Residual film detection and recovery device based on superposition of electric field and magnetic field

Abstract

A residual film detection and recovery device based on superposition of an electric field and a magnetic field belongs to the field of intelligent agricultural equipment, a detection mechanism of the residual film detection and recovery device integrates an electric field detection part and a magnetic field detection part, an electric field is established through an electric field disc harrow emitting electrode, and preliminary positioning is performed by utilizing field intensity distortion caused by dielectric constant difference between residual films and soil; an alternating magnetic field is excited through the electromagnetic coil in the magnetic field disc harrow, secondary verification is carried out on magnetic field change caused by the blocking effect of the residual film on induced eddy current in soil, and the accuracy and the anti-jamming capability of residual film identification can be remarkably improved through an electric field and magnetic field superposed dual-mode detection mechanism. After detection, the soil loosening mechanism loosens the soil containing the residual films, then the picking and conveying mechanism with bionic spike teeth picks out the residual films and conveys the residual films to the film collecting box, and precise recovery is completed. According to the invention, integrated combined operation of residual film detection, positioning and recovery can be realized, and the problems of blind operation and incomplete recovery of a traditional recovery machine are effectively solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent agricultural equipment, and particularly relates to a residual film detection and recovery device based on superposition of electric field and magnetic field. BACKGROUND

[0002] The mulching film covering technology has the remarkable advantages of heat preservation, soil moisture preservation and weed suppression, and has been widely used in agricultural production in China. However, due to the difficulty of natural degradation of the mulching film, especially the traditional PE mulching film, the problem of residual film in the soil is increasingly serious, forming "white pollution". The residual film in the plough layer can destroy the soil structure, hinder the migration of water and nutrients, and affect the growth of crop roots, ultimately leading to crop yield reduction.

[0003] At present, the recovery of residual film mainly relies on manual picking or special residual film recovery machines. Manual recovery is inefficient and costly, and mechanical recovery mostly adopts pure mechanical principles, such as spring-tooth harrow and drum picking, which has the problems of incomplete recovery, high impurity rate, mixing with a large amount of straw and soil clumps, and invalidity for the residual film buried deep. In the prior art, there is a lack of effective detection means for the distribution of residual film in the plough layer, resulting in blind recovery operation and inability to achieve precise and efficient recovery.

[0004] Therefore, it is of great significance to develop an intelligent equipment capable of real-time and accurate detection of the distribution of residual film in the plough layer and precise recovery based thereon for the purpose of controlling "white pollution" in agriculture, protecting the quality of cultivated land and promoting the sustainable development of agriculture. SUMMARY

[0005] The application aims to provide a residual film detection and recovery device based on superposition of electric field and magnetic field, which utilizes the physical characteristics of superposition of electric field and magnetic field to realize non-contact and high-precision detection of residual film. The device integrates residual film detection, signal processing, residual film recovery and collection functions, can realize real-time sensing of soil layer residual film distribution and perform precise recovery operation, and effectively improves the recovery efficiency and cleanliness.

[0006] The residue film detection and recovery device based on the superposition of electric field and magnetic field of the application is composed of detection mechanism A, traction mechanism B, rack C, soil loosening mechanism D and pick-up conveying mechanism E. The suspension frame 21 of the traction mechanism B is fixed to the front middle of the front crossbeam I1 of the detection mechanism A, and the hydraulic cylinder I22 of the traction mechanism B is fixed to the front center of the front crossbeam I1 of the detection mechanism A. The connecting frame 42 and the fixed buckle 43 of the rack C are movably connected to the center hole of the rear crossbeam II13 of the detection mechanism A, and the two support arms of the support arm pair 26 of the rack C are fixed to the middle of the front crossbeam I1 of the detection mechanism A. The two ends of the shaft 52 of the soil loosening mechanism D are movably connected to the right vertical plate 32 and the left vertical plate 45 of the rack C, and the right end of the shaft 52 is fixed to the middle belt wheel 30 of the rack C. The two ends of the front shaft 56 of the pick-up conveying mechanism E are movably connected to the front of the main rack 33 of the rack C, and the right end of the front shaft 56 is fixed to the rear belt wheel 51 of the rack C. The two ends of the rear shaft 60 of the pick-up conveying mechanism E are movably connected to the rear upper ends of the main rack 33 of the rack C. The belt I29 of the rack C is in rolling connection with the front belt wheel 28 and the middle belt wheel 30. The belt II50 is in rolling connection with the middle belt wheel 30 and the rear belt wheel 51. The demolding plate 36 of the rack C is fixed to the rear end of the main rack 33 and above the rear shaft 60 of the pick-up conveying mechanism E, and the whole pick-up conveying mechanism E is in an inclined state. The telescopic base 44, the left base II49a and the right base II49 of the rack C are fixed to the upper middle of the front crossbeam I1 of the detection mechanism A.

[0007] The detection mechanism A is composed of an electric field detection part, a magnetic field detection part, a connecting mechanism and a data processing mechanism. The electric field detection mechanism is composed of a front beam I 1, a front vertical rod pair 2, a front shaft sleeve pair 3, a front insulating plate group 4, an electric field disc harrow group 5, a front shaft 6, a transmitting electrode 7, a front bearing pair 8 and a front arm pair 20. The front arm pair 20 is located on the left and right sides of the front beam I 1. The upper ends of the two vertical rods of the front vertical rod pair 2 are fixedly connected to the left and right sides below the beam I 1, respectively. The lower ends of the two vertical rods are fixedly connected to the upper surfaces of the two shaft sleeves of the front shaft sleeve pair 3, respectively. The centers of the two shaft sleeves are in interference connection with the outer rings of the two bearings of the front bearing pair 8, respectively. The inner rings of the two bearings are in interference connection with the outer rings of the two ends of the front shaft 6, respectively. The eight electric field disc harrows of the electric field disc harrow group 5 are connected to the middle part of the front shaft 6, and two by two into pairs. Each pair has an insulating plate between them and on the left and right sides. The center of the electric field disc harrow group 5 is the transmitting electrode 7. When the device advances, the electric field disc harrow 5 rolls along with it. The alternating electric field established by the transmitting electrode 7 propagates in the soil. Because the dielectric constant of residual film is about 2.2-2.4 and the dielectric constant of the surrounding soil is 3-30, there is a significant dielectric difference with the change of humidity. The presence of residual film will cause the distortion of the electric field around it, which is manifested as the weakening of the local field strength. The electric field disc harrow 5 arranged in front as a receiving electrode can sensitively capture this change in field strength. Through the signal processing unit, the field strength data fed back by each receiving electrode is analyzed and compared with the field strength baseline of normal soil. The area with abnormal field strength can be identified, and the positioning of the residual film in the soil can be realized. The magnetic field detection part is composed of a rear beam I 12, a rear vertical rod pair 2a, a rear shaft sleeve pair 3a, a rear insulating plate group 4a, a magnetic field disc harrow group 9, an electromagnetic coil group 10, a rear bearing pair 8a, a rear shaft 15 and a rear arm pair 19. The front ends of the two arms of the rear arm pair 19 are fixedly connected to the rear of the rear beam I 12 near the left and right sides. The upper ends of the two vertical rods of the rear vertical rod pair 2a are fixedly connected to the left and right sides below the rear beam I 12, respectively. The lower ends of the two vertical rods are fixedly connected to the upper surfaces of the two shaft sleeves of the rear shaft sleeve pair 3a, respectively. The centers of the two shaft sleeves are in interference connection with the outer rings of the two bearings of the rear bearing pair 8a, respectively. The inner rings of the two bearings are in interference connection with the outer rings of the two ends of the rear shaft 15, respectively. The eight magnetic field disc harrows of the magnetic field disc harrow group 9 are connected to the middle part of the rear shaft 15, and two by two into pairs. Each pair has an insulating plate of the rear insulating plate group 4a in the middle. The center of the magnetic field disc harrow group 9 is the electromagnetic coil group 10. The connecting mechanism is composed of a front beam II 11, a rear beam II 13, an upper longitudinal beam pair 14 and four fixed buckles of a fixed buckle group 16. The middle upper surfaces of the front beam II 11 and the rear beam II 13 are fixedly connected through the two beams of the upper longitudinal beam pair 14. The near left and right ends of the front beam II 11 are fixedly connected to the upper surfaces of the rear parts of the two arms of the front arm pair 20 of the electric field detection mechanism through two fixed buckles of the fixed buckle group 16. The near left and right ends of the rear beam II 13 are fixedly connected to the upper surfaces of the rear parts of the two arms of the rear arm pair 19 of the magnetic field detection part through two fixed buckles of the fixed buckle group 16. The electromagnetic coil 10 is connected to high-frequency alternating current to excite an alternating magnetic field in the surrounding soil.The alternating magnetic field will induce eddy current in the wet soil which is conductive. The residual film as an insulator will block or significantly change the path of the eddy current, resulting in the strength amplitude and phase of the secondary magnetic field or the synthetic magnetic field in the area to change, which can be detected. The magnetic field disc harrow 9 itself or integrated sensors such as Hall sensors are used to detect such magnetic field distortion. By monitoring the amplitude drop or phase shift of the magnetic field signal, it can be further confirmed whether the anomaly found by the electric field detection is caused by residual film, which is especially helpful in improving the reliability and robustness of the detection when there are iron mineral soils or other impurities; The data processing mechanism is composed of data storage and processor 17 and power supply circuit 18, the power supply circuit 18 is fixedly connected to the upper left end of the front cross beam 11 of the electric field detection mechanism, and the data storage and processor 17 is connected with the power supply circuit 18.

[0008] The shape of the electric field disc harrow group 5 and the magnetic field disc harrow group 9 is a part of a hollow sphere, and the longitudinal section is a concentric circle, and the section equation is x 2 +y 2 =r 2 , wherein: 50≤r≤300mm.

[0009] The shape of the front insulating plate group 4 and the rear insulating plate group 4a is a hollow plate, and the longitudinal section is a concentric circle, and the section equation is x 2 +y 2 =r 2 , wherein: 50≤r≤300mm.

[0010] The traction mechanism B is composed of a suspension frame 21, a hydraulic cylinder I 22, a connecting rod I 23 and a traction base 24, wherein the suspension frame 21 is V-shaped, the traction base 24 is fixedly connected to the front end of the suspension frame 21, and the front end of the hydraulic cylinder I 22 is connected with the traction base 24 through the connecting rod I 23.

[0011] The rack C is composed of a transmission part and a main rack part, wherein the transmission part is composed of a gearbox 25, a support arm 26, a transmission shaft 27, a front pulley 28, a belt I 29, a middle pulley 30, a belt II 50, a rear pulley 51 and a protective cover 31, wherein the gearbox 25 is fixedly connected to the support arm 26; the transmission shaft 27 is connected to the gearbox 25 at one end and connected to the front pulley 28 at the other end; the belt I 29 is in rolling connection with the front pulley 28 and the middle pulley 30; the belt II 50 is in rolling connection with the middle pulley 30 and the rear pulley 51; the main rack part is composed of a right vertical plate 32, a main rack 33, a depth limiting wheel 34, a film collecting box 35, a demolding plate 36, a hydraulic oil cylinder II 37, a connecting rod II 38, a wheel frame 39, a wheel shaft 40, a wheel pair 41, a connecting frame 42, a fixing buckle 43, an extension base 44, a left vertical plate 45, a base I 46, a hydraulic oil cylinder III 47, a connecting rod III 48 and a base II 49, wherein the left vertical plate 45 and the right vertical plate 32 are respectively fixedly connected to the left and right sides of the front end of the main rack 33; the depth limiting wheel 34 is movably connected to the lower middle part of the main rack 33 and behind the wheel pair 41; the film collecting box 35 is fixedly connected to the rear end of the main rack 33; the demolding plate 36 is fixedly connected to the upper rear end of the main rack 33; the wheel frame 39 is fixedly connected to the crossbeam of the middle part of the main rack 33, the wheel shaft 40 is fixedly connected to the lower end of the wheel frame 39, the hydraulic oil cylinder II 37 and the connecting rod II 38 are in oblique connection between the wheel shaft 40 and the wheel frame 39, and the two ends of the wheel shaft 40 are movably connected to the two wheels of the wheel pair 41 respectively; the extension base 44 is fixedly connected to the middle upper surface of the crossbeam of the front end of the main rack 33; one side of the hydraulic oil cylinder III 47 is connected to the connecting frame 42 through the base I 46, and the other side is connected to the connecting rod III 48, the connecting rod III 48 is connected to the main rack 33 through the base II 49; the fixing buckle 43 is movably connected to the connecting frame 42; the middle pulley 30 of the transmission part is connected to the left vertical plate 32 of the main rack part; the protective cover 31 is fixed to the right side of the main rack 33 and covers the middle pulley 30 and the rear pulley 51.

[0012] The soil loosening mechanism D is composed of a shaft 52, a shaft sleeve group 53, a soil loosening knife group 54 and a knife seat group 55, wherein the shaft sleeve group 53 is composed of 15 shaft sleeves, the soil loosening knife group 54 is composed of 14 soil loosening knives, and the knife seat group 55 is composed of 14 knife seats, and the inner ends of the 14 soil loosening knives are fixedly connected to the 14 knife seats respectively; the 15 shaft sleeves are uniformly distributed on the shaft 52, the 14 knife seats are arranged at intervals with the 15 shaft sleeves and are fixedly connected to the shaft 52; from the left or right of the shaft, the 14 soil loosening knives are uniformly distributed on the circumferential surface of the shaft 52.

[0013] The pickup conveying mechanism E is composed of a front shaft 56, a link set 57, a bionic tine set 58, a connecting rod set 59, a rear shaft 60 and a pickup chain net 61; the pickup chain net 61 is composed of fourteen chains, each chain is composed of the link set 57, the bionic tine set 58 and the connecting rod set 59, the bionic tine 58a is fixed to each link 57a, and the connecting rod 59a is movably connected between every two links 57a through a pin shaft; the front shaft 56 and the rear shaft 60 are both provided with 14 sets of corresponding grooves, and the fourteen chains of the pickup chain net 61 are connected with the front shaft 56 and the rear shaft 60 and are arranged at intervals in the grooves.

[0014] The profile curve of the front end soil entering part of the bionic tine set 58 is the profile curve of the front foot claw toe of the aardvark, and the equation of the profile curve is:

[0015] y = 7.467 * 10-5x3- 0.2219x2+ 219.846x- 72374.5115

[0016] Wherein: x belongs to [760, 1080], and the unit is mm.

[0017] During work and operation, the machine tool is connected with the tractor through the traction mechanism, and the machine tool is operated under the driving of the tractor. The disc harrow of the electric field detection part and the magnetic field detection part enters the soil to perform the land preparation operation. In the rolling forward process, the position of the residual film in the soil is determined through the field strength change and the magnetic field distortion. When the machine tool advances, the rotary tillage knife of the tillage mechanism rotates to loosen the soil, and the mulch film in the soil is loosened and peeled off, and then the bionic tine on the pickup conveying mechanism picks up the mulch film, which is rotated under the driving of the power, and the picked-up mulch film is transported obliquely upward with the chain net, and the mulch film is removed through the film removal plate and the chain net wheel B to complete the film removal work. The residual film finally falls into the film collection box through the film removal plate to complete the residual film recycling work.

[0018] Compared with other operating machines, this invention has the following advantages: 1. It embodies the integrated operation concept of detection and recycling, completing the three tasks of rapid detection, precise positioning, and automatic recycling of residual film in the topsoil in a single operation, greatly improving operational efficiency and overcoming the drawbacks of traditional recycling machines that operate blindly and incompletely. 2. It innovatively adopts a dual-mode detection mechanism that superimposes electric and magnetic fields. Through the complementarity of dielectric and electromagnetic induction characteristics, it effectively overcomes environmental interference such as soil moisture and impurities, significantly improving the accuracy and reliability of residual film identification and reducing false detection and missed detection rates. 3. The detection mechanism is ingeniously designed, combining functionality and maneuverability. The disc rake-type detection unit can roll forward, reducing soil adhesion and working resistance, and it also serves as a sensor carrier for mounting electrodes or coils, achieving full and stable contact between the detection components and the soil, ensuring signal quality. 4. It is highly adaptable and low-cost. The entire device has a relatively simple structure and is easy to manufacture. The electric and magnetic field detection parts are combined through a standard connection mechanism, facilitating maintenance and functional expansion, while reducing manufacturing costs and promoting large-scale application. Attached Figure Description

[0019] Figure 1 This is an axonometric view of the residual film detection and recycling device;

[0020] Figure 2 Left view of the residual film detection and recycling device;

[0021] Figure 3 This is an isometric view of testing organization A;

[0022] Figure 4 This is the left view of testing agency A;

[0023] Figure 5 This is an isometric view of traction mechanism B;

[0024] Figure 6 This is the isometric view of frame C;

[0025] Figure 7 This is a front view of rack C;

[0026] Figure 8 This is a top view of part of the belt drive section;

[0027] Figure 9 This is the front view of the component;

[0028] Figure 10 This is an isometric view of the soil loosening mechanism D;

[0029] Figure 11 This is the left view of the soil loosening mechanism D;

[0030] Figure 12 This is an isometric view of the pickup and conveyor mechanism E.

[0031] Figure 13 This is a front view of the biomimetic nail tooth 58;

[0032] Figure 14 Left view of biomimetic nail tooth 58;

[0033] Figure 15 This is a schematic diagram showing the connection relationship between link group 57 and link group 59;

[0034] Figure 16 A curve fitting the outline of the forefoot toes of an aardvark;

[0035] Among them: A. Detection mechanism B. Traction mechanism C. Frame D. Soil loosening mechanism E. Pick-up and conveying mechanism 1. Front crossbeam I 2. Front vertical rod pair 2a. Rear vertical rod pair 3. Front axle sleeve pair 3a. Rear axle sleeve pair 4. Front insulation plate group 4a. Rear insulation plate group 5. Electric field disc rake group 6. Front axle 7. Emitting electrode 8. Front bearing pair 8a. Rear bearing pair 9. Magnetic field disc rake group 10. Electromagnetic coil 11. Front crossbeam II 12. Rear crossbeam I 13. Rear crossbeam II 14. Upper longitudinal beam pair 15. Rear axle 16. Fixing buckle group 17. Data storage and processor 18. Power line 19. Rear arm pair 20. Front arm pair 21. Suspension frame 22. Hydraulic cylinder I 23. Connecting rod I 24. Traction base 25. Gearbox 26. Support arm pair 27. Drive shaft 28. Front pulley 29. Belt I 30. Middle pulley 31. Protective cover 32. Right upright plate 33. Main frame 34. Depth limiting wheel 35. Film collection box 36. Demolding template 37. Hydraulic cylinder II 38. Connecting rod II 39. Wheel frame 40. Wheel axle 41. Wheel pair 42. Connecting frame 43. Fixing buckle 44. Telescopic base 45. Left upright plate 46. Base I 47. Hydraulic cylinder III 48. Connecting rod III 49. Base II 46a. Left base I 47a. Left hydraulic cylinder 48a. Left connecting rod 49a. Left base II 50. Belt II 51. Rear pulley 52. ​​Shaft 53. Shaft sleeve assembly 54. Loosening blade assembly 55. Blade holder assembly 56. Front axle 57. Chain link assembly 58. Bionic nail tooth assembly 59. Connecting rod assembly 60. Rear axle 61. Pickup chain net. Detailed Implementation

[0036] The present invention will now be described in conjunction with the accompanying drawings.

[0037] As attached Figure 1 and Figure 2As shown, the present invention discloses a residual film detection and recycling device based on the superposition of electric and magnetic fields, comprising a detection mechanism A, a traction mechanism B, a frame C, a soil loosening mechanism D, and a pickup and conveying mechanism E. The suspension frame 21 of the traction mechanism B is fixedly connected to the middle of the front crossbeam I1 of the detection mechanism A, and the hydraulic cylinder I22 of the traction mechanism B is fixedly connected to the center of the front crossbeam I1 of the detection mechanism A. The connecting frame 42 and the fixing buckle 43 of the frame C are movably connected to the center hole of the rear crossbeam II13 of the detection mechanism A, and the two support arms of the support arm pair 26 of the frame C are fixedly connected to the middle of the front crossbeam I1 of the detection mechanism A. The near ends of the shaft 52 of the soil loosening mechanism D are movably connected to the right vertical plate 32 and the left vertical plate 45 of the frame C, and the right end of the shaft 52 is fixedly connected to the frame. The middle pulley 30 of C; the two ends of the front shaft 56 of the pickup and conveying mechanism E are movably connected to the front two sides of the main frame 33 in the frame C, and the right end of the front shaft 56 is fixed to the rear pulley 51 of the frame C; the two ends of the rear shaft 60 of the pickup and conveying mechanism E are movably connected to the upper rear two sides of the main frame 33 in the frame C; the belt I 29 of the frame C is tumblingly connected to the front pulley 28 and the middle pulley 30; the belt II 50 is tumblingly connected to the middle pulley 30 and the rear pulley 51; the demolding template 36 of the frame C is fixedly connected to the rear end of the main frame 33 and above the rear shaft 60 of the pickup and conveying mechanism E, and the entire pickup and conveying mechanism E is in an inclined state; the telescopic base 44, the left base II 49a and the right base II 49 of the frame C are fixedly connected to the middle of the front crossbeam I1 of the detection mechanism A.

[0038] like Figure 3 and Figure 4As shown, the detection mechanism A consists of an electric field detection section, a magnetic field detection section, a connecting mechanism, and a data processing mechanism. The electric field detection mechanism comprises a front crossbeam I1, a pair of front vertical rods 2, a pair of front bushings 3, a front insulating plate assembly 4, an electric field disc rake assembly 5, a front shaft 6, a transmitting electrode 7, a pair of front bearings 8, and a pair of front arms 20. The front arms 20 are located on the left and right sides of the front crossbeam I1. The upper ends of the two vertical rods of the front vertical rod pair 2 are fixed to the left and right sides below the crossbeam I1, respectively, and the lower ends of the two vertical rods are fixed to the two bushings of the front bushing pair 3, respectively. The centers of the two bushings... The two outer rings of the front bearing pair 8 are respectively interference-fitted to the outer rings of the two bearings, and the two inner rings of the bearings are respectively interference-fitted to the outer rings at both ends of the front shaft 6; the eight electric field disc rakes of the electric field disc rake group 5 are connected to the middle of the front shaft 6 in pairs, with an insulating plate between each pair and on each side; the center of the electric field disc rake group 5 is the emitting electrode 7; the magnetic field detection part consists of the rear crossbeam I 12, the rear vertical rod pair 2a, the rear shaft sleeve pair 3a, the rear insulating plate group 4a, the magnetic field disc rake group 9, the electromagnetic coil group 10, the rear bearing pair 8a, the rear shaft 15, and the rear arm pair 19, wherein the rear arm pair 19... The front ends of the two arms are fixed to the rear of the rear crossbeam I12, near the left and right sides; the upper ends of the two vertical rods of the rear vertical rod pair 2a are fixed to the left and right sides below the rear crossbeam I12, and the lower ends of the two vertical rods are fixed to the two bushings of the rear bushing pair 3a, respectively. The centers of the two bushings are respectively interference-fitted with the outer rings of the two bearings of the rear bearing pair 8a, and the inner rings of the two bearings are respectively interference-fitted with the outer rings of both ends of the rear shaft 15; the eight magnetic disc rakes of the magnetic disc rake group 9 are connected to the middle of the rear shaft 15, and are arranged in pairs. Each pair is provided with an insulating plate from the rear insulating plate group 4a. Centered on part 9 is electromagnetic coil assembly 10; the connecting mechanism consists of a front crossbeam II 11, a rear crossbeam II 13, an upper longitudinal beam pair 14, and four fixing buckles of fixing buckle assembly 16. The middle upper parts of the front crossbeam II 11 and the rear crossbeam II 13 are fixedly connected to the upper longitudinal beam pair 14 via two beams; the near left and right ends of the front crossbeam II 11 are fixedly connected to the upper rear parts of the two arms of the front arm pair 20 of the electric field detection mechanism via two fixing buckles of fixing buckle assembly 16; the near left and right ends of the rear crossbeam II 13 are fixedly connected to the upper rear parts of the two arms of the rear arm pair 19 of the magnetic field detection part via two fixing buckles of fixing buckle assembly 16. The data processing mechanism consists of data storage and processor 17 and power line 18. The power line 18 is fixedly connected to the upper left end of the front crossbeam I 1 of the electric field detection mechanism, and the data storage and processor 17 is connected to the power line 18.

[0039] like Figure 5 As shown, the traction mechanism B consists of a suspension frame 21, a hydraulic cylinder I 22, a connecting rod I 23, and a traction base 24. The suspension frame 21 is V-shaped, the traction base 24 is fixed to the front end of the suspension frame 21, and the front end of the hydraulic cylinder I 22 is connected to the traction base 24 via the connecting rod I 23.

[0040] like Figure 6 to Figure 8As shown, the frame C consists of a transmission part and a main frame part. The transmission part comprises a gearbox 25, a support arm 26, a drive shaft 27, a front pulley 28, a belt I 29, a middle pulley 30, a belt II 50, a rear pulley 51, and a protective cover 31. The gearbox 25 is fixed to the support arm 26. One end of the drive shaft 27 is connected to the gearbox 25, and the other end is connected to the front pulley 28. Belt I 29 is tactilely connected to the front pulley 28 and the middle pulley 30. Belt II 50 is tactilely connected to the middle pulley 30. Wheel 30 and rear pulley 51 are connected by a rolling mechanism; the main frame consists of a right upright plate 32, a main frame 33, a depth-limiting wheel 34, a film collection box 35, a demolding template 36, a hydraulic cylinder II 37, a connecting rod II 38, a wheel frame 39, a wheel axle 40, a wheel pair 41, a connecting frame 42, a fixing buckle 43, a telescopic base 44, a left upright plate 45, a base I 46, a hydraulic cylinder III 47, a connecting rod III 48, and a base II 49. The left upright plate 45 and the right upright plate 32 are respectively fixed to the front of the main frame 33. The left and right sides of the end; the depth limiting wheel 34 is movably connected to the lower part of the middle of the main frame 33 and the rear of the wheel pair 41; the film collection box 35 is fixed to the rear end of the main frame 33; the demolding template 36 is fixed to the upper part of the rear end of the main frame 33; the wheel frame 39 is fixed to the crossbeam in the middle of the main frame 33, the wheel axle 40 is fixed to the lower end of the wheel frame 39, the hydraulic cylinder II 37 and the connecting rod II 38 are diagonally connected between the wheel axle 40 and the wheel frame 39, and the two ends of the wheel axle 40 are movably connected to the wheel pair 41 respectively. Two wheels; telescopic base 44 is fixed to the middle of the crossbeam at the front end of the main frame 33; one side of hydraulic cylinder III 47 is connected to the connecting frame 42 through base I 46, and the other side is connected to connecting rod III 48, which is connected to the main frame 33 through base II 49; fixing buckle 43 is movably connected to the connecting frame 42; the middle pulley 30 of the transmission part is connected to the left upright plate 32 of the main frame part; protective cover 31 is fixed on the right side of the main frame 33, covering the middle pulley 30 and the rear pulley 51.

[0041] like Figure 9 and Figure 11 As shown, the soil loosening mechanism D consists of a shaft 52, a bushing assembly 53, a soil loosening blade assembly 54, and a blade holder assembly 55. The bushing assembly 53 consists of 15 bushings, the soil loosening blade assembly 54 consists of 14 soil loosening blades, and the blade holder assembly 55 consists of 14 blade holders. The inner ends of the 14 soil loosening blades are respectively fixed to the 14 blade holders. The 15 bushings are evenly distributed on the shaft 52, and the 14 blade holders are arranged alternately with the 15 bushings and are all fixed to the shaft 52. When viewed from the left or right of the shaft, the 14 soil loosening blades are evenly distributed on the circumference of the shaft 52.

[0042] like Figure 12 to Figure 15As shown, the pickup and conveying mechanism E consists of a front shaft 56, a chain link group 57, a bionic tooth group 58, a connecting rod group 59, a rear shaft 60, and a pickup chain net 61. The pickup chain net 61 consists of fourteen chains, each chain consisting of a chain link group 57, a bionic tooth group 58, and a connecting rod group 59. Each chain link 57a is fixed with a bionic tooth 58a, and every two chain links 57a are movably connected to a connecting rod 59a via a pin shaft. Both the front shaft 56 and the rear shaft 60 are provided with 14 sets of corresponding slots. The fourteen chains of the pickup chain net 61 are connected to the front shaft 56 and the rear shaft 60 and are arranged at intervals with the slots.

[0043] like Figure 16 As shown, a high-definition camera was used to collect data on the outline of the aardvark's forefoot toes. The high-definition images were then used to obtain the outline fitting curve of the first toe through Python code. The outline curve and scatter plot were then imported into AutoCAD to assign horizontal and vertical coordinate values ​​to the curve. Finally, a data analysis tool was used to obtain the equation of the outline fitting curve.

Claims

1. A residual film detection and recovery device based on the superposition of electric and magnetic fields, characterized by: The utility model relates to a kind of detection mechanism (A), traction mechanism (B), frame (C), loosening mechanism (D), pick-up conveying mechanism (E) are composed, wherein the suspension frame (21) of traction mechanism (B) is fixedly connected to the front middle of front crossbeam I (1) of detection mechanism (A), and the hydraulic cylinder I (22) of traction mechanism (B) is fixedly connected to the front center of front crossbeam I (1) of detection mechanism (A);The connecting frame (42) and fixed buckle (43) of frame (C) are movably connected on the center hole of rear crossbeam II (13) of detection mechanism (A), and the two support arms of support arm pair (26) of frame (C) are fixedly connected to the middle of front crossbeam I (1) of detection mechanism (A);The near two ends of shaft (52) of loosening mechanism (D) are movably connected with right vertical plate (32) and left vertical plate (45) of frame (C), and the right end of shaft (52) is fixedly connected with middle pulley (30) of frame (C);The near two ends of front axle (56) of pick-up conveying mechanism (E) are movably connected with the front two sides of main frame (33) of frame (C), and the right end of front axle (56) is fixedly connected with rear pulley (51) of frame (C);The two ends of rear axle (60) of pick-up conveying mechanism (E) are movably connected with the rear upper end of main frame (33) of frame (C);Belt I (29) of frame (C) is rollingly connected with front pulley (28) and middle pulley (30);Belt II (50) is rollingly connected with middle pulley (30) and rear pulley (51);The demoulding plate (36) of frame (C) is fixedly connected with the rear end of main frame (33) and the upper side of rear axle (60) in pick-up conveying mechanism (E), and the whole pick-up conveying mechanism (E) is in inclined state;Telescopic base (44), left base II (49a) and right base II (49) of frame (C) are fixedly connected to the upper middle of front crossbeam I (1) of detection mechanism (A).

2. The electric field and magnetic field superimposed based residual film detecting and recovering device according to claim 1, characterized in that: The detection mechanism (A) is composed of an electric field detection part, a magnetic field detection part, a connecting mechanism and a data processing mechanism, wherein the electric field detection mechanism is composed of a front beam I (1), a front vertical rod pair (2), a front shaft sleeve pair (3), a front insulating plate group (4), an electric field disc harrow group (5), a front shaft (6), a transmitting electrode (7), a front bearing pair (8) and a front arm pair (20), wherein the front arm pair (20) is located on the left and right sides of the front beam I (1); the upper ends of the two vertical rods of the front vertical rod pair (2) are respectively fixedly connected to the left and right sides below the beam I (1), the lower ends of the two vertical rods are respectively fixedly connected to the upper surfaces of the two shaft sleeves of the front shaft sleeve pair (3), the centers of the two shaft sleeves are respectively connected to the outer rings of the two bearings of the front bearing pair (8) in an interference fit, and the inner rings of the two bearings are respectively connected to the outer rings of the two ends of the front shaft (6) in an interference fit; the eight electric field disc harrows of the electric field disc harrow group (5) are connected to the middle part of the front shaft (6), and two by two into pairs, and each pair has an insulating plate between them and on the left and right sides; the center of the electric field disc harrow group (5) is the transmitting electrode (7); the magnetic field detection part is composed of a rear beam I (12), a rear vertical rod pair (2a), a rear shaft sleeve pair (3a), a rear insulating plate group (4a), a magnetic field disc harrow group (9), an electromagnetic coil group (10), a rear bearing pair (8a), a rear shaft (15) and a rear arm pair (19), wherein the front ends of the two arms of the rear arm pair (19) are fixedly connected to the rear of the rear beam I (12) near the left and right sides; the upper ends of the two vertical rods of the rear vertical rod pair (2a) are respectively fixedly connected to the left and right sides below the rear beam I (12), the lower ends of the two vertical rods are respectively fixedly connected to the upper surfaces of the two shaft sleeves of the rear shaft sleeve pair (3a), the centers of the two shaft sleeves are respectively connected to the outer rings of the two bearings of the rear bearing pair (8a) in an interference fit, and the inner rings of the two bearings are respectively connected to the outer rings of the two ends of the rear shaft (15) in an interference fit; the eight magnetic field disc harrows of the magnetic field disc harrow group (9) are connected to the middle part of the rear shaft (15), and two by two into pairs, and each pair has an insulating plate of the rear insulating plate group (4a) arranged in the middle, and the center of the magnetic field disc harrow group (9) is the electromagnetic coil group (10); the connecting mechanism is composed of a front beam II (11), a rear beam II (13), an upper longitudinal beam pair (14) and four fixed buckles of a fixed buckle group (16), the middle upper surfaces of the front beam II (11) and the rear beam II (13) are fixedly connected through the two beams of the upper longitudinal beam pair (14); the rear upper surfaces of the two arms of the front arm pair (20) of the electric field detection mechanism are fixedly connected to the left and right ends of the front beam II (11) through the two fixed buckles of the fixed buckle group (16); the rear upper surfaces of the two arms of the rear arm pair (19) of the magnetic field detection part are fixedly connected to the left and right ends of the rear beam II (13) through the two fixed buckles of the fixed buckle group (16); the data processing mechanism is composed of a data storage and processor (17) and a power supply circuit (18), the power supply circuit (18) is fixedly connected to the left end of the front beam I (1) of the electric field detection mechanism, and the data storage and processor (17) is connected to the power supply circuit (18).

3. The electric field and magnetic field superimposed based residual film detecting and recovering device according to claim 1, characterized in that: The traction mechanism (B) is composed of a suspension frame (21), a hydraulic cylinder I (22), a connecting rod I (23) and a traction base (24), wherein the suspension frame (21) is V-shaped, the traction base (24) is fixedly connected to the front end of the suspension frame (21), and the front end of the hydraulic cylinder I (22) is connected with the traction base (24) through the connecting rod I (23).

4. The electric field and magnetic field superimposed based residual film detecting and recovering device according to claim 1, characterized in that: The rack (C) is composed of a transmission part and a main body rack part, wherein the transmission part is composed of a gearbox (25), a pair of support arms (26), a transmission shaft (27), a front pulley (28), a belt I (29), a middle pulley (30), a belt II (50), a rear pulley (51) and a protective cover (31), wherein the gearbox (25) is fixedly connected between the two support arms of the support arm pair (26); the transmission shaft (27) is connected to the gearbox (25) at one end and connected to the front pulley (28) at the other end; the belt I (29) is in rolling connection with the front pulley (28) and the middle pulley (30); the belt II (50) is in rolling connection with the middle pulley (30) and the rear pulley (51); the main body rack part is composed of a right vertical plate (32), a main rack (33), a depth limiting wheel (34), a film collecting box (35), a demolding plate (36), a hydraulic oil cylinder II (37), a connecting rod II (38), a wheel frame (39), a wheel shaft (40), a wheel pair (41), a connecting frame (42), a fixing buckle (43), an extension base (44), a left vertical plate (45), a right base I (46), a right hydraulic oil cylinder (47), a right connecting rod (48), a right base II (49), a left base I (46a), a left hydraulic oil cylinder (47a), a left connecting rod (48a) and a left base II (49a), wherein the left vertical plate (45) and the right vertical plate (32) are respectively fixedly connected to the left and right sides of the front end of the main rack (33); the depth limiting wheel (34) is movably connected to the lower middle part of the main rack (33) and behind the wheel pair (41); the film collecting box (35) is fixedly connected to the rear end of the main rack (33); the demolding plate (36) is fixedly connected to the upper rear end of the main rack (33); the wheel frame (39) is fixedly connected to the crossbeam of the middle part of the main rack (33), the wheel shaft (40) is fixedly connected to the lower end of the wheel frame (39), the hydraulic oil cylinder II (37) and the connecting rod II (38) are in oblique connection between the wheel shaft (40) and the wheel frame (39), and the two ends of the wheel shaft (40) are movably connected to the two wheels of the wheel pair (41) respectively; the extension base (44) is fixedly connected to the upper middle part of the crossbeam of the front end of the main rack (33); the upper end of the right hydraulic oil cylinder (47) is movably connected to the right base I (46), the lower end of the right hydraulic oil cylinder (47) is movably connected to the right base II (49) through the right connecting rod (48); the bottom surface of the right base I (46) is fixedly connected to the left surface of the connecting frame (42); the upper end of the left hydraulic oil cylinder (47a) is movably connected to the left base I (46a), the lower end of the left hydraulic oil cylinder (47a) is movably connected to the left base II (49a) through the left connecting rod (48a); the bottom surface of the left base I (46a) is fixedly connected to the right surface of the connecting frame (42); the left base II (49a) and the right base II (49) are respectively located on the left and right sides of the extension base (44), and the bottom surfaces of the left base II (49a) and the right base II (49) are fixedly connected to the upper surface of the crossbeam of the front end of the main rack (33); the fixing buckle (43) is movably connected to the connecting frame (42); the middle pulley (30) of the transmission part is connected to the left vertical plate (32) of the main body rack part.The protective cover (31) is fixed on the right side of the main frame (33) and covers the middle belt wheel (30) and the rear belt wheel (51).

5. The electric field and magnetic field superimposed based residual film detecting and recovering device according to claim 1, characterized in that: The soil loosening mechanism (D) is composed of a shaft (52), a shaft sleeve group (53), a soil loosening knife group (54) and a knife seat group (55), wherein the shaft sleeve group (53) is composed of 15 shaft sleeves, the soil loosening knife group (54) is composed of 14 soil loosening knives, the knife seat group (55) is composed of 14 knife seats, the inner ends of the 14 soil loosening knives are fixedly connected to the 14 knife seats respectively, the 15 shaft sleeves are uniformly distributed on the shaft (52), the 14 knife seats are arranged at intervals with the 15 shaft sleeves and are fixedly connected with the shaft (52), and the 14 soil loosening knives are uniformly distributed on the circumferential surface of the shaft (52) as viewed from the left or right of the shaft.

6. The electric field and magnetic field superimposed based residual film detecting and recovering device according to claim 1, characterized in that: The pickup conveying mechanism (E) is composed of a front shaft (56), a link group (57), a bionic tine group (58), a connecting rod group (59), a rear shaft (60) and a pickup chain net (61); the pickup chain net (61) is composed of fourteen chains, each chain is composed of a link group (57), a bionic tine group (58) and a connecting rod group (59), a bionic tine (58a) is fixedly connected to each link (57a), and each two links (57a) are movably connected with a connecting rod (59a) through a shaft; the front shaft (56) and the rear shaft (60) are each provided with 14 groups of corresponding grooves, the fourteen chains of the pickup chain net (61) are connected with the front shaft (56) and the rear shaft (60) and are arranged at intervals with the grooves.

7. The electric field and magnetic field superimposed based residual film detecting and recovering device according to claim 6, characterized in that: The profile curve of the front end soil entering part of the bionic tine (58a) is the profile curve of the front foot claw toe of the binky, and the equation is as follows: y=7.467×10-5x3-0.2219x2+219.846x-72374.5115 Wherein: x belongs to [760, 1080], unit: mm.

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