CN109716980A - A kind of control system and its method of intelligent elevated skinning shovel device - Google Patents
A kind of control system and its method of intelligent elevated skinning shovel device Download PDFInfo
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- CN109716980A CN109716980A CN201910182553.6A CN201910182553A CN109716980A CN 109716980 A CN109716980 A CN 109716980A CN 201910182553 A CN201910182553 A CN 201910182553A CN 109716980 A CN109716980 A CN 109716980A
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Abstract
The invention discloses the control systems and its method of a kind of intelligent elevated skinning shovel device, including loosening shovel lifting master control system, the intelligent elevated pressure feedback control system of loosening shovel, Visual Feedback Control system and intelligent elevated skinning shovel device, the intelligent elevated skinning shovel device includes the servo motor as power device, yielding coupling, screw rod sliding block, loosening shovel, piezoelectric transducer, visual sensor, drive module, computation analysis module, controller, monitoring interface, used plastic collection device, and the screw rod sliding block includes screw rod, sliding block and outer cover.The present invention goes up and down the mutual cooperation of master control system, the intelligent elevated pressure feedback control system of loosening shovel, Visual Feedback Control system and intelligent elevated skinning shovel device by loosening shovel, constitute a closed-loop control system, solve the problems, such as existing incomplete film-recovering machine loosening shovel working efficiency it is low, cannot automatic, adjustable technological deficiency and.
Description
Technical field
The present invention relates to agricultural mechanical field, in particular to the control system of a kind of intelligent elevated skinning shovel device and its side
Method.
Background technique
Mulching planting technique is because with the significant of Meteorological effect, activating soil nutrient and mitigation crop disease etc.
Feature is widely applied in China, and the mulching planting area in China increases increasing year by year at present, a large amount of residual
Film is detained in the soil, destroys the moisture penetration circulatory system and farmland ecological environment of soil, crop root system is caused to grow
Slowly, phenomena such as soil hardening and do mechanization operation are obstructed；
Recycling cleaning for residual film, manual cleaning is time-consuming and laborious, and large labor intensity and low efficiency are not suitable for large area
Used plastic collection, therefore the development of incomplete film-recovering machine substantially increases the working efficiency of used plastic collection, currently, China's used plastic collection
Device is more commonly used with the elastic claw type used plastic collection device of independent development；
Loosening shovel is the critical component of used plastic collection machine operation, and the thickness that breaks ground of loosening shovel is directly related to the destruction of mulch
Degree, influences the residual rate of receipts and working efficiency of incomplete film-recovering machine, however incomplete film-recovering machine in operation process break ground depth and
Winder speed is unable to on-line tuning, needs artificially by virtue of experience to carry out parking repeatedly with range estimation according to actual state to adjust, whole
The mechanization degree of machine is low with intelligent level, and operating efficiency is not high, and it is small and irregular to easily lead to broken mulch presentation
Distribution, it is difficult to guarantee used plastic collection rate, at the same increase work consumption and cost recovery；
Therefore, it solves the problems, such as that loosening shovel is intelligent elevated, automatic, adjustable, the efficient work of loosening shovel is enabled to be to improve
The key of incomplete film-recovering machine working efficiency.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the defects of the prior art, provide a kind of intelligent elevated skinning shovel device
Control system, solve the problems, such as existing incomplete film-recovering machine loosening shovel working efficiency it is low, cannot automatic, adjustable technological deficiency and.
In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions:
A kind of control system of intelligent elevated skinning shovel device of the present invention, including loosening shovel go up and down master control system, skinning
Intelligent elevated pressure feedback control system, Visual Feedback Control system and intelligent elevated skinning shovel device are shoveled, it is described intelligent elevated
Skinning shovel device includes the servo motor as power device, yielding coupling, screw rod sliding block, loosening shovel, piezoelectric transducer, view
Feel that sensor, drive module, computation analysis module, controller, monitoring interface, used plastic collection device, the screw rod sliding block include
There are screw rod, sliding block and outer cover.
As a preferred technical solution of the present invention, the power device selects the servo motor for having brake function,
The servo motor is connected by the yielding coupling with the screw rod sliding block, and the loosening shovel, which is bolted, to be fixed on
On the sliding block, the piezoelectric transducer is installed on inside the shovel tip of the loosening shovel, and the visual sensor is mounted on residual film
Recyclable device back lower place crossbeam middle, the controller are installed on the film-collecting box of used plastic collection device, the calculating analysis
Module and the drive module are embedded into the controller, for piezoelectric transducer and the visual sensing described in analytical calculation
The visual pattern of pressure signal and used plastic collection situation that device acquires in real time, the monitoring interface are installed on traction device driver's cabin
It is interior, for showing the pressure signal and visual pattern of piezoelectric transducer described in real-time display and visual sensor feedback.
As a preferred technical solution of the present invention, what the screw rod sliding block was selected is that support type band outer cover screw rod is sliding
Block is fixed on the crossbeam of used plastic collection device, and the up and down motion of the intelligent elevated loosening shovel drives by the servo motor
The screw rod rotation, the screw rod drive the sliding block to move up and down, and the outer cover is placed in the surface of the lifting device, guarantees
Screw rod has good working environment.
As a preferred technical solution of the present invention, the loosening shovel includes spade and shovel tip, and the spade passes through six
Nut is fixed on the slide block, moves up and down with the sliding block.
As a preferred technical solution of the present invention, the piezoelectric transducer selects miniature piezo-ceramic sensor, adds
Inside the shovel tip, for pressure suffered by loosening shovel described in real-time detection.
As a preferred technical solution of the present invention, the visual sensor selects high-definition camera, is mounted on residual film
Recyclable device back lower place crossbeam middle, the recycling situation for real time scan residual film.
The present invention correspondingly provides a kind of control method of intelligent elevated loosening shovel apparatus control system, including loosening shovel liter
Master control system, the intelligent elevated pressure feedback control system of loosening shovel, Visual Feedback Control system and intelligent elevated loosening shovel drop
Device, the control method of loosening shovel lifting master control system the following steps are included:
A1. the monitoring interface assigns default embedded depth information command to the controller；
A2. the drive module of the controller drives the servo motor rotation；
A3. the servo motor drives the screw rod rotation, and the screw rod band movable slider moves up and down；
A4. the loosening shovel moves downward preset embedded depth with the sliding block；
The control method of the intelligent elevated pressure feedback control system of loosening shovel the following steps are included:
B1. pressure suffered by the piezoelectric transducer real-time detection loosening shovel at the shovel tip of the loosening shovel；
B2. pressure signal is transmitted to the computation analysis module of controller；
B3. computation analysis module is shown to the monitoring interface after pressure signal is carried out analytical calculation；
The control method of the intelligent elevated Visual Feedback Control system of loosening shovel the following steps are included:
C1. the image information of the visual sensor high-definition camera real time scan used plastic collection situation；
C2. image information is transmitted to the computation analysis module of controller；
C3. computation analysis module is shown to the monitoring interface after image information is carried out analog-to-digital conversion analytical calculation.
As a preferred technical solution of the present invention, the monitoring interface is according to step B2 neutralization procedure C1
Pressure signal and image information are assigned reasonable embedded depth to the controller and are instructed, the drive module driving of the controller
The servo motor rotation, the servo motor drive the screw rod rotation, and screw rod band movable slider moves up and down, the loosening shovel
Reasonable embedded depth is moved downward with the sliding block, constitutes a closed-loop control system, last loosening shovel completes used plastic collection
Operation.
Compared with prior art, beneficial effects of the present invention are as follows:
The present invention is anti-by loosening shovel lifting master control system, the intelligent elevated pressure feedback control system of loosening shovel, vision
The mutual cooperation for presenting control system and intelligent elevated skinning shovel device, constitutes a closed-loop control system, solves existing residual film and returns
Receipts machine loosening shovel working efficiency is low, cannot automatic, adjustable technological deficiency and problem.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is intelligent elevated loosening shovel apparatus structure schematic diagram of the invention；
Fig. 2 is the embodiment of the present invention schematic diagram；
Fig. 3 is control method working principle diagram of the invention；
Fig. 4 is control method work flow diagram of the invention；
In figure: 1, servo motor；2, yielding coupling；3, screw rod；4, sliding block；5, outer cover；6, loosening shovel；7, shovel tip；8,
Piezoelectric transducer；9, used plastic collection device；10, film-collecting box；11, monitoring interface；12, computation analysis module；13, drive module；
14, controller.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment 1
As shown in Figs 1-4, the present invention provides a kind of control system of intelligent elevated skinning shovel device, including loosening shovel lifting
The intelligent elevated pressure feedback control system of master control system, loosening shovel, Visual Feedback Control system and intelligent elevated loosening shovel dress
It sets, intelligent elevated skinning shovel device includes the servo motor 1, yielding coupling 2, screw rod sliding block, loosening shovel as power device
6, piezoelectric transducer 8, visual sensor, drive module 13, computation analysis module 12, controller 14, monitoring interface 11, residual film are returned
Receiving apparatus 9, screw rod sliding block include screw rod 3, sliding block 4 and outer cover 5.
Power device selects the servo motor 1 for having brake function, and servo motor 1 is sliding by yielding coupling 2 and screw rod
Block is connected, and loosening shovel 6, which is bolted, to be fixed on sliding block 4, and piezoelectric transducer 8 is installed on inside the shovel tip 7 of loosening shovel 6,
Visual sensor is mounted on 9 back lower place crossbeam middle of used plastic collection device, and controller 14 is installed on the collection of used plastic collection device 9
On film case 10, computation analysis module 12 and drive module 13 are embedded into controller 14, are used for 8 He of analytical calculation piezoelectric transducer
The visual pattern of pressure signal and used plastic collection situation that visual sensor acquires in real time, monitoring interface 11 are installed on traction device
In driver's cabin, for showing the pressure signal and visual pattern of real-time display piezoelectric transducer 8 and visual sensor feedback.
What screw rod sliding block was selected is support type band outer cover screw rod sliding block, is fixed on the crossbeam of used plastic collection device 9, intelligence
The up and down motion of loosening shovel is gone up and down by servo motor driving screw rod rotation, screw rod 3 moves up and down with movable slider, and outer cover 5 is placed in liter
The surface of falling unit guarantees that screw rod 3 has good working environment.
Loosening shovel 6 includes spade and shovel tip 7, and spade is fixed on sliding block 4 by six nuts, is moved up and down with sliding block 4.
Piezoelectric transducer 8 selects miniature piezo-ceramic sensor, is installed inside shovel tip 7, is used for real-time detection loosening shovel 6
Suffered pressure.
Visual sensor selects high-definition camera, is mounted on 9 back lower place crossbeam middle of used plastic collection device, for real-time
Scan the recycling situation of residual film.
The present invention correspondingly provides a kind of control method of intelligent elevated loosening shovel apparatus control system, including loosening shovel liter
Master control system, the intelligent elevated pressure feedback control system of loosening shovel, Visual Feedback Control system and intelligent elevated loosening shovel drop
Device, loosening shovel go up and down master control system control method the following steps are included:
A1. monitoring interface 11 assigns default embedded depth information command to controller；
A2. the drive module 13 of controller 14 drives servo motor 1 to rotate；
A3. servo motor 1 drives screw rod 3 to rotate, and screw rod 3 moves up and down with movable slider 4；
A4. loosening shovel 6 moves downward preset embedded depth with sliding block 4；
The control method of the intelligent elevated pressure feedback control system of loosening shovel the following steps are included:
B1. pressure suffered by the 8 real-time detection loosening shovel 6 of piezoelectric transducer at the shovel tip 7 of loosening shovel 6；
B2. pressure signal is transmitted to the computation analysis module 12 of controller 14；
B3. computation analysis module 12 is shown to monitoring interface 11 after pressure signal is carried out analytical calculation；
The control method of the intelligent elevated Visual Feedback Control system of loosening shovel the following steps are included:
C1. the image information of visual sensor high-definition camera real time scan used plastic collection situation；
C2. image information is transmitted to the computation analysis module 12 of controller 14；
C3. computation analysis module 12 is shown to monitoring interface 11 after image information is carried out analog-to-digital conversion analytical calculation.
Monitoring interface 11 according in step B2 neutralization procedure C1 pressure signal and image information to controller 14 assign conjunction
The embedded depth of reason instructs, and the drive module 13 of controller 14 drives servo motor 1 to rotate, and servo motor 1 drives 3 turns of screw rod
Dynamic, screw rod 3 moves up and down with movable slider 4, and loosening shovel 6 moves downward reasonable embedded depth with sliding block 4, constitutes a closed loop control
System processed, last loosening shovel 6 complete used plastic collection operation.
Specifically, operator passes through monitoring circle in the driver's cabin of traction device as shown in figure 4, the present invention is in operation
Preset embedded depth information command is assigned to controller 14 in face 11, and controller 14 controls drive module 13 and drives servo motor 1
Rotation, servo motor 1 drive screw rod 3 to rotate, and screw rod 3 is moved downward with movable slider 4, and loosening shovel 6 moves downward default with sliding block 4
Embedded depth, operation is carried out under the drive of traction device；Piezoelectric ceramics in operation process, at the shovel tip 7 of loosening shovel 6
Pressure suffered by sensor real-time detection loosening shovel 6, pressure signal is transmitted to the computation analysis module 12 of controller 14, with this
Meanwhile the image information of visual sensor high-definition camera real time scan used plastic collection situation, image information are also sent to control
The computation analysis module 12 of device 14, after pressure signal and image information are carried out analog-to-digital conversion analytical calculation by computation analysis module 12
It is shown to monitoring interface 11, operator's pressure information according to monitoring interface and image information, passes through monitoring interface 11
Reasonable embedded depth instruction is assigned to controller 14, controller 14 controls drive module 13 and servo motor 1 is driven to rotate, servo
Motor 1 drives screw rod 3 to rotate, and screw rod 3 is moved downward with movable slider 4, and loosening shovel 6 moves downward preset depth of burying with sliding block 4
Degree, constitutes a closed-loop control system, and loosening shovel 6 completes used plastic collection operation.
Compared with prior art, beneficial effects of the present invention are as follows:
The present invention is anti-by loosening shovel lifting master control system, the intelligent elevated pressure feedback control system of loosening shovel, vision
The mutual cooperation for presenting control system and intelligent elevated skinning shovel device, constitutes a closed-loop control system, solves existing residual film and returns
Receipts machine loosening shovel working efficiency is low, cannot automatic, adjustable technological deficiency and problem.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (8)
1. a kind of control system of intelligent elevated skinning shovel device, which is characterized in that including loosening shovel lifting master control system, rise
Film shovels intelligent elevated pressure feedback control system, Visual Feedback Control system and intelligent elevated skinning shovel device, and the intelligence rises
Drop skinning shovel device includes the servo motor (1) as power device, yielding coupling (2), screw rod sliding block, loosening shovel (6), pressure
Electric transducer (8), visual sensor, drive module (13), computation analysis module (12), controller (14), monitoring interface (11),
Used plastic collection device (9), the screw rod sliding block include screw rod (3), sliding block (4) and outer cover (5).
2. a kind of control system of intelligent elevated skinning shovel device according to claim 1, which is characterized in that the power
Device select have brake function servo motor (1), the servo motor (1) by the yielding coupling (2) with it is described
Screw rod sliding block is connected, and the loosening shovel (6), which is bolted, to be fixed on the sliding block (4), piezoelectric transducer (8) peace
Shovel tip (7) loaded on the loosening shovel (6) is internal, and the visual sensor is mounted on used plastic collection device (9) back lower place crossbeam
Middle, the controller (14) are installed on the film-collecting box (10) of used plastic collection device (9), the computation analysis module (12)
It is embedded into the controller (14) with the drive module (13), for piezoelectric transducer (8) described in analytical calculation and described
The visual pattern of pressure signal and used plastic collection situation that visual sensor acquires in real time, the monitoring interface (11), which is installed on, leads
In leading-in device driver's cabin, for showing the pressure letter of piezoelectric transducer described in real-time display (8) and visual sensor feedback
Number and visual pattern.
3. a kind of control system of intelligent elevated skinning shovel device according to claim 1, which is characterized in that the screw rod
What sliding block was selected is support type band outer cover screw rod sliding block, is fixed on the crossbeam of used plastic collection device (9), described intelligent elevated
The up and down motion of film shovel drives the screw rod rotation by the servo motor, and the screw rod (3) drives the sliding block to move up and down,
The outer cover (5) is placed in the surface of the lifting device, guarantees that screw rod (3) have good working environment.
4. a kind of control system of intelligent elevated skinning shovel device according to claim 1, which is characterized in that the skinning
Shoveling (6) includes spade and shovel tip (7), and the spade is fixed on the sliding block (4) by six nuts, with the sliding block (4)
It moves up and down.
5. a kind of control system of intelligent elevated skinning shovel device according to claim 1, which is characterized in that the piezoelectricity
Sensor (8) selects miniature piezo-ceramic sensor, the shovel tip (7) inside is installed at, for loosening shovel described in real-time detection
(6) pressure suffered by.
6. a kind of control system of intelligent elevated skinning shovel device according to claim 1, which is characterized in that the vision
Sensor selects high-definition camera, used plastic collection device (9) back lower place crossbeam middle is mounted on, for real time scan residual film
Recycling situation.
7. a kind of control method of intelligent elevated loosening shovel apparatus control system, which is characterized in that go up and down master control including loosening shovel
System, the intelligent elevated pressure feedback control system of loosening shovel, Visual Feedback Control system and intelligent elevated skinning shovel device processed, institute
State loosening shovel lifting master control system control method the following steps are included:
A1. monitoring interface (11) the Xiang Suoshu controller assigns default embedded depth information command；
A2. the drive module (13) of the controller (14) drives servo motor (1) rotation；
A3. the servo motor (1) drives screw rod (3) rotation, and screw rod (3) band movable slider (4) moves up and down；
A4. the loosening shovel (6) moves downward preset embedded depth with the sliding block (4)；
The control method of the intelligent elevated pressure feedback control system of loosening shovel the following steps are included:
B1. pressure suffered by piezoelectric transducer (8) the real-time detection loosening shovel (6) at the shovel tip (7) of the loosening shovel (6)；
B2. pressure signal is transmitted to the computation analysis module (12) of controller (14)；
B3. computation analysis module (12) is shown to the monitoring interface (11) after pressure signal is carried out analytical calculation；
The control method of the intelligent elevated Visual Feedback Control system of loosening shovel the following steps are included:
C1. the image information of the visual sensor high-definition camera real time scan used plastic collection situation；
C2. image information is transmitted to the computation analysis module (12) of controller (14)；
C3. computation analysis module (12) is shown to the monitoring interface after image information is carried out analog-to-digital conversion analytical calculation
(11)。
8. a kind of control method of intelligent elevated loosening shovel apparatus control system according to claim 7, which is characterized in that
The monitoring interface (11) pressure signal according to step B2 neutralization procedure C1 and image information are to the controller
(14) reasonable embedded depth instruction is assigned, the drive module (13) of the controller (14) drives the servo motor (1) to turn
Dynamic, the servo motor (1) drives screw rod (3) rotation, and screw rod (3) band movable slider (4) moves up and down, the loosening shovel
(6) reasonable embedded depth is moved downward with the sliding block (4), constitutes a closed-loop control system, last loosening shovel (6) is completed
Used plastic collection operation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910182553.6A CN109716980A (en) | 2019-03-12 | 2019-03-12 | A kind of control system and its method of intelligent elevated skinning shovel device |
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| CN201910182553.6A CN109716980A (en) | 2019-03-12 | 2019-03-12 | A kind of control system and its method of intelligent elevated skinning shovel device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111357401A (en) * | 2020-02-25 | 2020-07-03 | 山东省农业机械科学研究院 | Self-adaptive film lifting shovel and picking speed regulation device and residual film recovery device and system |
| CN113303045A (en) * | 2021-05-31 | 2021-08-27 | 新疆农业科学院农业机械化研究所 | Intelligent monitoring system of plastic film residue recycling machine |
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| CN206274722U (en) * | 2016-12-23 | 2017-06-27 | 河北省农林科学院谷子研究所 | A kind of rake incomplete film-recovering machine |
| CN109220008A (en) * | 2018-10-18 | 2019-01-18 | 山东省农业机械科学研究院 | A kind of incomplete film-recovering machine intelligence skinning device and method |
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| CN205408425U (en) * | 2016-01-22 | 2016-08-03 | 吴小艳 | Novel adjustable break shovel structure rises automatically |
| CN206274722U (en) * | 2016-12-23 | 2017-06-27 | 河北省农林科学院谷子研究所 | A kind of rake incomplete film-recovering machine |
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| CN111357401A (en) * | 2020-02-25 | 2020-07-03 | 山东省农业机械科学研究院 | Self-adaptive film lifting shovel and picking speed regulation device and residual film recovery device and system |
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| CN113303045A (en) * | 2021-05-31 | 2021-08-27 | 新疆农业科学院农业机械化研究所 | Intelligent monitoring system of plastic film residue recycling machine |
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