depth.

[0020] When F < F b And n > N f When the conditions are met and the cumulative duration t is greater than the preset time threshold, the telescopic rod of the hydraulic cylinder is controlled to retract inward so that the depth-limiting pressure roller is retracted, thereby increasing the crushing and burial depth.

[0021] Furthermore, metal discs are respectively mounted at both ends of the side drive shaft. Each of the two metal discs has a fan-shaped through hole, and these fan-shaped through holes are staggered. The misalignment angle between the two metal discs is [missing information]. Each of the metal discs on the frame is equipped with a proximity sensor, which is directly opposite the center of the width of the fan-shaped through hole. Thus, when the fan-shaped through hole passes through the proximity sensor, the proximity sensor does not generate a sensing signal and outputs a high-level signal. After the fan-shaped through hole leaves the proximity sensor, the proximity sensor generates a sensing signal and outputs a low-level signal. The proximity sensor is connected to the control system.

[0022] The load F b Calculated based on the following formula:

[0023] ;

[0024] In the formula: The time interval change for which two proximity sensors detect the sector-shaped through-hole; α is the change in the misalignment angle; α is the torsional angle of the side drive shaft; K and B are both proportional constants.

[0025] Furthermore, the frame includes a front frame and a rear frame connected by an adjustment mechanism; in manual control mode, the operation of the adjustment mechanism can be controlled simultaneously; the method further includes:

[0026] When the operation mode of the crushing and landfill depth control operation is switched to automatic control mode, the relative height between the front frame and the rear frame at the end of the previous manual control mode is obtained as the reference relative height.

[0027] When satisfying F and F b The difference is less than the preset range and n < k1N f When the conditions are met and the cumulative duration t is greater than the preset time threshold, the adjustment mechanism is controlled to operate so that the rear frame rises relative to the front frame; k1 is a constant less than 1, such as 0.7; under this condition, it indicates that the soil quality has changed or the soil penetration depth of the burial cutter is too deep, which greatly slows down the rotation speed of the burial cutter roller and the crushing cutter roller, so it is necessary to increase the height of the rear frame separately.

[0028] When satisfying F and F b The difference is less than the preset range and n > k2N f When the conditions are met and the cumulative duration t is greater than the preset time threshold, the adjustment mechanism is controlled to operate so that the rear frame is lowered relative to the front frame; k2 is a constant greater than 1, such as 1.2; under this condition, it indicates that the soil quality has changed or the soil penetration depth of the burial cutter is too shallow, and the rotation speed of the burial cutter roller and the crushing cutter roller has become too high, so it is necessary to reduce the height of the rear frame separately.

[0029] Beneficial effects: The method for controlling the decomposition of green manure or rice straw by mixing and burying according to the present invention has the following beneficial effects:

[0030] (1) The control method in this invention achieves intelligent control of the spray flow rate of the composting agent and the crushing and burying depth by smoothly switching between manual and automatic modes and retaining the best parameters of manual adjustment as the benchmark for automatic operation. It effectively adapts to different operating environments, improves the decomposition efficiency and return quality of green manure or rice straw, and takes into account both the flexibility of operation and the stability of automated control.

[0031] (2) The automatic control method of this invention can prevent the moving blades of the crushing device from contacting the soil too much, thus preventing excessive soil from being carried into the crushing device and increasing the torque load on the side drive shaft that provides rotation for the crushing blade roller. In addition, since both the crushing blade roller and the landfill blade roller of the landfill device are driven by the PTO output shaft of the tractor, it can prevent the landfill blades of the landfill device from penetrating the soil too deeply, thus slowing down the rotation speed of the crushing blade roller, and prevent the landfill blades from penetrating the soil too shallowly, resulting in insufficient resistance and excessive rotation speed of the crushing blade roller. Therefore, by adopting the above control method, both crushing effect and landfill depth can be taken into account.

[0032] (3) The load detection and load calculation method makes full use of the characteristic that the torsion angle of the side drive shaft changes under different loads. The torsion angle can be effectively calculated based on the change in the interval time of the fan-shaped through hole detected by the proximity sensor, and the load value can be calculated accordingly, thus solving the problem of difficult load detection in crushing.

[0033] (4) By individually adjusting the rear frame relative to the front frame, the depth of the burial device can be individually adjusted to ensure the rationality of the burial depth and avoid the burial depth being unsuitable for the current environment due to soil changes or other reasons, thus ensuring the continuous stability of the operation quality. Attached Figure Description

[0034] Figure 1 A side view of the equipment used for soil compaction and decomposition.

[0035] Figure 2 A top view of the equipment used for co-burial and decomposition promotion;

[0036] Figure 3 This is a structural diagram of the combined structure of the side drive shaft, metal disk, and proximity sensor.

[0037] Figure 4 This is a structural diagram of the metal disk and a diagram showing the relative position of the metal disk and the proximity sensor;

[0038] Figure 5 The diagram shows the square wave signals output by the two proximity sensors.

[0039] Figure 6 This is a structural diagram of the control box;

[0040] Figure 7 This is a structural diagram showing the connection between the front frame and the rear frame via an adjustment mechanism in one embodiment.

[0041] Figure 8 This is a schematic diagram of the overall process for controlling the decomposition of green manure or rice straw through mixed landfill.

[0042] In the diagram: 1-Frame; 11-Front frame; 12-Rear frame; 13-Adjusting mechanism; 2-Crushing device; 21-Crushing roller; 22-Moving blade; 23-Fixed blade; 3-Corrosion accelerator spraying device; 31-Agent tank; 32-Electric pump; 33-Sprayer head; 34-Variable pump; 4-Buried mixing device; 41-Buried mixing roller; 42-Buried mixing blade; 5-Control device; 51-Depth limiting pressure roller; 52-Hydraulic cylinder; 61-Front transmission box; 62-Side transmission shaft; 63-Telescopic universal joint; 64-Rear transmission box; 71-Metal disc; 711-Fan-shaped through hole; 72-Proximity sensor; 8-Control box; 81-Automatic spraying button; 82-Automatic control button; 83-First control unit; 84-Second control unit. Detailed Implementation

[0043] The invention will now be further described with reference to the accompanying drawings.

[0044] The present invention provides a method for controlling the decomposition of green manure or rice straw through mixed landfill. Figure 1 and Figure 2 The illustrated landfill decomposition equipment includes a frame 1, which comprises a front frame 11 and a rear frame 12 connected to each other. The front frame 11 is equipped with a decomposition agent spraying device 3 and a crushing device 2, and the rear frame 12 is equipped with a landfill device 4. An adjustment device 5 is installed on the rear side of the front frame 11. The adjustment device 5 includes a depth limiting roller 51 and a hydraulic cylinder 52 connecting the depth limiting roller 51 and the front frame 11.

[0045] A front transmission box 61 is mounted on the front frame 11. The front transmission box 61 receives power from the PTO output shaft of the tractor. The front transmission box 61 transmits power to the crushing roller 21 of the crushing device 2 through a side transmission shaft 62. A moving blade 22 is mounted on the crushing roller 21. A fixed blade 23 that works with the moving blade 22 is mounted on the front frame 11. The front transmission box 61 can also transmit power to the landfilling roller 41 of the landfilling device 4. A landfilling blade 42 is mounted on the landfilling roller 41. Specifically, a rear transmission box 64 is mounted on the rear frame 12. The rear side of the front transmission box 61 has a rear output shaft. The rear output shaft is connected to the input shaft of the rear transmission box 64 through a telescopic universal joint 63. The rear transmission box 64 is drivenly connected to the landfilling roller 41.

[0046] It also includes a control system and a control box 8, the control system being used to implement the following equipment for the co-burial and decomposition of green manure or rice straw; such as Figure 6 As shown, the control box 8 is connected to the control system. The control box 8 has an automatic spraying button 81, an automatic adjustment button 82, a first control unit 83, and a second control unit 84.

[0047] like Figure 8 The diagram shown illustrates a process for controlling the composting of green manure or rice straw through landfill. This control method is implemented by a control system. Figure 8 The method described can be summarized as follows: steps S101-S105 (in this invention, the step numbers are not used to limit the real-time order of the steps):

[0048] Step S101: Obtain the operation mode information for both the composting agent spraying operation and the crushing and landfill depth control operation. Specifically, the control system determines the operation mode of the composting agent spraying operation based on whether the automatic spraying button 81 is pressed. If pressed, it is the automatic spraying mode; otherwise, it is the manual spraying mode. The control system determines the operation mode of the crushing and landfill depth control operation based on whether the automatic control button 82 is pressed. If pressed, it is the automatic control mode; otherwise, it is the manual control mode.

[0049] Step S102: When the operation mode of the preservative spraying operation is manual spraying mode, the spraying flow rate is adjusted according to the control signal generated by the first control unit 83; in this embodiment, the first control unit 83 is a manual knob.

[0050] Step S103: When the operation mode of the crushing and landfill depth control operation is manual control mode, the extension and retraction of the hydraulic cylinder is adjusted according to the control signal generated by the second control unit 84; in this embodiment, the second control unit 84 is a manual crank.

[0051] Step S104: When the operation mode of the preservative spraying operation is switched to automatic spraying mode, the following operations are performed: The spraying flow rate and the operating parameters of the pulverizing device 2 at the end of the previous manual spraying mode are obtained and used as the first reference value; the spraying flow rate of the preservative is adjusted based on the first reference value and the real-time operating parameters of the pulverizing device 2. Specifically, the target spraying flow rate is first calculated, and then the opening of the variable valve is adjusted based on the target spraying flow rate; the operating parameters of the pulverizing device 2 include the rotational speed N of the pulverizing roller 21. b In automatic spraying mode, the first control unit 83 fails.

[0052] Step S105: When the operation mode of the crushing and landfill depth control operation is switched to automatic control mode, the following operation is performed: Obtain the rotational speed N of the crushing roller 21 at the time when the manual control mode ended. f and the load F of the side drive shaft 62 b The real-time rotational speed n of the crushing roller 21 and the real-time load F of the side drive shaft 62 are used as the second reference value. The extension and retraction of the hydraulic cylinder 52 connecting the depth-limiting pressure roller 51 and the frame are automatically adjusted based on these values, so that the real-time rotational speed n of the crushing roller 21 and the real-time load F of the side drive shaft 62 are close to the corresponding values ​​in the second reference value. The depth-limiting pressure roller 51 is located between the crushing device 2 and the landfill device 4. In automatic control mode, the second control unit 84 is disabled.

[0053] In the above method, during machine operation, the application of the composting agent needs to go through a process of switching from manual spraying mode to automatic spraying mode. In manual spraying mode, when the spraying effect meets the requirements, it switches to automatic spraying mode. During the switching process, the parameters of the manual spraying mode are retained as the baseline values ​​for the automatic spraying mode. Similarly, the crushing and landfill depth control operation needs to go through a process of switching from manual control mode to automatic control mode. When the crushing and landfill effect meets the requirements, it switches to automatic control mode. During the switching process, the parameters of the manual control mode are retained as the baseline values ​​for the automatic control mode. Through this method, different operating environments can be met, and indicators adapted to the operating environment can be obtained. If the machine is stopped midway and restarted and directly switched to automatic spraying mode and automatic control mode, the parameters corresponding to the most recent manual spraying mode are used as the first baseline value, and the parameters corresponding to the most recent manual control mode are used as the second baseline value.

[0054] The control method in this invention achieves intelligent regulation of the spray flow rate of the composting agent and the crushing and burying depth by smoothly switching between manual and automatic modes and retaining the best parameters for manual adjustment as the benchmark for automatic operation. It effectively adapts to different operating environments, improves the decomposition efficiency and return quality of green manure or rice straw, and takes into account both the flexibility of operation and the stability of automated control.

[0055] like Figure 2 As shown, the corrosion accelerator spraying device 3 includes a reagent tank 31, an electric pump 32, nozzles 33, and a variable pump 34. There are multiple nozzles 33, all of which are arranged equidistantly in a straight line along the left-right direction on the front side of the front frame 11. The reagent tank 31 is connected to all nozzles 33 via the electric pump 32 and the variable pump 34.

[0056] Preferably, the step S104 above, which involves adjusting the spraying flow rate of the composting agent based on the first reference value and the real-time operating parameters of the pulverizing device 2, includes the following steps S201-S202:

[0057] Step S201: Obtain the real-time rotational speed n of the crushing roller 21, and apply formula Q. b ·n / N b The calculated value is used as the target spraying flow rate;

[0058] Step S202: Based on the target spraying flow rate, change the control voltage of the variable valve. The control signal of the variable valve is an analog voltage signal of 0-5V. By precisely changing the voltage value of the analog voltage signal, the flow rate of the causative agent can be continuously adjusted.

[0059] Preferably, the method further includes the following step S203:

[0060] Step S203: Determine whether the target spraying flow rate is 0. If yes, disconnect the power supply to the electric pump 32; otherwise, supply power to the electric pump 32.

[0061] Preferably, the automatic adjustment of the extension and retraction of the hydraulic cylinder 52 based on the real-time rotational speed n of the crushing roller 21 and the real-time load F of the side drive shaft 62 in step S105 above includes the following steps S301-S303:

[0062] Step S301: Determine the real-time load F and the real-time rotational speed n relative to the second reference value F. b With N f Size relationship;

[0063] Step S302, when F > F b And n < N f If the cumulative duration t is greater than the preset time threshold, it is determined that the crushing and burial depth is too deep. The telescopic rod of the hydraulic cylinder 52 is extended to press down the depth-limiting roller 51 and reduce the crushing and burial depth. In this embodiment, the preset time threshold is 1 second.

[0064] Step S303, when F < F b And n > N f If the cumulative duration t is greater than the preset time threshold, it is determined that the crushing and burial depth is too shallow. The telescopic rod of the hydraulic cylinder 52 is controlled to retract inward so that the depth-limiting pressure roller 51 is retracted, thereby increasing the crushing and burial depth.

[0065] By employing the aforementioned automatic control method, excessive contact between the moving blades 22 of the crushing device 2 and the soil can be prevented, thus avoiding the entrainment of excessive soil into the crushing device 2. This, in turn, prevents an increase in the torque load on the side drive shaft 62 that provides rotation for the crushing blade roller 21. Furthermore, since both the crushing blade roller 21 and the landfill blade roller 41 of the landfill device 4 are driven by the tractor's PTO output shaft, it prevents the landfill blades 42 of the landfill device 4 from penetrating the soil too deeply, thus slowing down the rotation speed of the crushing blade roller 21, and also prevents the landfill blades 42 from penetrating the soil too shallowly, resulting in insufficient resistance and excessively high rotation speed of the crushing blade roller 21. Therefore, by employing the aforementioned control method, both crushing effect and landfill depth can be balanced.

[0066] Preferably, such as Figure 3 As shown, metal discs 71 are respectively mounted on both ends of the side drive shaft 62. Each of the two metal discs 71 has a fan-shaped through hole 711, and the fan-shaped through holes 711 are staggered. The misalignment angle between the two metal discs 71 is [missing information]. Misalignment angle under no load The range is 120°-180°; a proximity sensor 72 is provided on the frame corresponding to each of the metal disks 71, such as... Figure 4As shown, the proximity sensor 72 is directly opposite the center of the width of the fan-shaped through-hole 711. Thus, when the fan-shaped through-hole 711 passes through the proximity sensor 72, the proximity sensor 72 does not generate a sensing signal and outputs a high-level signal. After the fan-shaped through-hole 711 leaves the proximity sensor 72, the proximity sensor 72 generates a sensing signal and outputs a low-level signal. The proximity sensor 72 is connected to the control system. When the side drive shaft 62 rotates, the two proximity sensors 72 respectively output square wave signals, such as... Figure 5 As shown in the figure, t1 and t2 represent the time it takes for the fan-shaped through holes 711 on the two metal disks 71 to pass through the corresponding proximity sensors 72, respectively, and T is the interval between the two proximity sensors 72 detecting the fan-shaped through holes 711. Due to the existence of the misalignment angle ϕ, there is an interval t between the times when the two proximity sensors 72 detect the corresponding fan-shaped through holes 711. The interval t is also the time difference between the output signals of the two proximity sensors 72 transitioning from a low level to a high level. When the torque transmitted by the side drive shaft 62 is different, the torsional deformation generated by the side drive shaft 62 is different, which will cause the above-mentioned interval t to be different.

[0067] The load F mentioned in step S104 above b Calculated based on the following formula:

[0068] ;

[0069] In the formula: The change in the interval time at which the two proximity sensors 72 detect the fan-shaped through hole 711 is also known as the change in the interval time t mentioned above. α is the change in the misalignment angle; α is the torsional angle of the side drive shaft 62; K and B are both proportional constants.

[0070] The above formula is derived based on the following method:

[0071] First, the rotational speed of the side drive shaft 62 and the misalignment angle between the two metal disks 71 have the following relationship:

[0072] ;

[0073] In the formula: n is the rotational speed of the side drive shaft 62; t is the time it takes for the fan-shaped through hole 711 to pass through the proximity sensor 72 when the metal disk 71 rotates one revolution; T is the misalignment angle between the two metal disks 71; T is the interval between the detection of the fan-shaped through hole 711 by the two proximity sensors 72; since the central angle θ of the fan-shaped through hole 711 on the metal disk 71 is constant, the sampling of the rotational speed of the side drive shaft 62 and the misalignment angle of the two metal disks 71 is actually the sampling of the pulse width and interval of the proximity sensors 721 and 722.

[0074] According to Hooke's Law, the side drive shaft 62 will undergo torsional deformation under the action of working resistance, and the torsional angle between the two ends of the side drive shaft 62 is:

[0075] ;

[0076] In the formula: α is the torsion angle; T N The torque between the two end faces of the side drive shaft 62, which is the aforementioned load F. b L is the distance between the two end faces of the side drive shaft 62; G is the material shear modulus; I p Let I be the polar moment of inertia; r be the distance from any point on the cross-section to the center of the circle; and A be the cross-sectional area. The side drive shaft 62 is a solid circular shaft. An annular area of ​​length dr at a distance r from the center of the circular shaft cross-section can be taken as a micro-area dA. The polar moment of inertia I of the side drive shaft 62 is... p for:

[0077] ;

[0078] In the formula: D is the diameter of the side drive shaft 62. Combining the above two formulas, the torsion angle α between the two sections can be obtained as:

[0079] ;

[0080] Given that the material, cross-sectional shape, and axial length of the side drive shaft 62 are fixed, the length L, diameter D, and shear modulus G of the side drive shaft 62 are all constants. Simultaneously, the torsional angle α generated by the side drive shaft 62 is equal to the change in the misalignment angle between the two metal disks 71. Combining all the above formulas, we can obtain the load F mentioned above. b The calculation formula is as follows. The real-time load F mentioned above is obtained in the same way.

[0081] The above-mentioned load detection and load calculation method makes full use of the characteristic that the torsion angle of the side drive shaft 62 changes under different loads. Based on the change in the interval of the fan-shaped through hole 711 detected by the proximity sensor 72, the torsion angle can be effectively calculated, and the load value can be calculated accordingly, thus solving the problem of difficult load detection in crushing.

[0082] Preferably, the relative height between the front frame 11 and the rear frame 12 of the frame is adjustable;

[0083] In the first embodiment, such as Figure 1 As shown, the front frame 11 and the rear frame 12 are adjusted manually; the rear side of the front frame 11 is provided with multiple sets of adjustment holes, and the rear frame 12 is adjusted relative to the front frame 11 by attaching to the adjustment holes at different heights.

[0084] In the second embodiment, such as Figure 7 As shown, the frame includes a front frame 11 and a rear frame 12 connected by an adjustment mechanism 13; in manual control mode, the operation of the adjustment mechanism 13 can be controlled simultaneously; the method further includes the following steps S401-S402:

[0085] Step S401: When the operation mode of the crushing and landfill depth control operation is switched to automatic control mode, the relative height between the front frame 11 and the rear frame 12 at the end of the previous manual control mode is obtained as the reference relative height.

[0086] Step S402, satisfying F and F b The difference is less than the preset range and n < k1N f When the conditions are met and the cumulative duration t is greater than the preset time threshold, the adjustment mechanism 13 is controlled to operate so that the rear frame 12 rises relative to the front frame; k1 is a constant less than 1, such as 0.7; under this condition, it indicates that the soil quality has changed or the soil penetration depth of the burial cutter 42 is too deep, which greatly slows down the rotation speed of the burial cutter roller 41 and the crushing cutter roller 21, so it is necessary to raise the height of the rear frame 12 separately;

[0087] Step S403, satisfying F and F b The difference is less than the preset range and n > k2N f When the conditions are met and the cumulative duration t is greater than the preset time threshold, the adjustment mechanism 13 is controlled to operate so that the rear frame 12 is lowered relative to the front frame; k2 is a constant greater than 1, such as 1.2; under this condition, it indicates that the soil quality has changed or the soil penetration depth of the burial cutter 42 is too shallow, and the rotation speed of the burial cutter roller 41 and the crushing cutter roller 21 has become too high, so it is necessary to reduce the height of the rear frame 12 separately.

[0088] By individually adjusting the rear frame 12 relative to the front frame 11, the depth of the burial device 4 can be individually adjusted to ensure the rationality of the burial depth and avoid the burial depth being unsuitable for the current environment due to soil changes or other reasons, thus ensuring the continuous stability of the operation quality.

[0089] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling the decomposition of green manure or rice straw through mixed landfilling, the method comprising: Information on the operational modes of both the application of composting agents and the control of the depth of crushing and landfilling was obtained separately. When the operation mode of the preservative spraying operation is manual spraying mode, the spraying flow rate is adjusted according to the control signal generated by the first control unit; When the operation mode of the crushing and landfill depth control operation is manual control mode, the extension and retraction of the hydraulic cylinder is adjusted according to the control signal generated by the second control unit. The method is characterized in that it further includes: When the operation mode of the preservative spraying operation is switched to automatic spraying mode, the following operation is performed: obtain the spraying flow rate Q at the time when the previous manual spraying mode ended. b The operating parameters of the crushing device are used as the first reference value; the spraying flow rate of the preservative is adjusted based on the first reference value and the real-time operating parameters of the crushing device. When the operation mode of the crushing and landfill depth control operation is switched to automatic control mode, the following operation is performed: obtain the rotational speed N of the crushing roller at the time when the manual control mode ended. f and the load F of the side drive shaft b The real-time rotational speed n of the crushing roller and the real-time load F of the side drive shaft are used as the second reference value; the extension and retraction of the hydraulic cylinder are automatically adjusted based on the real-time rotational speed n of the crushing roller and the real-time load F of the side drive shaft.

2. The method for controlling the decomposition of green manure or rice straw through mixed burial as described in claim 1, characterized in that, The first reference value includes the reference rotational speed N. b ; The method of adjusting the spraying flow rate of the composting agent based on the first reference value and the real-time operating parameters of the pulverizing device includes: Obtain the real-time rotational speed n of the crushing roller, and apply formula Q b ·n / N b The calculated value is used as the target spraying flow rate; Based on the target spray flow rate, change the control voltage of the variable valve.

3. The method for controlling the decomposition of green manure or rice straw through mixed burial as described in claim 2, characterized in that, The method further includes: Determine if the target spray flow rate is 0. If it is, disconnect the power supply to the electric pump; otherwise, supply power to the electric pump.

4. The method for controlling the decomposition of green manure or rice straw through mixed burial as described in claim 1, characterized in that, The automatic adjustment of the cylinder's extension and retraction based on the real-time rotational speed n of the crushing roller and the real-time load F of the side drive shaft includes: Determine the real-time load F and the real-time rotational speed n relative to the second reference value F. b With N f Size relationship; When F > F b And n < N f When the conditions are met and the cumulative duration t is greater than a preset time threshold, the extension rod of the hydraulic cylinder is extended to press down the depth-limiting pressure roller. When F < F b And n > N f When the conditions are met and the cumulative duration t is greater than a preset time threshold, the telescopic rod of the hydraulic cylinder is controlled to retract inward so that the depth-limiting pressure roller is retracted.

5. The method for controlling the decomposition of green manure or rice straw through mixed burial as described in claim 1, characterized in that, Metal discs are mounted at both ends of the side drive shaft. Each metal disc has a fan-shaped through hole, and the fan-shaped through holes are staggered. The misalignment angle between the two metal discs is [value missing]. A proximity sensor is provided on the frame for each of the metal disks, and the proximity sensor is directly opposite the center of the width of the fan-shaped through hole; The load F b Calculated based on the following formula: ； In the formula: The time interval change for which two proximity sensors detect the sector-shaped through-hole; α is the change in the misalignment angle; α is the torsional angle of the side drive shaft; K and B are both proportional constants.

6. The method for controlling the decomposition of green manure or rice straw through mixed burial as described in claim 1, characterized in that, The frame includes a front frame and a rear frame connected by an adjustment mechanism; the method further includes: When the operation mode of the crushing and landfill depth control operation is switched to automatic control mode, the relative height between the front frame and the rear frame at the end of the previous manual control mode is obtained as the reference relative height. When satisfying F and F b The difference is less than the preset range and n < k1N f When the condition is met and the cumulative duration t is greater than a preset time threshold, the adjustment mechanism is controlled to operate so that the rear frame rises relative to the front frame; k1 is a constant less than 1. When satisfying F and F b The difference is less than the preset range and n > k2N f When the conditions are met and the cumulative duration t is greater than the preset time threshold, the adjustment mechanism is controlled to operate so that the rear frame descends relative to the front frame; k2 is a constant greater than 1.

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