Automatic digging depth control device and harvester thereof

Abstract

The utility model provides an automatic digging depth control device and a harvester thereof, the automatic digging depth control device is used for adjusting the buried depth of a bionic digging shovel, the automatic digging depth control device comprises a digging depth detection mechanism, a microprocessor, an execution mechanism and a human-computer interaction interface, the digging depth detection mechanism and the bionic digging shovel are arranged on the same side, and the digging depth detection mechanism is located above the bionic digging shovel in the vertical direction; the digging depth detection mechanism is electrically connected with the microprocessor, and the digging depth of the bionic digging shovel is adjusted by detecting the vertical distance between the digging depth detection mechanism and the ridge surface in real time and feeding back the vertical distance to the microprocessor; the execution mechanism is electrically connected with the microprocessor so as to generate the buried depth of the bionic digging shovel; the man-machine interaction interface is electrically connected with the microprocessor and used for displaying the real-time excavation depth and manually setting the target excavation depth. The appropriate digging depth is selected according to the variety of sweet potatoes and the land condition, and the microprocessor controls the electromagnetic reversing valve to enable the hydraulic rod to stretch out and draw back, so that the digging depth of the bionic digging shovel is adjusted.

Description

Technical Field

[0001] This utility model relates to the field of agricultural machinery technology, specifically to an automatic control device for digging depth applied to a sweet potato harvester. Background Technology

[0002] Currently, sweet potato harvesters are mainly divided into two types: segmented harvesting and combined harvesting.

[0003] In southern regions, sweet potato harvesting is mostly carried out in stages on small plots and hilly slopes, with harvesting relying primarily on manual experience to control the digging depth. Since the main sweet potato growing areas in southern my country are located in small, hilly plots, mechanized sweet potato harvesting faces significant challenges.

[0004] Current sweet potato harvesters do not have an automatic control system for digging depth. When operating in uneven areas such as mountains or hills, if the digging depth is too shallow, it will cause serious damage to the sweet potatoes; if the digging depth is too deep, the traction force will be too great, which will inevitably increase fuel consumption and wear.

[0005] It is evident that designing a sweet potato harvester capable of automatically controlling the digging depth is of paramount importance. Utility Model Content

[0006] In a first aspect, to solve the above-mentioned technical problems, this utility model provides an automatic digging depth control device for adjusting the soil penetration depth of a bionic digging shovel. The device includes a digging depth detection mechanism, a microprocessor, an actuator, and a human-machine interface, wherein:

[0007] The digging depth detection mechanism is located on the same side as the bionic digging shovel and above the vertical direction of the bionic digging shovel. The digging depth detection mechanism is electrically connected to the microprocessor. The digging depth detection mechanism detects the vertical distance between itself and the ridge surface in real time and feeds it back to the microprocessor to generate the digging depth of the bionic digging shovel.

[0008] The actuator is electrically connected to the microprocessor to adjust the soil penetration depth of the bionic digging shovel;

[0009] The human-machine interface is electrically connected to the microprocessor and is used to display the real-time digging depth and manually set the target digging depth.

[0010] Furthermore, the digging depth detection mechanism includes a detection plate equipped with an infrared sensor. The vertical distance between the detection plate and the ridge surface is detected in real time by the infrared sensor to indirectly obtain the digging depth of the bionic digging shovel, which is then displayed on the human-machine interface.

[0011] Furthermore, the actuator includes a hydraulic cylinder assembly and a hydraulic wheel. The hydraulic cylinder assembly is connected to the hydraulic wheel via a hydraulic rod. The extension and retraction of the hydraulic rod drives the hydraulic wheel to move up and down to adjust the soil penetration depth of the bionic digging shovel.

[0012] Furthermore, the input terminal of the microprocessor is communicatively connected to the infrared sensor, the output terminal of the microprocessor is communicatively connected to the electromagnetic proportional directional valve, and the electromagnetic proportional directional valve is connected to the hydraulic cylinder assembly.

[0013] Furthermore, the microprocessor is a SIMATIC S7-1200.

[0014] In a second aspect, this utility model provides a harvester, including a harvester body, wherein the harvester body integrates the aforementioned automatic digging depth control device.

[0015] Furthermore, the harvester body includes a three-point suspension mechanism, and the automatic digging depth control device is linked to the three-point suspension mechanism:

[0016] When the three-point suspension mechanism is in a floating state, the automatic digging depth control device automatically activates the closed-loop control link;

[0017] When the three-point suspension mechanism is under load, the automatic digging depth control device stops working and locks the current hydraulic rod position.

[0018] Furthermore, the harvester body also includes ground wheels and a vibrating chain for loosening the soil.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] With the automatic digging depth control device provided by this utility model, the driver can select the appropriate digging depth according to the variety of sweet potato and the soil conditions, and manually input the target digging depth on the human-machine interface; the microprocessor compares the detection depth and the target depth, and controls the electromagnetic reversing valve to make the hydraulic rod extend and retract, thereby adjusting the digging depth of the bionic digging shovel. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure disclosed in the embodiment of this utility model;

[0022] Figure 2 This is a schematic diagram of the closed-loop control link disclosed in an embodiment of this utility model.

[0023] In the picture:

[0024] 000, Ridge surface;

[0025] 100. Harvester body; 110. Bionic digging shovel; 120. Detection plate; 121. Infrared sensor; 130. Hydraulic cylinder assembly; 131. Hydraulic wheel; 140. Vibration chain; 150. Ground wheel; 160. Three-point suspension mechanism. Detailed Implementation

[0026] To make the technical solutions and effects of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0027] The present invention aims to provide an automatic control device for digging depth applied to a sweet potato harvester, used to adjust the soil penetration depth of the bionic digging shovel 110.

[0028] Please see Figure 1-2 The automatic control device for digging depth mainly includes a digging depth detection mechanism, a microprocessor, an actuator, and a human-machine interface.

[0029] The digging depth detection mechanism is located on the same side as the bionic digging shovel 110 and above it in the vertical direction. The digging depth detection mechanism is electrically connected to the microprocessor. By detecting the vertical distance between the digging depth detection mechanism and the ridge surface 000 in real time and feeding it back to the microprocessor, the digging depth of the bionic digging shovel 110 is generated.

[0030] The digging depth detection mechanism includes a detection plate 120, which is equipped with an infrared sensor 121. The vertical distance between the detection plate 120 and the ridge surface 000 is detected in real time by the infrared sensor 121 to indirectly obtain the digging depth of the bionic digging shovel 110 and display it on the human-machine interface.

[0031] The actuator is electrically connected to the microprocessor and is used to adjust the soil penetration depth of the bionic excavator 110.

[0032] The actuator includes a hydraulic cylinder assembly 130 and a hydraulic wheel 131. The hydraulic cylinder assembly 130 is connected to the hydraulic wheel 131 via a hydraulic rod. The extension and retraction of the hydraulic rod drives the hydraulic wheel 131 to move up and down to adjust the soil penetration depth of the bionic excavator shovel 110.

[0033] The input terminal of the microprocessor is connected to the infrared sensor 121, and the output terminal of the microprocessor is connected to the electromagnetic proportional directional valve. The electromagnetic proportional directional valve is connected to the hydraulic cylinder assembly 130.

[0034] Specifically, the electromagnetic proportional directional valve can switch the oil circuit by changing the position of the valve core, thereby controlling the extension and retraction direction of the hydraulic cylinder assembly 130. When the electromagnetic proportional directional valve is in different positions, it can guide pressurized oil to different chambers of the hydraulic cylinder assembly 130, enabling the hydraulic cylinder assembly 130 to extend or retract, and driving the hydraulic rod to extend and retract. At the same time, the electromagnetic proportional directional valve can regulate the flow rate of oil entering or leaving the hydraulic cylinder assembly 130, thereby achieving precise control of the movement speed of the hydraulic cylinder assembly 130, that is, achieving precise control of the soil penetration depth of the bionic excavator shovel 110.

[0035] The microprocessor receives the real-time depth signal from the infrared sensor 121, performs fuzzy PID algorithm calculations with the preset target digging depth, and outputs a control signal to the electromagnetic proportional directional valve to drive the hydraulic rod to extend and retract to adjust the digging depth.

[0036] The microprocessor has a built-in fuzzy PID control algorithm, which can dynamically adjust the proportional, integral, and derivative coefficients based on the real-time depth error and the rate of change of the error. This fuzzy PID control algorithm is widely used and is a common technique, so it will not be elaborated on here.

[0037] Preferably, the microprocessor is a SIMATIC S7-1200.

[0038] The human-machine interface is electrically connected to the microprocessor and located in the cab. It is used to display the real-time digging depth and manually set the target digging depth.

[0039] The human-computer interface allows users to manually input the target digging depth, making the device suitable for harvesting various varieties of sweet potatoes.

[0040] This utility model also protects a harvester, including a harvester body 100, which integrates the above-mentioned automatic digging depth control device.

[0041] The harvester body 100 also includes a ground wheel 150 and a vibrating chain 140 for loosening the soil.

[0042] The harvester body 100 also includes a three-point suspension mechanism 160, and the automatic digging depth control device is linked to the three-point suspension mechanism 160.

[0043] When the three-point suspension mechanism 160 is in a floating state, the automatic digging depth control device automatically activates the closed-loop control link.

[0044] When the three-point suspension mechanism 160 is under load, the automatic digging depth control device stops working and locks the current hydraulic rod position.

[0045] Closed-loop control link: The feedback of the vertical distance between the detection plate 120 and the ridge surface 000 detected by the infrared sensor 121 and the adjustment action of the hydraulic system form a closed-loop control, so that the actual digging depth is dynamically maintained within the target digging depth ±2cm.

[0046] During operation, the tractor lifts the sweet potato harvester, which is equipped with an automatic digging depth control device, through the three-point suspension mechanism 160 (i.e., the hydraulic wheel 131 is off the ground and the ground wheel 150 rolls on the ground), moves it to the sweet potato planting area, and then puts it down. During this process, the three-point suspension mechanism 160 is under load.

[0047] Based on the variety of sweet potatoes planted and the local soil environment, the driver sets the target digging depth on the human-machine interface according to experience. At this time, the three-point suspension mechanism 160 is in a floating state, that is, the hydraulic system is unloaded.

[0048] Then, start the tractor and vibrating chain sweet potato harvester. When the bionic digging shovel 110 reaches near the target digging depth, the automatic digging depth control device will automatically activate to automatically control the digging depth and keep it within a reasonable error range near the target digging depth.

[0049] After the harvester finishes its work, the three-point suspension mechanism 160 is once again under load, lifting the sweet potato harvester to leave the planting area.

[0050] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic control device for adjusting the depth of penetration of a bionic excavating shovel (110), characterized in that, The device includes a digging depth detection mechanism, a microprocessor, an actuator, and a human-machine interface, wherein: The digging depth detection mechanism is set on the same side as the bionic digging shovel (110) and located above the bionic digging shovel (110) in the vertical direction. The digging depth detection mechanism is electrically connected to the microprocessor. The digging depth detection mechanism detects the vertical distance between the digging depth detection mechanism and the ridge surface (000) in real time and feeds it back to the microprocessor to generate the digging depth of the bionic digging shovel (110). The actuator is electrically connected to the microprocessor to adjust the soil penetration depth of the bionic digging shovel (110); The human-machine interface is electrically connected to the microprocessor and is used to display the real-time digging depth and manually set the target digging depth.

2. The automatic digging depth control device according to claim 1, characterized in that, The digging depth detection mechanism includes a detection plate (120), which is equipped with an infrared sensor (121). The vertical distance between the detection plate (120) and the ridge surface (000) is detected in real time by the infrared sensor (121) to indirectly obtain the digging depth of the bionic digging shovel (110) and display it on the human-machine interface.

3. The automatic digging depth control device according to claim 2, characterized in that, The actuator includes a hydraulic cylinder assembly (130) and a hydraulic wheel (131). The hydraulic cylinder assembly (130) is connected to the hydraulic wheel (131) via a hydraulic rod. The extension and retraction of the hydraulic rod drives the hydraulic wheel (131) to move up and down to adjust the soil penetration depth of the bionic digging shovel (110).

4. The automatic digging depth control device according to claim 3, characterized in that, The input terminal of the microprocessor is communicatively connected to the infrared sensor (121), the output terminal of the microprocessor is communicatively connected to the electromagnetic proportional directional valve, and the electromagnetic proportional directional valve is connected to the hydraulic cylinder assembly (130).

5. The automatic digging depth control device according to claim 1, characterized in that, The microprocessor is a SIMATIC S7-1200.

6. A harvester, characterized in that, It includes a harvester body (100), which integrates the automatic digging depth control device according to any one of claims 1-5.

7. The harvester according to claim 6, characterized in that, The harvester body (100) includes a three-point suspension mechanism (160), and the automatic digging depth control device is linked to the three-point suspension mechanism (160): When the three-point suspension mechanism (160) is in a floating state, the automatic digging depth control device automatically activates the closed-loop control link; When the three-point suspension mechanism (160) is under load, the automatic digging depth control device stops working and locks the current hydraulic rod position.

8. The harvester according to claim 6, characterized in that, The harvester body (100) also includes a ground wheel (150) and a vibrating chain (140) for loosening the soil.

Images