Bionic deep loosening mechanism with adjustable drag reduction structure and control method

Abstract

The application discloses a bionic deep loosening mechanism with adjustable drag reduction structure and a control method, and belongs to the technical field of agricultural machinery. In view of the technical problems that the surface drag reduction structure of the existing bionic deep loosening shovel is fixed, poor in adaptability, prone to drag reduction failure and soil adhesion, and lacks active control ability and unstable operation quality, the mechanism comprises a rack, a high-pressure gas tank, a control center, a visual sensor and a plurality of bionic deep loosening assemblies. The bionic deep loosening assembly comprises a deep loosening shovel, a needle type cylinder array, a buffer layer and a flexible skin. The needle type cylinder pushes the buffer layer to make the flexible skin form adjustable convex ridges. The control center controls the extension and retraction of the cylinder through an electromagnetic valve group, calculates a soil disturbance coefficient according to a ground image collected by the visual sensor, and adjusts the convex ridge shape and the staggered peristalsis mode through a closed loop control system. In the application, the mechanism can adapt to different soil working conditions, realizes active soil release and self-adaptive drag reduction, effectively improves the soil crushing effect and the ground flatness, and is suitable for various farmland deep loosening operations.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a biomimetic deep loosening mechanism and control method with adjustable drag reduction structure. Background Technology

[0002] Deep tillage is a crucial part of conservation tillage, breaking up the plow pan, increasing soil aeration and water retention, and promoting crop root growth. However, deep tillage is also one of the most energy-intensive and drag-prone operations in agriculture. To reduce tillage resistance and energy consumption, researchers have conducted extensive research, with biomimetic drag reduction technology being a recent hot topic. Existing biomimetic deep tillage shovels primarily mimic the surface geometry of soil animals (such as earthworms, pangolins, mole crickets, dung beetles, and scallops) by constructing non-smooth structures on the shovel handle or tip. For example:

[0003] Patent CN106233833A discloses a deep loosening shovel with a worm-inspired corrugated lubricating surface to reduce drag. This reduces drag by using a fixed corrugated structure on the shovel handle in conjunction with lubricant. Patent CN110073737B discloses a biomimetic deep loosening shovel with a drag-reducing biomimetic surface, characterized by biomimetic raised ridges of fixed height and angle distributed on the shovel surface. Patent CN111406450B discloses a rice deep loosening shovel that reduces adhesion and drag by using an array of fixed arc-shaped protrusions on both sides of the shovel body to reduce the water film area. Patents CN111386758A and CN107996037A respectively utilize fixed trapezoidal and triangular prism structures to alter the soil contact state and disrupt interfacial adhesion. While these existing technologies can achieve certain drag-reduction effects under specific soil conditions, they generally suffer from the following technical limitations:

[0004] 1. Simple and fixed structure, lacking environmental adaptability: Once existing biomimetic structures (such as convex hulls, corrugations, and ridges) are formed, their geometric parameters (height, shape, and spacing) remain fixed. However, the actual farmland working environment is complex and variable. Fixed biomimetic structures can often only achieve the best drag reduction effect under specific soil conditions. When soil conditions change, the original drag reduction structure may fail or even increase drag.

[0005] 2. Lack of active control methods and limited functionality: Existing technologies are mostly passive drag reduction methods, which cannot dynamically adjust the shape of the shovel surface based on real-time sensing of tillage resistance or soil parameters; and existing structures mostly rely on changing the contact area or contact method (rolling / sliding) to reduce drag, lacking a more efficient composite drag reduction mechanism.

[0006] To address the aforementioned problems, this invention proposes a biomimetic deep loosening mechanism with adjustable drag reduction structure and a control method thereon. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing biomimetic deep loosening shovels, which have a single and fixed surface drag-reducing structure that cannot adapt to complex and changing farmland soil environments, leading to drag-reducing failure or even increased resistance and soil adhesion and blockage when working conditions change. Therefore, this invention proposes a biomimetic deep loosening mechanism and control method with an adjustable drag-reducing structure.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A biomimetic deep relaxation mechanism with adjustable drag-reduction structure, comprising:

[0010] Frame, high-pressure gas tank, control center, vision sensor;

[0011] Multiple biomimetic deep-loosening assemblies are connected to the lower part of the frame;

[0012] The high-pressure gas tank is connected to multiple biomimetic deep-loosening assemblies via high-pressure resistant gas pipes. The control center is equipped with an integrated electromagnetic valve group, which is connected in series in the gas pipe path.

[0013] The vision sensor is fixedly installed on the rear crossbeam of the frame with its lens facing the cultivated area below and behind the frame. The vision sensor is connected to the control center via signal.

[0014] The biomimetic deep loosening assembly includes a deep loosening shovel, a needle-shaped cylinder disposed inside the deep loosening shovel, and a buffer layer and flexible skin covering the outside of the deep loosening shovel.

[0015] The side wall of the deep loosening shovel is provided with a through needle cylinder mounting hole. The needle cylinder is installed in the needle cylinder mounting hole. The needle cylinder includes a needle cylinder piston rod located inside it. The needle cylinder piston rod is arranged facing the outside of the deep loosening shovel and its top end abuts against the buffer layer. The buffer layer abuts against the inner side of the flexible skin to form a convex ridge.

[0016] The control center is configured to control the solenoid valve group to drive the needle cylinder to extend and retract, and to analyze the images of the ground surface after deep loosening based on the visual sensor to calculate the soil disturbance coefficient. The soil disturbance coefficient is used to characterize the degree of soil fragmentation and the surface flatness. The control center adjusts the action mode of the needle cylinder according to the soil disturbance coefficient.

[0017] In one possible design, the operating modes include: a dense ridge mode, driving all needle cylinders to extend; a sparse ridge mode, driving some needle cylinders to retract; a smooth mode, driving all needle cylinders to retract; and an alternating creep mode, driving the needle cylinders to periodically extend and retract in alternating groups to form alternating protrusions on the flexible skin surface.

[0018] In one possible design, the upper end of the biomimetic deep loosening assembly is fixedly connected to the mounting beam at the bottom of the frame by U-bolt fasteners.

[0019] In one possible design, the needle-shaped cylinder mounting holes are arranged in a vertical array on the side wall of the deep loosening shovel.

[0020] In one possible design, the distribution density of the needle-shaped cylinder mounting holes on the deep loosening shovel decreases from top to bottom.

[0021] In one possible design, the deep loosening shovel has an air valve connector channel inside, and an air valve connector is fixedly installed at the tail of the shovel handle. The air valve connector serves as a compressed air input end and is connected to a needle cylinder through the air valve connector channel.

[0022] In one possible design, the buffer layer is a thin plate structure made of flexible polymer material, the shape of which is adapted to the side profile of the deep loosening shovel handle, and it covers the side wall surface of the deep loosening shovel and the outer side of the top of the needle cylinder piston rod.

[0023] In one possible design, the control center is configured to divide the multiple rows of needle cylinders arranged in a vertical direction into at least two groups and alternately send drive signals to each group of needle cylinders to form staggered protrusions on the surface of the flexible skin.

[0024] In one possible design, the alternating drive signals form an operating frequency of 5 to 10 Hz.

[0025] A control method for a biomimetic deep relaxation mechanism with adjustable drag reduction structure according to any one of the above includes the following steps:

[0026] S1. System initialization and gas path self-test:

[0027] The control center opens the main air circuit valve and sends short pulse test signals to the needle cylinders of each biomimetic deep loosening assembly in sequence, driving the piston rod of the needle cylinder to complete a full stroke extension and retraction action; the control center confirms from the image that the pneumatic actuator is not stuck and the air circuit is well sealed. At the same time, the vision sensor starts and performs self-calibration. After confirming that it can normally acquire images of the area behind the frame, the system enters standby mode.

[0028] S2. Initial parameter settings and job start-up:

[0029] The control center receives the input soil type and preset tillage depth data, and calls the corresponding initial needle cylinder drive strategy according to the preset database, and then starts the deep tillage operation;

[0030] S3. Visual data acquisition and perturbation coefficient calculation:

[0031] The visual sensor continuously collects surface images after deep loosening and transmits them to the control center; the control center preprocesses the images, extracts the edge contours of soil blocks using an edge detection algorithm to calculate the average equivalent diameter Davg of the soil blocks, and calculates the root mean square deviation of surface height Hrms by combining visual depth information.

[0032] Control center based on formula

[0033]

[0034] Calculate the soil disturbance coefficient K, where Dref is the preset standard soil block diameter reference value, Href is the preset standard surface flatness reference value, α and β are the soil crushing index weight and flatness index weight respectively, where α+β=1;

[0035] S4. Intelligent Decision-Making and Dynamic Control:

[0036] The control center compares the calculated soil disturbance coefficient K with a preset threshold and executes the following branching strategy:

[0037] When 0≤K≤1, the work quality is deemed to meet the standard, the current cylinder drive mode remains unchanged, and the dense convex ridge mode is maintained;

[0038] When K>1 and it is determined that the problem is caused by the large average equivalent diameter of the soil block, the cylinder drive mode is switched to the staggered creep mode, and the piston rod of the grouped needle cylinder is driven to periodically extend and retract alternately to form a staggered and changing convex state on the surface of the flexible skin.

[0039] When K>1 and it is determined that the problem is caused by a large root mean square deviation of the ground height, switch the cylinder drive mode to sparse convex mode or smooth mode to drive some or all needle cylinders to complete the retraction of the piston rod.

[0040] S5. Cyclic Feedback and Shutdown Reset:

[0041] The system executes steps S3 to S4 in a set cycle until the operation is completed. Upon receiving a shutdown command, the control center controls the solenoid valve group to de-energize and depressurize, causing the piston rod of the needle cylinder to retract under negative pressure, and the flexible skin to return to its flatness.

[0042] Beneficial effects: The present invention discloses a biomimetic deep tillage mechanism and control method with adjustable drag reduction structure. This mechanism abandons the traditional fixed biomimetic structure and uses an internal array of needle-shaped cylinders to lift the external flexible skin, thereby forming convex ridges with adjustable height, spacing, and distribution pattern on the surface of the deep tillage shovel. This convex ridge structure can guide the soil flow like the texture of a biological surface, reducing the contact area between the soil and the shovel surface. More importantly, the control system can adjust the cylinder extension in real time according to the soil type (e.g., clay requires sparse convex ridges for flow guidance, while sandy soil requires dense convex ridges for friction reduction), changing the geometry of the convex ridges to ensure optimal drag reduction effect under different working conditions.

[0043] In this invention, a biomimetic deep loosening mechanism and control method with adjustable drag reduction structure are described. This mechanism can control the needle cylinder array to perform periodic telescopic movements in an alternating group manner, thereby driving the protruding ridges on the surface to form an alternating dynamic deformation. This dynamic deformation can not only break the water film tension between the soil and the soil contact component interface, but also actively shake off or push away the soil adhering to the shovel surface by utilizing the tangential shearing action generated by the alternating undulation of the protruding ridges. This realizes the improvement of the deep loosening mechanism from passive anti-sticking to active soil removal, and ensures the surface cleanliness of the deep loosening shovel during long-term operation.

[0044] In this invention, a biomimetic deep tillage mechanism and control method with adjustable drag-reducing structure are described. This mechanism incorporates a visual sensor to monitor the surface smoothness and soil disturbance in real time after deep tillage. When an abnormal soil disturbance coefficient is detected (such as excessively large soil clods due to adhesion or uneven trench bottom), the system automatically adjusts the arrangement of the convex ridges or the staggered creep frequency. This intelligent closed-loop control mechanism enables the deep tillage mechanism to self-optimize based on the operation effect, just like a sentient organism, thereby significantly reducing tillage resistance and improving soil breaking effect and surface smoothness.

[0045] In this invention, a biomimetic deep relaxation mechanism and control method with adjustable drag reduction structure is described. This mechanism effectively avoids direct point contact between the metal cylinder rod and the flexible skin by setting a buffer layer between the needle-shaped cylinder and the flexible skin, thus preventing wear on the flexible skin and extending the service life of the skin. At the same time, the buffer layer transforms the point thrust of the cylinder into strip-shaped or band-shaped ridges on the skin, making the surface transition of the biomimetic structure smoother and more natural, which is more in line with the streamlined characteristics of the biological surface. This helps to reduce stress concentration and improve the reliability of the overall structure. Its structural design is scientific, taking into account both biomimetic effect and structural durability.

[0046] In this invention, the biomimetic deep tillage mechanism can adjust the shape of the convex ridges through a needle-type cylinder array, thereby adapting to different soils and achieving optimal drag reduction; the staggered creeping design of the convex ridges can disrupt the water film tension and generate shear force, achieving active soil removal; the visual sensor can monitor the equipment's operating status in real time, and the closed-loop control can optimize the arrangement of the convex ridges and the creeping frequency; the buffer layer can prevent wear on the flexible skin, making the transition of the convex ridges smooth, balancing the biomimetic effect with the durability of the mechanism, significantly reducing tillage resistance and improving the quality of operation. Attached Figure Description

[0047] Figure 1 This is a three-dimensional structural schematic diagram of a biomimetic deep relaxation mechanism with adjustable drag reduction structure proposed in this invention.

[0048] Figure 2 This is a schematic diagram of the biomimetic deep relaxation mechanism with adjustable drag reduction structure proposed in this invention.

[0049] Figure 3 This is a schematic diagram of the installation of a needle-type cylinder and valve connector for a biomimetic deep loosening mechanism with adjustable drag reduction structure proposed in this invention.

[0050] Figure 4 This is a schematic diagram of the needle-type cylinder extension and retraction state structure of a biomimetic deep loosening mechanism with adjustable drag reduction structure proposed in this invention.

[0051] Figure 5 This is a schematic diagram of the mounting hole and air passage structure of the deep loosening shovel interface of a biomimetic deep loosening mechanism with adjustable drag reduction structure proposed in this invention.

[0052] Figure 6 This is a schematic diagram of different surface morphology structures of the shovel handle of a biomimetic deep loosening mechanism with adjustable drag reduction structure proposed in this invention.

[0053] Figure 7 This is a schematic diagram of the dynamic switching structure of the shovel handle surface morphology of the biomimetic deep loosening mechanism with adjustable drag reduction structure proposed in this invention.

[0054] Figure 8 This is a flowchart illustrating the operation of a biomimetic deep loosening mechanism with adjustable drag reduction structure proposed in this invention.

[0055] In the diagram: 1. Bionic deep loosening assembly; 2. Frame; 3. High-pressure air tank; 4. Control center; 5. Vision sensor; 101. Flexible skin; 102. Buffer layer; 103. Needle cylinder; 104. Deep loosening shovel; 105. Air valve connector; 103-1. Needle cylinder piston rod; 103-2. Needle cylinder interface; 104-1. Air valve connector channel; 104-2. Needle cylinder mounting hole. Detailed Implementation

[0056] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0057] Example 1: Refer to Figures 1-8 A biomimetic deep loosening mechanism includes: a biomimetic deep loosening assembly 1, a frame 2, a high-pressure gas tank 3, a control center 4, and a vision sensor 5.

[0058] In this embodiment, the frame 2 is the main support part of the biomimetic deep tillage mechanism. It is made of metal square tubes welded into a frame structure. Its front end is provided with a suspension device for connecting to the tractor traction device. Its main body is arranged in a parallel structure with front and rear intervals. The upper ends of multiple biomimetic deep tillage assemblies 1 are fixedly connected to the mounting beam at the bottom of the frame 2 by fasteners such as U-bolts. The lower ends of multiple biomimetic deep tillage assemblies 1 extend downward to cut into the soil for deep tillage operations.

[0059] In this embodiment, the high-pressure gas tank 3 and the control center 4 are arranged on the upper plane at the rear end of the frame 2. The high-pressure gas tank 3 is horizontally fixed by a base frame and is used to store compressed gas. Its outlet is connected to the needle cylinder interface 103-2 of each bionic deep-loosening assembly 1 through a high-pressure resistant gas pipe. The control center 4 is fixedly installed on the frame 2 next to the high-pressure gas tank 3. The solenoid valve group integrated inside is installed in series in the corresponding gas pipe path. By controlling the opening and closing and switching of the gas path, the bionic deep-loosening assembly 1 can be driven to produce corresponding mechanical actions.

[0060] In this embodiment, the vision sensor 5 is also fixedly installed on the last crossbeam of the frame 2, and its lens is adjusted to point to the cultivated area below and behind the frame 2. The vision sensor 5 is electrically connected to the input terminal of the control center 4 through a data cable.

[0061] During operation, the frame 2 is driven forward by traction power (usually a tractor). The high-pressure air tank 3 supplies air to the two rows of bionic deep tillage assemblies 1 through air pipes. The control center 4 controls the solenoid valve group according to the preset logic, so that the surface parts of the bionic deep tillage assembly 1 undergo periodic or continuous morphological changes. At the same time, the vision sensor 5 fixed at the rear end of the frame 2 follows the working parts and can directly take pictures and sample the surface morphology after deep tillage, and transmit the image signal back to the control center 4. The control center 4 outputs control signals in real time to adjust the air circuit parameters based on the image analysis results (such as the degree of soil fragmentation), thereby changing the action mode of the bionic deep tillage assembly 1 and realizing closed-loop feedback regulation of the tillage effect.

[0062] Furthermore, such as Figures 2 to 5As shown, this embodiment discloses a biomimetic deep loosening assembly 1; the assembly mainly consists of a deep loosening shovel 104, a drive component disposed inside the deep loosening shovel 104, a buffer layer 102 covering the surface of the deep loosening shovel 104, and a flexible skin 101 located on the outermost layer.

[0063] In this embodiment, the deep loosening shovel 104 serves as a base support component. Its sidewalls are arranged with multiple through needle-type cylinder mounting holes 104-2 in a vertical array. The distribution density of the needle-type cylinder mounting holes 104-2 on the deep loosening shovel 104 decreases from top to bottom. Specifically, in the wider upper region of the deep loosening shovel 104, each row has multiple (e.g., 4) channels arranged laterally. In the narrower lower region and tip region of the deep loosening shovel 104, the number of channels in each row is reduced (e.g., 1 to 2). In addition, the interior of the deep loosening shovel 104 also has multiple sets of independent valve connector channels 104-1 prefabricated. These channels are respectively connected to needle-type cylinders 103 arranged at different vertical heights to connect the air circuit for zoned control.

[0064] In this embodiment, the drive assembly includes multiple sets of needle cylinders 103 and valve connectors 105. Specifically, the valve connectors 105 are installed and fixed at the valve interface at the tail of the handle of the deep loosening shovel 104. The connectors are arranged as multiple independent connectors, serving as the input end of compressed air, and are connected to the solenoid valve group of the control center 4 through a high-pressure resistant air tube bundle. The needle cylinders 103 are installed in the needle cylinder mounting holes 104-2 on the left and right sides of the deep loosening shovel 104 through their needle cylinder interfaces 103-2. The air inlet of the needle cylinder 103 is connected to the communicating air passage inside the deep loosening shovel 104, and the piston rod 103-1 of the needle cylinder is set towards the outside of the deep loosening shovel 104.

[0065] The needle cylinder 103 is a bidirectional pneumatic actuator. The needle cylinder piston rod 103-1 inside extends under positive pressure and retracts under negative pressure. The tail of the needle cylinder 103 is fixed to the head of the valve connector 105 by a threaded connection, so that the two can be clamped and fixed on the deep loosening shovel 104. The valve connector 105 and the needle cylinders 103 on both sides are connected by multiple independent air passages inside the deep loosening shovel 104. According to the instructions issued by the control center 4, the valve connector 105 can independently supply air to the needle cylinders 103 in a specific row or a specific area through different independent internal channels, thereby realizing the synchronous action of all cylinders or the asynchronous action of different exhaust cylinders.

[0066] In this embodiment, the buffer layer 102 is disposed between the side wall of the deep loosening shovel 104 and the flexible skin 101; the buffer layer 102 is a thin plate structure made of flexible polymer material, and its shape is adapted to the contour of the side of the handle of the deep loosening shovel 104; the buffer layer 102 completely covers the side wall surface of the deep loosening shovel 104 and the outer top of all needle cylinder piston rods 103-1, and the flexible skin 101 covers the outer side of the buffer layer 102 and is fixed to the deep loosening shovel 104.

[0067] During operation, external air enters the needle cylinders 103 on both sides through the air valve connector 105 at the tail of the shovel handle and the internal air passage. The air pressure drives the piston rod 103-1 of the needle cylinder to extend outward. The extended piston rod 103-1 first abuts against and pushes against the inner surface of the buffer layer 102. Because the buffer layer 102 has a flexible and continuous plate-like structure, the point thrust of multiple piston rods 103-1 is transformed into a continuous thrust through the transition and distribution of the buffer layer 102. A strip-shaped thrust; under this thrust, the buffer layer 102 can push the outermost flexible skin 101 outward, thereby forming a strip-shaped ridge structure extending in the vertical direction on the outer surface of the flexible skin 101; when the needle cylinder piston rod 103-1 retracts, the flexible skin 101 and the buffer layer 102 are reset; wherein, the ridge refers to the strip-shaped raised structure extending in the vertical direction formed by the flexible skin 101 after passing through the buffer layer 102 under the pushing of the needle cylinder array 103.

[0068] This application can be used in the field of agricultural machinery technology, or in other fields applicable to this application.

[0069] Example 2: Reference Figures 6-8 An improvement based on Example 1: a biomimetic deep loosening mechanism and control method with adjustable drag reduction structure, which is applied to the field of agricultural machinery technology;

[0070] like Figure 6 and Figure 7 As shown, this further illustrates the core control strategy of the biomimetic deep loosening mechanism in actual operation in this embodiment; the control center 4 is configured to drive the needle cylinder 103 to execute at least four action modes according to the operation requirements:

[0071] Dense convex ridge pattern (e.g.) Figure 6 (As shown on the left): The control center 4 controls the air circuit to supply air (positive pressure) to all needle cylinders 103, driving all needle cylinder piston rods 103-1 to extend outward synchronously and remain in the extended state. At this time, a dense ridge structure covering the entire surface of the flexible skin 101 is formed. This mode is usually used as the default operating mode, using the dense ridges to guide soil flow and reduce the contact area with the soil.

[0072] Sparse convex ridge pattern (e.g.) Figure 6(As shown in the two middle figures): The control center 4 controls the retraction of the needle cylinders 103 (e.g., cylinders in the intermittent row or only in the lower area of ​​the shovel handle), while the remaining cylinders remain extended; specifically, the air supply to a specific area is cut off by the solenoid valve group and switched to a negative pressure state, at which time the density of the ridges on the surface of the flexible skin 101 is reduced; this mode is suitable for working conditions that require reducing soil disturbance or reducing surface roughness.

[0073] Smooth mode (e.g.) Figure 6 (As shown on the right): Control center 4 controls the air circuit switching, and negative pressure drives all needle cylinders 103 to retract. At this time, the flexible skin 101 is tightly attached to the buffer layer 102 under its own tension and negative pressure, and the deep loosening shovel 104 returns to a smooth curved surface. This mode is suitable for low-resistance sandy soil, working conditions where soil breaking is not required, or as a safe reset state in case of system failure.

[0074] Interleaved peristalsis patterns (such as) Figure 7 (As shown): The control center 4 divides the multi-row needle cylinders 103 arranged vertically into at least two groups, and alternately sends pulse drive signals to each group of needle cylinders 103 to drive each group of needle cylinders 103 to periodically extend and retract alternately; for example, in the first stage, the odd-numbered row needle cylinders 103 extend and the even-numbered row needle cylinders 103 retract, and in the second stage, the even-numbered row needle cylinders 103 extend and the odd-numbered row needle cylinders 103 retract, thereby forming staggered periodic protrusions on the surface of the flexible skin 101, and the operating frequency is preferably 5~10Hz; this mode actively shakes off the adhering soil through alternating shear action and periodic disturbance, and enhances the soil crushing effect.

[0075] like Figure 8 As shown, this embodiment also provides a control method for a biomimetic deep tillage mechanism based on the above-mentioned adjustable drag reduction structure. This method achieves closed-loop control of deep tillage operations through visual feedback. The specific operation process is as follows:

[0076] S1. System initialization and gas path self-test:

[0077] Before the operation begins, the control center 4 opens the main air circuit valve and sends short pulse test signals to the needle cylinders 103 of each biomimetic deep loosening assembly 1 in sequence, driving the piston rod 103-1 of the needle cylinder to complete one full stroke extension and retraction action; the control center 4 confirms from the image that the pneumatic actuator is not stuck and the air circuit is well sealed. At the same time, the vision sensor 5 starts and performs self-calibration. After confirming that it can normally collect images of the area behind the frame 2, the system enters standby mode.

[0078] S2. Initial parameter settings and job start-up:

[0079] The control center 4 receives the input soil type and preset tillage depth data, and calls the corresponding initial drive strategy. Under normal circumstances, the system defaults to the dense ridge mode, which drives all needle cylinders 103 to extend in order to reduce the contact area with the soil and reduce tillage resistance. Subsequently, the tractor drives the deep tillage mechanism to start working.

[0080] S3. Visual Data Acquisition and Surface Feature Analysis:

[0081] Visual sensor 5 continuously acquires surface images after deep loosening and transmits them to control center 4. Control center 4 processes the images through grayscale conversion and Gaussian filtering for noise reduction, and uses the Canny edge detection algorithm to extract the edge contours of soil blocks to calculate the average equivalent diameter D of the soil blocks. avg And combine visual depth information to calculate the root mean square deviation H of the ground surface height. rms Control Center 4 calculates the soil disturbance coefficient K based on the following formula:

[0082]

[0083] Among them, D ref The preset standard soil block diameter reference value (e.g., set to 50mm according to local agronomic requirements); H ref The preset standard ground surface flatness reference value (e.g., set to 30mm); α and β are the weights of the soil crushing index and the flatness index, respectively, and satisfy α+β=1 (e.g., take α=0.6, β=0.4).

[0084] S4. Intelligent Decision-Making and Dynamic Control:

[0085] Control center 4 compares the calculated soil disturbance coefficient K with the preset agronomic standard threshold, and executes the following branch strategy to adjust the action mode of needle cylinder 103 based on the specific reasons for the change in K value (insufficient soil breaking or excessive disturbance):

[0086] Mode 1 (Operation Quality Meets Standards): If 0≤K≤1, the current operation quality is determined to meet the standards, and the control center 4 keeps the current cylinder drive mode unchanged (usually maintained in the dense convex ridge mode).

[0087] Mode 2 (Drag Reduction Failure or Severe Adhesion): If K > 1 and the determination is based on the average equivalent diameter D of the soil block avg When the value is too large (i.e., D) avg / D ref >1), which is determined to be drag reduction failure, serious soil adhesion on the surface of the component or soil compaction; at this time, the control center 4 switches to the staggered creep mode: sends alternating pulse drive signals to the grouped needle cylinders 103 to drive the piston rods of each group to periodically extend and retract alternately, so that the surface of the flexible skin forms a staggered and changing convex state, so as to actively remove soil and break up large soil clods.

[0088] Mode 3 (Excessive Disturbance): When K>1 and the determination is based on the root mean square deviation of surface height H rms When H is too large, it leads to (i.e., H) rms / H ref >1) indicates that the cover layer of conservation tillage has been damaged or that the amount of soil turned over has been excessive; at this time, control center 4 switches to sparse ridge mode or smooth mode according to the degree of exceedance:

[0089] If the degree of exceeding the standard is relatively minor, switch to the sparse protrusion mode, drive some of the needle cylinders to retract, reduce the number of protrusions, and reduce the ability to grip and turn the soil.

[0090] If the level of disturbance is severe, switch to smooth mode to drive all needle cylinders to retract, minimizing the disturbance to the ground surface.

[0091] S5. Cyclic Feedback and Shutdown Reset:

[0092] The above-mentioned testing and adjustment process is carried out in a cycle (e.g., 50~200ms) until the operation is completed; after receiving the shutdown command, the control center 4 controls the solenoid valve group to de-energize and depressurize, and all needle cylinder piston rods 103-1 retract under negative pressure, and the flexible skin 101 returns to a flat and smooth state.

[0093] However, as is well known to those skilled in the art, the working principles and wiring methods of the vision sensor 5 and the needle cylinder 103 are conventional methods or common knowledge, and will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0094] The accompanying drawings in this application are for illustrative purposes only. The dimensions and shapes of the components shown are not actual limitations but are merely schematic representations. In actual implementation, the components can be reasonably configured and adjusted according to specific needs and actual conditions.

[0095] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A biomimetic deep relaxation mechanism with adjustable drag-reduction structure, characterized in that, include: Frame (2), high-pressure gas tank (3), control center (4), vision sensor (5); Multiple biomimetic deep-loosening assemblies (1) are connected to the lower part of the frame (2); The high-pressure gas tank (3) is connected to multiple biomimetic deep-loosening assemblies (1) through a high-pressure resistant gas pipe branch. The control center (4) is equipped with an electromagnetic valve group, which is connected in series in the gas pipe path. The visual sensor (5) is fixedly installed on the rear crossbeam of the frame (2) with its lens facing the cultivated area below the rear of the frame (2). The visual sensor (5) is connected to the control center (4) via signal. The biomimetic deep loosening assembly (1) includes a deep loosening shovel (104), a needle-shaped cylinder (103) disposed inside the deep loosening shovel (104), and a buffer layer (102) and a flexible skin (101) covering the outside of the deep loosening shovel (104). The deep loosening shovel (104) has a through-hole (104-2) for mounting a needle-type cylinder on its side wall. The needle-type cylinder (103) is mounted in the needle-type cylinder mounting hole (104-2) through the needle-type cylinder interface (103-2) on it. The needle-type cylinder (103) includes a needle-type cylinder piston rod (103-1) located inside it. The needle-type cylinder piston rod (103-1) is arranged facing the outside of the deep loosening shovel (104) and its top end abuts against the buffer layer (102). The buffer layer (102) abuts against the inside of the flexible skin (101) to form a convex ridge. The control center (4) is configured to control the drive of the solenoid valve group. The needle cylinder (103) extends and retracts, and the image of the ground surface after deep loosening is analyzed by the vision sensor (5) to calculate the soil disturbance coefficient. The soil disturbance coefficient is used to characterize the degree of soil fragmentation and the flatness of the ground surface. The control center (4) adjusts the action mode of the needle cylinder (103) according to the soil disturbance coefficient. The action mode includes: dense protrusion mode, which drives all needle cylinders to extend; sparse protrusion mode, which drives some needle cylinders to retract; smooth mode, which drives all needle cylinders to retract; and staggered creep mode, which drives the needle cylinders to extend and retract periodically in a grouped and alternating manner to form staggered protrusions on the surface of the flexible skin.

2. The biomimetic deep loosening mechanism with adjustable drag reduction structure according to claim 1, characterized in that, The upper end of the biomimetic deep loosening assembly (1) is fixedly connected to the mounting beam at the bottom of the frame (2) by U-bolt fasteners.

3. The biomimetic deep relaxation mechanism with adjustable drag reduction structure according to claim 1, characterized in that, The needle-shaped cylinder mounting holes (104-2) are arranged in a vertical array on the side wall of the deep loosening shovel (104).

4. The biomimetic deep relaxation mechanism with adjustable drag reduction structure according to claim 3, characterized in that, The distribution density of the needle-shaped cylinder mounting holes (104-2) on the deep loosening shovel (104) decreases from top to bottom.

5. The biomimetic deep loosening mechanism with adjustable drag reduction structure according to claim 1, characterized in that, The deep loosening shovel (104) has an air valve connector channel (104-1) inside. An air valve connector (105) is fixedly installed at the tail of the shovel handle of the deep loosening shovel (104). The air valve connector (105) serves as the compressed air input end and is connected to the needle cylinder (103) through the air valve connector channel (104-1).

6. The biomimetic deep relaxation mechanism with adjustable drag reduction structure according to claim 1, characterized in that, The buffer layer (102) is a thin plate structure made of flexible polymer material. Its shape is adapted to the side profile of the handle of the deep loosening shovel (104), and it covers the side wall surface of the deep loosening shovel (104) and the outer side of the top of the needle cylinder piston rod (103-1).

7. The biomimetic deep relaxation mechanism with adjustable drag reduction structure according to claim 1, characterized in that, The control center (4) is configured to divide the multi-row needle cylinders (103) arranged in the vertical direction into at least two groups and alternately send drive signals to each group of needle cylinders to form staggered protrusions on the surface of the flexible skin (101).

8. The biomimetic deep relaxation mechanism with adjustable drag reduction structure according to claim 7, characterized in that, The alternating drive signals form an operating frequency of 5~10Hz.

9. A control method for a biomimetic deep relaxation mechanism with adjustable drag reduction structure according to any one of claims 1-8, characterized in that, Includes the following steps: S1. System initialization and air circuit self-test: The control center (4) opens the main air circuit valve and sends short pulse test signals to the needle cylinders (103) of each bionic deep loosening assembly (1) in sequence, driving the piston rod (103-1) of the needle cylinder to complete a full stroke extension and retraction action; The control center (4) confirms that the pneumatic actuator is not stuck and the air circuit is well sealed according to the image. At the same time, the vision sensor (5) starts and performs self-calibration. After confirming that it can normally collect images of the area behind the frame (2), the system enters the standby state. S2. Initial parameter setting and operation start-up: The control center (4) receives the input soil type and preset tillage depth data, and calls the corresponding initial needle cylinder (103) drive strategy according to the preset database, and then starts the deep tillage operation; S3. Visual data acquisition and disturbance coefficient calculation: The visual sensor (5) continuously acquires surface images after deep loosening and transmits them to the control center (4); the control center (4) preprocesses the images and extracts the edge contours of the soil blocks using an edge detection algorithm to calculate the average equivalent diameter D of the soil blocks. avg And combine visual depth information to calculate the root mean square deviation H of the ground surface height. rms ; Control Center (4) Based on Formula Calculate the soil disturbance coefficient K, where D ref H is the preset standard soil block diameter reference value. ref The preset standard ground surface flatness reference value is defined, where α and β are the weights of the soil crushing index and the flatness index, respectively, and α+β=1; S4. Intelligent Decision-Making and Dynamic Control: The control center (4) compares the calculated soil disturbance coefficient K with the preset threshold and executes the following branch strategy: When 0≤K≤1, the work quality is deemed to meet the standard, the current cylinder drive mode remains unchanged, and the dense convex ridge mode is maintained; When K>1 and it is determined that the problem is caused by the larger average equivalent diameter of the soil block, the cylinder drive mode is switched to the staggered creep mode, and the piston rod of the grouped needle cylinder (103) is periodically extended and retracted to form a staggered and changing convex state on the surface of the flexible skin. When K>1 and it is determined that the problem is caused by the large root mean square deviation of the ground height, switch the cylinder drive mode to the sparse convex mode or the smooth mode, and drive some or all of the needle cylinders (103) to complete the retraction of the piston rod. S5. Cyclic Feedback and Shutdown Reset: Steps S3 to S4 are executed cyclically in a set period until the operation is completed; after receiving the shutdown command, the control center (4) controls the solenoid valve group to de-energize and depressurize, so that the piston rod (103-1) of the needle cylinder retracts under negative pressure, and the flexible skin (101) returns to flatness.

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