Control system and control method of an upright peanut seedling turning machine

Abstract

This application discloses a control system and control method for an upright peanut vine-turning machine. The control system includes a main control board, an image acquisition and processing module, solenoid valves, first and second hydraulic motors, an absolute encoder, and a human-machine interface. The first hydraulic motor drives the conveyor chain, and the two second hydraulic motors drive the left and right turning rollers respectively. The absolute encoder is used to acquire the rotational speed of the conveyor chain / turning rollers and the working speed in real time. The image acquisition and processing module performs real-time imaging of the turning area and outputs image segmentation values. F s And according to the pre-defined F s - The rice turning rate is obtained by converting the rice turning rate model. F 2 and confidence level conf, the main control board is based on the rice turning rate deviation e and its rate of change e c A fuzzy controller is constructed to calculate the control quantity online and output the valve control signal under the premise of meeting the safety threshold of the rice turning roller linear speed and the upper limit of the conveyor chain linear speed, so as to achieve closed-loop stable control of the rice turning rate.

Description

Technical Field

[0001] This application belongs to the field of intelligent agricultural machinery and electromechanical-hydraulic integrated control technology, specifically relating to a control system and control method for an upright peanut turning machine. Background Technology

[0002] With the increasing demands for efficiency and quality in peanut harvesting in modern agriculture, upright peanut vine-turning machines have become a key component of mechanized peanut harvesting, directly impacting subsequent drying results and overall operational efficiency. However, traditional vine-turning operations rely primarily on manual or semi-mechanized methods, resulting in high labor intensity, low efficiency, and poor vine-turning effects, failing to meet the demands of modern agriculture for high-quality, high-efficiency operations. To address these issues, there is an urgent need to develop a highly automated, precise, and adaptable upright peanut vine-turning control system. This system should not only achieve precise control of the mechanized vine-turning process but also possess real-time monitoring capabilities for operational quality and dynamic adjustment of operational parameters.

[0003] Meanwhile, the operation of turning over peanut vines in upright conditions is subject to the complex coupling of multiple factors such as soil conditions, agronomic measures, crop characteristics, and operation speed, exhibiting obvious nonlinear and uncertain characteristics. Traditional PID control or conventional linear control methods, lacking adaptive capabilities, often exhibit insufficient control precision when dealing with multidimensional, nonlinear, and highly uncertain agricultural production operations. Parameter adjustments rely on frequent manual intervention, making it difficult to ensure that the turning rate and pod quality remain stable within the ideal range. Summary of the Invention

[0004] The purpose of this application is to address the problems in the prior art, such as the reliance on manual experience for turning rice seedlings, the lack of online evaluation and closed-loop control of turning quality, and the difficulty in maintaining a stable turning rate under multiple disturbances and safety constraints. This application provides a control system and control method for an upright peanut turning machine.

[0005] To solve the technical problem, the technical solution of this application is: a control system for an upright peanut vine-turning machine, including a main control board, an image acquisition and processing module, a first solenoid valve, a second solenoid valve, a first hydraulic motor, a second hydraulic motor, a first absolute encoder, a second absolute encoder, a third absolute encoder, a human-machine interface, and an upright peanut vine-turning machine; the main control board drives the first solenoid valve and the second solenoid valve respectively, the first solenoid valve is used to regulate the speed of the first hydraulic motor, and the second solenoid valve is used to regulate the speed of the second hydraulic motor; the first hydraulic motor is used to drive the conveyor chain of the upright peanut vine-turning machine; the second hydraulic motor consists of two... Each of the three absolute encoders is used to drive the left and right turning rollers of the upright peanut vine-turning machine. The first absolute encoder is used to detect the rotational speed of the conveyor chain in real time, the second absolute encoder is used to detect the rotational speed of the turning rollers in real time, and the third absolute encoder is used to detect the operating speed of the upright peanut vine-turning machine in real time. The first, second, and third absolute encoders transmit the detected data to the main control board. The main control board is connected to an image acquisition and processing module, which uses a camera to acquire images of the working area in real time during the vine-turning operation and applies an image segmentation algorithm to process the acquired images to obtain image segmentation values. F s And according to the pre-defined F s - The rice turning rate is obtained by converting the rice turning rate model. F 2. F s , F 2. The confidence level (conf) is sent back to the main control board; the main control board is also connected to the human-machine interface for parameter setting, status display and alarm prompts.

[0006] Preferably, the first hydraulic motor, two second hydraulic motors, and hydraulic components constitute a hydraulic system. The hydraulic components include a hydraulic oil tank, a filter, a hydraulic pump, a three-position four-way solenoid valve, a throttle valve, and a relief valve. The hydraulic pump draws hydraulic oil from the hydraulic oil tank through the filter. The output end of the hydraulic pump is connected to the two three-position four-way solenoid valves and the relief valve, respectively. The relief valve is connected to the hydraulic oil tank. A throttle valve is provided between the hydraulic pump and one of the three-position four-way solenoid valves. The two three-position four-way solenoid valves are respectively connected to the first hydraulic motor and the two second hydraulic motors.

[0007] Preferably, the image acquisition and processing module includes a camera and a processing module. The camera is mounted above the rice-turning operation position and faces the operation area; the processing module performs ROI cropping, segmentation, and target discrimination on the image of the operation area, and outputs image segmentation values. F s And according to the pre-defined F s - The rice turning rate is obtained by converting the rice turning rate model. F 2; willF s , F 2. The confidence level (conf) is transmitted to the main control board.

[0008] Preferably, the main control board includes a data acquisition unit, a time synchronization unit, a fuzzy control unit, a valve control drive unit, and a safety constraint unit; the safety constraint unit implements upper / lower limit saturation, rate limiting, and fault degradation strategies for the linear speed of the rice turning roller and the linear speed of the conveyor chain.

[0009] Preferably, a control method for an upright peanut vine-turning machine based on the aforementioned control system includes the following steps: Step 1) Startup and Parameter Setting: Set the target rice turning rate through the human-computer interaction interface. F 1. Control cycle T s and speed constraint parameters; Step 2) Status Acquisition: Acquire the angular displacement of the conveyor chain, the angular displacement of the turning roller, and the angular displacement of the traveling wheel in each control cycle, and acquire images of the working area; Step 3) Index Calculation: Obtain the angular velocity from the angular displacement difference and convert it into the linear velocity of the conveyor chain. v c The linear velocity of the rice turning roller 11 v r The image of the work area is obtained by image segmentation to obtain image segmentation values. F s And then according to F s - The rice turning rate model yields the rice turning rate. F 2; Step 4) Closed-loop control: Calculate the deviation of the rice turning rate and the rate of change of the deviation, and input them into the fuzzy control unit of the main control board 1 to obtain the linear speed adjustment of the rice turning roller. u 1. Adjustment amount of linear speed of the conveyor chain u 2; Step 5) Constraints and Enforcement: For u 1. u 2. Saturation and rate limiting are performed to generate valve control signals and drive the first and second solenoid valves to realize online adjustment of the speed of the first and second hydraulic motors; Step 6) Iteration: Repeat steps 2 to 5 to keep the rice turning rate within the set range.

[0010] Preferably, the F s -The rice turning rate model is: ; In the formula, F 2 represents the rice transplanting rate. Fs The image segmentation value output by the image segmentation algorithm, 0 < F s <1; (·) is the natural exponential function.

[0011] Preferably, the deviation of the rice turning rate e (k) and the rate of change of deviation e c (k) Calculated using the following formula: e (k)= F 1- F 2(k); e c (k)=[ e (k)- e (k-1)] / T s ; In the formula, k represents any time. T s To control the cycle; e (k)>0 indicates insufficient rice turning, requiring an increase in the linear speed of the rice turning rollers and / or the linear speed of the conveyor chain; e (k)<0 indicates that over-turning of rice seedlings or an increased risk of damage requires a reduction in the corresponding linear speed.

[0012] Preferably, the angular velocity oh (k) and linear velocity v The conversion is calculated using the following formula: i (k) = 2π· C (k) / 2 B ; oh (k)=[ i (k)- i (k-1)] / T s ; v=ω (k)· r ; In the formula, k represents any time. i (k) represents the angle at time k. C (k) represents the current code value of the absolute encoder. B The encoder bit width. T s To control the cycle, r This is the equivalent radius of the corresponding transmission component.

[0013] Preferably, the fuzzy control unit includes a fuzzy controller, which employs Mamdani inference, uses a triangular or trapezoidal function for membership functions, uses the centroid method for defuzzification, and controls the output duty cycle. d We obtain it from the following formula: u =(∫ m U(u) ·u d u) / (∫ m U(u) d u) ; d =sat( K u ·u + d 0); In the formula, u The final numerical result of fuzzy inference ， ∫ m U(u) Let d be the integral value of the membership function. u For integration variables, K u The output scaling factor is 'sat', where 'sat' is the saturation limiting function. d 0 is the baseline value.

[0014] Preferably, the linear velocity of the rice-turning roller is... v r Satisfying 1.57 m / s ≤ v r ≤2.21 m / s, linear velocity of the conveyor chain v c Satisfying 1.00 m / s ≤ v c ≤1.36 m / s; When encoder distortion, image frame loss, or abnormal hydraulic pressure is detected, a fault degradation strategy is used to enter degradation mode and... v r , v c Limit to a safe range.

[0015] Compared with the prior art, the advantages of this application are: (1) The rice turning machine control system of this application consists of a main control board, an image acquisition and processing module, a solenoid valve, a hydraulic motor, an absolute encoder, and a human-machine interface; image segmentation values ​​are obtained through image segmentation. F s and based on F s - Transformation of rice turning rate model into rice turning rate F 2 and confidence level conf; main control board integration F2. Conveyor chain speed v c Linear speed of rice turning roller v r Work speed v The application forms an interpretable and constrained closed-loop control system, which can maintain the quality of rice turning under disturbances such as soil moisture content, residual mulch, plant type differences and operation speed fluctuations, improve drying consistency and reduce the risk of pod damage. (2) This application uses the deviation of the rice turning rate and its rate of change as the input of the fuzzy controller, and outputs the adjustment amount of the linear speed of the rice turning roller. u 1. Adjustment amount of conveyor chain linear speed u 2; Combined with safety constraint units v r , v c Implement upper / lower limit saturation, rate limiting, and fault degradation to achieve stable control of rice turning rate; (3) This application realizes real-time closed-loop control of the conveyor chain / turning roller speed by converting the absolute encoder code value into angular displacement, angular velocity and linear velocity; in case of image frame loss, encoder distortion or hydraulic abnormality, it enters the degradation mode and limits the speed to a safe range to ensure operation safety and equipment reliability. (4) This application uses the rice turning rate as the core quality indicator to establish an "image segmentation value". F s - Rice turning rate F The 2” calibration model forms a quality closed loop that can provide online real-time feedback; this application uses fuzzy control to achieve robust adjustment to nonlinear and uncertain disturbances, and explicitly introduces speed safety thresholds and rate limits in the control law to reduce the risk of pod damage; this application has fault diagnosis and degradation strategies, which can maintain an acceptable safe operating state even when the sensor or hydraulic system is abnormal, thereby improving system availability and engineering adaptability. (5) The system of this application not only effectively improves the overall operation efficiency and reduces the content of soil impurities in the harvested material, but also significantly improves the quality of turning the seedlings. This application comprehensively evaluates the operational stability and adaptability of the control system, and continuously optimizes and improves the control strategy accordingly, providing technical support for promoting the intelligent development of upright peanut harvesting machinery. Attached Figure Description

[0016] Figure 1 This is a framework diagram of the control system of an upright peanut turning machine according to this application; Figure 2 This is a schematic diagram of the hydraulic components of the control system of an upright peanut vine turning machine according to this application; Figure 3 This is a component connection diagram of the control system of an upright peanut vine turning machine according to this application; Figure 4 This is a schematic diagram illustrating the application of the control system of an upright peanut vine turning machine according to this application; Figure 5 This application discloses a control system for an upright peanut vine-turning machine. F s - Rice turning rate model diagram; Explanation of reference numerals in the attached figures: 1. Main control board; 2. Image acquisition and processing module; 3. First solenoid valve; 4. Second solenoid valve; 5. First hydraulic motor; 6. Second hydraulic motor; 7. First absolute encoder; 8. Second absolute encoder; 9. Third absolute encoder; 10. Conveyor chain; 11. Turning roller; 12. Hydraulic oil tank; 13. Filter; 14. Hydraulic pump; 15. Three-position four-way solenoid valve; 16. Throttle valve; 17. Overflow valve; 18. Human-machine interface; 19. Upright peanut turning machine. 2-1. Camera; 2-2. Processing module. Detailed Implementation

[0017] The present application is described in detail below with reference to the accompanying drawings and specific embodiments, but the present application is not limited to these embodiments. The present application covers any alternatives, modifications, equivalent methods, and solutions made within the spirit and scope of the present application. To provide the public with a thorough understanding of the present application, specific details are described in detail in the following embodiments, but those skilled in the art will fully understand the present application even without these detailed descriptions.

[0018] like Figure 1As shown, this application discloses a control system for an upright peanut vine-turning machine, including a main control board 1, an image acquisition and processing module 2, a first solenoid valve 3, a second solenoid valve 4, a first hydraulic motor 5, a second hydraulic motor 6, a first absolute encoder 7, a second absolute encoder 8, a third absolute encoder 9, a human-machine interface 18, and an upright peanut vine-turning machine 19; the main control board 1 drives the first solenoid valve 3 and the second solenoid valve 4 respectively, the first solenoid valve 3 is used to regulate the speed of the first hydraulic motor 5, and the second solenoid valve 4 is used to regulate the speed of the second hydraulic motor 6; the first hydraulic motor 5 is used to drive the conveyor chain 10 of the upright peanut vine-turning machine 19; there are two second hydraulic motors 6. The left and right turning rollers 11 of the upright peanut turning machine 19 are respectively used to drive the machine. The first absolute encoder 7 is used to detect the rotation speed of the conveyor chain 10 in real time, the second absolute encoder 8 is used to detect the rotation speed of the turning rollers 11 in real time, and the third absolute encoder 9 is used to detect the operating speed of the upright peanut turning machine 19 in real time. The first absolute encoder 7, the second absolute encoder 8, and the third absolute encoder 9 transmit the detection data to the main control board 1. The main control board 1 is connected to the image acquisition and processing module 2. The image acquisition and processing module 2 acquires images of the working area in real time during the turning operation through a camera, and processes the acquired images using an image segmentation algorithm to obtain image segmentation values. F s And according to the pre-defined F s - The rice turning rate is obtained by converting the rice turning rate model. F 2. F s , F 2 and confidence level conf are sent back to main control board 1; main control board 1 is also connected to human-machine interface 18 for parameter setting, status display and alarm prompt.

[0019] Preferred, such as Figure 2 As shown, the first hydraulic motor 5, two second hydraulic motors 6, and hydraulic components constitute a hydraulic system. The hydraulic components include a hydraulic oil tank 12, a filter 13, a hydraulic pump 14, a three-position four-way solenoid valve 15, a throttle valve 16, and a relief valve 17. The hydraulic pump 14 draws hydraulic oil from the hydraulic oil tank 12 through the filter 13. The output end of the hydraulic pump 14 is connected to the two three-position four-way solenoid valves 15 and the relief valve 17, respectively. The relief valve 17 is connected to the hydraulic oil tank 12. A throttle valve 16 is provided between the hydraulic pump 14 and one of the three-position four-way solenoid valves 15. The two three-position four-way solenoid valves 15 are connected to the first hydraulic motor 5 and the two second hydraulic motors 6, respectively.

[0020] Preferred, such as Figure 4As shown, the image acquisition and processing module 2 includes a camera 2-1 and a processing module 2-2. The camera 2-1 is installed above the rice turning operation position and faces the operation area. The processing module 2-2 performs ROI cropping, segmentation, and target discrimination on the image of the operation area and outputs image segmentation values. F s And according to the pre-defined F s - The rice turning rate is obtained by converting the rice turning rate model. F 2; will F s , F 2. The confidence level (conf) is transmitted to the main control board 1.

[0021] Preferably, the main control board 1 includes a data acquisition unit, a time synchronization unit, a fuzzy control unit, a valve control drive unit, and a safety constraint unit; the safety constraint unit implements upper / lower limit saturation, rate limiting, and fault degradation strategies for the linear speed of the rice turning roller 11 and the linear speed of the conveyor chain 10.

[0022] Preferably, a control method for an upright peanut vine-turning machine based on the aforementioned control system includes the following steps: Step 1) Start-up and parameter setting: Set the target rice turning rate through the human-computer interaction interface 18. F 1. Control cycle T s and speed constraint parameters; Step 2) Status acquisition: Acquire the angular displacement of the conveyor chain 10, the angular displacement of the turning roller 11 and the angular displacement of the traveling wheel in each control cycle, and acquire images of the working area; Step 3) Index Calculation: Obtain the angular velocity from the angular displacement difference and convert it into the linear velocity of the conveyor chain 10. v c The linear velocity of the rice turning roller 11 v r The image of the work area is obtained by image segmentation to obtain image segmentation values. F s And then according to F s - The rice turning rate model yields the rice turning rate. F 2; Step 4) Closed-loop control: Calculate the deviation of the rice turning rate and the rate of change of the deviation, and input them into the fuzzy control unit of the main control board 1 to obtain the linear speed adjustment of the rice turning roller 11. u 1. Adjustment of linear speed of conveyor chain 10 u 2; Step 5) Constraints and Enforcement: For u 1. u2. Saturation and rate limiting are performed to generate valve control signals and drive the first solenoid valve 3 and the second solenoid valve 4 to realize online adjustment of the speed of the first hydraulic motor 5 and the second hydraulic motor 6; Step 6) Iteration: Repeat steps 2 to 5 to keep the rice turning rate within the set range.

[0023] Preferably, the F s -The rice turning rate model is: ; In the formula, F 2 represents the rice transplanting rate. F s The image segmentation value output by the image segmentation algorithm, 0 < F s <1; (·) is the natural exponential function.

[0024] Preferably, the deviation of the rice turning rate e (k) and the rate of change of deviation e c (k) Calculated using the following formula: e (k)= F 1- F 2(k); e c (k)=[ e (k)- e (k-1)] / T s ; In the formula, k represents any time. T s To control the cycle; e (k)>0 indicates insufficient rice turning, requiring an increase in the linear speed of the rice turning roller 11 and / or the linear speed of the conveyor chain 10; e (k)<0 indicates that over-turning of rice seedlings or an increased risk of damage requires a reduction in the corresponding linear speed.

[0025] Preferably, the angular velocity oh (k) and linear velocity v The conversion is calculated using the following formula: i (k) = 2π· C (k) / 2 B ; oh (k)=[ i (k)- i (k-1)] / Ts ; v=ω (k)· r ; In the formula, k represents any time. i (k) represents the angle at time k. C (k) represents the current code value of the absolute encoder. B The encoder bit width. T s To control the cycle, r This is the equivalent radius of the corresponding transmission component.

[0026] Preferably, the fuzzy control unit includes a fuzzy controller, which employs Mamdani inference, uses a triangular or trapezoidal function for membership functions, uses the centroid method for defuzzification, and controls the output duty cycle. d We obtain it from the following formula: u =(∫ m U(u) ·u d u) / (∫ m U(u) d u) ; d =sat( K u ·u + d 0); In the formula, u The final numerical result of fuzzy inference ， ∫ m U(u) Let d be the integral value of the membership function. u For integration variables, K u The output scaling factor is 'sat', where 'sat' is the saturation limiting function. d 0 is the baseline value.

[0027] Preferably, the linear velocity of the rice-turning roller 11 is... v r Satisfying 1.57 m / s ≤ v r ≤2.21 m / s, linear velocity of conveyor chain 10 v c Satisfying 1.00 m / s ≤ v c ≤1.36 m / s; When encoder distortion, image frame loss, or abnormal hydraulic pressure is detected, a fault degradation strategy is used to enter degradation mode and... v r , vc Limit to a safe range.

[0028] like Figure 1 , 3 As shown in Figure 4, this application discloses a control system for an upright peanut turning machine. It uses an STM32F407 as the core controller (main control board) and achieves efficient communication and coordinated control with external actuators via an RS485 bus. The system uses the RS485 bus for data acquisition. An RS485 to 4mA-20mA current module drives two electromagnetic proportional valves (first electromagnetic valve 3 and second electromagnetic valve 4), respectively regulating the speeds of the first hydraulic motor 5 (responsible for driving the conveyor chain) and the second hydraulic motor 6 (responsible for driving the turning roller), thereby achieving precise adjustment of key operating parameters. To ensure control accuracy and real-time performance, the speeds of the conveyor chain 10, the turning roller 11, and the tractor are all detected in real time by absolute encoders. The detection data is promptly fed back to the main control board 1 and transmitted to the human-machine interface 18 via a local area network built by a switch for intuitive display, facilitating real-time monitoring of the operating status by the operator. In addition, the system integrates a K230 image acquisition and processing module 2, which uses camera 2-1 to collect real-time data on the turning of seedlings during the operation and applies image segmentation algorithms to process the collected data. The processed turning rate is then transmitted back to the main control board 1. Based on the above feedback information, the system can dynamically adjust the speed of the turning rollers and the conveyor chain to ensure that the turning of upright peanut seedlings remains efficient, stable, and precise at all times. The control system of the upright peanut digging and turning machine of this application achieves optimized management of the entire process of turning upright peanut seedlings through multi-sensor information fusion, closed-loop control, and intelligent adjustment strategies.

[0029] To achieve high precision, real-time performance, and stability, this application constructs an intelligent control system for upright peanut vine turning that is suitable for complex field environments. The system adopts a modular design and consists of five subsystems: core control, execution drive, sensing and detection, human-machine interaction, and electrical integration. Each module works together efficiently through standardized interfaces.

[0030] The core control subsystem is based on an STM32F407 microcontroller and communicates with actuators such as electromagnetic proportional valves via an RS485 bus to achieve multi-sensor data acquisition and control command output. It has good anti-interference capabilities and environmental adaptability.

[0031] The drive subsystem is controlled by an electromagnetic proportional valve to drive the hydraulic motor, which in turn drives the conveyor chain and the rice turning roller. The motor speed is adjusted in real time according to the working status to achieve precise control.

[0032] The sensing and detection subsystem uses a high-precision absolute encoder to monitor key operational parameters and acquires rice-turning image data through the K230 image module. Combined with the segmentation algorithm, the rice-turning rate is calculated in real time and fed back to the main control system for dynamic parameter adjustment.

[0033] The human-machine interaction subsystem visualizes the operation information in real time through the local area network, supports switching between manual and automatic control modes, and has alarm and safety shutdown functions.

[0034] The electrical and system integration subsystem ensures stable system operation. It is designed with overvoltage protection power supplies and high-protection-level industrial connectors and shielded cables to adapt to harsh field working environments and ensure the safe and efficient operation of key components.

[0035] like Figure 2 As shown, the hydraulic system comprises the first hydraulic motor 5, two second hydraulic motors 6, and hydraulic components. The hydraulic components consist of key components such as a hydraulic oil tank, hydraulic pump, three-position four-way solenoid valve, throttle valve, hydraulic lines, filter, and cooler. The hydraulic oil tank, as a storage device for hydraulic oil, not only provides the hydraulic medium to the system but also keeps the oil clean through a built-in filter. The hydraulic pump is the power core of the system; driven by the tractor's power take-off, it converts mechanical energy into pressure energy, continuously drawing and pressurizing hydraulic oil to circulate it within the system. To balance cost control and design convenience, the hydraulic pump and oil tank in this system are built upon the existing configuration of the tractor. The three-position four-way solenoid valve precisely adjusts the flow rate and direction of the hydraulic oil according to the control system or operator input signals, achieving precise control of the conveyor chain and turning roller speeds. The hydraulic motors convert pressure energy back into mechanical energy, driving the core operating components. The throttle valve further refines the distribution of hydraulic oil flow, enabling independent control of multiple actuators; the hydraulic pipeline undertakes the task of efficient transmission of hydraulic oil, while the filter and cooler are used for impurity removal and oil temperature regulation, respectively, to ensure stable and reliable system operation.

[0036] The system's workflow is divided into four stages: startup, debugging, execution, and monitoring and maintenance. During the startup phase, the hydraulic pump is driven by a tractor to begin supplying oil. During the adjustment phase, commands are issued through the control panel or automatic control system to adjust the three-position four-way solenoid valve to control the oil flow and achieve fine adjustment of the operating speed. During the execution phase, the hydraulic oil drives the hydraulic motor through the throttle valve and pipeline to complete the operation of the conveyor chain and the turning roller. During the monitoring and maintenance phase, the system monitors the pressure, temperature, and cleanliness of the hydraulic oil in real time. If any abnormality occurs, an alarm or adjustment mechanism is immediately triggered to ensure the safe and stable operation of the system.

[0037] Through the organic coordination of the above-mentioned links, the hydraulic system can achieve precise control over the peanut turning process, effectively improving operational efficiency and adaptability.

[0038] Example 1: Selection of hydraulic motor; In practical applications, selecting a motor with appropriate displacement and pressure is crucial. This ensures not only that the motor provides sufficient torque to drive the conveyor chain and turning rollers, but also that it maintains the required speed and flow rate. The selection of parameters requires comprehensive consideration of the length and weight of the conveyor chain and turning rollers, as well as the required operating speed.

[0039] (1) Motor torque: Torque is the rotational torque output by a hydraulic motor. In the control system of an upright peanut vine-turning machine, three hydraulic motors are used to overcome the loads on the conveyor chain and the two turning rollers, respectively. The magnitude of the load directly affects the torque output required by the hydraulic motor. The torque is closely related to the weight and radius of the conveyor chain and the weight and radius of the turning rollers. Its calculation formula is Equation (1).

[0040] In the formula: T is the torque, N×m; F is the force acting on the conveyor chain or turning roller, N; r is the radius of the conveyor chain or turning roller, m.

[0041] The three hydraulic motors primarily drive the conveyor chain and two turning rollers to rotate, thereby achieving efficient processing of peanut vines and pods. Driven by the hydraulic motors, the conveyor chain rotates, transporting the peanut vines and pods from the field onto the machine. The conveyor chain not only performs the transport task but also removes soil adhering to the peanuts through vibration. Simultaneously, the two turning rollers, also driven by hydraulic motors, effectively turn the peanut vines over and further remove soil from the peanuts.

[0042] Given that the radius r1 of the conveyor chain is 0.08 m and the total mass of the conveyor chain is 80 kg, during operation, peanut vines, pods, and soil will enter the conveyor chain together. The total length of the conveyor chain is 1.5 m. Therefore, the resistance of the conveyor chain should be increased when calculating the rotational torque of the hydraulic motor driving the conveyor chain. In this application, the total weight is taken as 400 kg, and substituting it into equation (1) yields: Given that the radius r2 of the turning roller is 0.3m and the mass of a single turning roller is 20kg. During the conveyor chain operation, peanut vines, pods, and soil will enter the turning roller together, but the mass of the soil will be relatively reduced. Therefore, when calculating the rotational torque of the hydraulic motor driving the turning roller, the resistance of the turning roller should be appropriately increased. In this application, the total weight is taken as 100kg, and substituting it into equation (1) yields: According to equations (2) and (3), the torque of the hydraulic motor driving the conveyor chain should be greater than 320 N×m, and the torque of the hydraulic motor driving the rice turning roller should be greater than 300 N×m.

[0043] (2) Motor speed: Motor speed refers to the number of times the motor rotates per minute, and its calculation formula is Equation (4).

[0044] In the formula: n is the rotational speed of the conveyor chain or turning roller, rpm; v is the linear velocity of the conveyor chain or turning roller, m / s; r is the radius of the conveyor chain or turning roller, m.

[0045] Given that the radius r1 of the conveyor chain is 0.08 m, the linear velocity v1 of the conveyor chain ranges from 1 m / s to 1.36 m / s, and through parameter optimization, it is known that the linear velocity of the conveyor chain is 1.34 m / s, substituting into equation (4) yields: Given that the radius r2 of the rice-turning roller is 0.3 m, and the linear velocity v1 of the rice-turning roller ranges from 1.57 m / s to 2.12 m / s, and through parameter optimization, it is known that the linear velocity of the rice-turning roller is 2.12 m / s, substituting into equation (4) yields: The hydraulic motor drives the conveyor chain and the turning roller through chain transmission. According to the "Agricultural Machinery Design Manual", the transmission ratio should be greater than or equal to 1. Therefore, this application takes the transmission ratio of the conveyor chain as 1.2 and the transmission ratio of the turning roller as 3. Substituting into equations (5) and (6), we can see that: As can be seen from equations (7) and (8), the speed of the hydraulic motor driving the conveyor chain should be greater than 192 rpm, and the speed of the hydraulic motor driving the rice turning roller should be greater than 202 rpm.

[0046] (3) Motor displacement: Displacement refers to the volume of liquid discharged by the motor per revolution, and its calculation formula is (9).

[0047] In the formula: It refers to the displacement of the hydraulic motor, expressed in ml / r. It refers to the mechanical efficiency of the motor; It is the motor pressure difference.

[0048] Based on the characteristics of the hydraulic system, the pressure difference of the motor is 16 MPa, and the mechanical efficiency is usually between 0.85 and 0.95. This application takes the maximum mechanical efficiency, that is, the mechanical efficiency is 0.95. Substituting into equation (9), we can get: As can be seen from equations (10) and (11), the displacement of the hydraulic motor driving the conveyor chain should be greater than 133 ml / r, and the displacement of the hydraulic motor driving the rice turning roller should be greater than 124 ml / r.

[0049] (4) Motor flow rate: Flow rate refers to the volume of liquid passing through the motor per unit time, and its calculation formula is Equation (12).

[0050] In the formula: q is the flow rate of the hydraulic motor, L / min; β is the mechanical efficiency of the motor.

[0051] β is the motor volumetric efficiency, which can be taken as 0.9 and substituted into equation (9) to obtain: As can be seen from equations (13) and (14), the flow rate of the hydraulic motor driving the conveyor chain should be greater than 29 L / min, and the flow rate of the hydraulic motor driving the rice turning roller should be greater than 28 L / min.

[0052] Based on the analysis results of the hydraulic motor's torque, flow rate, displacement, and speed, and in conjunction with relevant hydraulic motor selection data, this application selected the BMS series conveying hydraulic motor. This series of motors has excellent performance parameters, as shown in Table 1. The selected parameters include the motor's maximum operating pressure, maximum speed, maximum torque, displacement, and flow rate, ensuring stable and reliable power output under various working conditions.

[0053] Table 1 Main performance parameters of hydraulic motors Example 2: The principle of an absolute encoder; The specific conversion formula for the rotational speed (rotational speed) measured by the absolute encoder is as follows: (15) In the formula, oh It is the rotation angle, in rad / s; P It is the number of pulses; p It is the number of pulses per revolution; t It measures time, in seconds.

[0054] Therefore, the rotation angle can be converted into the tractor travel speed, conveyor chain speed and rice turning roller speed according to the actual equipment machine parameters, as shown in equation (16): In the formula, v 1 represents the tractor's speed, in m / s; D 1 is the diameter of the pressure roller, in meters (m); v2 represents the linear speed of the conveyor chain, in m / s; D 2 is the diameter of the conveyor chain, in meters (m). v 3 represents the linear speed of the rice-turning roller, in m / s; D 1 is the diameter of the rice-turning roller, in meters (m). n It is an encoder that measures the shaft speed in rpm.

[0055] During installation, the absolute encoder must be precisely aligned with the drive or driven shaft end to improve operational stability and service life. This application also comprehensively evaluates the encoder's reliability under actual operating conditions through vibration durability and dust simulation tests, and uses a high-precision reference tachometer for verification and software calibration to ensure long-term stable operation and data reliability of the encoder.

[0056] Example 3: Human-computer interaction interface design; To achieve efficient operation and real-time monitoring of an upright peanut digging and harvesting machine, this application develops a human-machine interface based on the PyQt6 software platform. PyQt6 is a cross-platform interface development tool bound to the Python language, featuring flexible interface design and strong extensibility, suitable for integrating image processing algorithms and data communication modules. The interface designed in this application integrates real-time monitoring, parameter adjustment, status feedback, and alarm functions.

[0057] The interface displays key parameters such as tractor speed, conveyor chain speed, and turning roller speed in real time. These parameters are measured in real time by encoders and sent to the main controller. After data parsing, the data is presented intuitively on the interface, effectively helping operators monitor the equipment's operating status in real time. Furthermore, by incorporating deep learning-based image segmentation technology, the interface enables real-time monitoring of the turning rate. The turning rate is calculated by analyzing images of peanut pods and vines collected on-site using image segmentation algorithms and dynamically displayed as a numerical value on the interface, making feedback on operational quality more timely and accurate.

[0058] The interactive interface integrates multiple control functions, including operation mode switching and fault alarm functions. When the system is operating normally or abnormally, operators are promptly notified through different colored status indicator lights and audible prompts, enabling rapid response and handling, and improving operational safety and stability. Simultaneously, the function buttons at the bottom of the interface allow for quick switching of operation modes to meet the needs of different working environments.

[0059] In the interface design, PyQt6's signal and slot mechanism is used to achieve real-time data updates. The interface layout is completed using PyQt6's built-in QGridLayout layout manager, ensuring neatness and ease of operation. Simultaneously, the OpenCV image processing library is integrated for real-time image processing, and data communication with the STM32 microcontroller enables real-time and efficient data interaction and display, ensuring smooth interface performance and real-time data feedback.

[0060] Example 4: F s - Rice turning rate model; The vine-turning rate refers to the proportion of peanut plants whose vines are completely turned over out of the total number of plants. Based on preliminary field trials, the model between image segmentation values ​​and the vine-turning rate is as follows: In the formula, F s It is the value output by image segmentation; such as Figure 5 As shown, F s - Rice turning rate model diagram; The relationship between the rice-turning rate and the control objective of image segmentation in the control system is as follows: In actual control, the control target is 70% of the rice turning rate, which corresponds to an image segmentation value of 0.25.

[0061] The output variable of the fuzzy controller is the adjustment amount of the linear speed of the rice turning roller. u 1): Controlled by the first electromagnetic proportional valve; conveyor chain speed adjustment ( u 2): Controlled by a second electromagnetic proportional valve.

[0062] The input and output variables of the fuzzy control are described using triangular membership functions, and linguistic variables are defined such as "negative large (NB)", "negative small (NS)", "zero (ZO)", "positive small (PS)", and "positive large (PB)". The fuzzy control rules are as follows: if e is negative large, the speed of the turning roller and the conveyor chain should be significantly increased; if e is near zero, the current speed should be maintained to avoid system overshoot; if e is positive large, the speed of the turning roller and the conveyor chain should be reduced to avoid overwork leading to pod breakage. The fuzzy control rules are shown in Table 2.

[0063] Table 2 Fuzzy Control Rules Based on the operational requirements of the upright peanut digging and turning harvester, the specific control strategy for the linear speed of the turning roller is as follows: when the image segmentation result is below 0.25 ( FWhen the rice fertilization rate is less than 70%, the linear speed of the rice-turning roller should be increased to improve the rice-turning effect, that is: F s <0.25 (i.e.) F When v3 < 70%, increase the linear speed of the turning roller; when the linear speed of the turning roller exceeds the safety threshold of 2.21 m / s, appropriately reduce the linear speed of the turning roller to avoid pod damage. That is, when v3 > 2.21 m / s, reduce the linear speed of the turning roller, but the linear speed of the turning roller should not be lower than 1.57 m / s.

[0064] Based on the operational requirements of the upright peanut digging and turning harvester, the conveyor chain speed control strategy is as follows: when the image segmentation result is below 0.25 (turning rate <70%), the conveyor chain speed should be increased first to improve plant conveying efficiency, i.e.: F s <0.25 (i.e.) F When v2 < 70%, increase the conveyor chain speed; when the conveyor chain speed exceeds 1.36 m / s, the conveyor chain speed should be appropriately reduced to prevent crop damage or blockage due to excessive conveying speed. That is, when v2 > 1.36 m / s, reduce the conveyor chain speed, but the conveyor chain speed should not be lower than 1 m / s.

[0065] The fuzzy control algorithm is implemented using the RT-Thread real-time operating system. The data acquisition module measures and calculates the turning rate, turning roller speed, and conveyor chain speed in real time. After calculation by the fuzzy controller, a precise control signal is output to the electromagnetic proportional valve in real time to achieve closed-loop speed regulation. Furthermore, the control system employs high-speed RS485 communication technology to ensure real-time transmission and stability. Field practice shows that the fuzzy control scheme proposed in this application can significantly improve the adaptability and operational efficiency of the upright peanut turning process, and can well meet the needs of upright peanut turning operations.

[0066] Example 5: Adaptive Adjustment; This application aims to verify the control effect of the control system on the turning rate of upright peanut plants under actual operating conditions. It focuses on examining the system's ability to adaptively adjust the speed of the turning rollers and conveyor chain when the turning rate is below 70%, while also evaluating the overall stability and response performance of the system. The experimental process is mainly divided into three stages: preliminary test, field test, and field experiment, using a progressive approach to ensure the accuracy and scientific validity of the experimental data. First, the preliminary test mainly completed equipment calibration and performance testing, specifically including encoder accuracy calibration, actuator response performance testing, and RS485 communication link stability testing, ensuring that the performance of each module met the experimental requirements and laying a solid foundation for subsequent tests. Second, the field experiment mainly utilized previously taken images and simulated upright peanut turning rates by placing peanut plants on-site. By simulating different turning rate conditions, it paid particular attention to the turning rate of upright peanut plants.F When 2 < 70%, the adaptive adjustment of the fuzzy control algorithm to the linear speed of the turning roller and the conveyor chain was analyzed. The actual adjustment effect of the control algorithm was evaluated by comparing it with the predetermined target value. Subsequently, in field trials, the control system was installed on an upright peanut digging and turning harvester for actual operational performance testing. Key parameters, including the turning rate, the linear speed of the turning roller, and the conveyor chain speed, were recorded in real time. All data during the experiment were acquired and saved in real time through a data logger and image acquisition system to ensure data continuity and integrity. The evaluation indicators of the experiment included the stability of the turning rate, the system's response speed, the control accuracy of the turning roller linear speed, and the control accuracy of the conveyor chain speed.

[0067] Rice seedling turning rate stability is the proportion of time during which the rice seedling turning rate remains stable at the target value (above 70%) during the statistical system operation. Q s As shown in equation (17).

[0068] In the formula, Q s Indicates the stability of the rice turning rate; t ( F 2≥70%) indicates the duration (in seconds) during which the rice transplanting rate meets the condition of 70% or higher. t The total operation time is expressed in seconds (s).

[0069] Response speed refers to the speed at which the measurement system detects the rice turning rate. F 2. When the value is below the target value, the average response time required from the start of regulation to the recovery to a steady state. T r As shown in equation (18).

[0070] In the formula, t 1 represents the time required to initiate adjustment, in seconds; t 2 represents the time required for the system to reach a stable state, in seconds.

[0071] Control accuracy refers to the relative deviation between the actual linear speeds of the rice-turning rollers and the conveyor chain after the evaluation system has been adjusted and the preset target values ​​for the linear speeds of the rice-turning rollers and the conveyor chain. d As shown in equations (19) and (20).

[0072] In the formula, d 1 indicates the relative deviation between the actual turning roller linear speed and the preset target value of the turning roller linear speed; v 31 This represents the actual linear velocity of the rice-turning roller, in m / s; v32 This represents the target value of the preset linear speed of the rice-turning roller, in m / s; d 2 indicates the relative deviation between the actual conveyor chain speed and the preset target conveyor chain speed; v 21 This represents the actual conveyor chain speed, in m / s. v 22 This represents the target value of the preset conveyor chain speed, in m / s.

[0073] Example 6: Analysis of test results and performance evaluation; To comprehensively evaluate the actual performance of the upright peanut vine-turning control system, the test results were analyzed sequentially according to the order of preliminary test, field test and field test, and the system performance was comprehensively evaluated through key evaluation indicators.

[0074] (1) Analysis of preliminary test results; Preliminary tests verified the basic performance of the upright peanut vine-turning control system by testing encoder accuracy, actuator response performance, and RS485 communication stability. The test results are shown in Table 3.

[0075] Table 3 Key Performance Tests in Preliminary Experiments As shown in Table 3, the average calibration accuracy error of the encoder is only 0.4%, the average response time of the actuator is 0.41s, and the data transmission stability of the RS485 communication link can exceed 99%, which meets the requirements of subsequent tests on the equipment.

[0076] (2) Analysis of site test results; The field test mainly utilized images taken during the actual operation of the upright peanut digging and turning harvester, along with peanut vines placed on-site, to simulate the turning rate. The K230 system processed and output the turning rate value, which was then transmitted to the upright peanut turning control system for simulation testing. The test primarily focused on the turning rate (…). F Tests were conducted on the adaptive adjustment capability of 2<70%).

[0077] As shown in Table 4, the relative deviation between the turning roller linear speed and the preset target value turning roller linear speed is 2.82%, and the relative deviation between the conveyor chain linear speed and the preset target value conveyor chain linear speed is 2.32%, both remaining within 3%, and the control accuracy can meet the test requirements; the average response time of the upright peanut turning control system is 3.06 s, and the control strategy has good response performance.

[0078] Table 4 Field Test Results Note: Experiment No. 1, Experiment No. 2 and Experiment No. 3 are the simulated rice turning rates on site, while Experiment No. 4 and Experiment No. 5 are images taken in the previous period.

[0079] (3) Analysis of field trial results; To further verify the stability, response speed, and control accuracy of the upright peanut vine-turning control system in a real operating environment, the system was equipped on an upright peanut digging and turning harvester. A field trial was conducted on October 18, 2024, in a peanut experimental field in the Suiping County Development Zone, Zhumadian City, Henan Province. The peanuts in this experimental field were mechanically ridged during planting, meeting the requirements of a two-stage peanut harvesting model, and the soil was sandy loam. At the time of the trial, the peanuts were fully mature, with an average plant height of 59 cm, meeting the basic requirements for peanut harvesting. The uprightness of the peanut vines ranged from 18° to 27°, indicating that the peanuts were upright. The field trial results of the upright peanut vine-turning control system are shown in Table 5.

[0080] Table 5 Results of field trials Table 5 shows that during actual field operations, the upright peanut vine-turning control system maintained a stable vine-turning rate of over 70%, with an average vine-turning rate stability of 93.12%. The relative deviation between the vine-turning roller linear speed and the preset target value was 3.06%, and the relative deviation between the conveyor chain linear speed and the preset target value was 3.34%. The average response time of the upright peanut vine-turning control system was 3.18 s. This indicates that the upright peanut vine-turning control system exhibits stable performance, rapid response, and high control precision in actual field operations, meeting the requirements of actual production and maintaining stable and reliable operation even in complex field environments.

[0081] The upright peanut vine-turning control system developed in this application has undergone rigorous testing in three stages: preliminary test, site simulation and field test. It has demonstrated good response speed, stability and control accuracy, and can effectively meet the production requirements of peanut digging, turning and harvesting operations, and has the value for promotion and application.

[0082] The preferred embodiments of this application have been described in detail above. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

[0083] Many other changes and modifications can be made without departing from the concept and scope of this application. It should be understood that this application is not limited to the specific embodiments, and the scope of this application is defined by the appended claims.

Claims

1. A control system for an upright peanut vine-turning machine, characterized in that: The system includes a main control board (1), an image acquisition and processing module (2), a first solenoid valve (3), a second solenoid valve (4), a first hydraulic motor (5), a second hydraulic motor (6), a first absolute encoder (7), a second absolute encoder (8), a third absolute encoder (9), a human-machine interface (18), and an upright peanut vine-turning machine (19). The main control board (1) drives the first solenoid valve (3) and the second solenoid valve (4) respectively. The first solenoid valve (3) is used to regulate the speed of the first hydraulic motor (5), and the second solenoid valve (4) is used to regulate the speed of the second hydraulic motor (6). The first hydraulic motor (5) is used to drive the conveyor chain (10) of the upright peanut vine-turning machine (19). There are two second hydraulic motors (6), which are used to drive the conveyor chain (10) of the upright peanut vine-turning machine (19). The upright peanut vine-turning machine (19) has left and right turning rollers (11); the first absolute encoder (7) is used to detect the rotation speed of the conveyor chain (10) in real time, the second absolute encoder (8) is used to detect the rotation speed of the turning rollers (11) in real time, and the third absolute encoder (9) is used to detect the operating speed of the upright peanut vine-turning machine (19) in real time; the first absolute encoder (7), the second absolute encoder (8) and the third absolute encoder (9) respectively transmit the detection data to the main control board (1); the main control board (1) is connected to the image acquisition and processing module (2), the image acquisition and processing module (2) acquires the image of the working area in real time through the camera during the vine-turning operation, and applies the image segmentation algorithm to process the acquired image to obtain the image segmentation value. F s And according to the pre-defined F s - The rice turning rate is obtained by converting the rice turning rate model. F 2. F s , F 2 and confidence level conf are sent back to the main control board (1); the main control board (1) is also connected to the human-machine interface (18) for parameter setting, status display and alarm prompt.

2. The control system of the upright peanut vine turning machine according to claim 1, characterized in that: The first hydraulic motor (5), two second hydraulic motors (6) and hydraulic components form a hydraulic system. The hydraulic components include a hydraulic oil tank (12), a filter (13), a hydraulic pump (14), a three-position four-way solenoid valve (15), a throttle valve (16) and a relief valve (17). The hydraulic pump (14) draws hydraulic oil from the hydraulic oil tank (12) through the filter (13). The output end of the hydraulic pump (14) is connected to two three-position four-way solenoid valves (15) and a relief valve (17) respectively. The relief valve (17) is connected to the hydraulic oil tank (12). A throttle valve (16) is provided between the hydraulic pump (14) and one of the three-position four-way solenoid valves (15). The two three-position four-way solenoid valves (15) are connected to the first hydraulic motor (5) and the two second hydraulic motors (6) respectively.

3. The control system of the upright peanut vine turning machine according to claim 1, characterized in that: The image acquisition and processing module (2) includes a camera (2-1) and a processing module (2-2). The camera (2-1) is installed above the rice turning operation position and faces the operation area. The processing module (2-2) performs ROI cropping, segmentation and target discrimination on the image of the operation area and outputs the image segmentation value. F s And according to the pre-defined F s - The rice turning rate is obtained by converting the rice turning rate model. F 2; will F s , F 2. The confidence level (conf) is transmitted to the main control board (1).

4. The control system of the upright peanut vine turning machine according to claim 1, characterized in that: The main control board (1) includes a data acquisition unit, a time synchronization unit, a fuzzy control unit, a valve control drive unit and a safety constraint unit; the safety constraint unit implements upper / lower limit saturation, rate limiting and fault degradation strategies for the linear speed of the rice turning roller (11) and the linear speed of the conveyor chain (10).

5. A control method for an upright peanut vine-turning machine based on the control system described in any one of claims 1-4, characterized in that, Includes the following steps: Step 1) Start-up and parameter setting: Set the target rice turning rate through the human-computer interaction interface (18). F 1. Control cycle T s and speed constraint parameters; Step 2) Status acquisition: In each control cycle, the angular displacement of the conveyor chain (10), the angular displacement of the turning roller (11) and the angular displacement of the traveling wheel are acquired, and the image of the working area is acquired; Step 3) Index calculation: Obtain the angular velocity from the angular displacement difference and convert it into the linear velocity of the conveyor chain (10). v c The linear velocity of the rice turning roller (11) v r The image of the work area is obtained by image segmentation to obtain image segmentation values. F s And then according to F s - The rice turning rate model yields the rice turning rate. F 2; Step 4) Closed-loop control: Calculate the deviation of the rice turning rate and the rate of change of the deviation, and input them into the fuzzy control unit of the main control board (1) to obtain the linear speed adjustment of the rice turning roller (11). u 1. Adjustment of linear speed of conveyor chain (10) u 2; Step 5) Constraints and Enforcement: For u 1. u 2. Saturation and rate limiting are performed to generate valve control signals and drive the first solenoid valve (3) and the second solenoid valve (4) to realize online adjustment of the speed of the first hydraulic motor (5) and the second hydraulic motor (6); Step 6) Iteration: Repeat steps 2) to 5) to keep the rice turning rate within the set range.

6. The control method for an upright peanut vine-turning machine according to claim 5, characterized in that: The F s -The rice turning rate model is: ； In the formula, F 2 represents the rice transplanting rate. F s The image segmentation value output by the image segmentation algorithm, 0 < F s <1; (·) is the natural exponential function.

7. The control method for an upright peanut vine-turning machine according to claim 5, characterized in that: The deviation of the rice turning rate e (k) and the rate of change of deviation e c (k) Calculated using the following formula: e (k)= F 1- F 2(k); e c (k)=[ e (k)- e (k-1)] / T s ; In the formula, k represents any time. T s To control the cycle; e (k)>0 indicates insufficient rice turning, and it is necessary to increase the linear speed of the rice turning roller (11) and / or the linear speed of the conveyor chain (10); e (k)<0 indicates that over-turning of rice seedlings or an increased risk of damage requires a reduction in the corresponding linear speed.

8. The control method for an upright peanut vine-turning machine according to claim 5, characterized in that: The angular velocity ω (k) and linear velocity v The conversion is calculated using the following formula: θ (k) = 2π· C (k) / 2 B ; ω (k)=[ θ (k)- θ (k-1)] / T s ; v=ω (k)· r ； In the formula, k represents any time. θ (k) represents the angle at time k. C (k) represents the current code value of the absolute encoder. B The encoder bit width. T s To control the cycle, r This is the equivalent radius of the corresponding transmission component.

9. The control method for an upright peanut vine-turning machine according to claim 5, characterized in that: The fuzzy control unit includes a fuzzy controller, which employs Mamdani inference, uses triangular or trapezoidal membership functions, uses the centroid method for defuzzification, and controls the output duty cycle. δ We obtain it from the following formula: u =(∫ μ U(u) ·u d u) / (∫ μ U(u) d u) ; δ =sat( K u ·u + δ 0); In the formula, u The final numerical result of fuzzy inference ， ∫ μ U(u) Let d be the integral value of the membership function. u For integration variables, K u The output scaling factor is 'sat', where 'sat' is the saturation limiting function. δ 0 is the baseline value.

10. The control method for an upright peanut vine-turning machine according to claim 8, characterized in that: The linear velocity of the rice turning roller (11) v r Satisfying 1.57m / s≤ v r ≤2.21m / s, linear velocity of conveyor chain (10) v c Satisfying 1.00m / s≤ v c ≤1.36m / s; When encoder distortion, image frame loss, or abnormal hydraulic pressure is detected, a fault degradation strategy is used to enter degradation mode and... v r , v c Limit to a safe range.

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