Intelligent forest belt root blocking vertical film laying machine and film laying depth control method

Abstract

The present application relates to intelligent forest belt root blocking vertical mulching machine and mulching depth control method, and relates to the technical field of mulching machine, including equipment suspension and traction suspension installed on the end surface of equipment suspension, the present application cooperates with vertical mulching through cutter root cutting, accurate ditching and precise cutting, cuts off the horizontal root system of forest belt extending to farmland, constructs vertical barrier by using special barrier film, blocks root penetration, collects the stress condition in the advancing process of mulching machine in real time through soil resistance sensor during mulching process, and constructs the cooperative model of controller and hydraulic system, automatically outputs depth adjustment instruction based on the dynamic evaluation of resistance degree, carries out flexible avoidance or self-adaptive lifting, effectively avoids the rigid overload damage of mechanical structure, greatly reduces the tool wear and whole machine power consumption, carries out high-frequency scanning on the surface of the just-released vertical root-blocking film, carries out flatness dynamic compensation on the film surface during mulching based on profile scanning, and ensures the mulching flatness.

Description

Technical Field

[0001] This invention relates to the field of film laying machine technology, and in particular to an intelligent vertical film laying machine for blocking root systems in forest belts and a method for controlling film laying depth. Background Technology

[0002] Current equipment for root cutting and mulching in farmland shelterbelts generally suffers from problems such as low depth control accuracy, weak intelligence, and poor adaptability to deep trench conditions, which seriously restrict the root blocking effect and operation quality. Specifically: Traditional machines mostly use mechanical limits and manual hydraulic adjustments. With a film-laying depth of 70cm-90cm, the depth error during deep trenching operations can reach ±5cm-10cm, easily leading to problems such as laying the film too deep or too shallow, or film tilting, resulting in the blocking effect not meeting expectations. Furthermore, existing machines mostly use a fixed trenching depth, unable to dynamically adjust according to the actual soil firmness, moisture content, and distribution of underground obstacles (such as gravel and thick tree roots). Forcing trenching in hard soil layers can easily damage the cutters and mechanical structure, resulting in extremely high power consumption. Second, the final quality of vertical mulch laying directly determines the root-blocking effect. Existing machinery lays the mulch blindly during the mulch and soil-covering process, unable to monitor the verticality and tension of the mulch within the trench in real time. When the terrain is uneven or the tractor deviates from its course, causing unevenness in the trench walls, wrinkles, tilting, or folds easily occur on the mulch surface. Excessive flatness not only wastes mulch material but also creates weak points for root penetration, severely impacting the protective effect of the shelterbelt. To address the aforementioned technical deficiencies, a solution is proposed. Summary of the Invention

[0003] The purpose of this invention is to: collect the force on the front end of the soil-penetrating blade in real time through a soil resistance sensor, and combine it with a collaborative model constructed by the controller and hydraulic system to automatically output depth adjustment commands based on the dynamically evaluated resistance level, so as to perform flexible avoidance or adaptive lifting and lowering, effectively avoiding rigid overload damage to the mechanical structure, significantly reducing blade wear and overall power consumption, and performing high-frequency scanning on the surface of the newly released vertical root barrier membrane, and dynamically compensating for the flatness of the membrane surface during the membrane laying process based on contour scanning to ensure the flatness of the membrane laying.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: an intelligent vertical film laying machine for forest belt root blocking, comprising an equipment suspension and a traction suspension installed on the end surface of the equipment suspension. A tripod is fixedly mounted on the top surface of the traction suspension, and a tie rod is connected inside the tripod. One end of the tie rod is connected to a hydraulic system, and the other end of the tie rod is connected to the equipment suspension. A controller is fixedly mounted on the top surface of the equipment suspension. A film roller is fixedly mounted on the upper end of the equipment suspension. A vertical film laying assembly is fixedly mounted on the bottom surface of the equipment suspension. A front shovel handle and a rear shovel handle are fixedly mounted parallel to each other on the bottom surface of the equipment suspension, and the vertical film laying assembly is located between two sets of soil-penetrating blades. An extension suspension is fixedly mounted on the outer surface of the equipment suspension, and an adjustable-height soil-covering pressure plate is fixedly mounted on the outer surface of the extension suspension.

[0005] Furthermore, both the front and rear shovel handles are fixed to the bottom surface of the equipment suspension, and detachable soil-penetrating blades are installed on the front surface of both the front and rear shovel handles. Chisel-shaped shovel tips are fixed to the front bottom surface of each of the two soil-penetrating blades.

[0006] Furthermore, the vertical film-laying assembly includes a vertical film-laying cavity and an output roller. The vertical film-laying cavity is fixed to the bottom surface of the equipment suspension, and the output roller is fixed inside the vertical film-laying cavity.

[0007] Furthermore, the soil covering plate includes a horizontal plate and a folding plate. The horizontal plate is fixed to the bottom surface of the extended suspension, and the folding plate is fixed to the end surface of the horizontal plate. The folding plate and the horizontal plate form a fixed angle of less than 60 degrees.

[0008] This invention also provides a method for controlling the film-laying depth of an intelligent vertical film-laying machine for root-blocking forest belts, comprising the following steps: S1. Obtain the target mulch depth H0 for root blocking of the forest belt and the safe threshold of soil penetration resistance F. max And the flatness tolerance parameters of the root barrier membrane, the flatness tolerance parameters including the vertical deflection angle threshold and the wrinkle amplitude threshold; S2. Real-time dual-line sensing of depth and flatness: During the movement of the film-laying machine, soil penetration resistance F at the current depth is collected in real time by soil resistance sensors installed on the bottom surface of the equipment suspension. t ; Meanwhile, on the extended suspension behind the film laying machine and in front of the soil covering plate, a non-contact laser profile sensor is installed to perform high-frequency scanning on the surface of the newly released vertical root barrier membrane, and extract the current vertical deflection angle and current wrinkle amplitude of the membrane surface in real time. S3. Establish a collaborative model between the controller and the hydraulic system on the traction suspension. When the soil penetration resistance Ft is detected to be less than or equal to the soil penetration resistance safety threshold F... maxAt this time, the hydraulic circuit maintains pressure to keep the actual working depth H. t Achieve the target film-laying depth H0; When soil penetration resistance F is detected t Greater than the soil penetration resistance safety threshold F max The controller initiates an adaptive adjustment algorithm based on the current resistance deviation, outputs a lifting displacement command to drive the hydraulic system, and causes the equipment suspension to be raised appropriately for flexible avoidance. After the resistance falls back, it smoothly descends again to the target film laying depth. S4. Dynamic flatness compensation based on contour scanning: When the current vertical deviation angle is detected to be greater than the vertical deviation angle threshold, the controller determines that the overall attitude of the equipment suspension is unbalanced, generates a differential compensation signal and displays it on the operation panel, and dynamically adjusts the horizontal position of the equipment suspension until the membrane surface is restored to vertical. Flatness intervention: When the current crease amplitude is detected to be greater than the crease amplitude threshold, the controller determines that the passive film unwinding pretension is insufficient and immediately sends an enhanced pulse signal to the electromagnetic damper of the film roller to moderately increase the unwinding friction damping, increase the film output tension, and force the creases to flatten. S5. Status Feedback and Quality Inspection Log Generation: Real-time travel coordinates, soil resistance change curves, actual film laying depth curves, and flatness heat maps are spatiotemporally aligned and synchronously recorded to generate a digital log of film laying quality with geographic information tags.

[0009] Furthermore, the specific process of constructing a collaborative model between the controller and the hydraulic lifting actuator includes the following sub-steps: S31. Obtain the current soil penetration resistance F from the soil resistance sensor on the bottom surface of the equipment suspension in real time. t and the preset soil penetration resistance safety threshold F max By comparison, the resistance level is divided into three state intervals: Normal operating range: when F t ≥F max At that time, it was determined that the current soil condition was good and there were no obvious obstacles; Elastic overload range: when F max <F t ≤αF max When encountering hard, compacted soil and small-diameter gravel, it is determined that the system has encountered a hard, compacted soil layer and small-diameter gravel, where α is a preset overload coefficient. Rigid interference region: when F t >αF max At that time, it is determined that a rigid obstacle has been encountered; S32. Establish a collaborative control model including an input layer, a computation layer, and an output layer to output depth adjustment parameters: If the assessment result is within the normal operating range, a self-locking command is output, the hydraulic circuit of the hydraulic system maintains pressure, and the soil penetration depth of the soil entry blade is maintained at the target film laying depth H0. If the evaluation result indicates an elastic overload range, then the variable step size adaptive adjustment algorithm is activated, defining the current resistance deviation e(t) = F. t -F max The target lifting displacement H is calculated in real time based on the magnitude of the deviation, using the following formula: K p K i K d These are the preset proportional coefficient, integral coefficient, and differential coefficient, and K... p The value of increases dynamically as e(t) increases, where E(t) is the real-time efficiency coefficient of the hydraulic system. If the assessment result is a rigid interference range, the over-level avoidance logic is triggered, and the maximum return oil displacement command is directly output, ignoring the current calculation step size, and requiring the soil-penetrating blade to quickly move away from the current depth with the highest priority.

[0010] Furthermore, the specific process of intelligent adjustment based on the depth adjustment parameter output according to the resistance level is as follows: The depth adjustment parameter is converted into a duty cycle PWM signal and sent to the electro-hydraulic proportional directional valve in the hydraulic system. By adjusting the valve core opening of the electro-hydraulic proportional directional valve, the flow rate and direction of the hydraulic oil entering the hydraulic system are precisely controlled. The collaborative model pre-defines the kinematic mapping relationship between the hydraulic system's extension / retraction and the actual vertical displacement of the shovel blade. The hydraulic system executes the extension / retraction action according to this mapping relationship, causing the shovel blade to rise upwards, thus increasing the current actual working depth H. t =H0-ΔH; Continuous monitoring of F after the shovel blade is raised. t When the film laying machine moves forward and detects that Ft has fallen back to the normal operating range and maintained for the set time window, the collaborative model controls the electro-hydraulic proportional directional valve to reverse the flow, and controls the hydraulic system to slowly extend with a preset damping slope, driving the soil entry blade to smoothly enter the soil until it returns to the target film laying depth H0.

[0011] Furthermore, the specific process of dynamic flatness compensation based on contour scanning includes the following steps: S41. Line laser scanning is performed on the surface of the newly released vertical root barrier membrane using a non-contact laser profile sensor to obtain initial two-dimensional point cloud data. Gaussian filtering algorithm is used on the two-dimensional point cloud data to remove outlier noise points caused by dust and flying soil, so as to retain effective profile lines that represent the true physical morphology of the membrane surface. S42. Perform linear fitting on the effective contour line and convert the slope of the fitted line into the current vertical deflection angle, which is used to characterize the degree of inclination of the root barrier membrane as a whole relative to the ideal vertical plane. S43. Calculate the range of normal distances from each discrete point on the effective contour line to the fitted straight line (i.e., the maximum distance from the crest to the trough), and use it as the current wrinkle amplitude. The current fold amplitude Used to characterize the degree of local looseness and wavy distortion on the membrane surface; S44. Current vertical deflection angle detected. Greater than the vertical deflection threshold Upon investigation, it was determined that the overall imbalance of the equipment suspension was caused by the undulating terrain, which in turn caused the trench dug by the soil entry blade and the root barrier membrane falling into it to tilt. The roll attitude differential compensation model was immediately activated to calculate the current deflection angle error. : ; Based on the current skew angle error, a differential compensation signal is sent, assuming the target displacement change of the left-side film-laying depth adjustment wheel is... The target displacement change of the ground wheel for adjusting the film-laying depth on the right side is: The controller then performs the following closed-loop adjustment:

[0012] In the formula, This is the attitude adjustment ratio coefficient. As a differential coefficient, the operator adjusts the ground wheel by adjusting the film laying depth, and dynamically adjusts the horizontal state of the equipment suspension, so that the soil entry blade and the guide roller are restored to a horizontal state, until the current vertical deviation angle monitored in real time falls back to within the safe threshold, thereby eliminating the overall tilt of the film surface from the physical root cause. S45. When the controller detects the current fold amplitude... Greater than the wrinkle amplitude threshold At that time, it was determined that although the overall attitude of the root barrier membrane was vertical, the passive membrane release pre-tightening force was insufficient due to the fluctuation of the travel speed during the release process, and the membrane surface was in a slightly relaxed state. The non-contact tension enhancement compensation logic was activated: the controller calculated the wrinkle overshoot. The wrinkle overshoot is mapped to the target braking torque increment. ; An enhanced pulse width modulation signal is sent to the electromagnetic damper installed at the end of the film roll, and the duty cycle of the enhanced pulse width modulation signal is calculated according to the following formula:

[0013] in, To maintain the baseline duty cycle for basic unwinding, This is the damping adjustment gain coefficient; The increase in duty cycle increases the current flowing into the excitation coil of the electromagnetic damper, instantly strengthening the internal magnetic powder chain. This moderately increases the mechanical friction damping of the unwinding of the film roller. This increased damping forces the root-resistant film to increase its own output tension under the resistance of the tractor's traction force (i.e., producing a strong longitudinal tensile effect), forcibly flattening the wrinkles on the film surface. When the current wrinkle amplitude... Once the tension returns to the normal range, the duty cycle is automatically adjusted back to the baseline state to avoid the risk of membrane breakage caused by excessive tension.

[0014] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: This intelligent vertical film-laying machine for blocking forest belt roots works in tandem with root cutting, precise trenching, and vertical film laying to sever the horizontal root system extending from the forest belt into the farmland. At the same time, it uses a special barrier film to construct a vertical barrier, blocking root penetration. Through the coordinated operation of the mechanical structure, multiple processes are completed in one go, reducing soil disturbance and improving operational efficiency and blocking effect. It fundamentally solves the problem of forest belt roots competing with crops for water and fertilizer and affecting farmland cultivation, achieving coordinated development of forest belt protection and farmland production. It is especially suitable for the needs of forest shadow area management in the Three-North Region, such as Heilongjiang.

[0015] The intelligent vertical film-laying machine for root-blocking in forest belts utilizes a film-laying depth control method. During the film-laying process, a soil resistance sensor collects real-time data on the force applied to the front end of the shovel blade. Combined with a collaborative model built on the controller and hydraulic system, this enables precise response of the underlying mechanical actuators to complex soil conditions. Based on the dynamically assessed resistance level, it automatically outputs depth adjustment commands for flexible avoidance or adaptive lifting, effectively preventing rigid overload damage to the mechanical structure and significantly reducing blade wear and overall machine power consumption. A non-contact laser contour sensor is installed to perform high-frequency scanning of the surface of the newly released vertical root-blocking film. Based on the contour scan, dynamic compensation for the flatness of the film surface is performed during the film-laying process to ensure film flatness. Attached Figure Description

[0016] Figure 1 A schematic diagram of the overall external structure of the present invention is shown; Figure 2 A schematic diagram of the external structure of the device suspension of the present invention is shown; Figure 3 A schematic diagram of the external structure of the device suspension in the working state of the present invention is shown; Figure 4 A schematic diagram of the overall external structure of the present invention is shown; Figure 5 A schematic diagram of the overall method flow of the present invention is shown.

[0017] Reference numerals: 1. Tripod; 2. Tie rod; 3. Controller; 4. Level plate; 5. Film roller; 6. Extension suspension; 7. Film laying depth adjustment wheel; 8. Vertical film laying cavity; 9. Outlet roller; 10. Rear shovel cutter; 11. Rear shovel handle; 12. Chisel-shaped shovel tip; 13. Soil entry shovel; 14. Front shovel handle; 15. Traction suspension; 16. Retraction plate; 17. Equipment suspension. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example 1: like Figure 1-4 As shown, the intelligent forest belt root blocking vertical film laying machine includes an equipment suspension 17 and a traction suspension 15 installed on the end surface of the equipment suspension 17. A tripod 1 is fixed on the top surface of the traction suspension 15. A tie rod 2 is connected inside the tripod 1. One end of the tie rod 2 is connected to the hydraulic system, and the other end of the tie rod 2 is connected to the equipment suspension 17. A controller 3 is fixed on the top surface of the equipment suspension 17. A film roller 5 is fixed on the upper end of the equipment suspension 17. A vertical film laying assembly is fixed on the bottom surface of the equipment suspension 17. A front shovel handle 14 and a rear shovel handle 11 are fixed on the bottom surface of the equipment suspension 17 in parallel. The vertical film laying assembly is located between two sets of soil-penetrating blades 13. An extension suspension 6 is fixed on the outer surface of the equipment suspension 17. An adjustable-height soil-covering pressure plate is fixed on the outer surface of the extension suspension 6.

[0020] Both the front shovel handle 14 and the rear shovel handle 11 are fixed to the bottom surface of the equipment suspension 17. The front surfaces of both the front shovel handle 14 and the rear shovel handle 11 are equipped with detachable soil entry blades 13. The front bottom surfaces of the two soil entry blades 13 are respectively fixed with a rear shovel cutter 10 and a chisel-shaped shovel tip 12.

[0021] The vertical film laying assembly includes a vertical film laying cavity 8 and an output roller 9. The vertical film laying cavity 8 is fixed to the bottom surface of the equipment suspension 17, and the output roller 9 is fixed inside the vertical film laying cavity.

[0022] The soil covering and pressing plate includes a horizontal plate 4 and a folding plate 16. The horizontal plate 4 is fixed to the bottom surface of the extension suspension 6, and the folding plate 16 is fixed to the end surface of the horizontal plate 4. The folding plate 16 and the horizontal plate 4 form a fixed angle of less than 60 degrees.

[0023] The working principle is as follows: Before operation, connect the film laying machine to the tractor or other power machinery through the suspension frame, adjust the film laying depth and the height of the ground wheel 7, determine the root cutting depth (usually 70-90cm) and the film laying position, align it with the boundary between the forest belt and the farmland, check the special film on the film roller 5, the sharpness of the root cutting knife and the coordination of the film laying mechanism, and ensure that all components are operating normally to prepare for subsequent operations. The power machinery pulls the film laying machine forward. The soil entry blade 13 and chisel tip 12 at the front of the traction suspension 15 break through the soil obstacles and provide downward pressure to enter the soil. When the set film laying depth is reached and the film is fixed, the equipment continues to move forward. The film is continuously pulled out and continuously buried underground by the backflowing soil. The soil covering mechanism at the tail end of the film laying machine backfills the overflowing soil into the trench and buries the film. The film laying machine moves forward at a constant speed, realizing integrated continuous operation of root cutting, trenching and film laying. During the operation, the film thickness is sensed by the infrared sensor installed on the film roller 5. If the barrier film on the film roller 5 is used up, the controller 3 will trigger a reminder in time, so that the operator can replace the film roll in time. Both shovel handles are equipped with arc-shaped wear-resistant root-cutting blades at the front end, which are responsible for cutting roots and preventing residual roots from accumulating and clogging, thus increasing resistance; the bottom of the rear shovel is equipped with a chisel-shaped shovel head, which breaks up soil obstacles while providing downward pressure when entering the soil. The coordinated design of the vertical film-laying cavity 8 and the delivery roller 9 ensures that the film can be smoothly converted from a horizontal state to a vertical state and accurately laid in the trench. The cavity structure of the vertical film-laying cavity 8 prevents the film from being damaged during the delivery process and also prevents soil from entering the cavity.

[0024] Example 2: like Figure 5 As shown, the present invention also provides a method for controlling the film laying depth of an intelligent vertical film laying machine for root blocking in forest belts, comprising the following steps: S1. Obtain the target mulch depth H0 for root blocking of the forest belt and the safe threshold of soil penetration resistance F. max And the flatness tolerance parameters of the root barrier membrane, including the vertical deflection angle threshold and the wrinkle amplitude threshold; S2. Real-time dual-line sensing of depth and flatness: During the movement of the film-laying machine, the soil penetration resistance F at the current depth is collected in real time by a soil resistance sensor installed on the bottom surface of the equipment suspension 17. t ; The soil resistance sensor is specifically a pressure sensor. Specifically, pressure sensors are installed on the bottom surfaces of the equipment suspension 17, the extension suspension 6, and the traction suspension 15. Multiple pressure sensors detect the soil resistance during the movement of the film-laying machine. After data alignment and calibration, the overall traction resistance and soil penetration resistance F of the film-laying machine are obtained. tThis includes the resistance encountered by the soil-penetrating blade 13 when it comes into contact with the soil layer, the traction resistance encountered by the equipment suspension 17 during its movement, and the tensile resistance encountered during the membrane laying process. Meanwhile, on the extended suspension 6 behind the film laying machine and in front of the soil covering plate, a non-contact laser profile sensor is installed to perform high-frequency scanning on the surface of the newly released vertical root barrier membrane, and extract the current vertical deflection angle and current wrinkle amplitude of the membrane surface in real time. S3. Establish a collaborative model between controller 3 and the hydraulic system on traction suspension 15. When soil penetration resistance F is detected... t Less than or equal to the soil penetration resistance safety threshold F max At this time, the hydraulic circuit maintains pressure to keep the actual working depth H. t Achieve the target film-laying depth H0; When soil penetration resistance F is detected t Greater than the soil penetration resistance safety threshold F max The controller 3 starts the adaptive adjustment algorithm based on the current resistance deviation, outputs the lifting displacement command to drive the hydraulic system, so that the equipment suspension 17 is raised appropriately to flexibly avoid the obstacle, and after the resistance falls back, it smoothly descends again to the target film laying depth. The specific process of constructing the collaborative model between controller 3 and the hydraulic lifting actuator includes the following sub-steps: S31. Obtain the current soil penetration resistance F from the soil resistance sensor on the bottom surface of the equipment suspension 17 in real time. t and the preset soil penetration resistance safety threshold F max By comparison, the resistance level is divided into three state intervals: Normal operating range: when F t ≥F max At that time, it was determined that the current soil condition was good and there were no obvious obstacles; Elastic overload range: when F max <F t ≤αF max When encountering hard, compacted soil and small-diameter gravel, it is determined that the system has encountered a hard, compacted soil layer and small-diameter gravel, where α is a preset overload coefficient. Rigid interference region: when Ft > αF max At that time, it is determined that a rigid obstacle has been encountered; S32. Establish a collaborative control model including an input layer, a computation layer, and an output layer to output depth adjustment parameters: If the assessment result is within the normal operating range, a self-locking command is output, the hydraulic circuit of the hydraulic system maintains pressure, and the soil penetration depth of the soil entry blade 13 is maintained at the target film laying depth H0. If the evaluation result indicates an elastic overload range, then the variable step size adaptive adjustment algorithm is activated, defining the current resistance deviation e(t) = F. t -F maxThe target lifting displacement H is calculated in real time based on the magnitude of the deviation, using the following formula: K p K i K d These are the preset proportional coefficient, integral coefficient, and differential coefficient, and K... p The value of increases dynamically as e(t) increases, where E(t) is the real-time efficiency coefficient of the hydraulic system. If the evaluation result is a rigid interference range, the over-level avoidance logic is triggered, and the maximum return oil displacement command is directly output, ignoring the current calculation step size, and requiring the soil entry blade 13 to quickly leave the current depth with the highest priority.

[0025] The specific process of intelligent adjustment based on the depth adjustment parameter output according to the resistance level is as follows: The depth adjustment parameter is converted into a duty cycle PWM signal and sent to the electro-hydraulic proportional directional valve in the hydraulic system. By adjusting the valve core opening of the electro-hydraulic proportional directional valve, the flow rate and direction of the hydraulic oil entering the hydraulic system are precisely controlled. The collaborative model pre-defines the kinematic mapping relationship between the hydraulic system's extension / retraction and the actual vertical displacement of the shovel blade 13. The hydraulic system executes the extension / retraction action according to this mapping, causing the shovel blade 13 to rise upwards, thus increasing the current actual working depth H. t =H0-ΔH; After the shovel blade 13 is raised, F is continuously monitored. t When the film laying machine moves forward and detects that Ft has fallen back to the normal operating range and maintained for the set time window, the collaborative model controls the electro-hydraulic proportional directional valve to reverse the flow, and controls the hydraulic system to slowly extend with a preset damping slope, driving the soil entry blade 13 to smoothly enter the soil until it returns to the target film laying depth H0.

[0026] S4. Dynamic flatness compensation based on contour scanning: When the current vertical deviation angle is detected to be greater than the vertical deviation angle threshold, the controller 3 determines that the overall posture of the equipment suspension 17 is unbalanced, generates a differential compensation signal and displays it on the operation panel, and dynamically adjusts the horizontal position of the equipment suspension 17 until the membrane surface is restored to verticality. Flatness intervention: When the current crease amplitude is detected to be greater than the crease amplitude threshold, the controller 3 determines that the passive film unwinding pre-tightening force is insufficient, and immediately sends an enhanced pulse signal to the electromagnetic damper of the film roller 5 to moderately increase the unwinding friction damping, increase the film output tension, and force the creases to flatten. The specific process of dynamic flatness compensation based on contour scanning includes the following steps: S41. Line laser scanning is performed on the surface of the newly released vertical root barrier membrane using a non-contact laser profile sensor to obtain initial two-dimensional point cloud data. Gaussian filtering algorithm is used on the two-dimensional point cloud data to remove outlier noise points caused by dust and flying soil, so as to retain effective profile lines that represent the true physical morphology of the membrane surface. S42. Perform linear fitting on the effective contour line and convert the slope of the fitted line into the current vertical deflection angle. The current vertical deflection angle is used to characterize the overall tilt of the root barrier membrane relative to the ideal vertical plane. S43. Calculate the range of normal distances from each discrete point on the effective contour line to the fitted straight line (i.e., the maximum distance from the crest to the trough), and use it as the current wrinkle amplitude W. t Current fold amplitude W t Used to characterize the degree of local looseness and wavy distortion on the membrane surface; S44. Current vertical deflection angle θ detected. · Greater than the vertical deflection threshold θ max If the terrain undulations cause the equipment suspension 17 to become unbalanced, resulting in the trench dug by the soil-penetrating blade 13 and the root-blocking membrane falling into it tilting, the roll attitude differential compensation model is immediately activated to calculate the current deflection angle error. : ; Based on the current deflection angle error, a differential compensation signal is sent. Let the target displacement change of the left-side film-laying depth adjustment wheel 7 be ΔL1, and the target displacement change of the right-side film-laying depth adjustment wheel 7 be ΔL2. Then, the controller 3 performs the following closed-loop adjustment: ; In the formula, K p1 K is the attitude adjustment proportional coefficient. d1 As the differential coefficient, the operator adjusts the ground wheel 7 by adjusting the film laying depth, and dynamically adjusts the horizontal state of the equipment suspension 17, so that the soil entry blade 13 and the guide roller 9 are restored to the horizontal state, until the current vertical deviation angle monitored in real time falls back to within the safe threshold, thereby eliminating the overall tilt of the film surface from the physical root cause. S45, When controller 3 detects the current fold amplitude W t Greater than the wrinkle amplitude threshold W max At that time, it was determined that although the overall attitude of the root barrier membrane was vertical, the passive membrane release pre-tightening force was insufficient due to the fluctuation of the travel speed during the release process, and the membrane surface was in a slightly relaxed state. The non-contact tension enhancement compensation logic was activated: controller 3 calculated the wrinkle overshoot. And the wrinkle overshoot is mapped to the target braking torque increment ΔW; An enhanced pulse width modulation signal is sent to the electromagnetic damper installed at the end of the film roller 5. The duty cycle of the enhanced pulse width modulation signal is calculated according to the following formula:

[0027] Where Db is the reference duty cycle for maintaining basic unwinding, and λ is the damping adjustment gain coefficient; The increase in duty cycle increases the current flowing into the excitation coil of the electromagnetic damper, instantly strengthening the internal magnetic powder chain. This moderately increases the unwinding mechanical friction damping of the film roller 5. This increase in damping forces the root-resistant film to increase its own output tension under the resistance of the tractor's traction force (i.e., producing a strong longitudinal stretching effect), forcibly flattening the wrinkles on the film surface. When the current wrinkle amplitude W t Once the tension returns to the normal range, the duty cycle is automatically adjusted back to the baseline state to avoid the risk of membrane breakage caused by excessive tension.

[0028] S5. Status Feedback and Quality Inspection Log Generation: Real-time travel coordinates, soil resistance change curves, actual film laying depth curves, and flatness heat maps are spatiotemporally aligned and synchronously recorded to generate a digital log of film laying quality with geographic information tags.

[0029] The size of the interval and threshold is set to facilitate comparison. The size of the threshold depends on the amount of sample data and the number of bases set by those skilled in the art for each set of sample data; as long as it does not affect the ratio between the parameter and the quantized value.

[0030] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation. In the two embodiments provided in this application, it should be understood that the disclosed apparatus and system can be implemented in other ways; for example, the apparatus embodiments described above are merely illustrative, for example, the division of modules is merely a logical functional division, and there may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed; another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the apparatus or module can be electrical, mechanical or other forms. 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. An intelligent vertical film-laying machine for blocking root systems in forest belts, characterized in that, The device includes an equipment suspension (17) and a traction suspension (15) mounted on the end surface of the equipment suspension (17). A tripod (1) is fixed to the top surface of the traction suspension (15). A tie rod (2) is connected inside the tripod (1). One end of the tie rod (2) is connected to a hydraulic system, and the other end of the tie rod (2) is connected to the equipment suspension (17). A controller (3) is fixed to the top surface of the equipment suspension (17). A membrane roller (5) is fixed to the upper end of the equipment suspension (17). A vertical film-laying assembly is fixedly provided on the bottom surface of the frame (17). A front shovel handle (14) and a rear shovel handle (11) are fixedly provided on the bottom surface of the equipment suspension (17). The vertical film-laying assembly is located between two sets of soil-penetrating shovels (13). An extension suspension (6) is fixedly provided on the outer surface of the equipment suspension (17). An adjustable-height soil-covering pressure plate is fixedly provided on the outer surface of the extension suspension (6). An adjustable-height film-laying depth adjustment wheel (7) is installed on the outer surface of the equipment suspension (17).

2. The intelligent vertical film laying machine for blocking root systems in forest belts according to claim 1, characterized in that, The front shovel handle (14) and the rear shovel handle (11) are both fixed to the bottom surface of the equipment suspension (17). The front surfaces of the front shovel handle (14) and the rear shovel handle (11) are each equipped with a detachable soil-inserting blade (13). The front bottom surfaces of the two soil-inserting blades (13) are respectively equipped with a rear shovel cutter (10) and a chisel-shaped blade tip (12).

3. The intelligent vertical film-laying machine for blocking root systems in forest belts according to claim 1, characterized in that, The vertical film laying assembly includes a vertical film laying cavity (8) and an output roller (9). The vertical film laying cavity (8) is fixed to the bottom surface of the equipment suspension (17), and the output roller (9) is fixed inside the vertical film laying cavity.

4. The intelligent vertical film-laying machine for blocking root systems in forest belts according to claim 1, characterized in that, The soil covering plate includes a horizontal plate (4) and a folding plate (16). The horizontal plate (4) is fixed to the bottom surface of the extension suspension (6), and the folding plate (16) is fixed to the end surface of the horizontal plate (4). The folding plate (16) and the horizontal plate (4) form a fixed angle of less than 60 degrees.

5. A method for controlling the film-laying depth of an intelligent vertical film-laying machine for root-blocking forest belts, characterized in that, Includes the following steps: S1. Obtain the target mulch depth H0 for root blocking of the forest belt and the safe threshold of soil penetration resistance F. max And the flatness tolerance parameters of the root barrier membrane, the flatness tolerance parameters including the vertical deflection angle threshold and the wrinkle amplitude threshold; S2. Real-time sensing of depth and flatness: During the movement of the film laying machine, the soil penetration resistance F at the current depth is collected in real time by the soil resistance sensor installed on the bottom surface of the equipment suspension (17). t ; Meanwhile, on the extended suspension (6) behind the film laying machine and in front of the soil covering plate, a non-contact laser profile sensor is installed to perform high-frequency scanning on the surface of the newly released vertical root barrier membrane, and extract the current vertical deflection angle and current fold amplitude of the membrane surface in real time. S3. Establish a collaborative model between the controller and the hydraulic system on the traction suspension (15). When the soil penetration resistance Ft is detected to be less than or equal to the soil penetration resistance safety threshold F, max At this time, the hydraulic circuit maintains pressure to keep the actual working depth H. t Achieve the target film-laying depth H0; When soil penetration resistance F is detected t Greater than the soil penetration resistance safety threshold F max The controller (3) starts the adaptive adjustment algorithm based on the current resistance deviation, outputs the lifting displacement command to drive the hydraulic system, so that the equipment suspension (17) is raised appropriately to make flexible avoidance, and after the resistance falls back, it smoothly descends to the target film laying depth again. S4. Dynamic flatness compensation based on contour scanning: When the current vertical deviation angle is detected to be greater than the vertical deviation angle threshold, the controller (3) judges that the overall posture of the equipment suspension (17) is unbalanced, generates a differential compensation signal and displays it on the operation panel, and dynamically adjusts the horizontal position of the equipment suspension (17) until the membrane surface is restored to vertical. Flatness intervention: When the current fold amplitude is detected to be greater than the fold amplitude threshold, the controller (3) determines that the passive film unwinding pre-tightening force is insufficient, and immediately sends an enhanced pulse signal to the electromagnetic damper of the film roller (5) to moderately increase the unwinding friction damping, increase the film tension, and force the folds to flatten. S5. Status Feedback and Quality Inspection Log Generation: Real-time travel coordinates, soil resistance change curves, actual film laying depth curves, and flatness heat maps are spatiotemporally aligned and synchronously recorded to generate a digital log of film laying quality with geographic information tags.

6. The method for controlling the film-laying depth of the intelligent forest belt root-blocking vertical film-laying machine according to claim 5, characterized in that, The specific process of constructing a collaborative model between the controller (3) and the hydraulic lifting actuator includes the following sub-steps: S31. Obtain the current soil penetration resistance F from the soil resistance sensor on the bottom surface of the equipment suspension (17) in real time. t and the preset soil penetration resistance safety threshold F max By comparison, the resistance level is divided into three state intervals: Normal operating range: when F t ≥F max At that time, it was determined that the current soil condition was good and there were no obvious obstacles; Elastic overload range: when F max <F t ≤αF max When encountering hard, compacted soil and small-diameter gravel, it is determined that the system has encountered a hard, compacted soil layer and small-diameter gravel, where α is a preset overload coefficient. Rigid interference region: when F t >αF max At that time, it is determined that a rigid obstacle has been encountered; S32. Establish a collaborative control model including an input layer, a computation layer, and an output layer to output depth adjustment parameters: If the assessment result is within the normal operating range, a self-locking command is output, the hydraulic circuit of the hydraulic system maintains pressure, and the soil penetration depth of the soil entry blade (13) is maintained at the target film laying depth H0. If the evaluation result indicates an elastic overload range, then the variable step size adaptive adjustment algorithm is activated, defining the current resistance deviation e(t) = F. t -F max The target lifting displacement H is calculated in real time based on the magnitude of the deviation, using the following formula: K p K i K d These are the preset proportional coefficient, integral coefficient, and differential coefficient, and K... p The value of increases dynamically as e(t) increases, where E(t) is the real-time efficiency coefficient of the hydraulic system. If the evaluation result is a rigid interference range, the over-level avoidance logic is triggered, and the maximum return oil displacement command is directly output. Ignoring the current calculation step, the soil entry blade (13) is required to quickly leave the current depth with the highest priority.

7. The method for controlling the film-laying depth of the intelligent forest belt root-blocking vertical film-laying machine according to claim 5, characterized in that, The specific process of intelligent adjustment based on the depth adjustment parameter output according to the resistance level is as follows: The depth adjustment parameter is converted into a duty cycle PWM signal and sent to the electro-hydraulic proportional directional valve in the hydraulic system. By adjusting the valve core opening of the electro-hydraulic proportional directional valve, the flow rate and direction of the hydraulic oil entering the hydraulic system are precisely controlled. The collaborative model pre-defines the mechanical linkage kinematic mapping relationship between the extension / retraction amount of the hydraulic system and the actual vertical displacement of the shovel blade (13). The hydraulic system performs the extension / retraction action according to the mapping relationship, causing the shovel blade (13) to rise upwards, thus increasing the current actual working depth H. t =H0-ΔH; After the shovel blade (13) is raised, F is continuously monitored. t When the film laying machine moves forward, and it is detected that Ft has fallen back to the normal operating range and maintained for the set time window, the collaborative model controls the electro-hydraulic proportional directional valve to reverse the flow, and controls the hydraulic system to slowly extend with the preset damping slope, driving the soil entry blade (13) to smoothly enter the soil until it returns to the target film laying depth H0.

8. The method for controlling the film-laying depth of the intelligent forest belt root-blocking vertical film-laying machine according to claim 5, characterized in that, The specific process of dynamic flatness compensation based on contour scanning includes the following steps: S41. Line laser scanning is performed on the surface of the newly released vertical root barrier membrane using a non-contact laser profile sensor to obtain initial two-dimensional point cloud data. Gaussian filtering algorithm is used on the two-dimensional point cloud data to remove outlier noise points caused by dust and flying soil, so as to retain effective profile lines that represent the true physical morphology of the membrane surface. S42. Perform linear fitting on the effective contour line and convert the slope of the fitted line into the current vertical deflection angle, which is used to characterize the degree of inclination of the root barrier membrane as a whole relative to the ideal vertical plane. S43. Calculate the range of normal distances from each discrete point on the effective contour line to the fitted straight line, and use it as the current wrinkle amplitude. The current fold amplitude Used to characterize the degree of local looseness and wavy distortion on the membrane surface; S44. Current vertical deflection angle detected. Greater than the vertical deflection threshold When the terrain undulations cause the equipment suspension (17) to become unbalanced, resulting in the trench opened by the soil entry blade (13) and the root barrier membrane falling into it tilting, the roll attitude differential compensation model is immediately activated to calculate the current deviation angle error. : ; Based on the current deviation angle error, a differential compensation signal is sent. Let the target displacement change of the left-side film-laying depth adjustment wheel (7) be... The target displacement change of the right-side film-laying depth adjustment wheel (7) is: Then the controller (3) performs the following closed-loop adjustment: ； In the formula, This is the attitude adjustment ratio coefficient. As the differential coefficient, the operator adjusts the ground wheel (7) by adjusting the film laying depth, and dynamically adjusts the horizontal state of the equipment suspension (17) so that the soil entry blade (13) and the guide roller (9) are restored to the horizontal state until the current vertical deviation angle monitored in real time falls back to within the safe threshold. S45. When the controller (3) detects the current fold amplitude... Greater than the wrinkle amplitude threshold At that time, it is determined that although the overall posture of the current root barrier membrane is vertical, the passive membrane release pre-tightening force is insufficient due to the fluctuation of the travel speed during the release process, and the membrane surface is in a slightly relaxed state. The non-contact tension enhancement compensation logic is activated: the controller (3) calculates the wrinkle overshoot. The wrinkle overshoot is mapped to the target braking torque increment. ; An enhanced pulse width modulation signal is sent to the electromagnetic damper installed at the end of the film roller (5), and the duty cycle of the enhanced pulse width modulation signal is calculated according to the following formula: ； in, To maintain the baseline duty cycle for basic unwinding, This is the damping adjustment gain coefficient; When the current fold amplitude Once the tension returns to the normal range, the duty cycle is automatically adjusted back to the baseline state to avoid the risk of membrane breakage caused by excessive tension.

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