Self-adaptive adjustment strip tillage machine

Abstract

The invention discloses a self-adaptive adjustment strip tillage machine, and belongs to the technical field of agricultural machinery. The strip tillage machine comprises a rack assembly, and a subsoiler assembly, a strip tillage assembly, a pressing assembly and a hydraulic source assembly are arranged on the rack assembly; at least one subsoiler assembly is provided with a soil moisture content detection device, the signal output end of the soil moisture content detection device is connected with a controller, the pressing assembly comprises a pressing roller frame hinged to the rack assembly, a pressing roller is installed on the pressing roller frame, a hydraulic motor is connected to the pressing roller, and a hydraulic position adjusting assembly is connected between the pressing roller frame and the rack assembly. The output end of the controller is electrically connected with the hydraulic source assembly, and the hydraulic source assembly is in hydraulic connection with the hydraulic position adjusting assembly and the hydraulic motor. The soil moisture content detection device can automatically detect the water content of soil, converts the water content of the soil into an electric signal and transmits the electric signal to the controller, and the controller can adjust the pressing force of the pressing assembly and the rotating speed of the pressing roller according to the water content of the soil.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically an adaptive strip tiller. Background Technology

[0002] A strip tiller is an agricultural machine used in conservation tillage. During operation, the strip tiller loosens and prepares only the narrow strip of soil where the crop will be sown, while preserving the original soil cover between rows. For example, the corn stalk mulching strip tillage planting technology widely promoted by the Ministry of Agriculture and Rural Affairs utilizes a strip tiller for partial tillage in the sowing strip, a minimal-tillage conservation tillage technique. This technology addresses the obstacles caused by full stalk mulching in high-latitude regions, such as low spring soil temperature, poor sowing and emergence quality, unstable corn yield, and difficulty in promotion. Through the integration and innovation of key technologies such as stalk mulching and row management, strip tillage in the sowing strip, no-till sowing, and deep loosening and topdressing during the seedling stage, it effectively solves the adverse effects of full stalk mulching on corn production. It improves sowing and emergence quality under stalk mulching while reducing wind and water erosion and improving soil fertility, resulting in uniform, strong, and consistent seedlings and significant yield increases.

[0003] Strip tillers typically consist of a subsoiler, strip tillage rollers, and a compaction roller. First, the subsoiler loosens deep soil, improving soil permeability. Then, the high-speed rotating strip tillage rollers cut the soil, burying weeds and stubble. Finally, the compaction rollers compact and level the soil, enhancing its moisture retention capacity. For example, Chinese invention patent CN120036066B discloses an agricultural strip tiller that can promptly remove straw, stones, or metal parts from the outside of the blades at designated locations. This avoids the problem of straw entanglement affecting soil loosening quality and solves the issue of excessive wear and deformation of the blades if stones or metal parts are not removed in time. The directional transport of stones and metal parts facilitates removal by agricultural workers. In addition, Chinese invention patent application document CN120677876A discloses a full-row spacing strip tiller and a method for achieving full-row spacing sowing. The strip tiller uses two small strip tillage belts with a small rest belt in between, replacing the large strip tillage belts and large rest belts of traditional strip tillers, so that farmers can find the corresponding sowing position on the strip tillage belt for ridge spacing from 400 to 700.

[0004] When using a strip tiller for strip tillage, the compaction pressure should be adjusted according to the soil moisture. When the soil moisture content is low, the compaction pressure should be increased to compact the loose surface layer, reduce the number of large pores, and form a relatively dense topsoil structure. When the soil moisture content is high, the compaction pressure should be reduced to avoid excessive compaction leading to soil compaction. Existing strip tillers typically use a screw to adjust the position of the compaction roller frame, thereby changing the contact force between the roller and the ground. During operation, the operator needs to adjust the position of the roller based on experience. The strip tiller itself cannot adaptively adjust the compaction pressure according to the actual soil moisture, which can easily lead to a mismatch between the compaction pressure and the actual soil moisture.

[0005] In addition, to prevent the press roller from slipping and to ensure that the pressure of the press roller is evenly distributed along the forward direction, the press roller of existing strip tillers is usually equipped with a drive device, which enables the press roller to rotate autonomously at an angular velocity that matches the forward speed of the strip tiller. For example, in Chinese invention patent application document CN120677876A, the press roller is driven to rotate by a hydraulic motor. The rotation speed of the press roller is usually constant and cannot be adjusted according to the soil moisture, which can easily lead to problems such as dragging or soil sticking to the press roller.

[0006] For the reasons mentioned above, there is a need to develop a strip tiller that can autonomously detect soil moisture and adaptively adjust the pressing pressure and rotation speed of the pressing rollers based on the soil moisture. Summary of the Invention

[0007] This invention proposes an adaptive adjustment strip tiller, which aims to solve the problem that the pressing pressure and rotation speed of the existing strip tiller's roller cannot be adaptively adjusted according to soil moisture.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: An adaptive strip tiller includes a frame assembly, a subsoil shovel assembly, a strip tillage assembly, a compaction assembly, and a hydraulic power source assembly mounted on the frame assembly; at least one set of subsoil shovel assemblies is equipped with a soil moisture detection device, the signal output terminal of the soil moisture detection device is connected to a controller, the compaction assembly includes a compaction roller frame hinged to the frame assembly, a compaction roller is mounted on the compaction roller frame, a hydraulic motor is connected to the compaction roller, a hydraulic level adjustment assembly is connected between the compaction roller frame and the frame assembly, the output terminal of the controller is electrically connected to the hydraulic power source assembly, and the hydraulic power source assembly is hydraulically connected to the hydraulic level adjustment assembly and the hydraulic motor; The soil moisture detection device is used to detect soil moisture data, and the controller controls the hydraulic power source component to adjust the position of the compaction component and the speed of the hydraulic motor according to the soil moisture data.

[0009] Specifically, the frame assembly includes two side plates, with a front crossbeam and a rear crossbeam connecting the two side plates. Two sets of subsoil shovel assemblies are mounted on the front crossbeam, and two sets of compaction assemblies are mounted on the rear crossbeam. A suspension mechanism is provided on the frame assembly for connecting to the tractor's hydraulic suspension system. The strip tillage assembly includes a gearbox, with a laterally arranged strip tillage roller connected to the lower part of the gearbox. A cutter head is mounted on the strip tillage roller, and blades are installed on the cutter head. A splined shaft is provided at the front end of the gearbox, which can be connected to the power take-off shaft at the rear of the tractor via a universal joint drive shaft.

[0010] During the operation of the strip tiller, the deep loosening shovel assembly at the front first extends into the soil layer to loosen the deep soil and improve soil permeability. The tractor's power take-off shaft drives the strip tiller roller to rotate through the gearbox. The rotating blades cut the soil and simultaneously turn over and bury weeds and stubble in the soil. Finally, the compaction assembly appropriately compacts and levels the soil to enhance its moisture retention capacity.

[0011] To enable the strip tiller to autonomously detect soil moisture, the deep loosening shovel assembly of this invention is designed as a split structure. A certain gap is maintained between the first and second deep loosening shovels on the same assembly, and the first and second deep loosening shovels are insulated from each other. When the deep loosening shovel assembly penetrates into the soil layer, since the conductivity of the soil is related to the water content, the resistance between the first and second deep loosening shovels will change according to the soil water content. This causes the soil moisture detection device to output an electrical signal related to the soil water content, thereby achieving the purpose of soil moisture detection.

[0012] When the soil moisture content is low, the soil conductivity decreases, and the resistance between the first and second deep loosening shovels increases. The soil moisture detection device converts the change in resistance into a voltage or current signal and transmits it to the controller. When the controller detects that the soil moisture content is low, it controls the hydraulic position adjustment component through the hydraulic source component to press the press roller frame down appropriately, thereby increasing the contact force between the press roller and the soil, increasing the pressing force, compacting the loose part of the soil surface, reducing water evaporation and soil dust, and playing a role in maintaining soil moisture. When the soil moisture content is high, the soil conductivity increases, the resistance between the first and second deep loosening shovels decreases, and thus the output voltage or current signal changes. When the controller detects the increase in soil moisture content, it controls the hydraulic position adjustment component through the hydraulic source component to appropriately lift the press roller frame upward, reducing the contact force between the press roller and the soil to prevent soil compaction.

[0013] With the above settings, the present invention can realize the autonomous detection of soil moisture (water content) and adjust the position of the compaction component according to the soil moisture, so as to match the compaction pressure of the compaction component with the soil moisture, which is more conducive to maintaining soil moisture and also avoids soil compaction caused by excessive compaction.

[0014] Meanwhile, when the strip tiller of this invention detects that the soil moisture content is low, the controller will control the hydraulic motor to appropriately reduce the speed, so that the edge linear speed of the compaction roller is close to the traveling speed of the strip tiller, in order to avoid the soil being over-crushed during the compaction process; when the soil moisture content is high, the controller will appropriately increase the speed of the compaction roller to avoid excessive soil adhering to the surface of the compaction roller, which would affect the compaction effect. Through the above settings, the speed of the compaction roller can be matched with the soil moisture, further ensuring the compaction effect.

[0015] Preferably, the subsoil shovel assembly includes a subsoil shovel seat mounted on the frame assembly, a first subsoil shovel and a second subsoil shovel are mounted on the subsoil shovel seat, and an insulating bushing is provided between the second subsoil shovel and the subsoil shovel seat; The soil moisture detection device includes a DC power supply and a voltage divider resistor R2. The positive terminal of the DC power supply is connected to one end of the voltage divider resistor R2, and the other end of the voltage divider resistor R2 is connected to a second deep loosening shovel 402. The first deep loosening shovel 401 is connected to the negative terminal of the DC power supply, and the second deep loosening shovel 402 is connected to the input terminal of the controller 500.

[0016] If the soil between the two deep loosening shovels is equivalent to a variable resistor R0, and the signal line connected to the controller is equivalent to being drawn from the midpoint between R2 and R0, when the soil moisture content is high, R0 decreases, the voltage across the equivalent soil resistance R0 decreases accordingly, and the voltage signal input to the controller decreases; conversely, when the soil moisture content is low, R0 increases, and the voltage signal input to the controller increases. Through the above settings, the soil moisture detection device can output a voltage signal that is negatively correlated with the soil moisture content, thus characterizing the soil moisture.

[0017] Preferably, a correction potentiometer R1 is connected in series between the positive terminal of the power supply and the voltage divider resistor R2.

[0018] Since soil conductivity is affected not only by water content but also by soil salinity, and soil salinity is relatively stable within a certain area, it is necessary to adjust the resistance of the calibration potentiometer R1 according to the average distribution of soil salinity in the region to compensate for the influence of salinity on soil conductivity. For example, if the soil salinity in the region is high, the resistance of the calibration potentiometer R1 should be appropriately reduced; conversely, if the soil salinity is low, the resistance of the calibration potentiometer R1 should be appropriately increased. Through the above settings, the voltage signal output by the soil moisture detection device can more accurately represent the actual soil water content.

[0019] Preferably, the deep loosening shovel base is provided with two square through holes extending vertically. The first deep loosening shovel is inserted into one square through hole, and an insulating bushing is inserted into the other square through hole. The second deep loosening shovel is inserted into the insulating bushing. The first and second deep loosening shovels are each provided with multiple position adjustment holes, which are equidistantly arranged along the height direction of the first and second deep loosening shovels. An insulating sleeve is provided in the position adjustment hole of the second deep loosening shovel. The deep loosening shovel base is provided with a positioning hole, which extends laterally through the deep loosening shovel base and two square through holes. A positioning bolt is inserted into the positioning hole, which extends through the deep loosening shovel base and is inserted into the position adjustment hole of the first deep loosening shovel and the insulating sleeve of the second deep loosening shovel.

[0020] By aligning the different position adjustment holes on the first and second deep loosening shovels with the positioning holes on the deep loosening shovel seat and inserting positioning bolts for fixation, the soil loosening depth of the deep loosening shovel assembly can be adjusted. Electrical isolation between the second deep loosening shovel and the frame assembly is achieved through insulating sleeves and insulating bushings.

[0021] Preferably, the distance between the first loosening shovel and the second loosening shovel is set to 12~20mm.

[0022] Preferably, the hydraulic position adjustment assembly includes a cylinder mounting bracket and a cylinder. The cylinder mounting bracket is fixedly mounted on the frame assembly, the cylinder body of the cylinder is hinged to the cylinder mounting bracket, and the telescopic end of the cylinder is hinged to the press roller frame. The cylinder is a bidirectional cylinder, with its rod-side chamber and rodless chamber hydraulically connected to the hydraulic power source assembly, respectively.

[0023] When the soil moisture monitoring device detects low soil moisture content, the controller controls the hydraulic power source component to pump oil into the rodless chamber of the cylinder, causing the cylinder to extend and press down the compaction component, increasing the compaction pressure. When the soil moisture monitoring device detects high soil moisture content, the controller controls the hydraulic power source component to pump oil into the rod chamber of the cylinder, causing the cylinder to contract and thus raise the compaction component, reducing the compaction pressure.

[0024] Preferably, the hydraulic power source assembly includes a hydraulic pump, a directional valve, and a proportional valve. The outlet of the hydraulic pump is connected to the pressure port of the directional valve and the inlet of the proportional valve, respectively. The two working ports of the directional valve are connected to the rod chamber and the rodless chamber of the hydraulic cylinder, respectively. The outlet of the proportional valve is connected to the inlet of the hydraulic motor. The control terminals of the directional valve and the proportional valve are connected to the output terminal of the controller.

[0025] The power input shaft of the hydraulic pump is connected to the gearbox. The output of the controller controls the electromagnet coils at both ends of the directional valve, thereby controlling the extension or retraction of the hydraulic cylinder. At the same time, the controller can also control the opening of the proportional valve to change the amount of oil entering the hydraulic motor, thereby adjusting the speed of the hydraulic motor.

[0026] Preferably, an elastic joint is connected between the telescopic end of the hydraulic cylinder and the press roller frame. The elastic joint includes a housing, the bottom of which is hinged to the press roller frame. A sliding block is installed on the inner wall of the housing. A spring is connected between the lower end of the sliding block and the bottom of the housing. A push rod is connected to the top of the sliding block. The push rod extends out of the housing and is fixedly connected to the telescopic end of the hydraulic cylinder. A force sensor is connected between the extension end of the hydraulic cylinder and the push rod, a displacement sensor is connected between the cylinder body and the extension end, and a speed sensor is connected to the hydraulic motor. The signal output terminals of the displacement sensor, force sensor, and speed sensor are connected to the input terminal of the controller.

[0027] By setting up flexible joints, the compaction assembly and the frame assembly can be flexibly connected within a certain stroke range, allowing the compaction roller to adapt to small fluctuations in the soil surface. By setting up speed sensors, displacement sensors, and force sensors, the speed and compaction pressure of the compaction roller can be fed back to the controller, thereby achieving closed-loop regulation and improving the accuracy of regulation.

[0028] Preferably, the controller includes a host microcontroller, an analog-to-digital converter (ADC), and a drive module. The analog signal output of the soil moisture detection device is connected to the analog input terminal of the ADC, the digital output terminal of the ADC is connected to the host microcontroller, the output terminal of the host microcontroller is connected to the input terminal of the drive module, and the output terminal of the drive module is connected to the hydraulic power source assembly. Specifically, the three output terminals of the drive module are respectively connected to the two solenoid coils of the directional valve and the two directional coils of the proportional valve. The direction and displacement of the hydraulic cylinder are controlled by controlling the energization or de-energization of the two solenoid coils of the directional valve and the energization time; the opening degree of the proportional valve is controlled by controlling the current intensity of the proportional valve solenoid coil, thereby controlling the speed of the hydraulic motor.

[0029] The analog-to-digital conversion module converts the changing voltage signal (analog quantity) output by the soil moisture detection device into a digital signal and transmits it to the host microcontroller. The host microcontroller performs data processing and logic operations, and outputs corresponding control commands according to the soil moisture level. The drive module converts the control commands into current signals that can drive the proportional valve and directional valve, and control the oil cylinder and hydraulic motor to perform corresponding actions.

[0030] Preferably, it also includes a user control terminal, which includes a housing, a display screen, and control buttons. A slave microcontroller is disposed inside the housing. The SPI interface of the slave microcontroller is connected to a slave LoRa module. The SPI interface of the master microcontroller 501 is connected to a master LoRa module. The master microcontroller and the slave microcontroller are wirelessly connected through the master LoRa module and the slave LoRa module. The display screen is connected to the I2C interface of the slave microcontroller, and the control buttons are connected to the GPIO interface of the slave microcontroller.

[0031] The user control terminal is located in the tractor's cab. The slave microcontroller in the user control terminal communicates wirelessly with the host microcontroller on the controller via LoRa. The display screen shows the operating parameters of the strip tiller, such as soil moisture content, hydraulic motor speed, compaction component position or compaction pressure. The host microcontroller can be remotely controlled via control buttons, making it convenient for operators to monitor the operating status of the strip tiller.

[0032] Beneficial effects: Compared with the prior art, the present invention can achieve at least the following technical effects; 1. The deep tillage shovel assembly at the front of the tiller of this invention is equipped with a soil moisture detection device, which can autonomously detect the soil moisture content and convert the soil moisture content into an electrical signal and transmit it to the controller. The controller can adjust the compaction pressure of the compaction assembly according to the soil moisture content. When the soil moisture content is high, the controller controls the compaction assembly to rise, thereby reducing the compaction pressure; when the soil moisture content is low, the controller controls the compaction assembly to press down, thereby increasing the compaction pressure. In this way, the compaction pressure is adaptively adjusted according to the soil moisture, so that the compaction pressure of the compaction assembly is adapted to the soil moisture, which can not only compact the surface soil and maintain soil moisture, but also avoid soil compaction caused by improper compaction.

[0033] 2. The rotation speed of the press roller of the present invention can be adaptively adjusted according to the soil moisture content. When the soil moisture content is high, the controller can control the hydraulic motor of the pressing component to increase the rotation speed, thereby increasing the rotation speed of the press roller, avoiding excessive soil adhering to the surface of the press roller, which would cause dragging or uneven pressing intensity, and further improving the pressing effect of the strip tiller.

[0034] 3. In order to achieve the purpose of autonomously detecting soil moisture content, the present invention sets two separate deep loosening shovels with smaller lateral width on a strip tillage strip. Compared with the existing strip tillage machine with one deep loosening shovel on each strip tillage strip, it can further improve the ability to break up deep soil, avoid the formation of large soil clumps, and improve the deep loosening effect.

[0035] 4. This invention includes a user control terminal, which is wirelessly connected to the controller on the strip tiller via LoRa. The operator (tractor driver) can monitor the operating parameters of the strip tiller from the cab and remotely control the controller on the strip tiller. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0037] Figure 2 This is a schematic diagram of the overall structure of the pressing component of the present invention.

[0038] Figure 3 This is a schematic diagram of the overall structure of the deep loosening shovel assembly of the present invention.

[0039] Figure 4 This is an exploded view of the deep loosening shovel assembly of the present invention.

[0040] Figure 5 This is a circuit diagram of the soil moisture detection device and controller of the present invention.

[0041] Figure 6 This is a hydraulic pipeline diagram for the present invention.

[0042] Figure 7 For the present invention Figure 1 Enlarged view of point A in the middle.

[0043] Figure 8 This is a cross-sectional structural diagram of the elastic joint of the present invention.

[0044] Figure 9 This is a schematic diagram of the overall structure of the user control terminal of the present invention.

[0045] Figure 10 This is a circuit diagram of the user control terminal of the present invention.

[0046] In the diagram: 100, Frame assembly; 101, Front crossbeam; 102, Side plate; 103, Rear crossbeam; 104, Ground wheel; 200, Strip tillage assembly; 201, Gearbox; 202, Strip tillage roller; 300, Power supply assembly; 301, Battery; 302, Generator; 400, Subsoil shovel assembly; 401, First subsoil shovel; 402, Second subsoil shovel; 403, Subsoil shovel base; 4031, Positioning hole; 4032, Square through hole; 404, Insulating bushing; 405, Mounting plate; 406, Positioning bolt; 407, Insulating sleeve; 408, Position adjustment hole; 500, Controller; 501, Main unit microcontroller; 502, Drive module; 503, Main unit LoRa module; 504, Enable button; 505, Analog-to-digital converter module; 600, Press assembly; 601, Hydraulic motor; 602. Press roller frame; 6021, main frame; 6022, connecting arm; 6023, position adjustment hinge; 6024, rotating connector; 603, chain drive mechanism; 604, press roller; 605, scraper; 606, speed sensor; 700, hydraulic position adjustment assembly; 701, cylinder mounting bracket; 702, cylinder; 703, position sensor; 704, flexible connector; 7041, housing; 7042, sliding block; 7043, buffer pad; 7044, push rod; 7045, spring; 705, force sensor; 800, hydraulic power source assembly; 801, hydraulic pump; 802, reversing valve; 803, relief valve; 804, proportional valve; 900, user control terminal; 901, housing; 902, display screen; 903, control button; 904, slave microcontroller; 905, slave LoRa module. Detailed Implementation

[0047] The invention will be further explained below with reference to specific implementation examples.

[0048] Please see Figure 1-10 This invention proposes an adaptive adjustment strip tiller, such as... Figure 1 As shown, the strip tiller includes a frame assembly 100, on which a subsoil shovel assembly 400, a strip tillage assembly 200, a compaction assembly 600, and a hydraulic power source assembly 800 are mounted; at least one set of subsoil shovel assemblies 400 is equipped with a soil moisture detection device, the signal output terminal of which is connected to a controller 500; the compaction assembly 600 includes a compaction roller frame 602 hinged to the frame assembly 100, a compaction roller 604 mounted on the compaction roller frame 602, a hydraulic motor 601 connected to the compaction roller 604; a hydraulic level adjustment assembly 700 is connected between the compaction roller frame 602 and the frame assembly 100; the output terminal of the controller 500 is electrically connected to the hydraulic power source assembly 800; and the hydraulic power source assembly 800 is hydraulically connected to the hydraulic level adjustment assembly 700 and the hydraulic motor 601. Specifically, the frame assembly 100 includes two side plates 102, with a front crossbeam 101 and a rear crossbeam 103 connected between the two side plates 102. Two sets of deep tillage shovel assemblies 400 are mounted on the front crossbeam 101, and two sets of compaction assemblies are mounted on the rear crossbeam 103. The frame assembly 100 is equipped with a suspension mechanism for connecting the tractor's hydraulic suspension system. Ground wheels 104 are respectively mounted on the outer sides of the two side plates 102. The ground wheels 104 can also be equipped with a position adjustment mechanism to adjust the tillage depth of the strip tillage assembly 200. It should be noted that when the ground wheels 104 are equipped with a position adjustment mechanism, the hydraulic position adjustment assembly 700 should also be equipped with a corresponding manual adjustment mechanism to adapt the initial position of the compaction assembly 600 to the position of the ground wheels 104. The strip tillage assembly 200 includes a gearbox 201, with a laterally arranged strip tillage roller 202 connected to the lower part of the gearbox 201. A cutterhead is mounted on the strip tillage roller 202, and blades are installed on the cutterhead. A splined shaft is located at the front end of the gearbox 201, which can be connected to the power take-off shaft at the rear of the tractor via a universal joint drive shaft.

[0049] like Figure 2 As shown, the press roller frame 602 includes a main frame 6021, with a press roller 604 rotatably mounted on the lower end of the main frame 6021. A hydraulic motor 601 is mounted on the upper part of the main frame 6021, and the output shaft of the hydraulic motor 601 drives the press roller 604 to rotate through a chain drive mechanism 603. Specifically, the chain drive mechanism includes a drive sprocket mounted on the output shaft of the hydraulic motor 601, a driven sprocket mounted on the shaft end of the press roller 604, a chain, and a chain protective cover. In addition, a scraper 605 is also mounted on the press roller frame 602, with the end of the scraper 605 positioned 5-8 mm from the outer circumference of the press roller 604.

[0050] Two connecting arms 6022 extend forward from the upper part of the main frame 6021. The front end of the connecting arm 6022 is set at the rotating connector 6024. The rotating connector 6024 is rotatably connected to the rear crossbeam 103 on the frame assembly 100. A position adjustment hinge is provided between the two connecting arms 6022 for connecting with the hydraulic position adjustment assembly 700. Through the extension and retraction of the hydraulic position adjustment assembly 700, the pressing roller 604 is raised or lowered, thereby changing the pressing pressure.

[0051] During the operation of the strip tiller, the deep loosening shovel assembly 400 at the front first extends into the soil layer to loosen the deep soil and improve soil permeability. The tractor's power take-off shaft drives the strip tiller roller 202 to rotate through the gearbox 201. The rotating blades cut the soil and simultaneously turn over and bury weeds and stubble in the soil. Finally, the compaction assembly 600 appropriately compacts and flattens the soil to enhance its moisture retention capacity.

[0052] like Figure 3 , Figure 4As shown, to enable the strip tiller to autonomously detect soil moisture, the deep tillage shovel assembly 400 of this invention is designed as a split structure. Two smaller deep tillage shovels are used on a single strip tillage strip instead of the existing integral deep tillage shovel. The two deep tillage shovels, namely the first deep tillage shovel 401 and the second deep tillage shovel 402, have the same structure and are symmetrically installed. The adjacent sides of the two sets of deep tillage shovels are straight, and the side facing outwards is a bevel. The lateral width of the first deep tillage shovel 401 and the second deep tillage shovel 402 is referenced to the width of the deep tillage shovel on existing strip tillers. With a design of 5%~55%, a certain gap is maintained between the first deep loosening shovel 401 and the second deep loosening shovel 402 on the same deep loosening shovel assembly 400, and the first deep loosening shovel 401 and the second deep loosening shovel 402 are insulated. When the deep loosening shovel assembly 400 penetrates into the soil layer, since the conductivity of the soil is related to the moisture content, the resistance between the first deep loosening shovel 401 and the second deep loosening shovel 402 will change according to the soil moisture content, thereby causing the soil moisture detection device to output an electrical signal related to the soil moisture content, thus achieving the purpose of soil moisture detection. At the same time, compared with the existing strip tillage machine that sets one deep loosening shovel on one strip, the split deep loosening shovel of this invention is more conducive to loosening deep soil and avoids the formation of large soil clumps. Since the lateral width of each deep loosening shovel is set to half that of the existing integral deep loosening shovel, it will not increase the additional traction load of the tractor.

[0053] The electrical signal output by the soil moisture monitoring device is transmitted to the controller 500. The controller 500 controls the hydraulic source component 800 and the hydraulic position adjustment component 700 to adjust the position of the compaction component 600 based on the soil moisture signal collected by the soil moisture monitoring device. This adjusts the compaction pressure of the compaction component 600 to match the soil moisture, which is more conducive to maintaining soil moisture and also avoids soil compaction caused by excessive compaction.

[0054] At the same time, the controller 500 can also control the hydraulic source component 800 and the hydraulic motor 601 to change the rotation speed of the compaction roller 604 according to the soil moisture data collected by the soil moisture detection device, so as to match the rotation speed of the compaction roller 604 with the soil moisture and further ensure the compaction effect.

[0055] In this embodiment, the subsoil shovel assembly 400 includes a subsoil shovel seat 403 mounted on the frame assembly 100. The subsoil shovel seat 403 is fixedly mounted on the front crossbeam 101 of the frame assembly 100 via a mounting plate 405. A first subsoil shovel 401 and a second subsoil shovel 402 are mounted on the subsoil shovel seat 403. An insulating bushing 404 is provided between the second subsoil shovel 402 and the subsoil shovel seat 403. like Figure 5As shown, the soil moisture detection device includes a DC power supply and a voltage divider resistor R2. The positive terminal of the DC power supply is connected to one end of the voltage divider resistor R2, and the other end of the voltage divider resistor R2 is connected to the second deep loosening shovel 402. The first deep loosening shovel 401 is connected to the negative terminal of the DC power supply, and the second deep loosening shovel 402 is connected to the input terminal of the controller 500.

[0056] To provide a stable power supply to the soil moisture detection device and controller 500, the strip tiller of the present invention is also equipped with a dedicated power supply component 300, which includes a battery 301 and a generator 302. The battery 301 is mounted on the frame assembly 100 through a battery box, and the generator 302 is mounted on a gearbox 201. The generator 302 is driven to rotate by the output shaft led out from the gear inside the gearbox 201. The generator 302 charges the battery 301 through a rectifier circuit. The battery 301 is connected to a power module and outputs DC voltages of different voltage levels such as 3.3V, 5V, and 12V to supply power to the soil moisture detection device and controller 500.

[0057] Since the metal frame assembly 100 is itself a conductor, it is used as a ground wire. An insulating bushing 404 is only installed between the second loosening shovel 402 and the deep loosening shovel base 403. The first deep loosening shovel 401 is connected to the deep loosening shovel base 403 and the frame assembly 100. A 5V or 3.3V DC power supply is connected to the terminal on the top of the second deep loosening shovel 402 through a wire. The negative terminal of the power supply is grounded to the frame assembly 100. When the first deep loosening shovel 401 and the second deep loosening shovel 402 penetrate the soil, the current flows from the positive terminal of the power supply through the voltage divider resistor R2, the second deep loosening shovel 402, the soil, the first deep loosening shovel 401, and then back to the negative terminal of the power supply through the frame assembly 100. In the following text, grounding or grounding refers to connection to the frame assembly 100.

[0058] If the soil between the two submerged shovels is considered equivalent to a variable resistance R0, the signal line connected to the controller 500 is equivalent to being led out from the midpoint between R2 and R0, that is, from the top of the second submerged shovel 402, and then into the controller 500. The grounding wire of the controller 500 is also connected to the frame assembly 100. The signal input to the controller 500 is the voltage across the equivalent soil resistance R0.

[0059] When the soil moisture content is high, the soil conductivity increases, R0 decreases, the voltage across R0 decreases accordingly, and the voltage signal input to the controller 500 decreases. Conversely, when the soil moisture content is low, R0 increases, and the voltage signal input to the controller 500 increases. Through the above settings, the soil moisture detection device can output a voltage signal that is negatively correlated with the soil moisture content, thus characterizing the soil moisture.

[0060] In this embodiment, a correction potentiometer R1 is connected in series between the positive terminal of the power supply and the voltage divider resistor R2.

[0061] Soil conductivity is affected not only by water content but also by soil salinity. Since soil salinity is relatively stable within a certain area, the resistance of the calibration potentiometer R1 needs to be adjusted according to the average distribution of soil salinity in the region to compensate for the influence of salinity on soil conductivity. For example, when the soil salinity is high, the soil resistivity is lower at the same water content, so the resistance of the calibration potentiometer R1 needs to be appropriately reduced. Conversely, when the soil salinity is low, the resistance of the calibration potentiometer R1 needs to be appropriately increased. Through the above settings, the voltage signal output by the soil moisture detection device can more accurately represent the actual soil water content.

[0062] In addition, in this embodiment, in order to output a more stable signal from the soil moisture detection device, a capacitor C1 can be connected in parallel between the first deep loosening shovel 401 and the second deep loosening shovel 402 to smooth out voltage fluctuations at the signal output point.

[0063] In this embodiment, the deep loosening shovel base 403 is further configured with two vertically penetrating square through holes 4032. One of the square through holes 4032 is clearance-fitted with the handle of the first deep loosening shovel 401, and the first deep loosening shovel 401 is inserted into the square through hole 4032. The other square through hole 4032 has a slightly larger cross-sectional area and is fitted with an insulating bushing 404. The insulating bushing 404 is made of insulating materials such as resin or bakelite, and the second deep loosening shovel 402 is inserted into the insulating bushing 404. Multiple position adjustment holes 408 are provided on both the first and second deep loosening shovels 401 and 402, and are equidistantly arranged along the height direction of the two shovels. An insulating sleeve 407 is installed inside the position adjustment hole 408 of the second deep loosening shovel 402. A positioning hole 4031 is provided on the deep loosening shovel base 403, which transversely penetrates the deep loosening shovel base 403 and two square through holes 4032. A positioning bolt 406 is inserted into the positioning hole 4031, penetrating the deep loosening shovel base 403 and inserting into the position adjustment hole 408 of the first deep loosening shovel 401 and the insulating sleeve 407 of the second deep loosening shovel 402. To improve stability, two positioning holes 4031 are provided on the side wall of the deep loosening shovel base 403, and the distance between the two positioning holes 4031 is the same as the distance between the position adjustment holes 408 on the two deep loosening shovels.

[0064] By aligning the different position adjustment holes 408 on the first deep loosening shovel 401 and the second deep loosening shovel 402 with the positioning holes 4031 on the deep loosening shovel seat 403 and inserting the positioning bolts 406 to fix them, the soil loosening depth of the deep loosening shovel assembly 400 can be adjusted. The second deep loosening shovel 402 is electrically isolated from the frame assembly 100 through the insulating sleeve 407 and the insulating bushing 404.

[0065] In order for the soil moisture detection device to output an electrical signal of a certain strength, the distance between the first deep loosening shovel 401 and the second deep loosening shovel 402 should not be too large. At the same time, it is also necessary to avoid the first loosening shovel 401 and the second loosening shovel 402 from collapsing due to elastic deformation. Therefore, in this embodiment, the distance between the first loosening shovel 401 and the second loosening shovel 402 is set to 12~20mm.

[0066] In this embodiment, the hydraulic position adjustment assembly 700 includes a cylinder mounting bracket 701 and a cylinder 702. The cylinder mounting bracket 701 is fixedly mounted on the frame assembly 100, and the cylinder body of the cylinder 702 is hinged to the cylinder mounting bracket 701. The telescopic end of the cylinder 702 is hinged to the press roller frame 602. The hydraulic cylinder 702 is a two-way hydraulic cylinder, and the rod-side chamber and the rodless chamber of the hydraulic cylinder 702 are hydraulically connected to the hydraulic power source assembly 800 respectively.

[0067] When the soil moisture monitoring device detects low soil moisture content, the controller 500 controls the hydraulic power source component 800 to pump oil into the rodless chamber of the cylinder 702, causing the cylinder 702 to extend and press down the compaction component 600, increasing the compaction pressure. When the soil moisture monitoring device detects high soil moisture content, the controller 500 controls the hydraulic power source component 800 to pump oil into the rod chamber of the cylinder 702, causing the cylinder 702 to contract and thus raise the compaction component 600, reducing the compaction pressure.

[0068] like Figure 6 As shown, in this embodiment, the hydraulic power source assembly includes a hydraulic pump 801, a directional valve 802, and a proportional valve 804. The outlet of the hydraulic pump 801 is connected to the pressure port of the directional valve 802 and the inlet of the proportional valve 804, respectively. The directional valve 802 is a three-position four-way electro-hydraulic servo valve, and the proportional valve 804 is a two-position four-way electro-hydraulic servo valve with adjustable flow rate. The two working ports of the directional valve 802 are connected to the rod chamber and the rodless chamber of the cylinder 702, respectively, and the outlet of the proportional valve 804 is connected to the inlet of the hydraulic motor. The control terminals of the directional valve 802 and the proportional valve 804 are connected to the output terminal of the controller 500.

[0069] The power input shaft of the hydraulic pump 801 is connected to the gearbox 201. The output end of the controller 500 controls the electromagnet coils at both ends of the directional valve 802, thereby controlling the extension or retraction of the cylinder 702. At the same time, the controller 500 can also control the opening of the proportional valve 804 to change the amount of oil entering the hydraulic motor 601, thereby adjusting the speed of the hydraulic motor 601.

[0070] In this embodiment, the output flow of the hydraulic pump 801 is designed based on the sum of the maximum flow of the hydraulic motor 601 and the cylinder 702, and the outlet of the hydraulic pump 801 is connected to the relief valve 803.

[0071] like Figure 7 , Figure 8 As shown, in this embodiment, an elastic joint 704 is connected between the telescopic end of the hydraulic cylinder 702 and the press roller frame 602. The elastic joint 704 includes a housing 7041. The bottom of the housing 7041 is hinged to the press roller frame 602. A sliding block 7042 is installed on the inner wall of the housing 7041. A spring 7045 is connected between the lower end of the sliding block 7042 and the bottom of the housing 7041. A push rod 7044 is connected to the top of the sliding block 7042. The push rod 7044 extends out of the housing 7041 and is fixedly connected to the telescopic end of the hydraulic cylinder 702. A force sensor 705 is connected between the extension end of the hydraulic cylinder 702 and the push rod 7044. A speed sensor 606 is connected to the hydraulic motor 601. The signal output terminals of the force sensor 705 and the speed sensor 606 are connected to the input terminal of the controller 500.

[0072] By setting the elastic joint 704, the compaction assembly 600 and the frame assembly 100 can be flexibly connected within a certain stroke range, allowing the compaction roller 604 to adapt to small fluctuations in the soil surface. By setting the speed sensor 606 and the force sensor 705, the speed and compaction pressure of the compaction roller 604 can be fed back to the controller 500, thereby achieving closed-loop regulation and improving the regulation accuracy.

[0073] In this embodiment, the controller 500 is further configured to include a host microcontroller 501, an analog-to-digital converter 505, and a drive module 502. The analog signal output of the soil moisture detection device is connected to the analog input terminal of the analog-to-digital converter 505, the digital output terminal of the analog-to-digital converter 505 is connected to the host microcontroller 501, the output terminal of the host microcontroller 501 is connected to the input terminal of the drive module 502, and the output terminal of the drive module 502 is connected to the hydraulic power source assembly 800. Specifically, the three output terminals of the drive module 502 are respectively connected to the two solenoid coils of the directional valve 802 and the two directional coils of the proportional valve 804. The movement direction and displacement of the hydraulic cylinder 702 are controlled by controlling the energization or de-energization of the two solenoid coils of the directional valve 802 and the energization time; the opening degree of the proportional valve 804 is controlled by controlling the current intensity of the solenoid coil of the proportional valve 804, thereby controlling the speed of the hydraulic motor 601.

[0074] The analog-to-digital converter module 505 converts the changing voltage signal (analog quantity) output by the soil moisture detection device into a digital signal and transmits it to the host microcontroller 501. The host microcontroller 501 performs data processing and logic operations, and outputs corresponding control commands according to the soil moisture level. The drive module 502 converts the control commands into current signals that can drive the proportional valve 804 and the directional valve 802, and controls the oil cylinder 702 and the hydraulic motor 601 to perform corresponding actions.

[0075] For details, please refer to Figure 5 In this embodiment, the host microcontroller is an STM32 series microcontroller, the analog-to-digital converter is an ADS1256 module, and the driver module is a ULN2003 module; the signal output line from the second deep loosening shovel 402 is connected to an analog input pin of the ADS1115 module, such as... Figure 5 In the ADS1115 module, AINP0 is used as a single-ended input. The ADS1115 module is connected to the STM32 microcontroller via the I2C interface. That is, the SDA and SCL pins of the ADS1115 module are connected to the default SDA and SCL pins of the STM32, such as PB8 and PB9, through pull-up resistors R4 and R3. In this embodiment, the three default timer output pins PA10, PA9, and PA8 of the STM32 are connected to the three digital input pins IN1, IN2, and IN3 of the ULN2003 module. The COM terminal of the ADS1256 module is connected to a 12V power supply, and the ground pin is grounded to the rack assembly 100. PA10 and PA9 outputs are used to control the reversing valve 802. When PA10 outputs a pulse signal, the OUT1 pin of the ULN2003 module supplies power to terminal A of the reversing valve 802, and the hydraulic pump 801 pumps oil into the rodless chamber of the cylinder 702, causing the pressing assembly 600 to press downwards. When the PA9 pin outputs a pulse signal, the OUT1 pin of the ULN2003 module supplies power to terminal B of the reversing valve 802, and the hydraulic pump 801 pumps oil into the rod chamber of the cylinder 702, causing the pressing assembly 600 to lift upwards. By controlling the duration of this pulse signal, the extension or retraction displacement of the cylinder 702 is controlled. In this embodiment, to achieve more precise closed-loop control, the position of the cylinder 702 is fed back to the host microcontroller 501 by the displacement sensor 703 installed on the cylinder 702, or the contact pressure between the pressing component 600 and the ground is fed back by the force sensor 705. The position of the cylinder is precisely controlled by position feedback or pressure feedback. The user can select the position priority adjustment mode or the pressure limited adjustment mode according to the actual situation.

[0076] The displacement sensor 703 is a voltage signal output displacement sensor, preferably with an output voltage of 0~3.3V, matching the input voltage of the STM32. It can be directly connected to the STM32's ADC pin, such as PA0. The force sensor 705 is a piezoresistive force sensor, specifically as follows... Figure 4 As shown in the diagram, R7 represents the pressure-sensitive resistor of the force sensor. One end of R7 is connected to a 3.3V DC power supply, and the other end is connected in series with a voltage divider resistor R8 to ground. The midpoint between R7 and R8 is connected to an ADC pin of the STM32, such as PA1. To eliminate fluctuations in the pressure signal, a capacitor C2 can also be connected to ground at the pressure signal input point.

[0077] Another timer output pin, PA8, of the STM32 is used to control the speed of the hydraulic motor 601. The PWM signal output from pin PA8 controls the output of OUT3 of the ULN2003 module. The pulse width of the PWM signal controls the current intensity of the OUT3 output of the ULN2003 module, thereby controlling the opening of the proportional valve 804, adjusting the amount of oil pumped into the hydraulic motor 601, and thus adjusting the speed of the hydraulic motor 601. The speed sensor 606 on the hydraulic motor 601 feeds back the speed signal to the host microcontroller 501. In this embodiment, the speed sensor can be a voltage analog signal output connected to an ADC pin of the host microcontroller 501, such as PA2, or a speed sensor with a digital pulse signal output connected to the GPIO interface of the host microcontroller 501.

[0078] A start button 504 is provided on the controller 500. The start button 504 is connected to the GPIO interface of the host microcontroller 501, such as PA14, through a pull-up resistor R6. When the start button 504 is pressed, the pin goes low, triggering the host microcontroller 501 to start running. It can be programmed so that after the start button 504 is pressed, the host microcontroller 501 starts running the control program after a delay of 2 to 5 minutes. This allows the rust and dirt on the surface of the subsoil shovel assembly to be cleaned by the soil, and the subsoil shovel to make full contact with the soil before the controller 500 intervenes.

[0079] This embodiment further includes a user control terminal 900, which comprises a housing 901, a display screen 902, and a control button 903. A slave microcontroller 904 is housed within the housing 901. The SPI interface of the slave microcontroller 904 is connected to a slave LoRa module 905, and the SPI interface of the master microcontroller 501 is connected to a master LoRa module 503. The master microcontroller 501 and the slave microcontroller 904 are wirelessly connected via the master LoRa module 503 and the slave LoRa module 905. The display screen 902 is connected to the I2C interface of the slave microcontroller 904, and the control button 903 is connected to the GPIO interface of the slave microcontroller 904. The slave microcontroller is also an STM32 microcontroller. The control button 903 is connected to a GPIO interface of the slave microcontroller 901 via a pull-up resistor R9 and is set to low-level trigger, such as PA14. When the control button 903 is pressed, the input of that GPIO is grounded, and the master microcontroller 501 is started to run via LoRa control.

[0080] like Figure 9 , Figure 10 As shown, the user control terminal 900 is located in the tractor cab and is fixed to a suitable position in the cab by adhesive backing or elastic clips on the back of the surgical terminal 901. The slave microcontroller 904 in the user control terminal communicates wirelessly with the host microcontroller 501 on the controller 500 via LoRa. The operating parameters of the strip tiller, such as soil moisture content, hydraulic motor speed, compaction component position or compaction pressure, are displayed on the display screen 902. The host microcontroller 501 can be remotely controlled by the control button 903, which facilitates the operator to monitor the operating status of the strip tiller.

[0081] The complete workflow and principle of this invention are as follows: First, before the strip tiller is put into operation, the insulation of the first deep loosening shovel 401 and the second deep loosening shovel 402 should be tested. The two probes of a multimeter can be placed on the handles of the first deep loosening shovel 401 and the second deep loosening shovel 402 respectively. If the multimeter measures that the resistance between the first deep loosening shovel 401 and the second deep loosening shovel 402 is infinite, it proves that the insulation of the second deep loosening shovel 402 is good. Then, short-circuit the first deep loosening shovel 401 and the second deep loosening shovel 402 with a wire, and measure the resistance between the two deep loosening shovels again with a multimeter. If the resistance is 0, it proves that the first deep loosening shovel 401 has good contact with the frame assembly 100. After the strip tiller is put into operation, the controller 500 is started by starting button 504 or control button 903 on the user control terminal 900. After the first deep loosening shovel 401 and the second deep loosening shovel 402 penetrate 12-15cm into the soil, the soil conducts electricity through the two shovels, forming a current loop. When the soil moisture content is low, the soil conductivity is low, the current flowing through the voltage divider resistor R2 is small, and the voltage division on the second deep loosening shovel 402 is high. When the soil moisture content is high, the soil conductivity is high, the current flowing through the voltage divider resistor R2 is large, and the voltage division on the second deep loosening shovel 402 is low. That is, the voltage signal output by the soil moisture monitoring device is negatively correlated with the soil moisture content. The larger the output signal voltage of the soil moisture monitoring device, the lower the soil moisture content. Conversely, the smaller the output signal voltage of the soil moisture monitoring device, the higher the soil moisture content.

[0082] The voltage signal input controller 500 on the second deep loosening shovel 402 is converted into a digital signal by the analog-to-digital converter 502, and then transmitted to the host microcontroller 501. The host microcontroller 501 processes the soil moisture content data and controls the hydraulic source component 800 according to the soil moisture content, so that the hydraulic position adjustment component 700 and the hydraulic motor 601 make corresponding actions to adjust the pressing pressure of the pressing component 600 and the rotation speed of the pressing roller 604.

[0083] Specifically, the soil moisture content can be divided into several sections with a gradient of 5% to 10%. Each moisture content section corresponds to a different pressing pressure and the rotation speed of the pressing roller 604. The main microcontroller 501 outputs control commands to the reversing valve 802 and the proportional valve 804 of the hydraulic power source component 800 according to the soil moisture content detected by the soil moisture detection device. The reversing valve 802 controls the extension or retraction displacement of the oil cylinder 702 to adjust the position of the pressing component 600, thereby adjusting the pressing pressure of the pressing component 600. By controlling the opening of the proportional valve 804, the amount of oil pumped into the hydraulic motor 601 is controlled, thereby adjusting the rotation speed of the pressing roller 601.

[0084] For example, after the tiller starts working, the compaction assembly 600 operates in its initial state according to the compaction pressure and speed required for a standard moisture content of 60%~70%. When the soil moisture detection device detects that the soil moisture content is lower than 60%, the drive module 502 of the controller 500 supplies power to the coil at the A end of the reversing valve, causing the hydraulic pump 801 to pump oil into the rodless chamber of the cylinder 702, pressing the compaction assembly 600 downward and increasing the compaction pressure of the compaction assembly 600. During the process of the cylinder 702 pushing the compaction roller frame 602 downward, the force sensor 705 or the displacement sensor 703 can be selected to feed back the pressure signal and position signal of the cylinder to the controller 500. The controller 500 performs closed-loop regulation of the cylinder 702 through pressure or displacement feedback.

[0085] At the same time, the controller 500 reduces the current intensity supplied to the proportional valve 804, thereby reducing the opening degree of the proportional valve 804 and thus reducing the speed of the hydraulic motor 601. Conversely, when the soil moisture monitoring device detects that the soil moisture content is higher than 70%, the drive module 502 of the controller 500 supplies power to the coil at the B end of the reversing valve, causing the hydraulic pump 801 to pump oil into the rod chamber of the cylinder 702, lifting the pressing assembly 600 upward and appropriately reducing the pressing pressure. At the same time, the controller 500 increases the current intensity delivered to the proportional valve 804, increasing the opening degree of the proportional valve 804, thereby increasing the speed of the hydraulic motor 601.

[0086] In summary, this invention utilizes a soil moisture detection device to autonomously detect soil moisture content data, and the controller 500 dynamically adjusts the compaction pressure of the compaction component 600 and the rotation speed of the compaction roller 604 based on the soil moisture content data; thus adapting the compaction action of the strip tiller on the soil to the soil moisture.

[0087] In the description of this invention, the term "a plurality of" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "connection," "installation," "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0088] In the description of this invention, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this invention, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0089] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An adaptive strip tiller, comprising a frame assembly (100), wherein a deep tillage shovel assembly (400), a strip tillage assembly (200), a compaction assembly (600), and a hydraulic power source assembly (800) are disposed on the frame assembly (100); characterized in that, At least one set of subsoil shovel assemblies (400) is equipped with a soil moisture detection device, the signal output terminal of which is connected to a controller (500). The compaction assembly (600) includes a compaction roller frame (602) hinged to the frame assembly (100), a compaction roller (604) is mounted on the compaction roller frame (602), a hydraulic motor (601) is connected to the compaction roller (604), a hydraulic level adjustment assembly (700) is connected between the compaction roller frame (602) and the frame assembly (100), the output terminal of the controller (500) is electrically connected to a hydraulic power source assembly (800), and the hydraulic power source assembly (800) is hydraulically connected to the hydraulic level adjustment assembly (700) and the hydraulic motor (601). The soil moisture detection device is used to detect soil moisture data, and the controller (500) is used to control the hydraulic power source component (800) to adjust the position of the compaction component (600) and the rotation speed of the hydraulic motor (601) according to the soil moisture data.

2. The adaptive adjustment strip tiller according to claim 1, characterized in that, The subsoil shovel assembly (400) includes a subsoil shovel seat (403) mounted on a frame assembly (100), a first subsoil shovel (401) and a second subsoil shovel (402) mounted on the subsoil shovel seat (403), and an insulating bushing (404) provided between the second subsoil shovel (402) and the subsoil shovel seat (403). The soil moisture detection device includes a DC power supply and a voltage divider resistor R2. The positive terminal of the DC power supply is connected to one end of the voltage divider resistor R2, and the other end of the voltage divider resistor R2 is connected to a second deep loosening shovel (402). The first deep loosening shovel (401) is connected to the negative terminal of the DC power supply, and the second deep loosening shovel (402) is connected to the input terminal of the controller (500).

3. The adaptive adjustment strip tiller according to claim 2, characterized in that, A correction potentiometer R1 is connected in series between the positive terminal of the power supply and the voltage divider resistor R2.

4. The adaptive adjustment strip tiller according to claim 2, characterized in that, The deep loosening shovel base (403) is provided with two vertically penetrating square through holes (4032). The first deep loosening shovel (401) is inserted into one square through hole (4032), and an insulating bushing (404) is inserted into the other square through hole (4032). The second deep loosening shovel (402) is inserted into the insulating bushing (404). The first deep loosening shovel (401) and the second deep loosening shovel (402) are each provided with a plurality of position adjustment holes (408). The plurality of position adjustment holes (408) are arranged at equal intervals along the height direction of the first deep loosening shovel (401) and the second deep loosening shovel (402). An insulating sleeve (407) is provided in the position adjustment hole (408) of the second deep loosening shovel (402). The deep loosening shovel base (403) is provided with a positioning hole (4031). The positioning hole (4031) passes through the deep loosening shovel base (403) and two square through holes (4032) laterally. A positioning bolt (406) is inserted into the positioning hole (4031). The positioning bolt (406) passes through the deep loosening shovel base (403) and is inserted into the position adjustment hole (408) of the first deep loosening shovel (401) and the insulating sleeve (407) of the second deep loosening shovel (402).

5. An adaptively adjustable strip tiller according to claim 2 or 4, characterized in that, The distance between the first loosening shovel (401) and the second loosening shovel (402) is set to 12~20mm.

6. The adaptive adjustment strip tiller according to claim 1, characterized in that, The hydraulic position adjustment assembly (700) includes a cylinder mounting bracket (701) and a cylinder (702). The cylinder mounting bracket (701) is fixedly mounted on the frame assembly (100). The cylinder body of the cylinder (702) is hinged to the cylinder mounting bracket (701), and the telescopic end of the cylinder (702) is hinged to the press roller frame (602). The cylinder (702) is a two-way cylinder, and the rod chamber and rodless chamber of the cylinder (702) are hydraulically connected to the hydraulic power source assembly (800) respectively.

7. The adaptively adjustable strip tiller according to claim 6, characterized in that, The hydraulic power source assembly includes a hydraulic pump (801), a directional valve (802), and a proportional valve (804). The outlet of the hydraulic pump (801) is connected to the pressure port of the directional valve (802) and the inlet of the proportional valve (804), respectively. The two working ports of the directional valve (802) are connected to the rod chamber and the rodless chamber of the cylinder (702), respectively. The outlet of the proportional valve (804) is connected to the inlet of the hydraulic motor. The control terminals of the directional valve (802) and the proportional valve (804) are connected to the output terminal of the controller (500).

8. The adaptive adjustment strip tiller according to claim 6, characterized in that, An elastic joint (704) is connected between the telescopic end of the hydraulic cylinder (702) and the press roller frame (602). The elastic joint (704) includes a housing (7041). The bottom of the housing (7041) is hinged to the press roller frame (602). A sliding block (7042) is installed on the inner wall of the housing (7041). A spring (7045) is connected between the lower end of the sliding block (7042) and the bottom of the housing (7041). A push rod (7044) is connected to the top of the sliding block (7042). The push rod (7044) extends out of the housing (7041) and is fixedly connected to the telescopic end of the hydraulic cylinder (702). A force sensor (705) is connected between the telescopic end of the hydraulic cylinder (702) and the push rod (7044), and a displacement sensor (703) is connected between the cylinder body of the hydraulic cylinder (702) and the telescopic end. A speed sensor (606) is connected to the hydraulic motor (601), and the signal output terminals of the force sensor (705), displacement sensor (703) and speed sensor (606) are connected to the input terminal of the controller (500).

9. The adaptive adjustment strip tiller according to claim 1, characterized in that, The controller (500) includes a host microcontroller (501), an analog-to-digital converter (505), and a drive module (502). The analog signal output of the soil moisture detection device is connected to the analog input terminal of the analog-to-digital converter (505), the digital output terminal of the analog-to-digital converter (505) is connected to the host microcontroller (501), the output terminal of the host microcontroller (501) is connected to the input terminal of the drive module (502), and the output terminal of the drive module (502) is connected to the hydraulic power source assembly (800).

10. The adaptively adjustable strip tiller according to claim 9, characterized in that, It also includes a user control terminal (900), which includes a housing (901), a display screen (902), and control buttons (903). A slave microcontroller (904) is disposed inside the housing (901). The SPI interface of the slave microcontroller (904) is connected to a slave LoRa module (905). The SPI interface of the master microcontroller (501) is connected to a master LoRa module (503). The master microcontroller (501) and the slave microcontroller (904) are wirelessly connected through the master LoRa module (503) and the slave LoRa module (905). The display screen (902) is connected to the I2C interface of the slave microcontroller (904), and the control buttons (903) are connected to the GPIO interface of the slave microcontroller (904).

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