CN110692299A - Row-aligning detection device, intertillage topdressing machine and control method thereof - Google Patents
Row-aligning detection device, intertillage topdressing machine and control method thereof Download PDFInfo
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- CN110692299A CN110692299A CN201910870127.1A CN201910870127A CN110692299A CN 110692299 A CN110692299 A CN 110692299A CN 201910870127 A CN201910870127 A CN 201910870127A CN 110692299 A CN110692299 A CN 110692299A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/04—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools
- A01B49/06—Combinations of soil-working tools with non-soil-working tools, e.g. planting tools for sowing or fertilising
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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
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Automation & Control Theory (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Soil Working Implements (AREA)
Abstract
The invention relates to the technical field of agricultural production equipment, and provides a line alignment detection device, an intertillage topdressing machine and a control method thereof, wherein the line alignment detection device comprises a mounting seat, an angle sensor and a detection rod; the first ends of the two detection rods are hinged with the mounting seat, and the second ends of the two detection rods are arranged at intervals; the angle sensor is arranged on the mounting seat and used for collecting the deflection angle of the detection rod relative to the mounting seat; the invention can accurately sense the position of the row crop through the row detection device so as to obtain the walking posture of mechanical equipment during the intertillage operation, further accurately realize the row operation, and effectively prevent the seedling injury phenomenon of the intertillage machine during the operation and the problem of crop yield reduction caused by the seedling injury phenomenon.
Description
Technical Field
The invention relates to the technical field of agricultural production equipment, in particular to a line detection device, an intertillage topdressing machine and a control method thereof.
Background
With the rapid development of intelligent agricultural equipment, the requirement on the field operation efficiency is higher and higher, accurate and rapid alignment is a main means for realizing high-efficiency field operation, and the technical means indirectly influences the operation quality and the growth and yield of crops.
Currently, most harvesting machines are capable of harvesting in rows, but do not strictly perform row-to-row operations. In the 'an intelligent agricultural machinery automatic row alignment device' shown in patent application number 201710290804.3, a row alignment operation device based on machine vision is provided, the device mainly utilizes vision to collect information, extracts crop row position information through processing such as gray scale, threshold value and noise reduction, processes a simulated crop row line through an approximate algorithm, is similar to a flight line planning of automatic navigation operation, has high intelligent degree, but can not completely and truly reflect the crop position, and the system processing algorithm is complex, is easy to be limited by illumination conditions, and has higher production cost.
Therefore, when the existing row alignment operation device based on machine vision is used for harvesting crops, the corresponding row alignment mechanism has large row alignment errors, and the accurate extraction of the crop row position information is difficult. Therefore, when the opposite-direction mechanism is used for intertillage operation, seedling damage is easy to occur when the intertillage machine works, the yield of crops is reduced, and the mechanism is not beneficial to popularization of the intertillage topdressing machine.
Disclosure of Invention
Technical problem to be solved
One of the purposes of the present invention is to provide a line alignment detection device, which is used to solve the problem that in the process of harvesting crops, the corresponding line alignment mechanism of the existing line alignment operation device based on machine vision has a large line alignment error, and it is difficult to accurately extract the line position information of the crops.
Another object of the present invention is to provide an intertillage device, an intertillage topdressing machine and a control method thereof based on the above-mentioned opposite row detection device, so as to prevent the seedling injury phenomenon caused by the opposite row error in the intertillage and topdressing operation and the crop yield reduction problem.
(II) technical scheme
In order to solve the above technical problems, the present invention provides, in one aspect, an alignment detection apparatus, including a mounting base, an angle sensor, and a detection rod; the first ends of the two detection rods are hinged with the mounting seat, and the second ends of the two detection rods are arranged at intervals; the angle sensor is installed on the installation seat and used for collecting the deflection angle of the detection rod relative to the installation seat.
Preferably, the detection rod comprises a bending section and a straight line section, one end of the bending section is hinged with the mounting seat, and the other end of the bending section is connected with the straight line section; two the probe rod is established same one side of mount pad, and two the probe rod for the mount pad is the symmetry setting.
Preferably, the first end of the detection rod is hinged to the mounting base through a pin shaft, a torsion spring is sleeved on the pin shaft, a torsion arm at one end of the torsion spring is abutted to the mounting base, and a torsion arm at the other end of the torsion spring is abutted to the detection rod; the first ends of the two detection rods are arranged at an included angle, and an opening angle adjusting device is arranged at the included angle of the two detection rods.
Preferably, the flare angle adjusting device comprises a wedge block, an adjusting support and an adjusting bolt; the wedge block is triangular, and a first side edge and a second side edge of the wedge block are respectively attached to the bending sections of the two detection rods; one end of the adjusting support is connected with the mounting seat, the other end of the adjusting support is provided with the adjusting bolt, and the adjusting bolt is connected with the third side edge of the wedge block through threads.
Preferably, the invention also provides a intertillage device in another aspect, which comprises a hanging frame and a cultivator tool, wherein the front side of the hanging frame is provided with a hanging position; the device also comprises a line alignment adjusting mechanism and the line alignment detection device; the mounting seat is mounted on the lower side of the hanging frame; the row alignment adjusting mechanism is arranged between the rear side of the hanging frame and the intertillage implement, and the row alignment adjusting mechanism transversely adjusts the plowing position of the intertillage implement according to the angle value acquired by the angle sensor.
Preferably, the alignment adjusting mechanism comprises a hydraulic cylinder, a sliding block and a sliding rail; the hydraulic cylinder is transversely arranged, the base of the hydraulic cylinder is connected with the hanging frame, and the telescopic end of the hydraulic cylinder is connected with the sliding block; the hydraulic cylinder is connected with a hydraulic system, the hydraulic system comprises an electromagnetic proportional valve and an electromagnetic directional valve which are arranged on an oil path of the hydraulic cylinder, and the electromagnetic proportional valve and the electromagnetic directional valve are respectively connected with the angle sensor; the slide rail is arranged at the rear side of the hanging frame and is connected with the slide block in a sliding manner, and the slide block is connected with the cultivator.
Preferably, the left side and the right side of the hanging frame are provided with two coaxially arranged depth wheels, and the distance between the two depth wheels is adjustable.
Preferably, the invention also provides an intertillage topdressing machine in another aspect, which comprises a tractor and a fertilizing device; also comprises the cultivation device; the suspension beam at the tail end of the tractor is connected with the hanging frame, and the fertilizer applying device is installed on the intertillage machine.
Preferably, the fertilizing device comprises a fertilizer hopper, a blower and a fertilizing pipe; the fertilizer hopper and the blower are arranged on the cultivating implement; the air outlet of the air blower is communicated with one end of the fertilizing tube, the other end of the fertilizing tube extends to the ground, and the middle of the fertilizing tube is communicated with the discharge hole of the fertilizer hopper.
Preferably, the present invention also provides a method for controlling an intertillage topdressing machine, comprising: when the angle value acquired by the angle sensor is greater than a preset threshold value, starting the hydraulic cylinder to transversely adjust the plowing position of the intertillage tool; and when the angle value acquired by the angle sensor is smaller than a preset threshold value, closing the hydraulic cylinder.
(III) technical effects
According to the row alignment detection device provided by the invention, when the row alignment detection device is used for row alignment detection of intertillage operation, the second ends of the two detection rods can be arranged at corresponding intervals according to the spacing between crop rows, and because the first ends of the two detection rods are hinged with the mounting seat, when an intertillage machine walks in a direction strictly according to the arrangement direction of the crop rows, the two detection rods cannot touch the crop rows, and at the moment, an angle sensor arranged on the mounting seat cannot generate electromagnetic induction signals; on the contrary, when the cultivator walks in a deviated way towards one side of the opposite row, the detection rod arranged in the corresponding row can touch the crops in the row, so that the detection rod deflects relative to the mounting seat, and the angle sensor can accurately record the deflection angle of the detection rod relative to the mounting seat due to electromagnetic induction; therefore, the row alignment detection device can accurately sense the position of the row crop, so that the walking posture of the mechanical equipment during the intertillage operation can be acquired, and the row alignment operation can be further accurately realized.
The invention provides an intertillage device, an intertillage topdressing machine and a control method thereof, wherein the opposite row detection device is arranged on the hanging frame of the intertillage device, so that when the intertillage topdressing machine deviates to one side of the opposite row during the intertillage operation, the angle sensor can record the deviation angle of the intertillage topdressing machine when the intertillage topdressing machine deviates to the traveling in real time, and the row adjusting mechanism can be used for carrying out adaptive transverse adjustment on the plowing position of an intertillage implement, thereby effectively preventing the seedling injury phenomenon of the intertillage implement during the operation and the problem of crop yield reduction caused by the seedling injury phenomenon.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a line alignment detection apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a partial enlarged structure of a line alignment detection apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a row alignment detection apparatus disposed between row-aligned crops according to an embodiment of the present invention;
FIG. 4 is a schematic perspective view of a cultivating device according to an embodiment of the present invention;
FIG. 5 is a front view schematically illustrating the structure of the cultivating device according to the embodiment of the present invention;
FIG. 6 is a schematic diagram of a hydraulic system according to an embodiment of the present invention;
fig. 7 is a schematic structural view of the cultivator-fertilizer applicator according to the embodiment of the present invention.
In the figure: 1-mounting seat, 2-angle sensor, 3-detecting rod, 301-bending section, 302-straight line section, 4-pin shaft, 5-torsion spring, 6-wedge block, 7-adjusting support, 8-adjusting bolt, 9-hanging frame, 10-cultivator, 101-cultivator frame, 102-fertilizing shovel, 11-hanging position, 12-fixing frame, 13-hydraulic cylinder, 14-sliding block, 15-sliding rail, 16-hydraulic pump, 17-filter, 18-one-way stable flow dividing valve, 19-electromagnetic proportional valve, 20-electromagnetic directional valve, 21-hydraulic lock, 22-one-way valve, 23-beam, 24-inserted rod, 25-supporting leg, 26-depth-limiting wheel, 27-tractor and 28-fertilizer hopper, 29-blower, 30-fertilizing tube.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1-2, the present embodiment provides an alignment detection apparatus, which includes a mounting base 1, an angle sensor 2, and a detection rod 3; the first ends of the two detection rods 3 are hinged with the mounting seat 1, and the second ends of the two detection rods 3 are arranged at intervals; the angle sensor 2 is mounted on the mounting base 1 and is used for acquiring the deflection angle of the detection rod 3 relative to the mounting base 1, wherein the angle sensor 2 can be made of BEI Sensors ACW4, the detection rod 3 can be made of ferromagnetic material, when the detection rod 3 deflects relative to the mounting base 1, a magnetic induction line corresponding to the magnetic field generated by the cutting angle sensor 2 generates a corresponding induction signal in the angle sensor 2, and the induction signal represents the deflection angle of the detection rod 3 relative to the mounting base 1.
In particular, as can be seen from the row alignment detection device shown in fig. 1-2, when it is used for row alignment detection in intertillage work, the row alignment detection device is located between two oppositely arranged crop rows, see fig. 3, wherein the second ends of the two detection bars 3 of the row alignment detection device can be correspondingly spaced according to the spacing between the crop rows. Because the first ends of the two detection rods 3 are hinged with the mounting seat 1, when the intertillage machinery walks strictly according to the arrangement direction of the crop rows, the two detection rods 3 cannot touch the crops in the opposite rows, and the angle sensor 2 arranged on the mounting seat 1 cannot generate electromagnetic induction signals; on the contrary, when the cultivator walks in a deviated way towards one side of the opposite row, the detection rod 3 arranged in the corresponding row can touch the crops in the row, so that the detection rod 3 deflects relative to the mounting seat 1, and the angle sensor 2 can accurately record the deflection angle of the detection rod 3 relative to the mounting seat 1 due to electromagnetic induction; therefore, the row alignment detection device can accurately sense the position of the row crop so as to obtain the walking posture of mechanical equipment during intertillage operation and further accurately realize the row alignment operation
Further, in the present embodiment, the detection rod 3 includes a bending section 301 and a straight line section 302, one end of the bending section 301 is hinged to the mounting base 1, and the other end is connected to the straight line section 302; two detection rods 3 are arranged on the same side of the mounting seat 1, and the two detection rods 3 are symmetrically arranged relative to the mounting seat 1.
Specifically, referring to fig. 1 and 3, the bent section 301 is disposed at an obtuse angle to the straight section 302. When the row alignment detection device is actually used for row alignment detection in intertillage operation, the straight-line segments 302 of the two detection rods 3 can be respectively arranged in parallel with the two oppositely arranged crop rows, namely the straight-line segments 302 of the two detection rods 3 are parallelly positioned between the two oppositely arranged crop rows, so that the contact probability of the straight-line segments 302 and corresponding crops of the crop rows is greatly increased, when small deviation occurs in the operation process of the intertillage topdressing machine, the straight-line segments 302 can be touched with the corresponding crops of the crop rows, and the sensitivity of the row alignment detection device is greatly improved.
Furthermore, in this embodiment, the first end of the detecting rod 3 is hinged to the mounting base 1 through a pin 4, a torsion spring 5 is sleeved on the pin 4, a torsion arm at one end of the torsion spring 5 is abutted to the mounting base 1, and a torsion arm at the other end of the torsion spring 5 is abutted to the detecting rod 3; the first ends of the two detection rods 3 are arranged in an included angle, and an opening angle adjusting device is arranged at the included angle of the two detection rods 3.
Specifically, referring to fig. 2, the torsion spring 5 is used for providing a pre-tightening force between the first end of the detection rods 3 hinged to each other and the mounting base 1, and preventing the two detection rods 3 from rotating backwards relative to the mounting base 1 under the influence of touch, vibration and other external forces; and through set up opening angle adjusting device in the contained angle department of two feeler levers 3, can control to maintain stable contained angle between the first end of two feeler levers 3, corresponding second end that has guaranteed two feeler levers 3 maintains stable interval to carry out the line detection.
Further, the flare angle adjusting device in the embodiment comprises a wedge block 6, an adjusting support 7 and an adjusting bolt 8; the wedge block 6 is triangular, and a first side edge and a second side edge of the wedge block 6 are respectively attached to the bending sections 301 of the two detection rods 3; one end of the adjusting support 7 is connected with the mounting base 1, the other end of the adjusting support is provided with an adjusting bolt 8, and the adjusting bolt 8 is connected with the third side edge of the wedge block 6 through threads.
Specifically, referring to fig. 2, the adjusting support 7 is in an "L" shape, the horizontal side of the adjusting support 7 is connected to the mounting base 1 and plays a role of supporting the wedge 6, and the vertical side of the adjusting support 7 is parallel to the third side of the wedge 6. By adjusting the feed of the adjusting bolt 8 mounted on the vertical side of the adjusting abutment 7, the feed of the wedge 6 can be adjusted accordingly.
In practical use, the feeding amount of the adjusting bolt 8 is increased, so that when the wedge block 6 moves towards the mounting base 1, the included angle of the bending sections 301 of the two detecting rods 3 is gradually increased under the pushing action of the wedge block 6, and conversely, the feeding amount of the adjusting bolt 8 is reduced, so that the included angle formed by the corresponding bending sections 301 of the two detecting rods 3 is gradually reduced under the elastic action of the corresponding torsion springs 5. Therefore, the adjusting bolt 8 can control the first ends of the two detecting rods 3 to maintain different included angles so as to realize row-to-row detection of crops with different row distances.
Further, referring to fig. 4-5, the present embodiment further provides a cultivating device, which comprises a hanging frame 9 and a cultivating implement 10, wherein a hanging position 11 is arranged at the front side of the hanging frame 9; the device also comprises a line alignment adjusting mechanism and the line alignment detection device; the mounting seat 1 is arranged at the lower side of the hanging frame 9; a row alignment adjusting mechanism is arranged between the rear side of the hanging frame 9 and the cultivating implement 10, and the row alignment adjusting mechanism transversely adjusts the cultivating position of the cultivating implement 10 according to the angle value acquired by the angle sensor 2.
Specifically, a fixing frame 12 extending towards the lower side is arranged on the hanging frame 9, mounting holes with different mounting heights are arranged on the fixing frame 12, and the mounting seat 1 is mounted in one of the mounting holes. Through the setting of this mount 12, can conveniently adjust the inductive position height of detecting rod 3 under different crop stem thicknesses to can use with field angle adjusting device cooperation, adjust the interval width of the second end of two detecting rods 3 simultaneously.
Further, the alignment adjusting mechanism comprises a hydraulic cylinder 13, a slide block 14 and a slide rail 15; the hydraulic cylinder 13 is transversely arranged, the base of the hydraulic cylinder 13 is connected with the hanging frame 9, the telescopic end of the hydraulic cylinder 13 is connected with the sliding block 14, and the hydraulic cylinder 13 is connected with the angle sensor 2; the slide rail 15 is arranged at the rear side of the hanging frame 9, the slide rail 15 is connected with the slide block 14 in a sliding way, and the slide block 14 is connected with the cultivator 10.
Specifically, referring to fig. 4, the cultivating implement 10 includes a cultivating frame 101 and a fertilizing shovel 102, a slide block 14 is connected to the front side of the cultivating frame 101, and a plurality of the fertilizing shovels 102 are arranged side by side on the rear side of the cultivating frame 101. The hydraulic cylinders 13 are arranged in two, the two hydraulic cylinders 13 are arranged in a staggered mode along the transverse direction, and the telescopic ends of the two hydraulic cylinders 13 are connected with the sliding blocks 14, and the reference is made to fig. 5.
The hitching frame 9 is also provided with a control system and a hydraulic system. The control system includes a PLC controller or a single chip microcomputer as is well known in the art. When the row detection device detects that the cultivator tool 10 deflects relative to the crop rows as shown in fig. 3, the angle sensor 2 transmits analog quantity signals which are generated by induction and represent corresponding deflection angles to the control system, and the control system processes the received signals and then respectively controls the two hydraulic cylinders 13 to execute corresponding actions through the hydraulic system so as to transversely adjust the plowing position of the cultivator tool 10. In addition, the two hydraulic cylinders 13 are arranged to drive the sliding block 14, so that the problems that the single hydraulic cylinder 13 is difficult to fix and the left and right adjusting speeds are different due to different stress areas of the rod cavity and the rodless cavity are solved.
Further, referring to fig. 6, the hydraulic system in this embodiment includes a hydraulic pump 16, a filter 17, a one-way stable flow divider 18, an electromagnetic proportional valve 19, an electromagnetic directional valve 20, and a hydraulic lock 21, which are sequentially disposed along an oil path, wherein two sides of the filter 17 are connected in parallel with a one-way valve 22, and two output oil paths of the electromagnetic directional valve 20 are respectively connected to the two hydraulic cylinders 13 after passing through the hydraulic lock 21.
Specifically, a signal input port of a PLC or a singlechip in the control system is connected with the angle sensor 2, and a signal output port is electrically connected with the electromagnetic proportional valve 19 and the electromagnetic directional valve 20. Hydraulic oil (which can be hydraulic oil supplied by an oil supply system of a tractor 27) is pumped by the hydraulic pump 16 and reaches the one-way stable flow dividing valve 18 through the filter 17, and the one-way stable flow dividing valve 18 has the function of stabilizing the flow of an oil way so as to overcome the influence of unstable flow of the oil way on the response of the system; when the hydraulic oil reaches the electromagnetic proportional valve 19, under the control of the control system, the electromagnetic proportional valve 19 opens a corresponding opening according to the offset of the current cultivator 10 to control the moving speed of the hydraulic cylinder 13; in addition, under the control of the control system, the electromagnetic directional valve 20 also controls the extension and retraction directions of the two hydraulic cylinders 13 according to the current deflection direction of the cultivator 10, so as to drive the cultivator 10 to move in the corresponding direction. In addition, the hydraulic locks 21 are added to the two ends of the hydraulic cylinder 13, so that shaking caused by uneven ground surface when the hydraulic cylinder 13 is not adjusted can be prevented.
Furthermore, in the present embodiment, two depth wheels 26 coaxially disposed are further disposed on the left and right sides of the hitch frame 9, and the distance between the two depth wheels 26 is adjustable.
Specifically, referring to fig. 4, a cross beam 23 is arranged on the hanging frame 9, the cross beam 23 is of a hollow structure and has a rectangular cross section, insertion rods 24 which are oppositely arranged are inserted into the left and right ends of the cross beam 23, the cross section of each insertion rod 24 is also rectangular, and a locking bolt for locking and positioning the insertion rod 24 is arranged on the cross beam 23; two spigots 24 are each connected to the upper end of a vertically arranged support leg 25 opposite the other end of the cross beam 23, the lower end of each support leg 25 being connected to the hub of a depth wheel 26.
Therefore, the distance between the two depth wheels 26 can be adjusted by adjusting the depth of the inserted rod 24 in the cross beam 23, and the installation height of the depth wheels 26 can be correspondingly adjusted by adjusting the installation positions of the inserted rod 24 and the upper ends of the supporting legs 25 so as to adapt to the heights of crops in different topdressing operation periods.
In addition, during the actual working process, when the cultivator tool 10 is transversely adjusted, the fertilizing shovel 102 generates a reaction force to the cultivator during the adjustment process, so that the cultivator deflects relative to the tractor 27 to influence the row alignment precision, and in order to overcome the problem, two depth limiting wheels 26 capable of penetrating into the soil to a certain depth are additionally arranged on two sides of the cultivator, so that the influence of the fertilizing shovel 102 on the reaction force of the cultivator can be counteracted.
Further, the embodiment also provides an intertillage topdressing machine, which comprises a tractor 27 and a fertilizing device; also comprises the cultivation device; the suspension beam at the tail end of the tractor 27 is connected with the hitching frame 9, and the fertilizing device is arranged on the cultivator 10.
Specifically, referring to fig. 4 and 7, three hitching positions 11 are provided at the front side of the hitching frame 9, and the three hitching positions 11 are arranged in a triangular shape, so that the stability of the connection between the suspension beam at the tail end of the tractor 27 and the hitching frame 9 is effectively ensured, and the fertilizer applying device is mounted on the cultivating frame 101 of the cultivating implement 10, and the fertilizer applying device applies fertilizer simultaneously while the fertilizing shovel 102 of the cultivating implement 10 carries out cultivation on the field, thereby ensuring that the fertilizer can well enter into the cultivated soil, and further ensuring the effectiveness of fertilizer application.
Further, the fertilizing device in the present embodiment includes a fertilizer hopper 28, a blower 29 and a fertilizing pipe 30; the fertilizer hopper 28 and the blower 29 are mounted on the cultivating frame 101 of the cultivating implement 10; the air outlet of the blower 29 is communicated with one end of a fertilizing tube 30, the other end of the fertilizing tube 30 extends to the ground, and the middle part of the fertilizing tube 30 is communicated with the discharge hole of the fertilizer hopper 28.
Specifically, referring to fig. 7, while the fertilizer hopper 28 is discharging, the blower 29 is simultaneously activated, and the airflow generated by the blower 29 flows at a high speed in the fertilizer application pipe 30, so that the fertilizer in the fertilizer hopper 28 is sucked out under the action of the negative pressure, and the quick fertilizer application is facilitated.
Further, the present embodiment provides, in another aspect, a control method based on the above cultivator-fertilizer applicator, including: when the angle value acquired by the angle sensor 2 is greater than a preset threshold value, the hydraulic cylinder 13 is started to transversely adjust the plowing position of the cultivator tool 10; and when the angle value acquired by the angle sensor 2 is smaller than a preset threshold value, closing the hydraulic cylinder 13.
Specifically, in the intertillage topdressing operation process, when the intertillage topdressing machine deflects relative to crop rows, the detection rod 3 arranged on the row alignment detection device contacts with the crop stalks and deflects (when the intertillage topdressing machine deflects rightwards relative to the crop rows, the detection rod 3 deflects leftwards, otherwise, the detection rod 3 deflects rightwards), and the detection rod is converted into an analog quantity signal through the angle sensor 2 and transmitted to the control system; the control system can restore the offset signal according to a pre-established offset model of the intertillage implement 10, when the offset is larger than a set threshold value, the control system can calculate the opening size of the electromagnetic proportional valve 19 of the hydraulic system (the larger the offset is, the larger the opening of the proportional valve is, the faster the adjustment speed is) and send the opening size to the hydraulic power system by combining the current speed and the offset size of the intertillage topdressing machine, and the hydraulic power system can control the moving speed of the hydraulic cylinder 13 according to a control instruction so as to drive the opposite-row adjusting mechanism connected with the hydraulic cylinder to enable the intertillage topdressing machine 10 to move towards the opposite direction of deflection.
Meanwhile, a displacement sensor can be arranged on one side of the hydraulic cylinder 13, the operating position of the cultivator tool 10 is monitored by the displacement sensor in real time, and the operating position is fed back to the control system in real time, so that the position of the cultivator tool 10 can be accurately regulated and controlled in a closed loop.
In addition, in the process of adjusting the position of the cultivator tool 10, the deflection amount of the detection rod 3 on the row detection device is reduced, and when the control system detects that the deflection amount of the detection rod 3 is smaller than a set threshold value and the position of the cultivator-fertilizer applicator fed back by the displacement sensor reaches a desired position, the control system controls the hydraulic power system to stop working and stop adjusting, so that accurate row alignment of the cultivator-fertilizer applicator is realized.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A line-aligning detection device is characterized in that,
the device comprises a mounting seat, an angle sensor and a detection rod;
the first ends of the two detection rods are hinged with the mounting seat, and the second ends of the two detection rods are arranged at intervals;
the angle sensor is installed on the installation seat and used for collecting the deflection angle of the detection rod relative to the installation seat.
2. The line detecting device according to claim 1,
the detection rod comprises a bending section and a straight line section, one end of the bending section is hinged with the mounting seat, and the other end of the bending section is connected with the straight line section;
two the probe rod is established same one side of mount pad, and two the probe rod for the mount pad is the symmetry setting.
3. The line detecting device according to claim 2,
the first end of the detection rod is hinged with the mounting seat through a pin shaft, a torsion spring is sleeved on the pin shaft, a torsion arm at one end of the torsion spring is abutted against the mounting seat, and a torsion arm at the other end of the torsion spring is abutted against the detection rod;
the first ends of the two detection rods are arranged at an included angle, and an opening angle adjusting device is arranged at the included angle of the two detection rods.
4. The line detecting device according to claim 3,
the opening angle adjusting device comprises a wedge block, an adjusting support and an adjusting bolt;
the wedge block is triangular, and a first side edge and a second side edge of the wedge block are respectively attached to the bending sections of the two detection rods;
one end of the adjusting support is connected with the mounting seat, the other end of the adjusting support is provided with the adjusting bolt, and the adjusting bolt is connected with the third side edge of the wedge block through threads.
5. An intertillage device comprises a hanging frame and a cultivator tool, wherein a hanging position is arranged on the front side of the hanging frame; the device is characterized by further comprising a line alignment adjusting mechanism and the line alignment detection device of any one of claims 1 to 4;
the mounting seat is mounted on the lower side of the hanging frame;
the row alignment adjusting mechanism is arranged between the rear side of the hanging frame and the intertillage implement, and the row alignment adjusting mechanism transversely adjusts the plowing position of the intertillage implement according to the angle value acquired by the angle sensor.
6. The intertillage device of claim 5,
the line aligning adjusting mechanism comprises a hydraulic cylinder, a sliding block and a sliding rail;
the hydraulic cylinder is transversely arranged, the base of the hydraulic cylinder is connected with the hanging frame, and the telescopic end of the hydraulic cylinder is connected with the sliding block;
the hydraulic cylinder is connected with a hydraulic system, the hydraulic system comprises an electromagnetic proportional valve and an electromagnetic directional valve which are arranged on an oil path of the hydraulic cylinder, and the electromagnetic proportional valve and the electromagnetic directional valve are respectively connected with the angle sensor;
the slide rail is arranged at the rear side of the hanging frame and is connected with the slide block in a sliding manner, and the slide block is connected with the cultivator.
7. The intertillage device of claim 5,
two depth wheels which are coaxially arranged are further arranged on the left side and the right side of the hanging frame, and the distance between the two depth wheels is adjustable.
8. An intertillage topdressing machine, which comprises a tractor and a fertilizing device and is characterized in that,
further comprising the intertillage device of any one of claims 5-7;
the suspension beam at the tail end of the tractor is connected with the hanging frame, and the fertilizer applying device is installed on the intertillage machine.
9. The cultivator-fertilizer applicator of claim 8,
the fertilizing device comprises a fertilizer hopper, a blower and a fertilizing pipe;
the fertilizer hopper and the blower are arranged on the cultivating implement;
the air outlet of the air blower is communicated with one end of the fertilizing tube, the other end of the fertilizing tube extends to the ground, and the middle of the fertilizing tube is communicated with the discharge hole of the fertilizer hopper.
10. A method for controlling an intertillage topdressing machine according to claim 8 or 9, comprising:
when the angle value acquired by the angle sensor is greater than a preset threshold value, starting the hydraulic cylinder to transversely adjust the plowing position of the intertillage tool;
and when the angle value acquired by the angle sensor is smaller than a preset threshold value, closing the hydraulic cylinder.
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