A plowing depth detection device matched with an intelligent tractor

Abstract

This invention discloses a rotary tiller tillage depth detection device for use with intelligent tractors, relating to the field of tillage depth detection technology. It includes a frame, a support tube fixed in the forward direction of the frame, a measuring wheel mounted at the bottom of the support tube via a swing arm bracket, a laser sensor and an angle sensor both fixed to one side of the support tube in an vertically aligned manner, a cleaning roller positioned at the bottom of the laser sensor, and a support frame rotatably connected to the outside of the cleaning roller via a positioning shaft. A support rod is fixed to one side of the support frame. This invention, through the cleaning roller, allows cleaning of the laser sensor's emission window to be completed during non-operational intervals when the tractor moves to the edge of the field and turns around, without requiring additional time for normal field operations. Utilizing the inherent gaps during machine turning around, it avoids the frequent stops required by traditional manual cleaning, significantly improving the continuity and efficiency of rotary tillage operations, and adapting to the progress requirements of large-scale farmland operations.

Description

Technical Field

[0001] This invention relates to the field of tillage depth detection technology, and in particular to a tillage depth detection device for rotary tillers that is compatible with intelligent tractors. Background Technology

[0002] Intelligent tractors are intelligent agricultural power equipment equipped with an automatic driving system, real-time acquisition and closed-loop control module for operating parameters. They can autonomously complete field path planning, automatic adjustment of the posture of the implements and operating parameters. They are the core power carrier for large-scale and standardized rice field tillage operations. The rotary tiller is rigidly connected to the intelligent tractor through a suspension mechanism and completes the rotary tillage operation in the field as the tractor moves. The intelligent tractor can adjust the working depth of the rotary tiller in real time by adjusting the height of the suspension mechanism. The accuracy of the tillage depth detection directly determines the quality of the rotary tillage operation and the effect of intelligent control.

[0003] The existing ground wheel-assisted indirect tillage depth measurement mechanism is a tillage depth detection mechanism consisting of a measuring wheel, a swing arm, and a measuring module. The two ends of the swing arm are connected to the measuring module and the measuring wheel, respectively. The tillage depth is obtained by measuring the vertical displacement difference of the tillage implement using a laser sensor and the ground wheel. An angle sensor is used to correct the measurement error in vertical distance caused by the tilt during the plowing process. The tillage depth value is calculated based on the posture of the implement during operation and the angle of the swing arm. It can adapt to the tillage depth detection requirements in different terrain environments.

[0004] However, during rotary tillage operations in the field, the mud splashes generated by the machinery can easily adhere to the emission window of the laser sensor, causing the laser beam to be blocked, the echo signal to be weakened or distorted. This directly leads to deviations in the tillage depth detection data, making it impossible to provide accurate control basis for intelligent tractors. Problems such as uneven tillage depth and substandard operation quality are likely to occur. At the same time, frequent shutdowns for cleaning and maintenance significantly reduce operation efficiency, which restricts the intelligent and large-scale development of rotary tillage operations in paddy fields. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] In view of the problems existing in the above and / or existing rotary tiller tillage depth detection devices that are paired with intelligent tractors, the present invention is proposed.

[0007] Therefore, the problem that this invention aims to solve is that the emission window of the laser sensor is blocked by soil, which causes deviations in the tillage depth detection data.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a rotary tiller tillage depth detection device for use with an intelligent tractor, comprising: a frame including a support tube fixed in the forward direction of the frame; a measuring wheel mounted at the bottom of the support tube via a swing arm bracket; a laser sensor and an angle sensor both fixed on one side of the support tube, arranged vertically; a cleaning roller mounted on the bottom side of the laser sensor; a support frame rotatably connected to the outside of the cleaning roller via a positioning shaft; a support rod fixed on one side of the support frame, with a support sleeve fixed to the support tube fitted on its outer side; a rotating unit mounted inside the support sleeve; and a triggering unit mounted at the bottom of the frame and connected to the rotating unit. The triggering unit and the rotating unit cause the support rod to move the cleaning roller to the bottom of the laser sensor and clean the laser sensor's emission window.

[0009] As a preferred embodiment of the rotary tiller tillage depth detection device for intelligent tractors described in this invention, the rotating unit includes a reciprocating roller rotatably connected to a support sleeve, a fixed shaft meshing with the reciprocating roller is fixed inside the support rod, a first pulley is fixed to the outside of the reciprocating roller, a rotating column is provided on one side of the support tube, and a second pulley connected to the first pulley via belt drive is fixed to the outside of the rotating column.

[0010] As a preferred embodiment of the rotary tiller tillage depth detection device for intelligent tractors described in this invention, the triggering unit includes a positioning sleeve fixed to the bottom of the frame, a movable rod inserted inside the positioning sleeve, a gear connected to the outside of the rotating column via a ratchet and pawl, and a toothed plate meshing with the gear fixed on one side of the movable rod.

[0011] As a preferred embodiment of the rotary tiller tillage depth detection device for intelligent tractors described in this invention, the bottom end of the movable rod is rotatably connected to a rotating wheel via a connecting frame, and the rotating wheel is in contact with the ground.

[0012] As a preferred embodiment of the rotary tiller tillage depth detection device for intelligent tractors described in this invention, a roller is fixed to the outside of the positioning shaft, a pull rope is wound around the outside of the roller, the other end of the pull rope is fixed to the support sleeve through a connecting rod, a torsion spring is fixed to one side of the roller, and the other end of the torsion spring is fixed to the support frame.

[0013] As a preferred embodiment of the rotary tiller tillage depth detection device for use with intelligent tractors described in this invention, the bottom of the support frame is fixed with a scraper that contacts the cleaning roller for cleaning the surface of the cleaning roller.

[0014] As a preferred embodiment of the rotary tiller tillage depth detection device for intelligent tractors described in this invention, the top and bottom of one end of the support sleeve are fixed with protective covers, and a rotatable and openable baffle is provided on one side of the bottom protective cover.

[0015] As a preferred embodiment of the rotary tiller tillage depth detection device for intelligent tractors described in this invention, wherein: a force-bearing rod is fixed to the inner side of the shield, a push plate for pushing the force-bearing rod is fixed to one side of the support frame, and a stop block for restricting the rotation of the shield is fixed to the bottom of the bottom protective cover.

[0016] As a preferred embodiment of the rotary tiller tillage depth detection device for intelligent tractors described in this invention, a protective shell covering the outside of the second pulley is fixed on one side of the support sleeve.

[0017] As a preferred embodiment of the rotary tiller tillage depth detection device for intelligent tractors described in this invention, the bottom of the frame and one side of the support tube are both fixed with support blocks that are rotatably connected to the outside of the rotating column.

[0018] The beneficial effects of this invention are as follows: by setting up the cleaning roller, the cleaning operation of the laser sensor emission window can be completed during the non-operational interval when the tractor moves to the end of the field to turn around and change lanes. This does not require additional time spent in normal field operations. The cleaning is completed by utilizing the inherent gap when the machine turns around and changing lanes, avoiding the defects of frequent machine stops required by traditional manual cleaning. This greatly improves the continuity and efficiency of rotary tillage operations and adapts to the progress requirements of large-scale farmland operations.

[0019] Furthermore, it promptly removes splashed mud and field dust adhering to the surface of the transmission window, effectively avoiding deviations in tillage depth detection caused by light path obstruction and weakened or distorted echo signals. This ensures the accuracy and stability of tillage depth detection data, provides reliable data support for the closed-loop control of tillage depth of intelligent tractors, and eliminates problems such as uneven rotary tillage depth and substandard operation quality.

[0020] It can reduce labor costs and operational intensity for manual cleaning, reduce sensor window scratches and damage caused by manual wiping, extend sensor lifespan, and adapt to the development needs of intelligent and large-scale rotary tillage operations in paddy fields. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is an overall structural diagram of a rotary tiller depth detection device that is used in conjunction with an intelligent tractor.

[0023] Figure 2 Diagram showing the trigger unit and frame connection structure of the rotary tiller's tillage depth detection device, which is compatible with intelligent tractors.

[0024] Figure 3 A side view of the measuring wheel structure of the rotary tiller depth detection device that is used in conjunction with an intelligent tractor.

[0025] Figure 4 For rotary tiller tillage depth detection device to be used with intelligent tractors Figure 3 Enlarged view of the structure at point A in the middle.

[0026] Figure 5 This is a structural diagram of the support sleeve and protective sleeve for a rotary tiller's tillage depth detection device that is compatible with intelligent tractors.

[0027] Figure 6 A side view of the cleaning roller structure of the rotary tiller depth detection device that is used in conjunction with an intelligent tractor.

[0028] Figure 7 This diagram shows the cleaning roller and support frame structure of a rotary tiller depth detection device that is compatible with intelligent tractors.

[0029] Figure 8 A cross-sectional view of the support sleeve for a rotary tiller depth detection device that is compatible with an intelligent tractor.

[0030] In the diagram: 1. Frame; 3. Measuring wheel; 5. Laser sensor; 6. Angle sensor; 7. Cleaning roller; 8. Support frame; 10. Support rod; 11. Support sleeve; 12. Rotating unit; 13. Triggering unit; 2. Support tube; 4. Swing arm bracket; 9. Positioning shaft; 121. Reciprocating roller; 122. Fixed shaft; 123. First pulley; 124. Rotating column; 125. Second pulley; 131. Positioning sleeve; 132. Movable rod; 133. Gear; 134. Toothed plate; 135. Rotating wheel; 14. Winding wheel; 15. Pull rope; 16. Torsion spring; 17. Scraper; 18. Protective cover; 19. Baffle plate; 20. Force rod; 21. Push plate; 22. Stop block; 23. Protective shell; 24. Support block. Detailed Implementation

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0032] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0034] Example 1, referring to Figure 1 , Figure 2 and Figures 6-8 This is the first embodiment of the present invention. This embodiment provides a rotary tiller tillage depth detection device that is compatible with an intelligent tractor. The rotary tiller tillage depth detection device that is compatible with an intelligent tractor includes a frame 1, a measuring wheel 3, a laser sensor 5 and an angle sensor 6, which can detect the tillage depth.

[0035] The laser sensor 5's emission window can be cleaned during non-operational breaks when the tractor moves to the edge of the field to turn around and change lanes, using the cleaning roller 7, support frame 8, support rod 10, support sleeve 11, rotating unit 12, and triggering unit 13.

[0036] The frame 1 includes a support tube 2 fixed in the forward direction of the frame 1. A rotary tillage mechanism is provided on the frame 1 in the opposite direction to the support tube 2. The frame 1 can be rigidly connected to the intelligent tractor through a top suspension mechanism. The intelligent tractor is an intelligent agricultural power equipment equipped with an automatic driving system, a real-time acquisition and closed-loop control module for operating parameters, and can autonomously complete field path planning, automatic adjustment of the posture of the working implements and operating parameters. During the movement of the intelligent tractor, the frame 1 can move with the intelligent tractor to complete the field rotary tillage operation. The intelligent tractor can adjust the working depth of the rotary tiller in real time by adjusting the lifting of the suspension mechanism. This is the prior art, and this solution will not be described in detail. Moreover, those skilled in the art can clearly understand the working principle.

[0037] The measuring wheel 3 is mounted at the bottom of the support tube 2 via the swing arm bracket 4, and the measuring wheel 3 is always in contact with the untilled ground.

[0038] Both the laser sensor 5 and the angle sensor 6 are fixed on one side of the support tube 2, and they are arranged vertically. The measuring wheel 3, as a ground-following component, always keeps in contact with the uncultivated original ground surface, providing a stable physical reference for tillage depth measurement. During operation, the laser sensor 5, in conjunction with the measuring wheel 3, collects the displacement difference of the tillage implement relative to the original ground surface in the vertical direction in real time. This difference is the basic measurement value of tillage depth. During plowing operations, the machine body is prone to tilting. The angle sensor 6 collects the tilt angle of the machine body in real time. The angle sensor 6 is used to correct the measurement error in vertical distance caused by tilting during plowing. The tillage depth value is calculated based on the posture of the implement during operation and the angle of the swing arm. It can adapt to the tillage depth detection requirements in different terrain environments. This is existing technology, and this solution will not be described in detail. Moreover, those skilled in the art can clearly understand the working principle.

[0039] The cleaning roller 7 is located on one side of the bottom of the laser sensor 5. When the cleaning roller 7 moves to the bottom of the laser sensor 5, it can clean the emission window at the bottom of the laser sensor 5. The outer side of the cleaning roller 7 is wrapped with a flexible cleaning surface to prevent the emission window from being scratched during cleaning.

[0040] The support frame 8 is rotatably connected to the outside of the cleaning roller 7 via the positioning shaft 9. The positioning shaft 9 is fixed to the cleaning roller 7. The support frame 8 is U-shaped. The two work together to support and position the cleaning roller 7, and drive the cleaning roller 7 to move and rotate.

[0041] The support rod 10 is fixed to one side of the support frame 8, and a support sleeve 11 fixed to the support tube 2 is sleeved on the outside. The two work together to support and position the support frame 8.

[0042] The rotating unit 12 is located inside the support sleeve 11, and the triggering unit 13 is located at the bottom of the frame 1 and connected to the rotating unit 12. The triggering unit 13 and the rotating unit 12 cause the support rod 10 to drive the cleaning roller 7 to the bottom of the laser sensor 5 and clean the emission window of the laser sensor 5.

[0043] Example 2, refer to Figures 2-5 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0044] Specifically, the rotating unit 12 includes a reciprocating roller 121 rotatably connected to the support sleeve 11. A fixed shaft 122 that meshes with the reciprocating roller 121 is fixed inside the support rod 10. A first pulley 123 is fixed to the outside of the reciprocating roller 121. A rotating column 124 is provided on one side of the support tube 2. A second pulley 125 that is connected to the first pulley 123 via belt drive is fixed to the outside of the rotating column 124. When the second pulley 125 rotates, it will drive the first pulley 123 and the reciprocating roller 121 to rotate via the belt. At this time, the fixed shaft 122 will drive the support rod 10 to move, and the support rod 10 will drive the support frame 8 and the cleaning roller 7 to move to the bottom of the laser sensor 5. When the reciprocating roller 121 stops rotating, the cleaning roller 7 will complete a reciprocating stroke and move to the initial position without obstructing the laser sensor 5.

[0045] The trigger unit 13 includes a positioning sleeve 131 fixed to the bottom of the frame 1. A movable rod 132 is inserted inside the positioning sleeve 131. A gear 133 is connected to the outside of the rotating column 124 via a ratchet and pawl. A toothed plate 134 that meshes with the gear 133 is fixed on one side of the movable rod 132. A through groove is provided on the positioning sleeve 131. The top of the toothed plate 134 is L-shaped, passing through the through groove and fixed to the movable rod 132. When the intelligent tractor moves to the edge of the field and controls the frame 1 to lift the tillage implement upward, the frame 1 will lift the positioning sleeve 131 upward. The movable rod 132 will move downward by its own weight, and drive the toothed plate 134 downward, so that the toothed plate 134 drives the gear 133 to rotate. At this time, the gear 133 will drive the rotating column 124 to rotate through the ratchet and pawl, which in turn drives the second pulley 125 to rotate.

[0046] When the frame 1 rotates downwards and the tiller enters the ground, the movable rod 132 will be pushed upwards by the reverse force of the ground, and drive the toothed plate 134 to return to its original position. At this time, when the gear 133 rotates, it will not drive the rotating column 124 to rotate.

[0047] The bottom end of the movable rod 132 is rotatably connected to a rotating wheel 135 via a connecting frame. The rotating wheel 135 has a certain weight and contacts the ground. The rotating wheel 135 reduces the friction between the movable rod 132 and the ground, preventing the bottom end of the movable rod 132 from inserting into the ground during movement. At the same time, it increases the weight of the movable rod 132, so that when the frame 1 moves upward, the movable rod 132 can move downward stably.

[0048] A roller 14 is fixed to the outside of the positioning shaft 9. A pull rope 15 is wound around the outside of the roller 14. The other end of the pull rope 15 is fixed to the support sleeve 11 through a connecting rod. A torsion spring 16 is fixed to one side of the roller 14. The other end of the torsion spring 16 is fixed to the support frame 8. When the cleaning roller 7 moves toward the bottom of the laser sensor 5, the roller 14 will unwind the pull rope 15 and drive the positioning shaft 9 and the cleaning roller 7 to rotate. At the same time, a torsional force is applied to the torsion spring 16. When the cleaning roller 7 moves to the bottom of the laser sensor 5 in a rotating posture, the cleaning effect on the laser sensor 5 can be improved. When the cleaning roller 7 moves in the opposite direction, the torsion spring 16 will drive the roller 14 to rotate in the opposite direction. At this time, the roller 14 will wind up the pull rope 15.

[0049] The bottom of the support frame 8 is fixed with a scraper 17 that contacts the cleaning roller 7. When the cleaning roller 7 is rotating, the surface of the cleaning roller 7 can be cleaned by the scraper 17.

[0050] Example 3, referring to Figures 5-6 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0051] Specifically, protective covers 18 are fixed to the top and bottom of one end of the support sleeve 11. The two protective covers 18 are located at the top and bottom of the cleaning roller 7 and enclose the cleaning roller 7. A rotatable baffle 19 is rotatably connected to one side of the bottom protective cover 18 via a pivot. When the cleaning roller 7 is in the initial position, the baffle 19 will close and form a ring-shaped protective sleeve with the cooperation of the two protective covers 18, which can prevent the cleaning roller 7 from being contaminated by dirt and thus reduce the cleaning effect.

[0052] A force-bearing rod 20 is fixed inside the baffle plate 19. A push plate 21 that pushes the force-bearing rod 20 is fixed on one side of the support frame 8. A stop block 22 that restricts the rotation of the baffle plate 19 is fixed at the bottom of the bottom protective cover 18. When the cleaning roller 7 moves, it will push the baffle plate 19 to rotate to one side and open, so that the cleaning roller 7 can move to the bottom of the laser sensor 5. When the cleaning roller 7 moves into the protective cover 18, the push plate 21 will contact the force-bearing rod 20 and push the force-bearing rod 20 to rotate. The force-bearing rod 20 drives the baffle plate 19 to rotate, so that the baffle plate 19 can be closed after the cleaning roller 7 is reset. The stop block 22 prevents the baffle plate 19 from rotating too much after it is opened, so that the push plate 21 cannot contact the force-bearing rod 20.

[0053] A protective shell 23 is fixed on one side of the support sleeve 11, covering the outside of the second pulley 125. The protective shell 23 is used to shield and protect the second pulley 125.

[0054] The bottom of the frame 1 and one side of the support tube 2 are both fixed with support blocks 24 that are rotatably connected to the outside of the rotating column 124. The two support blocks 24 are used to support and position the rotating column 124.

[0055] During operation, the frame 1 moves with the intelligent tractor to complete rotary tillage. The intelligent tractor can adjust the working depth of the rotary tiller in real time by controlling the lifting of the suspension mechanism. During operation, the laser sensor 5, in conjunction with the measuring wheel 3, collects the displacement difference of the tillage implement relative to the original ground surface in the vertical direction in real time. This difference is the basic measurement value of the tillage depth. The machine body is prone to tilting during plowing. The angle sensor 6 collects the tilt angle of the machine body in real time. The angle sensor 6 is used to correct the measurement error in vertical distance caused by tilting during plowing. The tillage depth value is calculated based on the posture of the implement and the angle of the swing arm during operation, which can adapt to the tillage depth detection requirements in different terrain environments.

[0056] When the intelligent tractor moves to the edge of the field and controls the frame 1 to lift the tillage implements upward, the frame 1 will lift the positioning sleeve 131 upward, while the movable rod 132 will move downward by its own weight, and drive the toothed plate 134 downward, causing the toothed plate 134 to drive the gear 133 to rotate. At this time, the gear 133 will drive the rotating column 124 to rotate through the engagement of the ratchet and pawl, which in turn will drive the second pulley 125 to rotate. When the second pulley 125 rotates, it will drive the first pulley 123 and the reciprocating roller 121 to rotate through the belt. At this time, through the engagement of the fixed shaft 122, the support rod 10 will move, and through the support rod 10, the support frame 8 and the cleaning roller 7 will move towards the bottom of the laser sensor 5.

[0057] As the cleaning roller 7 moves toward the bottom of the laser sensor 5, the reel 14 unwinds the pull rope 15, causing the positioning shaft 9 and the cleaning roller 7 to rotate. When the cleaning roller 7 moves to the bottom of the laser sensor 5 in a rotating posture, the emission window of the laser sensor 5 can be cleaned during the non-operational interval when the tractor moves to the edge of the field to change lanes. This eliminates the need to occupy normal field operation time and utilizes the inherent gap when the implement changes lanes to complete the cleaning, avoiding the defects of frequent machine stops required by traditional manual cleaning. This significantly improves the continuity and efficiency of rotary tillage operations, adapts to the progress requirements of large-scale farmland operations, and promptly removes splashed mud and field dust adhering to the surface of the emission window. It effectively avoids deviations in tillage depth detection caused by light path obstruction and weakened echo signal distortion, ensuring the accuracy and stability of tillage depth detection data.

[0058] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A rotary tillage depth detection device for use with an intelligent tractor, characterized in that: include, The frame (1) includes a support tube (2) fixed in the forward direction of the frame (1). The measuring wheel (3) is mounted at the bottom of the support tube (2) via the swing arm bracket (4). Both the laser sensor (5) and the angle sensor (6) are fixed on one side of the support tube (2), and they are arranged vertically. The cleaning roller (7) is located on one side of the bottom of the laser sensor (5). The support frame (8) is rotatably connected to the outside of the cleaning roller (7) via the positioning shaft (9). The support rod (10) is fixed on one side of the support frame (8), and a support sleeve (11) fixed to the support tube (2) is fitted on the outside. The rotating unit (12) is located inside the support sleeve (11). The trigger unit (13) is located at the bottom of the frame (1) and connected to the rotating unit (12). The trigger unit (13) and the rotating unit (12) cause the support rod (10) to drive the cleaning roller (7) to move to the bottom of the laser sensor (5) and clean the emission window of the laser sensor (5).

2. The rotary tillage depth detection device for use with an intelligent tractor as described in claim 1, characterized in that: The rotating unit (12) includes a reciprocating roller (121) rotatably connected inside the support sleeve (11), a fixed shaft (122) that meshes with the reciprocating roller (121) is fixed inside the support rod (10), a first pulley (123) is fixed on the outside of the reciprocating roller (121), a rotating column (124) is provided on one side of the support tube (2), and a second pulley (125) that is connected to the first pulley (123) via belt drive is fixed on the outside of the rotating column (124).

3. The rotary tillage depth detection device for use with an intelligent tractor as described in claim 2, characterized in that: The triggering unit (13) includes a positioning sleeve (131) fixed at the bottom of the frame (1), a movable rod (132) inserted inside the positioning sleeve (131), a gear (133) connected to the outside of the rotating column (124) via a ratchet and pawl, and a toothed plate (134) that meshes with the gear (133) fixed on one side of the movable rod (132).

4. The rotary tillage depth detection device for use with an intelligent tractor as described in claim 3, characterized in that: The bottom end of the movable rod (132) is rotatably connected to a rotating wheel (135) via a connecting frame, and the rotating wheel (135) is in contact with the ground.

5. The rotary tillage depth detection device for intelligent tractors as described in claim 3 or 4, characterized in that: A reel (14) is fixed to the outside of the positioning shaft (9). A pull rope (15) is wound around the outside of the reel (14). The other end of the pull rope (15) is fixed to the support sleeve (11) through a connecting rod. A torsion spring (16) is fixed to one side of the reel (14). The other end of the torsion spring (16) is fixed to the support frame (8).

6. The rotary tillage depth detection device for use with an intelligent tractor as described in claim 5, characterized in that: The bottom of the support frame (8) is fixed with a scraper (17) that contacts the cleaning roller (7) for cleaning the surface of the cleaning roller (7).

7. The rotary tillage depth detection device for use with an intelligent tractor as described in claim 6, characterized in that: The top and bottom of one end of the support sleeve (11) are fixed with protective covers (18), and a rotatable and openable baffle (19) is provided on one side of the bottom protective cover (18).

8. The rotary tillage depth detection device for use with an intelligent tractor as described in claim 7, characterized in that: A force-bearing rod (20) is fixed inside the shield (19), a push plate (21) that pushes the force-bearing rod (20) is fixed on one side of the support frame (8), and a stop block (22) that restricts the rotation of the shield (19) is fixed at the bottom of the bottom protective cover (18).

9. The rotary tillage depth detection device for intelligent tractors as described in claim 7 or 8, characterized in that: The support sleeve (11) is fixed with a protective shell (23) covering the outside of the second pulley (125) on one side.

10. The rotary tillage depth detection device for use with an intelligent tractor as described in claim 9, characterized in that: The bottom of the frame (1) and one side of the support tube (2) are both fixed with support blocks (24) that are rotatably connected to the outside of the rotating column (124).

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