CN117606421A - Multi-sensor fusion type device and method for detecting digging depth of pseudo-ginseng harvester - Google Patents
Multi-sensor fusion type device and method for detecting digging depth of pseudo-ginseng harvester Download PDFInfo
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- CN117606421A CN117606421A CN202311630070.0A CN202311630070A CN117606421A CN 117606421 A CN117606421 A CN 117606421A CN 202311630070 A CN202311630070 A CN 202311630070A CN 117606421 A CN117606421 A CN 117606421A
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- 230000004927 fusion Effects 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 21
- 235000003181 Panax pseudoginseng Nutrition 0.000 title claims abstract description 20
- 244000131316 Panax pseudoginseng Species 0.000 title claims abstract description 20
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 235000003143 Panax notoginseng Nutrition 0.000 claims 1
- 241000180649 Panax notoginseng Species 0.000 claims 1
- 238000009412 basement excavation Methods 0.000 abstract description 26
- 238000005259 measurement Methods 0.000 abstract description 14
- 238000012423 maintenance Methods 0.000 abstract description 3
- 238000000691 measurement method Methods 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000003306 harvesting Methods 0.000 description 4
- 239000002689 soil Substances 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000009331 sowing Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D33/00—Accessories for digging harvesters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/18—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring depth
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of measurement, and discloses a multi-sensor fusion type pseudo-ginseng harvester excavation depth detection device which comprises a fixed wheel frame which is arranged on one side of a harvester body and can elastically stretch out and draw back, wherein a laser sensor and a signal reflection module are arranged on the fixed wheel frame, an excavation shovel plate is arranged in the harvester body, and an excavation shovel frame for adjusting the angle of the excavation shovel plate is rotatably connected to the outer side face of the harvester body. The multi-sensor fusion pseudo-ginseng harvester excavation depth detection device and method have the advantages that the laser sensor and the angle sensor are adopted, the structure is simple, the assembly and the disassembly are convenient, the maintenance is easy, the measurement accuracy is improved, the excavation depth can be accurately measured, the measurement method is simple and reliable, the accuracy is good, the excavation depth value can be adjusted according to the requirement, the problems that the measurement of the existing single sensor is easily affected by the environment, the accuracy is to be improved are solved, and the real-time excavation depth calculation is realized through the sensor fusion data calculation.
Description
Technical Field
The invention relates to the technical field of measurement, in particular to a multi-sensor fusion type device and a multi-sensor fusion type method for detecting the digging depth of a pseudo-ginseng harvester.
Background
The accuracy of excavation depth calculation is one of important indexes for improving harvesting quality, and is an important basis for judging proper harvesting operation depth and crop harvesting net rate and damage rate; accurate digging depth is one of the important means for improving the high yield of crops.
The sowing depth is directly measured by using the laser sensor, so that the measuring accuracy is low, and the sowing depth is easily influenced by soil stubble, light, other signal interference and the like; the signal reflection module is also utilized to measure the digging depth, such as AUTOMATIC ON-LINE DEPTH CONTROL OF SEEDING UNITS USING A NON CONTACTING ULTRASONIC SENSOR ON the publication No. 0168-1699, and is arranged ON the furrow opener, and is also easily affected by the environment and inaccurate in measurement; the ultrasonic sensor used conventionally directly measures the distance from the groove, and the influence of the external environment on the measurement precision is not considered, so that larger errors exist between the measurement data and the actual requirements. In summary, although there is a method of measuring the excavation depth using a sensor such as ultrasonic waves, the measurement accuracy is not high and is easily affected by the environment, and it is not suitable for accurate excavation depth calculation of high quality harvesting technology.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides the multi-sensor fusion type device and the multi-sensor fusion type method for detecting the digging depth of the pseudo-ginseng harvester, which are simple in structure, convenient to assemble and disassemble, easy to maintain, capable of improving the measuring accuracy, accurately measuring the digging depth, simple and reliable in measuring method, good in accuracy, capable of adjusting the digging depth value according to the requirement, and capable of solving the problems that the measurement of the existing single sensor is easily affected by the environment and the accuracy is to be improved.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a multi-sensor fused pseudo-ginseng harvester excavates degree of depth detection device, but including installing in harvester body one side elastic telescoping's fixed wheel carrier, be provided with laser sensor and signal reflection module on the fixed wheel carrier, the inside of harvester body is provided with the shovel board that excavates, just the lateral surface of harvester body rotates and is connected with the shovel frame that is used for the shovel board angle modulation that excavates, the shovel frame that excavates is connected with the shovel board that excavates, the lateral surface of harvester body articulates through the support has the pneumatic cylinder that is used for the rotatory drive of shovel frame that excavates, install angle sensor on the shovel frame that excavates, laser sensor is unanimous with signal reflection module's vertical position, angle sensor is parallel with the perpendicular limit of shovel frame that excavates.
Preferably, the fixed wheel carrier comprises an L-shaped bracket fixedly connected with the harvester body, a lower bracket is arranged at the bottom of the L-shaped bracket in a telescopic manner, a spring for elastically extruding the lower bracket is arranged in the L-shaped bracket, a travelling wheel is rotatably connected to the bottom of the lower bracket, the laser sensor is fixedly mounted on the inner side surface of the L-shaped bracket, and the signal reflection module is fixedly mounted on one side of the lower bracket.
Preferably, the bottom of the L-shaped bracket is provided with a movable groove, the top of the lower bracket is slidably connected to the inside of the movable groove, and the spring is arranged in the inside of the movable groove, so that the lower bracket is fluctuated up and down in the inside of the L-shaped bracket along with the spring.
Preferably, the laser sensor is located right above the signal reflection module, and the signal reflection module is used for receiving signals emitted by the laser sensor, feeding the received signals back to the system, and storing data through the system.
Preferably, the travelling wheel is made of a pressed non-deformable material and is connected through a hub, the axis of the hub is rotationally connected with the lower support, the signal reflection module is fixed on the side face of the lower support, so that the signal reflection module does not rotate along with wheels, and the travelling wheel can drive the lower support to undulate up and down along with the fluctuation of the ground so as to drive the signal reflection module to undulate up and down.
Preferably, the inside sliding connection of movable groove has the sliding plate, the spring is fixed in between the bottom of sliding plate and the top of lower carriage, the top threaded connection of L type support has first lead screw, the bottom of first lead screw rotate connect in the top of sliding plate, the top of L type support is provided with adjusting part.
Preferably, the adjusting part is including seting up in the flexible groove at L type support top, the inside sliding connection of flexible groove has flexible post, and the one end and the harvester body fixed connection of flexible post, the top sliding connection of L type support has the regulating plate, the bottom and the flexible post fixed connection of regulating plate, the top of L type support is connected with the second lead screw through the support rotation, the surface and the internal thread connection of regulating plate of second lead screw, the top of L type support is rotated and is connected with threaded sleeve, first lead screw and threaded sleeve's internal thread connection, the bottom of first lead screw is fixed in the top of sliding plate, the equal fixedly connected with intermeshing's of the one end of threaded sleeve surface and second lead screw conical gear.
A measuring method of a multi-sensor fusion type pseudo-ginseng harvester excavation depth detection device comprises the following steps:
s1, moving a measuring device to a field test land to be tested, and installing sensors of the device on a harvester;
s2, measuring the vertical distance from the laser sensor fixed on the upper rod of the fixed wheel carrier to the horizontal position of the upper rod of the fixed wheel carrier, and recording and storing the vertical distance into a system recorded as h 1 ；
S3, measuring the vertical distance from the signal reflection module fixed on the lower rod of the fixed wheel carrier to the ground, and recording and storing the vertical distance into a system recorded as h 2 ；
S4, measuring the vertical distance from the center point of the rotary shaft of the digging shovel frame fixed on the harvester to the horizontal position of the upper rod of the fixed wheel frame, and recording and storing the vertical distance into a system recorded as h 3 ；
S5, measuring the length of the digging shovel fixed on the digging shovel frame, and recording and storing the length into a system for marking as l;
s6, starting the harvester, starting the laser sensor, measuring the distance between the laser sensor and the signal reflection module, and storing the distance into the system and recording the distance as x;
s7, starting an angle sensor, measuring the rotation angle of the excavating shovel frame in the excavating process, converting the rotation angle into the earth entering angle of the excavating shovel in real time, and storing data into a system and recording the data as theta;
s8, setting the ditching depth as L, and adopting a ditching depth formula as follows: l=1sin θ - (h) 1 +x+h 2 )+h 3 。
(III) beneficial effects
Compared with the prior art, the invention provides a multi-sensor fusion type device for detecting the digging depth of a pseudo-ginseng harvester, which has the following beneficial effects:
the invention adopts the laser sensor and the angle sensor, has simple structure, convenient assembly and disassembly, easy maintenance, improves the measurement accuracy and can accurately measure the digging depth. The measuring method is simple and reliable, has good accuracy, can adjust the excavation depth value according to the requirement, solves the problems that the existing single sensor is easy to be influenced by environment and the accuracy is to be improved, and realizes real-time excavation calculation by sensor fusion data calculation.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of the present invention;
FIG. 2 is a front elevational view of the structure of FIG. 1 in accordance with the present invention;
FIG. 3 is a schematic view of the structure of the fixed wheel frame of FIG. 2 according to the present invention;
FIG. 4 is a schematic diagram of the invention for measuring ground level variations;
FIG. 5 is a schematic diagram of a measurement method according to the present invention;
FIG. 6 is a schematic diagram of a second embodiment of the present invention;
fig. 7 is a cross-sectional view of the structure of fig. 6 in accordance with the present invention.
In the figure: 1. a harvester body; 11. a digging shovel plate; 12. digging a shovel frame; 13. a hydraulic cylinder; 2. a fixed wheel frame; 21. an L-shaped bracket; 22. a lower bracket; 23. a spring; 24. a walking wheel; 25. a movable groove; 3. a laser sensor; 4. a signal reflection module; 5. an angle sensor; 6. a sliding plate; 7. a first screw rod; 8. an adjustment assembly; 81. a telescopic slot; 82. a telescopic column; 83. an adjusting plate; 84. a second screw rod; 9. a threaded sleeve; 10. a bevel gear.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
referring to fig. 1-5, a multi-sensor fused pseudo-ginseng harvester excavation depth detection device comprises a fixed wheel frame 2 which is arranged on one side of a harvester body 1 and can elastically stretch out and draw back, wherein a laser sensor 3 and a signal reflection module 4 are arranged on the fixed wheel frame 2, an excavation shovel plate 11 is arranged in the harvester body 1, an excavation shovel frame 12 for adjusting the angle of the excavation shovel plate 11 is rotatably connected to the outer side surface of the harvester body 1, the excavation shovel frame 12 is connected with the excavation shovel plate 11, a hydraulic cylinder 13 for rotatably driving the excavation shovel frame 12 is hinged to the outer side surface of the harvester body 1 through a bracket, an angle sensor 5 is arranged on the excavation shovel frame 12, the vertical position of the laser sensor 3 is consistent with that of the signal reflection module 4, and the angle sensor 5 is parallel to the vertical edge of the excavation shovel frame 12;
the problem that the measurement of the existing single sensor is easily affected by the environment and the accuracy is to be improved is solved, and the calculation of real-time depth digging is realized by the calculation of sensor fusion data;
the angle sensor 5 is arranged on the digging shovel frame 12, the digging shovel frame 12 is a device on the pseudo-ginseng harvester, and the device is used for acquiring the soil entering angle of the digging shovel in real time;
the laser sensor 3 and the angle sensor 5 are adopted, so that the structure is simple, the assembly and the disassembly are convenient, the maintenance is easy, the measurement accuracy is improved, and the depth can be accurately measured; the measuring method is simple and reliable, has good accuracy and can adjust the excavation depth value according to the requirement.
Referring to fig. 2 and 3, the fixed wheel frame 2 includes an L-shaped bracket 21 fixedly connected with the harvester body 1, a lower bracket 22 is telescopically arranged at the bottom of the L-shaped bracket 21, a spring 23 for elastically extruding the lower bracket 22 is arranged in the L-shaped bracket 21, a travelling wheel 24 is rotatably connected at the bottom of the lower bracket 22, a laser sensor 3 is fixedly mounted on the inner side surface of the L-shaped bracket 21, and a signal reflection module 4 is fixedly mounted on one side of the lower bracket 22;
the fixed wheel carrier 2 consists of an upper rod and a telescopic lower rod, the upper rod and the lower rod respectively correspond to the L-shaped bracket 21 and the lower bracket 22, a small hole is formed in the L-shaped bracket 21 of the fixed wheel carrier 2 so as to fix the laser sensor 3, then a signal of the laser sensor 3 is vertically emitted to the signal reflection module 4, the signal is fed back to the system, and the system reads a measured value; the signal reflection module 4 is arranged on the lower rod of the fixed wheel carrier 2 and floats up and down along with the lower rod of the fixed wheel carrier 2 along with the traveling wheel 24 so as to receive signals at any time; the travelling wheel 24 can be fluctuated up and down along with the change of the terrain, so as to drive the signal reflection module 4 to fluctuated up and down;
the angle sensor 5 measuring module is arranged on the excavating shovel frame 12; the digging shovel frame 12 is a device on the pseudo-ginseng harvester, and the device is used for acquiring the soil entering angle of the digging shovel in real time. The invention has the advantages of simple structure, high measurement accuracy, easy operation, low cost and real-time measurement, and is not easy to be interfered by external environment.
Referring to fig. 2 and 3, a movable groove 25 is formed at the bottom of the L-shaped bracket 21, and the top of the lower bracket 22 is slidably connected to the inside of the movable groove 25, and a spring 23 is installed inside the movable groove 25, so that the lower bracket 22 is vertically fluctuated inside the L-shaped bracket 21 along with the spring 23.
Referring to fig. 2 and 3, the laser sensor 3 is located directly above the signal reflection module 4, and the signal reflection module 4 is configured to receive a signal emitted by the laser sensor 3, feed the received signal back to the system, and store data through the system.
Referring to fig. 2 and 3, the travelling wheel 24 is made of a pressed non-deformable material and is connected with the lower bracket 22 through a hub, the axle center of the hub is rotationally connected with the lower bracket 22, and the signal reflection module 4 is fixed on the side surface of the lower bracket 22, so that the signal reflection module 4 does not rotate along with the wheel, and the travelling wheel 24 can drive the lower bracket 22 to fluctuate along with the fluctuation of the ground so as to drive the signal reflection module 4 to fluctuate.
A measuring method of a multi-sensor fusion type pseudo-ginseng harvester excavation depth detection device comprises the following steps:
s1, moving a measuring device to a field test land to be tested, and installing sensors of the device on a harvester;
s2, measuring the vertical distance from the laser sensor 3 fixed on the upper rod of the fixed wheel carrier 2 to the horizontal position of the upper rod of the fixed wheel carrier 2, and recording and storing the vertical distance into a system recorded as h 1 ；
S3, measuring the vertical distance between the signal reflection module 4 fixed on the lower rod of the fixed wheel carrier 2 and the ground, and recording and storing the vertical distance into a system for marking as h 2 ；
S4, measuring the vertical distance from the center point of the rotary shaft of the digging shovel frame 12 fixed on the harvester to the horizontal position of the upper rod of the fixed wheel frame 2, and recording and storing the vertical distance into a system which is recorded as h 3 ；
S5, measuring the length of the digging shovel fixed on the digging shovel frame 12, and recording and storing the length into a system record as l;
s6, starting the harvester, starting the laser sensor 3, measuring the distance between the laser sensor 3 and the signal reflection module 4, and storing the distance into the system and recording the distance as x;
s7, starting an angle sensor 5, measuring the rotation angle of the excavating shovel frame 12 in the excavating process, converting the rotation angle into the earth entering angle of the excavating shovel in real time, storing data into a system and recording the data as theta;
s8, setting the ditching depth as L, and adopting a ditching depth formula as follows: l=1sin θ - (h) 1 +x+h 2 )+h 3 ；
Wherein, l-the fixed distance of the shovel length of the shovel;
the angle of rotation of theta-excavating shovel frame 12;
h 1 a fixed distance of the laser sensor from the horizontal position of the upper bar of the fixed wheel carrier 2;
h 2 -a fixed distance of the signal reflection module to the ground;
h 3 the vertical distance from the centre point of the rotation axis of the excavating shovel 12 to the horizontal position of the upper bar of the fixed wheel frame 2.
Example 2: the difference is based on example 1;
referring to fig. 6 and 7, a sliding plate 6 is slidably connected inside a movable groove 25, a spring 23 is fixed between the bottom of the sliding plate 6 and the top of a lower bracket 22, a first screw rod 7 is screwed on the top of an L-shaped bracket 21, the bottom end of the first screw rod 7 is rotatably connected to the top of the sliding plate 6, and an adjusting assembly 8 is arranged on the top of the L-shaped bracket 21;
through manual rotary driving to first lead screw 7, and the rotation of first lead screw 7 can drive the sliding plate 6 up-and-down motion, and the motion of sliding plate 6 up-and-down can drive spring 23 and extrude, and then forms the regulation of spring 23 to lower carriage 22 elastic coefficient to satisfy the dynamics of different fluctuation, improve the convenience of the excavation of its harvester.
Example 3: the difference is based on example 1;
referring to fig. 6 and 7, the adjusting assembly 8 includes a telescopic slot 81 opened at the top of the L-shaped bracket 21, a telescopic column 82 is slidably connected in the telescopic slot 81, one end of the telescopic column 82 is fixedly connected with the harvester body 1, the top of the L-shaped bracket 21 is slidably connected with an adjusting plate 83, the bottom of the adjusting plate 83 is fixedly connected with the telescopic column 82, the top of the L-shaped bracket 21 is rotatably connected with a second screw rod 84 through a bracket, and the outer surface of the second screw rod 84 is in threaded connection with the inner part of the adjusting plate 83;
through manual rotary driving to second lead screw 84, can drive regulating plate 83 and control the motion, through the motion about regulating plate 83, can drive flexible post 82 concertina movement, and flexible post 82's concertina movement can adjust the position of fixed wheel carrier 2 to satisfy the detection work of different forms, improved the convenience of operation.
The top of the L-shaped bracket 21 is rotationally connected with a threaded sleeve 9, the first screw rod 7 is in threaded connection with the inside of the threaded sleeve 9, the bottom end of the first screw rod 7 is fixed on the top of the sliding plate 6, and the outer surface of the threaded sleeve 9 and one end of the second screw rod 84 are fixedly connected with a conical gear 10 which is meshed with each other;
through the rotation of screw sleeve 9, can drive first lead screw 7 up-and-down motion, and then can drive sliding plate 6 up-and-down motion, form the regulation of spring 23 elasticity coefficient for the rotation of second lead screw 84 can drive two conical gear 10 synchronous rotation through the intermeshing of two conical gear 10, and then forms screw sleeve 9's rotary drive, forms the synchronous drive of the length adjustment and the elastic adjustment of fixed wheel carrier 2, and then has improved the convenience of operation.
It should be noted that the term "comprises," "comprising," or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. Multi-sensor fused pseudo-ginseng harvester digs degree of depth detection device, its characterized in that: including installing in harvester body (1) one side elastically telescopic fixed wheel carrier (2), be provided with laser sensor (3) and signal reflection module (4) on fixed wheel carrier (2), the inside of harvester body (1) is provided with and excavates shovel board (11), just the lateral surface of harvester body (1) rotates and is connected with and is used for excavating shovel frame (12) to excavate shovel board (11) angle modulation, excavate shovel frame (12) and be connected with excavate shovel board (11), the lateral surface of harvester body (1) articulates through the support has hydraulic cylinder (13) that are used for excavating shovel frame (12) rotary drive, install angle sensor (5) on excavate shovel frame (12), the vertical position of laser sensor (3) and signal reflection module (4) is unanimous, angle sensor (5) are parallel with the perpendicular limit of excavate shovel frame (12).
2. The multi-sensor fusion type device for detecting the digging depth of the pseudo-ginseng harvester according to claim 1, wherein the device comprises the following components: the fixed wheel carrier (2) comprises an L-shaped support (21) fixedly connected with the harvester body (1), a lower support (22) is arranged at the bottom of the L-shaped support (21) in a telescopic mode, a spring (23) used for elastically extruding the lower support (22) is arranged in the L-shaped support (21), a travelling wheel (24) is rotatably connected to the bottom of the lower support (22), the laser sensor (3) is fixedly mounted on the inner side face of the L-shaped support (21), and the signal reflection module (4) is fixedly mounted on one side of the lower support (22).
3. The multi-sensor fusion type device for detecting the digging depth of the pseudo-ginseng harvester according to claim 2, wherein the device is characterized in that: the bottom of L type support (21) has seted up movable groove (25), and the top sliding connection of lower carriage (22) in the inside of movable groove (25), spring (23) install in the inside of movable groove (25), make lower carriage (22) follow spring (23) in the inside of L type support (21) fluctuation.
4. The multi-sensor fusion type device for detecting the digging depth of the pseudo-ginseng harvester according to claim 2, wherein the device is characterized in that: the laser sensor (3) is located right above the signal reflection module (4), and the signal reflection module (4) is used for receiving signals emitted by the laser sensor (3), feeding the received signals back to the system, and storing data through the system.
5. The multi-sensor fusion type device for detecting the digging depth of the pseudo-ginseng harvester according to claim 4, wherein the device comprises the following components: the road wheels (24) are made of materials which are not deformed under pressure and are connected through hubs, the axes of the hubs are rotationally connected with the lower support (22), and the signal reflection module (4) is fixed on the side face of the lower support (22) so that the signal reflection module (4) does not rotate along with wheels, and the road wheels (24) can drive the lower support (22) to fluctuate along with fluctuation of the ground to drive the signal reflection module (4) to fluctuate.
6. The multi-sensor fusion type device for detecting the digging depth of the pseudo-ginseng harvester according to claim 3, wherein the device comprises the following components: the inside sliding connection of movable groove (25) has sliding plate (6), spring (23) are fixed in between the bottom of sliding plate (6) and the top of lower carriage (22), the top threaded connection of L type support (21) has first lead screw (7), the bottom of first lead screw (7) rotate connect in the top of sliding plate (6), the top of L type support (21) is provided with adjusting part (8).
7. The multi-sensor fusion type device for detecting the digging depth of the pseudo-ginseng harvester according to claim 6, wherein the device comprises the following components: the utility model provides an adjustable support structure for a harvester, including L type support (21), including set up in telescopic slot (81) at L type support (21) top, the inside sliding connection of telescopic slot (81) has telescopic column (82), and the one end and harvester body (1) fixed connection of telescopic column (82), the top sliding connection of L type support (21) has regulating plate (83), the bottom and the telescopic column (82) fixed connection of regulating plate (83), the top of L type support (21) is connected with second lead screw (84) through the support rotation, the surface and the inside threaded connection of regulating plate (83) of second lead screw (84), the top rotation of L type support (21) is connected with threaded sleeve (9), the inside threaded connection of first lead screw (7) and threaded sleeve (9), the bottom of first lead screw (7) is fixed in the top of sliding plate (6), the surface of threaded sleeve (9) and the equal fixedly connected with intermeshing conical gear (10) of one end of second lead screw (84).
8. A measuring method of a digging depth detecting device of a notoginseng harvester adopting the multi-sensor fusion of any one of claims 1 to 5, which is characterized by comprising the following steps:
s1, moving a measuring device to a field test land to be tested, and installing sensors of the device on a harvester;
s2, measuring the vertical distance from the laser sensor (3) fixed on the upper rod of the fixed wheel frame (2) to the horizontal position of the upper rod of the fixed wheel frame (2), and recording and storing the vertical distance into a system record as h 1 ；
S3, measuring the vertical distance from the signal reflection module (4) fixed on the lower rod of the fixed wheel frame (2) to the ground, and recording and storing the vertical distance into a system recorded as h 2 ；
S4, measuring the vertical distance from the center point of the rotary shaft of the digging shovel frame (12) fixed on the harvester to the horizontal position of the upper rod of the fixed wheel frame (2), and recording and storing the vertical distance into a system which is recorded as h 3 ；
S5, measuring the length of the digging shovel fixed on the digging shovel frame (12), and recording and storing the length into a system record as l;
s6, starting the harvester, starting the laser sensor (3), measuring the distance between the laser sensor (3) and the signal reflection module (4), and storing the distance into the system and recording the distance as x;
s7, starting an angle sensor (5), measuring the rotation angle of the excavating shovel frame (12) in the excavating process, converting the rotation angle into the earth entering angle of the excavating shovel in real time, storing data into a system and recording the data as theta;
s8, setting the ditching depth as L, and adopting a ditching depth formula as follows: l=1sin θ - (h) 1 +x+h 2 )+h 3 。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311630070.0A CN117606421A (en) | 2023-11-29 | 2023-11-29 | Multi-sensor fusion type device and method for detecting digging depth of pseudo-ginseng harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311630070.0A CN117606421A (en) | 2023-11-29 | 2023-11-29 | Multi-sensor fusion type device and method for detecting digging depth of pseudo-ginseng harvester |
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| Publication Number | Publication Date |
|---|---|
| CN117606421A true CN117606421A (en) | 2024-02-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311630070.0A Pending CN117606421A (en) | 2023-11-29 | 2023-11-29 | Multi-sensor fusion type device and method for detecting digging depth of pseudo-ginseng harvester |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117606421A (en) |
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2023
- 2023-11-29 CN CN202311630070.0A patent/CN117606421A/en active Pending
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