CN113607079A - A universal trenching depth detection device - Google Patents
A universal trenching depth detection device Download PDFInfo
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- CN113607079A CN113607079A CN202110883593.0A CN202110883593A CN113607079A CN 113607079 A CN113607079 A CN 113607079A CN 202110883593 A CN202110883593 A CN 202110883593A CN 113607079 A CN113607079 A CN 113607079A
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- 238000001514 detection method Methods 0.000 title claims abstract description 56
- 238000006073 displacement reaction Methods 0.000 claims abstract description 115
- 239000010720 hydraulic oil Substances 0.000 description 19
- 230000006835 compression Effects 0.000 description 14
- 238000007906 compression Methods 0.000 description 14
- 238000000034 method Methods 0.000 description 13
- 230000001105 regulatory effect Effects 0.000 description 9
- 239000002689 soil Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 238000009313 farming Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000010899 nucleation Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000003971 tillage Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/06—Machines for making or covering drills or furrows for sowing or planting
- A01C5/062—Devices for making drills or furrows
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
本发明公开了一种通用式开沟深度检测装置，包括机具挂接架，地面仿形装置，纵向位移测量装置和横向位移平衡装置，其中：横向位移平衡装置和地面仿形装置安装在机具挂接架上，且地面仿形装置与机具挂接架铰接连接，横向位移平衡装置设置在仿形装置上部；纵向位移测量装置上端与横向位移平衡装置连接，下端与地面仿形装置铰接连接。
The invention discloses a universal trenching depth detection device, comprising an implement hanger, a ground profiling device, a longitudinal displacement measuring device and a lateral displacement balancing device, wherein the lateral displacement balancing device and the ground profiling device are installed on the implement hanger The upper end of the longitudinal displacement measuring device is connected with the lateral displacement balancing device, and the lower end is hingedly connected with the ground profiling device.
Description
Technical Field
The invention belongs to the field of agricultural machinery, and particularly relates to a universal ditching depth detection device.
Background
The consistency of the ditching depth is an important index of precision seeding and is a precondition for controlling the consistency and stability of the seeding and fertilizing depth. In the field working process of the furrow opener, due to the fact that soil space variability and the surface fluctuation amount under the protective farming condition are large, the furrowing depth is inconsistent, and the follow-up operation precision and the crop growth are affected. During the advancing process of the machine, the real-time detection of the ditching depth can provide data reference for the subsequent control system to adjust the ditching depth.
For the ditching depth detection in China, the appearance structure of an operating machine is mostly changed, the universality of a detection device is poor, or a distance between a certain plane and the ground surface is detected by using a distance measuring sensor, and the detection mode has larger measurement error due to the complex ground surface condition, particularly on no-tillage ground.
Therefore, the invention provides a universal ditching depth detection device which can be suitable for different structures and ditching purposes, and improves the measurement precision by optimizing the detection principle.
Disclosure of Invention
In order to realize the purpose of the invention, the following technical scheme is adopted for realizing the purpose:
the utility model provides a general formula ditching degree of depth detection device, includes that the machines articulate the frame, ground profile modeling device, longitudinal displacement measuring device and lateral displacement balancing unit, wherein: the transverse displacement balancing device and the ground copying device are arranged on the implement hanging frame, the ground copying device is hinged with the implement hanging frame, and the transverse displacement balancing device is arranged at the upper part of the ground copying device; the upper end of the longitudinal displacement measuring device is connected with the transverse displacement balancing device, and the lower end of the longitudinal displacement measuring device is hinged with the ground profiling device.
The general ditching depth detection device, wherein: the ground profiling device comprises a connecting rod and a profiling wheel, and the profiling wheel can be freely and rotatably arranged at the lower part of the connecting rod; the upper part of the connecting rod is provided with an implement hanging frame connecting shaft, the middle part of the connecting rod is provided with an intermediate shaft, the intermediate shaft is provided with a joint bearing, the lower end of the longitudinal displacement measuring device is connected with the joint bearing, and the implement hanging frame connecting shaft is arranged on the bearing on the implement hanging frame.
The general ditching depth detection device, wherein: a step is machined on the intermediate shaft, threads are machined at the shaft end, one end of the inner ring of the joint bearing is abutted against the step of the intermediate shaft, and the other end of the inner ring of the joint bearing is pressed tightly by a nut.
The general ditching depth detection device, wherein: the transverse displacement balancing device comprises a slide rail fixing piece, a slide block and a slide rail, wherein the slide rail is fixedly connected with the slide rail fixing piece, and the slide rail fixing piece is fixedly connected with the machine hanging frame.
The general ditching depth detection device, wherein: the sliding rail is provided with a sliding groove along the length direction, the sliding block is slidably arranged in the sliding groove, the transverse compression spring is arranged in the sliding groove, one end of the transverse compression spring is connected with the wall of the sliding groove, and the other end of the transverse compression spring is connected with the sliding block.
The general ditching depth detection device, wherein: the front end of the sliding chute penetrates through the sliding rail wall, the rear end of the sliding chute is away from the sliding rail wall by a certain distance, and the front opening of the sliding chute is sealed by a baffle.
The general ditching depth detection device, wherein: the longitudinal displacement measuring device comprises a sliding block connecting piece, a longitudinal displacement rod and a longitudinal displacement rod sleeve, wherein the upper part of the longitudinal displacement rod sleeve is fixed on the sliding block connecting piece, the longitudinal displacement rod can be inserted into a sleeve hole of the longitudinal displacement rod sleeve in a vertically sliding mode, and the lower end of the longitudinal displacement rod sleeve is exposed out of the sleeve hole of the longitudinal displacement rod sleeve.
The general ditching depth detection device, wherein: the sliding block connecting piece is fixedly connected with the sliding block, a columnar piece is arranged on the lower portion of the sliding block connecting piece, a central hole is formed in the columnar piece, the upper portion of the longitudinal displacement rod sleeve is fixedly connected with the columnar piece in a sleeved mode, and the laser ranging sensor is installed in the central hole of the columnar piece.
The general ditching depth detection device, wherein: the longitudinal compression spring is arranged in a sleeve hole of the longitudinal displacement rod sleeve and is arranged between the longitudinal displacement rod and the sliding block connecting piece; the lower end of the longitudinal displacement rod is provided with threads, and the lower end of the longitudinal displacement rod is in threaded connection with a threaded hole of the joint bearing.
The general ditching depth detection device, wherein: the longitudinal displacement rod and the wall of the sleeve hole of the displacement rod sleeve are provided with mutually matched planes.
The general ditching depth detection device, wherein: the ditching depth detection device also comprises a control device, wherein the control device comprises a pull rod type sensor, a PLC (programmable logic controller), an encoder, a control valve and a speed regulating valve.
The general ditching depth detection device, wherein: the ditching device comprises a whole machine frame and ditching units, wherein the whole machine frame is arranged on a three-point suspension device of a tractor, a plurality of ditching units are arranged on the whole machine frame, each ditching unit is arranged on the whole machine frame through a group of hydraulic cylinders, one end of each hydraulic cylinder is fixed on the whole machine frame, and the other end of each hydraulic cylinder is fixed on one group of ditching units; the pull rod type displacement sensor is arranged between the whole machine frame and the ditching unit, is parallel to the hydraulic oil cylinder, is used for monitoring the stretching position of the hydraulic oil cylinder in real time and feeds back the stretching position to the PLC; the encoder shell part is fixed on the swing rod, the rotor part is fixed on the profiling wheel, and the furrow opener is fixedly arranged on the furrow opening unit; the control valve and the PLC are arranged on the whole machine frame, and the speed regulating valve is arranged on the hydraulic oil cylinder; the machine tool hanging rack is fixedly arranged on the ditching unit.
The universal ditching depth detection device comprises a ditching depth detection device and a universal ditching depth detection device, wherein the ditching depth detection device works in the following mode: the tractor pulls complete machine frame 7 to the direction of advance travel, and then drives multiunit ditching unit work, and the speed of advancing at this moment is:
v＝ωR (1)
wherein:
v-speed of travel
w-angular velocity detected by encoder
Radius of R-profile wheel
When the laser displacement sensor detects that h changes, namely the h is different from a preset h value, the PLC calculates the collected data, after the short time delay of t seconds, signals are transmitted to the control valve and the speed regulating valve to control the hydraulic oil cylinder to lift, so that the h value detected by the laser displacement sensor is recovered to the preset h value, the speed regulating valve regulates the telescopic speed of the hydraulic oil cylinder to be 2 times of the speed d (delta h)/dt of the laser displacement sensor before the time delay of t seconds, at the moment, the pull rod type displacement sensor detects the telescopic amount of the hydraulic oil cylinder in real time and feeds the telescopic amount back to the PLC in real time to further control the hydraulic oil cylinder to stretch again until the variable amount is close to or consistent with the ground fluctuation speed before the short time delay of t seconds.
The general ditching depth detection device, wherein: the delay time t is calculated by the following method:
the delay time t obtained from (1), (2) and (3) is as follows:
wherein:
l-transverse distance between hinged center of connecting rod and tool hanging frame and bottom end of furrow opener
H-height difference between hinged center of connecting rod and hanging frame of implement and bottom end of furrow opener
l-transverse distance between center of profile wheel and bottom end of furrow opener
lPendulumLength of the connecting rod
h is the height difference between the bottom end of the peripheral circle of the contour wheel and the bottom end of the furrow opener.
The general ditching depth detection device, wherein:
when the ground of the front side fluctuates, the copying wheel in the ditching depth detection device fluctuates up and down to enable the laser displacement sensor to detect half of the fluctuation quantity of the ground, at the moment, the ditching depth detection device detects that the distance h between the copying wheel and the ditcher is the sum of the actual ditching depth h' and the change quantity sigma delta h of the copying wheel in the distance l between the copying wheel and the ditcher, and therefore the actual ditching depth is as follows:
h′＝h-∑Δh (5)
the sigma delta h is the vector sum of the up-and-down floating distance of the contour wheel within t seconds before a certain moment, and the delta h is the difference value between the depth value h obtained by the next detection and the depth value h obtained by the previous detection in two adjacent samples of the laser displacement sensor;
after the actual ditching depth h' is calculated, in order to ensure that the ditching depth is within the specified ditching depth range, the following control is carried out: after the laser displacement sensor transmits detection data to the PLC, the PLC obtains actual ditching depth through data storage and real-time calculation, compares the actual ditching depth with a preset ditching depth in real time, and controls the speed regulating valve and the control valve to control corresponding rising or pressing of the hydraulic oil cylinder so that the actual ditching depth approaches to the specified ditching depth.
Compared with the prior art, the invention has the beneficial effects that:
(1) the ditching depth detection device is designed to be an independent structure, can be connected with a ditching device of any machine through bolts, has a depth detection range of 0-20cm, and can meet the detection requirements of most ditching operations.
(2) The plane motion of the profiling wheel is converted into displacement of the sliding block and the longitudinal displacement rod in the x-axis direction and the y-axis direction, wherein the actual depth of ditching is 2 times of the displacement of the longitudinal displacement rod, the measurement principle is simplified, and data post-processing is facilitated.
(3) The displacement of the longitudinal displacement rod is detected by the laser displacement sensor in the longitudinal displacement measuring device, and compared with the method using the ground as a measuring object, the measuring method can improve the accuracy of the measuring result.
(4) The profiling wheel adopts an oblique traction floating design, and the stress condition of the longitudinal displacement measuring device in the profiling process is optimized.
(5) The ditching depth detection device has the advantages that the hinged parts are connected through bearings, and the detection precision is improved in the aspect of mechanical structure.
(6) The ditching depth detection device is arranged on the front side of the ditcher, and an independent control system is used, so that the detected ditching depth error is smaller, and the tilling depth is adjusted more stably.
Drawings
FIG. 1 is an overall structure diagram of the universal ditching depth detection device of the invention;
FIG. 2 is a block diagram of the ground profiling apparatus of the present invention;
FIG. 3 is a structural view of the lateral displacement balancing apparatus of the present invention;
FIG. 4 is a structural view of the longitudinal displacement measuring device of the present invention;
FIG. 5 is a schematic view of the lowest position of oscillation of the contour wheel of the present invention;
FIG. 6 is a schematic view of the contour wheel in its highest swing position according to the present invention;
FIG. 7 is a schematic view of the structure of the ditching device;
FIG. 8 is a schematic diagram of a control system of the present invention.
Detailed Description
The following detailed description of the present invention will be made with reference to the accompanying drawings 1-8.
As shown in figure 1, the universal ditching depth detection device comprises an implement hooking frame 1, a ground profiling device 2, a longitudinal displacement measuring device 4 and a transverse displacement balancing device 5. Wherein the transverse displacement balancing device 5 and the ground copying device 2 are arranged on the machine tool hanging frame 1, the transverse displacement balancing device 5 is arranged on the upper part of the ground copying device 2, the upper end of the longitudinal displacement measuring device 4 is connected with the transverse displacement balancing device 5, and the lower end is connected with the ground copying device 2. The machine tool hanging rack 1 is laterally connected with the ditching device through bolts.
As shown in fig. 2, the ground profiling device 2 comprises a connecting rod 202 and a profiling wheel 203, wherein the profiling wheel 203 is freely rotatably arranged at the lower part of the connecting rod 202, and preferably, the lower part of the connecting rod 202 is welded with a rotating shaft which is arranged on a bearing at the center of the profiling wheel 203; an implement hooking frame connecting shaft 201 is arranged at the upper part of the connecting rod 202, an intermediate shaft 204 is arranged at the middle part of the connecting rod 202, the implement hooking frame connecting shaft 201 and the intermediate shaft 204 are preferably fixedly connected with the connecting rod 202 in a welding mode, the orientations of the implement hooking frame connecting shaft 201 and the intermediate shaft 204 are opposite, preferably, the intermediate shaft 204 is arranged at 1/2 of the distance between the installation positions (namely the rotating shaft position) of the implement hooking frame connecting shaft 201 and the copying wheel 203 on the connecting rod 202, and the measuring depth range of the copying wheel is convenient to increase; the machine tool hanging frame connecting shaft 201 is arranged on a bearing on the machine tool hanging frame 1; a step is machined on the intermediate shaft 204, a thread is machined at the shaft end, the joint bearing 3 is installed on the intermediate shaft 204, one end of an inner ring of the joint bearing 3 abuts against the step of the intermediate shaft, and the other end of the inner ring of the joint bearing is tightly pressed through a nut installed on the intermediate shaft. The main body of the contour wheel 203 is disc-shaped, and a plurality of bulges are densely distributed on the surface of the outer circumference of the main body, so that the slippage of the contour wheel is prevented, and the pure rolling of the contour wheel is ensured.
As shown in fig. 3, the lateral displacement balancing device 5 includes a slide rail fixing member 6, a slide block 503 and a slide rail 501, the slide rail 501 is fixedly connected to the slide rail fixing member 6 by welding or screwing, a plurality of bolt holes are formed on the slide rail fixing member 6, and the slide rail fixing member 6 is bolted to the implement hitch frame 1. The sliding rail 501 is provided with a sliding groove 505 along the length direction, the sliding block 503 is slidably mounted in the sliding groove 505, the front end of the sliding groove 505 penetrates through the sliding rail wall, the rear end of the sliding groove is a distance away from the sliding rail wall, the transverse compression spring 504 is mounted at the rear part of the sliding groove 505, one end of the transverse compression spring is connected with the sliding groove wall, the other end of the transverse compression spring is connected with the sliding block 503, the front opening of the sliding groove 505 is sealed by a baffle plate 502 for preventing the sliding block 503 from separating from the sliding rail 501 when moving, and the baffle plate 502 is fixedly mounted on the sliding rail 501 through bolts. The lateral displacement balancing device 5 is installed on the implement hitch frame 1, and the chute 505 is arranged downwards.
As shown in fig. 4, the longitudinal displacement measuring device 4 includes a slider connector 404, a longitudinal displacement rod 401 and a longitudinal displacement rod sleeve 402, wherein the upper portion of the longitudinal displacement rod sleeve 402 is fixed on the slider connector 404, and the longitudinal displacement rod 401 is inserted into a sleeve hole of the longitudinal displacement rod sleeve 402 in a vertically slidable manner.
Specifically, a plurality of bolt holes are formed in the slider connecting piece 404, the slider connecting piece 404 is in bolt connection with the slider 503, a columnar piece is arranged at the lower part of the slider connecting piece 404, external threads are machined on the outer wall of the columnar piece, a threaded central hole is also machined in the columnar piece, internal threads are arranged at the upper part of a sleeve hole of the longitudinal displacement rod sleeve 402, and the upper part of the longitudinal displacement rod sleeve 402 is in threaded connection with the external threads of the columnar piece; the longitudinal compression spring 402 is arranged in a sleeve hole of the longitudinal displacement rod sleeve 402 and is arranged between the longitudinal displacement rod 401 and the sliding block connecting piece 404, the upper end of the longitudinal compression spring 402 is fixed on the wall of the sleeve hole, and the lower end of the longitudinal compression spring 402 is connected with the upper part of the longitudinal displacement rod 401; a blocking step is arranged at the lower part of a sleeve hole of the longitudinal displacement rod sleeve 402, a step is arranged at the upper part of the longitudinal displacement rod 401, and the step on the longitudinal displacement rod 401 can abut against the blocking step of the longitudinal displacement rod sleeve 402 and is used for preventing the longitudinal displacement rod 401 from being separated, so that the descending height of the copying wheel 203 is limited; the lower end of the longitudinal displacement rod 401 is exposed out of a sleeve hole of the longitudinal displacement rod sleeve 402, the lower end of the longitudinal displacement rod 401 is provided with threads, and the lower end of the longitudinal displacement rod 401 is in threaded connection with a threaded hole of the joint bearing 3; in order to prevent the longitudinal displacement rod 401 from rotating in the moving process, mutually matched planes are processed on the longitudinal displacement rod 401 and the wall of the sleeve hole of the displacement rod sleeve 402; a laser range sensor 405 is mounted in a threaded central hole of the cylinder of the slider link 404 for measuring the distance of movement of the longitudinal displacement rod 401.
As shown in fig. 5, the lowest position of the copying wheel is a state that the furrow opener is not buried, at the moment, the bottom end of the outer circumference of the copying wheel main body is flush with the bottom end of the furrow opener, and the state is the minimum value of the detectable range of the furrowing depth; as shown in fig. 6, the highest position of the copying wheel is the state that the furrow opener is buried, at this time, the height difference exists between the bottom end of the disc of the copying wheel and the bottom end of the furrow opener, and the state is the maximum value of the detectable range of the furrowing depth.
The ditching depth detection device also comprises a control device, wherein the control device comprises a pull rod type sensor 8, a PLC (programmable logic controller) 15, an encoder 10, a control valve 14 and a speed regulating valve 13.
As shown in fig. 7, the ditching device comprises a whole machine frame 7 and ditching units 9, wherein the whole machine frame 7 is mounted on a three-point suspension device of a tractor, the tractor provides power, a plurality of ditching units 9 are mounted on the whole machine frame 7, each ditching unit 9 is mounted on the whole machine frame 7 through a group of (at least 2) hydraulic cylinders 12, one end of each hydraulic cylinder 12 is fixed on the whole machine frame 7, and the other end of each hydraulic cylinder 12 is fixed on the ditching unit 9 and is used for controlling the ditching unit to lift or press down. The pull rod type displacement sensor 8 is arranged between the whole machine frame 7 and the ditching unit 9, is parallel to the hydraulic oil cylinder 12, is used for detecting the stretching position of the hydraulic oil cylinder in real time, feeds the stretching position back to the PLC 15, and then controls the hydraulic oil cylinder 12 to achieve the required stretching amount in real time. The encoder 10 has a housing portion fixed to the swing link 202 and a rotor portion fixed to the copying wheel 203, and is operable to sense the rotational speed of the copying wheel 203. The furrow opener 11 is fixedly arranged on the ditching unit 9, and the implement hitching frame 1 is fixedly arranged on the ditching unit 9. The control valve 14 and the PLC 15 are arranged on the whole machine frame 7 and can control a plurality of groups of hydraulic oil cylinders to work. The governor valve 13 is mounted on the hydraulic ram 12.
The working process of the universal ditching depth detection device is as follows:
firstly, when the furrow opener is not buried in the soil, the bottom end of the outer edge of the circumference of the profiling wheel is flush with the bottom end of the furrow opener, the copying wheel is at the lowest swinging position, a longitudinal displacement rod in the longitudinal displacement measuring device and a slide block in the transverse displacement balancing device are in an initial state, a laser ranging sensor measures the current position of the longitudinal displacement rod (the current position is the initial position of the profiling wheel), and an electric signal is sent to the PLC.
After the furrow opener ingresses, the profile modeling wheel continues to laminate ground walking, and when the furrow opener ingresses the depth of earth and increases, the profile modeling wheel is lifted by ground, drives connecting rod jackshaft rebound then, and furtherly, the relative machines of joint bearing of installation on the jackshaft articulate the frame and translate right the top. Further, the joint bearing is translated and decomposed into movement in the x-axis direction and the y-axis direction, in the x-axis direction, the joint bearing drives the longitudinal displacement measuring device to move horizontally in the whole body, then the sliding block is driven to move rightwards along the sliding rail, and the transverse compression spring is pressed. In the y-axis direction, the joint bearing drives the longitudinal displacement rod to move upwards in the longitudinal displacement rod sleeve, the longitudinal compression spring is compressed at the moment, the laser displacement sensor detects the current position of the longitudinal displacement rod, and an electric signal is sent to the PLC. The difference of the distance between the current position and the initial position is the displacement of the longitudinal moving rod, the displacement is 1/2 of the ditching depth h, the distance between the bottom end of the outer circumference of the profile wheel and the bottom end of the ditcher is the ditching depth, and the longitudinal displacement of the longitudinal moving rod is half of h because the longitudinal moving rod is hinged in the middle of the connecting rod. The highest detection ditching depth of the invention is 200mm, and the invention can meet the ditching requirement of most crops. When the furrow opener buried depth reduced, horizontal compression spring extension promoted the slider and moved to the left, and then promoted longitudinal displacement device and moved to the left, and simultaneously, longitudinal compression spring extension promoted longitudinal displacement pole and moved down, further drove the connecting rod and put down, made the profile modeling wheel laminate with ground under self gravity and connecting rod thrust effect, laser displacement sensor detected longitudinal displacement pole current position this moment.
The control process of the present invention is shown in fig. 8.
When the ditching machine works, the tractor pulls the whole machine frame 7 to run in the advancing direction, and then the ditching units are driven to work. The traveling speed at this time is:
υ＝ωR (6)
wherein:
v-speed of travel
w-angular velocity detected by encoder
Radius of R-profile wheel
If the ground is flat, the furrow opener enters the soil to a preset depth, and a preset height difference h, namely the preset furrow opening depth, is formed between the bottom end of the outer circumference of the profile wheel and the bottom end of the furrow opener (at the moment, the working state is shown in figure 7). However, the ground always has undulation, and the ditching depth detection device is arranged in front of the ditcher and is away from the ditcher by a distance l (namely, the transverse distance between the center of the copying wheel and the bottom end of the ditcher is l), so the undulation of the terrain detected by the ditching depth detection device is always earlier than the undulation of the position of the ditcher.
In the invention, when the laser displacement sensor detects that h changes, namely the h is different from a preset h value, the PLC calculates the collected data, after short time delay, the PLC transmits signals to the control valve and the speed regulating valve to control the hydraulic oil cylinder to lift, the speed regulating valve regulates the telescopic speed of the hydraulic oil cylinder, the telescopic speed of the hydraulic oil cylinder is 2 times of the instantaneous moving speed of the longitudinal displacement rod detected by the laser displacement sensor before time delay t seconds, namely d (delta h)/dt (delta h is the difference value between the displacement of the longitudinal displacement rod detected at the next time and the displacement of the longitudinal displacement rod detected at the previous time in two adjacent samples of the laser displacement sensor), and the soil penetration depth of the furrow opener is equal to the preset h value (preset depth). At the moment, the pull rod type displacement sensor detects the stretching amount of the hydraulic oil cylinder in real time and feeds the stretching amount back to the PLC in real time so as to control the hydraulic oil cylinder to stretch again until the stretching change speed of the hydraulic oil cylinder is close to or consistent with the ground fluctuation speed before the short delay time t seconds, namely the ditching depth at the moment is within the specified ditching depth range.
The delay time t is calculated by the following method:
the delay time t obtained from (1), (2) and (3) is as follows:
wherein:
l-transverse distance between hinged center of connecting rod and tool hanging frame and bottom end of furrow opener
H-height difference between hinged center of connecting rod and hanging frame of implement and bottom end of furrow opener
The transverse distance between the center of the contour wheel and the bottom end of the furrow opener
lPendulumLength of the connecting rod
h is the height difference between the bottom end of the outer circumference of the contour wheel and the bottom end of the furrow opener
The invention also provides another ditching depth control mode, which comprises the following steps:
when the ditching machine works, when the ground on the front side fluctuates, the profiling wheel in the ditching depth detection device fluctuates up and down so that the laser displacement sensor can detect half of the fluctuation amount of the ground. At this time, the ditching depth detection device detects that the distance h between the copying wheel and the ditcher is the sum of the actual ditching depth h' and the variation sigma delta h of the copying wheel in the distance l between the copying wheel and the ditcher, so the actual ditching depth is as follows:
h′＝h-∑Δh (10)
wherein sigma delta h is the vector sum of the up-and-down floating distances of the contour wheel within t seconds before a certain moment (the upward floating is recorded as positive, and the downward floating is recorded as negative); and the delta h is the difference value between the depth value h obtained by the next detection and the depth value h obtained by the previous detection in two adjacent samples of the laser displacement sensor.
After the actual ditching depth h' has been calculated, in order to bring the ditching depth within the specified ditching depth range, the following control procedure may be used: after the laser displacement sensor transmits detection data to the PLC controller, the PLC controller obtains actual ditching depth through data storage and real-time calculation, the actual ditching depth is compared with a preset ditching depth in real time, then the speed regulating valve and the control valve are controlled to control corresponding rising or pressing of the hydraulic oil cylinder to enable the actual ditching depth to be close to the specified ditching depth, the whole process is carried out for multiple times in extremely short time, so that the actual ditching depth is corrected in real time with slight deviation from the preset ditching depth, and the actual ditching depth is within a proper ditching range.
By the method, the precision detection of the ditching depth can be realized, the depth adjustment is more precise and stable, and the farming efficiency and quality are improved.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110883593.0A CN113607079B (en) | 2021-08-03 | 2021-08-03 | A general-purpose trenching depth detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110883593.0A CN113607079B (en) | 2021-08-03 | 2021-08-03 | A general-purpose trenching depth detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113607079A true CN113607079A (en) | 2021-11-05 |
| CN113607079B CN113607079B (en) | 2023-07-21 |
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| CN202110883593.0A Active CN113607079B (en) | 2021-08-03 | 2021-08-03 | A general-purpose trenching depth detection device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114651574A (en) * | 2022-02-22 | 2022-06-24 | 山东省农业科学院作物研究所 | Independent suspension mechanism and suspension type seeder |
| CN116472851A (en) * | 2023-04-03 | 2023-07-25 | 南京农业大学 | No-till seeder control system and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114651574A (en) * | 2022-02-22 | 2022-06-24 | 山东省农业科学院作物研究所 | Independent suspension mechanism and suspension type seeder |
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| CN116472851B (en) * | 2023-04-03 | 2024-11-26 | 南京农业大学 | No-till planter control system and control method |
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| CN113607079B (en) | 2023-07-21 |
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