WO2024113491A1 - 播种限深轮对地压力测量标定装置及方法 - Google Patents
播种限深轮对地压力测量标定装置及方法 Download PDFInfo
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- WO2024113491A1 WO2024113491A1 PCT/CN2023/075134 CN2023075134W WO2024113491A1 WO 2024113491 A1 WO2024113491 A1 WO 2024113491A1 CN 2023075134 W CN2023075134 W CN 2023075134W WO 2024113491 A1 WO2024113491 A1 WO 2024113491A1
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- Prior art keywords
- pressure
- ground
- limiting wheel
- depth limiting
- depth
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- 238000009331 sowing Methods 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000001105 regulatory effect Effects 0.000 claims description 45
- 238000009530 blood pressure measurement Methods 0.000 claims description 42
- 230000007246 mechanism Effects 0.000 claims description 17
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- 238000011161 development Methods 0.000 description 1
- 238000011478 gradient descent method Methods 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000008117 seed development Effects 0.000 description 1
- 230000007226 seed germination Effects 0.000 description 1
- 230000035040 seed growth Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
Definitions
- the present invention relates to the technical field of agricultural sowing, and in particular to a sowing depth limiting wheel pressure-to-ground measurement and calibration device and a sowing depth limiting wheel pressure-to-ground measurement and calibration method.
- the same position profiling is the main structural form of the current no-till seeder.
- the ground pressure of the sowing depth-limiting wheel is a key indicator for evaluating sowing quality, which directly affects the compactness of the soil particle arrangement in the seed furrow.
- Related studies have shown that there is a close connection between the ground pressure of the sowing depth-limiting wheel and the soil firmness.
- the appropriate soil firmness is conducive to water storage and moisture conservation in the seed bed, and promotes seed germination and soil breaking.
- the accurate measurement of the ground pressure of the depth-limiting wheel helps to improve the accuracy of the ground pressure control of the sowing unit, thereby achieving reasonable control of the seed bed firmness, maximizing the sowing quality, and promoting crop yields.
- Pressure sensors are usually used to collect the pressure of the sowing unit on the ground. Due to the different structural forms of different sowing units, the dimensions of the pressure sensors are also different, resulting in changes in the measurement model of the depth-limiting wheel's pressure on the ground.
- Existing methods mostly use manual recording and manual fitting to complete the calibration of the corresponding sensors and the construction of the pressure measurement model. This is labor-intensive, time-consuming, and lacks effective automation devices. It is difficult to meet the needs of rapid calibration and accurate modeling of the depth-limiting wheel's ground pressure measurement sensor in mass production mode.
- the invention provides a sowing depth limiting wheel to ground pressure measurement and calibration device and a sowing depth limiting wheel
- the invention discloses a method for calibrating wheel-to-ground pressure measurement, which is used to solve the defect that the calibration method of manual recording and manual fitting in the prior art is difficult to meet the requirements of rapid calibration and accurate modeling of wheel-to-ground pressure with limited depth in mass production mode.
- the present invention provides a device for measuring and calibrating the pressure of a sowing depth limiting wheel on the ground, comprising: a machine body, wherein the machine body is connected to a pair of depth limiting wheels; a pressure regulating part, which is arranged on the machine body, and is used to regulate the pressure of the depth limiting wheel on the ground; a pressure sensor, which is arranged on the machine body, and is used to detect the actual pressure output by the pressure regulating part; a pressure acquisition calibrator, which is arranged below the depth limiting wheel and abuts against the depth limiting wheel, and is used to detect the ground pressure applied by the depth limiting wheel to the ground, and is used to regulate the actual pressure output by the pressure regulating part; wherein the pressure acquisition calibrator is electrically connected to the pressure sensor, and is also used to store a plurality of the actual pressures and a plurality of the ground pressures, and to establish a depth limiting wheel ground pressure measurement model after automatic fitting.
- the pressure acquisition calibrator includes: a weighing sensor, used to detect the ground pressure applied by the depth limiting wheel to the ground; a processor, electrically connected to the weighing sensor and the pressure sensor, the processor is used to adjust the output pressure of the pressure regulating component, the processor is used to store multiple actual pressures and multiple ground pressures, and establish the depth limiting wheel ground pressure measurement model after automatic fitting.
- the processor includes a signal amplification circuit, an A/D acquisition module and a single-chip microcomputer electrically connected in sequence, and the signal amplification circuit is electrically connected to the load-bearing sensor.
- a sowing depth limiting wheel ground pressure measurement and calibration device also includes: a contoured four-bar linkage, which is hinged to the machine body, one end of the pressure regulating member is connected to the machine body, and the other end of the pressure regulating member is hinged to the contoured four-bar linkage; a level detector, which is arranged on the contoured four-bar linkage, and the level detector is used to detect the inclination angle between the contoured four-bar linkage and the horizontal plane.
- a sowing depth limiting wheel ground pressure measurement and calibration device provided by the present invention also includes a lifting mechanism, which is arranged between the depth limiting wheel and the pressure collection calibrator, and is used to adjust the inclination angle between the contoured four-link and the horizontal plane.
- the lifting mechanism includes: a load-bearing plate, located below the depth limiting wheel and abutting against the depth limiting wheel; a pair of slide rails, located below the load-bearing plate; a pair of X-shaped brackets, each of the first ends of the X-shaped brackets is connected to the load-bearing plate, and the second end of each of the X-shaped brackets is connected to a slider, and the slider is slidably connected to the slide rail; a pair of oil cylinders, each of the first ends of the oil cylinders is connected to a slider, and the second end of each of the oil cylinders is connected to an X-shaped bracket, so as to adjust the inclination angle between the load-bearing plate and the horizontal plane.
- a device for measuring and calibrating the ground pressure of a sowing depth limiting wheel provided by the present invention also includes a furrow opener, which is connected to the machine body and is located between a pair of the depth limiting wheels.
- the load-bearing plate is provided with a hollow groove, and part of the furrow opener passes through the hollow groove and extends to the bottom of the load-bearing plate, so that the furrow opener is in a suspended state.
- the present invention also provides a method for measuring and calibrating the sowing depth limiting wheel ground pressure using the sowing depth limiting wheel ground pressure measurement and calibration device as described above, comprising: adjusting the output pressure of the pressure regulating component at preset time intervals; obtaining multiple actual pressures of the pressure regulating component and multiple ground pressures applied to the ground by the depth limiting wheel; storing the multiple actual pressures and the multiple ground pressures in an array form, performing data fitting, and establishing a depth limiting wheel ground pressure measurement model.
- the method before the step of adjusting the output pressure of the pressure regulating component at a preset time interval, the method also includes: controlling the action of the lifting mechanism so that the inclination angle between the contoured four-bar linkage and the horizontal plane is 0°.
- the sowing depth limiting wheel ground pressure measurement and calibration device provided by the present invention can automatically obtain multiple actual pressures and multiple ground pressures by setting a pressure regulating part, a pressure sensor and a pressure acquisition calibrator, and then establish a depth limiting wheel ground pressure measurement model, avoiding the problems of high labor intensity, long time consumption, low efficiency and poor accuracy for operators caused by manual recording and manual fitting.
- FIG1 is a front view of a device for measuring and calibrating the ground pressure of a sowing depth limiting wheel provided by the present invention
- FIG. 2 is a side view of a device for measuring and calibrating the ground pressure of a sowing depth limiting wheel provided by the present invention
- FIG3 is one of the structural schematic diagrams of the lifting mechanism shown in FIG1 ;
- FIG4 is a second schematic diagram of the structure of the lifting mechanism
- FIG5 is a schematic structural diagram of the load-bearing plate shown in FIG3 ;
- FIG6 is a front view of the fixing member shown in FIG1;
- FIG7 is a top view of the fixing member shown in FIG1;
- 10 pressure regulating part; 20: depth limiting wheel; 30: fixing part; 40: pressure collection calibrator; 41: display screen; 50: lifting mechanism; 51: load-bearing plate; 52: X-shaped bracket; 53: slide rail; 54: oil cylinder; 55: hydraulic pump; 56: slide block; 60: contoured four-bar linkage; 70: levelness detector; 80: furrow opener; 100: machine body; 501: motor; 502: first screw; 503: commutator; 504: second screw; 511: hollow groove.
- the following describes the device for measuring and calibrating the pressure of a sowing depth limiting wheel on the ground and the method for measuring and calibrating the pressure of a sowing depth limiting wheel on the ground of the present invention in conjunction with FIGS. 1 to 7 .
- a device for measuring and calibrating the pressure of the sowing depth limiting wheel on the ground comprises: a machine body 100, a pressure regulating member 10, a depth limiting wheel 20, a pressure sensor and a pressure acquisition calibrator 40.
- a pair of depth limiting wheels 20 are connected to the machine body 100, and the pressure regulating member 10 is arranged on the machine body 100.
- the pressure regulating member 10 is used to adjust the pressure of the depth limiting wheel 20 on the ground.
- the pressure sensor is arranged on the machine body 100, and the pressure sensor is used to detect the actual pressure output by the pressure regulating member 10.
- the pressure acquisition calibrator 40 is arranged below the depth limiting wheel 20 and abuts against the depth limiting wheel 20, and the pressure acquisition calibrator 40 is electrically connected to the pressure sensor. Among them, the pressure acquisition calibrator 40 is used to adjust the actual pressure output by the pressure regulating member 10, the pressure acquisition calibrator 40 is also used to detect the ground pressure applied by the depth limiting wheel 20 to the ground, and the pressure acquisition calibrator 40 is also used to store multiple actual pressures and multiple ground pressures, and establish a ground pressure measurement model of the depth limiting wheel 20 after automatic fitting.
- the machine body 100 is provided with a pressure regulating member 10, and the pressure collecting calibrator 40 is used to adjust the actual pressure output by the pressure regulating member 10.
- the pressure collecting calibrator 40 can adjust the actual pressure output by the pressure regulating member 10 according to a preset interval time, and the actual pressure output by the pressure regulating member 10 is transmitted to the depth limiting wheel 20, and the depth limiting wheel 20 transmits the pressure to the depth limiting wheel 20.
- the actual pressure output by the pressure adjusting component 10 is adjusted to adjust the ground pressure applied by the depth limiting wheel 20 to the ground, thereby ensuring that the trencher can reach a suitable trenching depth under different soil hardness environments.
- the pressure sensor is used to collect the actual pressure output by the pressure adjusting component 10, and send the collected data to the pressure collection calibrator 40.
- the pressure collection calibrator 40 is arranged below the depth limiting wheel 20, and a weighing sensor is arranged in the pressure collection calibrator 40, which is used to detect the ground pressure applied by the depth limiting wheel 20 to the ground.
- the pressure collection calibrator 40 stores multiple actual pressures and multiple ground pressures, and defines the multiple actual pressures and multiple ground pressures as two sets of arrays. After fitting the data by the least squares method, the pressure sensor calibration equation is established, and the key parameters in the fitting equation are displayed in real time, thereby obtaining the depth limiting wheel ground pressure measurement model.
- the pressure regulating member 10 may be an electric push rod, a pneumatic spring, a hydraulic cylinder or an electromagnetic damper, etc.
- the electrical connection can be a wired connection or a wireless communication connection.
- the sowing depth limiting wheel ground pressure measurement and calibration device provided in an embodiment of the present invention can automatically obtain multiple actual pressures and multiple ground pressures by setting a pressure regulating part, a pressure sensor and a pressure acquisition calibrator, and then establish a depth limiting wheel ground pressure measurement model, thereby avoiding the problems of high labor intensity, long time consumption, low efficiency and poor accuracy for operators caused by manual recording and manual fitting.
- the pressure acquisition calibrator 40 includes: a weighing sensor and a processor.
- the weighing sensor is used to detect the ground pressure applied to the ground by the depth limiting wheel 20.
- the processor is electrically connected to the load-bearing sensor and the pressure sensor, and the processor is used to adjust the output pressure of the pressure regulating member 10.
- the processor is also used to store multiple actual pressures and multiple ground pressures, and automatically fit to establish a depth limiting wheel ground pressure measurement model.
- the processor includes a signal amplifier, an A/D acquisition module and a single chip microcomputer.
- the weighing sensor can collect the ground pressure of the depth limiting wheel 20 in real time at a certain frequency.
- the weighing sensor uses the strain gauge force measurement principle to detect and collect the ground pressure of the depth limiting wheel 20.
- the data is transmitted to the single-chip microcomputer after gain processing of the amplifier circuit and conversion by the A/D acquisition module.
- the single-chip microcomputer collects the feedback value of the pressure sensor and the ground pressure of the depth-limiting wheel in real time by changing the actual pressure output by the pressure regulating component 10, and then automatically fits according to multiple actual pressures and multiple ground pressures, establishes a pressure sensor calibration equation, and displays the key parameters in the fitting equation in real time, thereby obtaining a ground pressure measurement model of the depth-limiting wheel, which greatly improves the accuracy and ease of use of the ground pressure measurement model of the depth-limiting wheel.
- the pressure acquisition calibrator 40 is also provided with a display screen 41, and the display screen 41 is used to display the actual pressure, the ground pressure, key parameters of the calibration equation, etc.
- the sowing depth limiting wheel ground pressure measurement and calibration device further includes a profiling four-link 60 and a level detector 70.
- the profiling four-link 60 is hinged to the machine body 100, one end of the pressure regulating member 10 is connected to the machine body 100, and the other end of the pressure regulating member 10 is hinged to the profiling four-link 60.
- the level detector 70 is arranged on the profiling four-link 60, and the level detector 70 is used to detect the inclination angle between the profiling four-link 60 and the horizontal plane.
- the profiling four-link 60 is located above the depth-limiting wheel 20.
- the profiling four-link 60 includes a pair of upper arms and a pair of lower arms.
- the level detector 70 can be set on the upper arm or the lower arm of the profiling four-link 60 to detect whether there is an inclination between the profiling four-link 60 and the horizontal plane.
- the level detector 70 is fixed to the upper arm of the profiling four-link 60 to detect the inclination angle between the upper arm and the horizontal plane.
- the posture of the profiling four-link 60 should be adjusted so that the angle between the profiling four-link 60 and the horizontal plane is 0°, so as to avoid the pressure output by the pressure regulating member 10 being decomposed in the process of being transmitted to the depth-limiting wheel 20, thereby affecting the measurement accuracy of the pressure acquisition calibrator 40.
- the levelness detector 70 may be an angle sensor, an inclination sensor, a level ruler, or the like.
- the sowing depth limiting wheel ground pressure measurement and calibration device further includes a lifting mechanism 50.
- the lifting mechanism 50 is disposed between the depth limiting wheel 20 and the pressure collection and calibration device 40.
- the lifting mechanism 50 is used to adjust the distance between the contoured four-link 60 and the horizontal plane. The inclination angle between them ensures that the actual pressure output by the pressure regulating member 10 will not be decomposed, thereby ensuring the accuracy of the measurement of the pressure acquisition calibrator 40.
- the lifting mechanism 50 includes: a load-bearing plate 51, a pair of X-shaped brackets 52, a pair of slide rails 53, an oil cylinder 54 and a slider 56.
- the load-bearing plate 51 is located below the depth limiting wheel 20 and abuts against the depth limiting wheel 20.
- the pair of slide rails 53 are located below the load-bearing plate 51, a first end of each X-shaped bracket 52 is connected to the load-bearing plate 51, a second end of each X-shaped bracket 52 is connected to a slider 56, the slider 56 is slidably connected to the slide rail 53, a first end of the oil cylinder 54 is connected to the slider 56, and a second end of the oil cylinder 54 is connected to the X-shaped bracket 52.
- the X-shaped bracket 52 includes two legs, which are cross-hinged, and the first end of each leg is connected to the bottom surface of the load-bearing plate 51, and the second end of each leg is connected to a slider 56, which is arranged in the slide rail 53 and can slide along the slide rail 53.
- Each X-shaped bracket 52 is connected to an oil cylinder 54, and the two ends of the oil cylinder 54 are respectively connected to the slider 56 and the legs.
- the inclination angle between the load-bearing plate 51 and the ground can be adjusted by adjusting the extension and contraction of the two oil cylinders 54 respectively.
- the extension and contraction of the two oil cylinders 54 can be adjusted respectively, so that the load-bearing plate 51 is horizontal, and then the contoured four-link 60 is horizontal, so as to ensure the accuracy of the pressure acquisition calibrator 40.
- the lifting mechanism 50 also includes a hydraulic pump 55, which is connected to the oil cylinder 54 and is used to drive the oil cylinder 54 to extend and retract.
- the lifting mechanism 50 includes: a load-bearing plate 51, a motor 501, a first lead screw 502, a commutator 503, and a second lead screw 504.
- the motor 501 rotates forward or reversely, it can drive the first lead screw 502 to rotate.
- the commutator 503 is used to commutate the horizontal linear motion of the first lead screw 502 into the vertical linear motion of the second lead screw 504.
- the load-bearing plate 51 is sleeved on the outside of the second lead screw 504, and when the second lead screw 504 rotates, it can drive the load-bearing plate 51 to move in the vertical direction.
- the number of the commutator 503 and the second lead screw 504 are both two, and the two second lead screws 504 are located at both ends of the load-bearing plate 51.
- the rotation speeds of the two second lead screws 504 are different, the two ends of the load-bearing plate 51
- the load-bearing plate 51 can be horizontal, thereby making the contoured four-link 60 horizontal, so as to ensure the accuracy of the pressure collection calibrator 40 .
- the furrow opener 80 is fixed on the body 100 at a certain angle.
- the ground pressure of the depth limiting wheel 20 can be adjusted, thereby ensuring that the furrow opener 80 can reach an appropriate furrowing depth under different soil hardness environments.
- the load-bearing plate 51 is provided with a hollow groove 511, and part of the furrow opener 80 passes through the hollow groove 511 and extends to the bottom of the load-bearing plate 51, so that the furrow opener 80 is suspended above the machine body 100, so that the actual pressure output by the pressure regulating member 10 completely acts on the depth limiting wheel 20, thereby reducing the difference between the actual pressure and the pressure on the ground.
- the sowing depth limiting wheel ground pressure measurement calibration device also includes a fixing part 30, and the fixing part 30 is used to fix the pressure sensor.
- the fixing part 30 is arranged at a position of the body 100 close to the depth limiting wheel 20.
- the fixing part 30 is a four-jaw chuck, and the back of each pair of claws is tightened or loosened by screws to change the distance between the four-jaw chuck and the body 100. The two pairs of claws can adjust the gripping force at the same time to fix the pressure sensor.
- one side surface of each claw is stepped.
- two claws having stepped surfaces are arranged relative to each other, a plurality of installation spaces of different sizes can be formed between a pair of claws, and pressure sensors of different types can be installed, thereby improving the applicability of the ground pressure measurement and calibration device of the sowing depth limiting wheel.
- the sowing depth limiting wheel ground pressure measurement and calibration device provided in the embodiment of the present invention can be adapted to pressure sensors of different specifications and models on the seeder, thereby improving the efficiency of user calibration modeling and saving time; at the same time, it improves the detection accuracy of the load-bearing sensor, lays a foundation for the subsequent precise control of the firmness of the seed bed, and thus constructs a good seed bed compaction environment, which promotes Seed growth and development.
- the embodiment of the present invention further provides a method for measuring and calibrating the ground pressure of a sowing depth limiting wheel, which specifically includes the following steps:
- Step 01 Regulate the output pressure of the pressure regulating member 10 at preset time intervals.
- the pressure acquisition calibrator 40 sends a signal to the pressure regulator 10 at a preset time interval to control the pressure regulator 10 to adjust the actual pressure output.
- the preset time interval can be set according to the measurement requirements.
- Step 02 Acquire multiple actual pressures of the pressure regulating member 10 and multiple ground pressures applied to the ground by the depth limiting wheel 20.
- the actual pressure output by the pressure regulating member 10 acts on the pressure sensor, and the pressure sensor sends the detected actual pressure to the pressure acquisition calibrator 40.
- the pressure acquisition calibrator 40 is provided with a load-bearing sensor, which detects the ground pressure applied by the depth limiting wheel 20 to the ground and sends the detected data to the pressure acquisition calibrator 40.
- Step 03 Store multiple actual pressures and multiple ground pressures in array form, perform data fitting, and establish a ground pressure measurement model for the depth-limited wheel.
- the specific calculation formula is as follows:
- x is the actual pressure
- y is the ground pressure
- a and b are key parameters. Different a and b will lead to different When their partial differentials are equal to 0, The minimum value can be taken.
- the corresponding a and b can be calculated by the following formula.
- the data fitting part including but not limited to the use of gradient descent method, Gauss-Newton (i.e. iterative least squares), Leh-Ma algorithm, etc., can realize univariate polynomial fitting, which will not be repeated here.
- the method for measuring and calibrating the ground pressure of the sowing depth limiting wheel provided in an embodiment of the present invention can automatically obtain multiple actual pressures and multiple ground pressures, and then establish a depth limiting wheel ground pressure measurement model, avoiding the problems of high labor intensity, long time consumption, low efficiency and poor accuracy for operators caused by manual recording and manual fitting.
- the method for calibrating the ground pressure measurement of the sowing depth limiting wheel before adjusting the output pressure of the pressure regulating component 10 at a preset time interval, the method for calibrating the ground pressure measurement of the sowing depth limiting wheel also includes the following steps: controlling the lifting mechanism 50 to move so that the inclination angle between the contoured four-link 60 and the horizontal plane is 0°.
- the oil cylinder 54 is controlled to move, so that the X-shaped bracket 52 moves, and then the inclination angle between the load-bearing plate 51 and the ground is adjusted, so that the contoured four-link 60 is in a horizontal state, to ensure that the actual pressure output by the pressure regulating component 10 will not be decomposed during the transmission process, thereby ensuring the detection accuracy of the pressure collection calibrator 40.
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Environmental Sciences (AREA)
- Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
一种播种限深轮对地压力测量标定装置，包括：机体(100)、压力调节件(10)、限深轮(20)、压力传感器和压力采集标定器(40)，其中，机体(100)连接有一对限深轮(20)，压力调节件(10)设置于机体(100)，压力调节件(10)用于调节限深轮(20)对地的压力，压力传感器设置于机体(100)，用于检测压力调节件(10)输出的实际压力，压力采集标定器(40)用于检测限深轮(20)施加给地面的对地压力，压力采集标定器(40)还用于将多个实际压力和多个对地压力自动拟合后建立限深轮对地压力测量模型。该播种限深轮对地压力测量标定装置可以自动获取多个实际压力和多个对地压力，进而建立限深轮对地压力测量模型，避免了采用人工记录和手动拟合导致效率低以及准确性差的问题。还提供了一种播种限深轮对地压力测量标定的方法。
Description
本发明涉及农业播种技术领域，尤其涉及一种播种限深轮对地压力测量标定装置及播种限深轮对地压力测量标定的方法。
同位仿形是当前免耕播种机主要结构形式，通过将两个限深轮对称布置在开沟器两侧，减小开沟仿形对播种深度一致性的影响。播种限深轮对地压力是评价播种质量的关键指标，直接影响种沟中土壤颗粒排布的紧密程度。相关研究表明，播种限深轮对地压力和土壤坚实度之间有紧密的联系，而适宜的土壤坚实度有利于种床蓄水保墒，促进种子出苗破土，而对限深轮对地压力的精确测量有助于提高播种单体对地压力控制的准确性，从而实现种床坚实度的合理控制，最大程度提高播种质量，促进作物增产。
通常采用压力传感器来采集播种单体对地压力，由于不同播种单体结构形式不同，压力传感器的外形尺寸也各不相同，造成限深轮对地压力测量模型的变化。现有方法多采用人工记录和手动拟合的方式完成相应传感器的标定，以及压力测量模型的构建，劳动强度大、耗时长、且缺乏有效的自动化装置，难以满足批量生产模式下限深轮对地压力测量传感器快速标定和准确建模的需求。
发明内容
本发明提供一种播种限深轮对地压力测量标定装置及播种限深
轮对地压力测量标定的方法，用以解决现有技术中人工记录和手动拟合的标定方法难以满足批量生产模式下限深轮对地压力快速标定和准确建模的需求的缺陷。
本发明提供一种播种限深轮对地压力测量标定装置，包括：机体，所述机体连接有一对限深轮；压力调节件，设置于所述机体，所述压力调节件用于调节所述限深轮对地的压力；压力传感器，设置于所述机体，用于检测所述压力调节件输出的实际压力；压力采集标定器，设置于所述限深轮的下方并与所述限深轮抵接，所述压力采集标定器用于检测所述限深轮施加给地面的对地压力，所述压力采集标定器用于调节所述压力调节件输出的实际压力；其中，所述压力采集标定器与所述压力传感器电性连接，所述压力采集标定器还用于将多个所述实际压力和多个所述对地压力存储，自动拟合后建立限深轮对地压力测量模型。
根据本发明提供的一种播种限深轮对地压力测量标定装置，所述压力采集标定器包括：称重传感器，用于检测所述限深轮施加给地面的所述对地压力；处理器，与所述称重传感器和所述压力传感器电性连接，所述处理器用于调节所述压力调节件的输出压力，所述处理器用于将多个所述实际压力和多个所述对地压力存储，自动拟合后建立所述限深轮对地压力测量模型。
根据本发明提供的一种播种限深轮对地压力测量标定装置，所述处理器包括依次电性连接的信号放大电路、A/D采集模块和单片机，所述信号放大电路与所述承重传感器电性连接。
根据本发明提供的一种播种限深轮对地压力测量标定装置，还包括：仿形四连杆，与所述机体铰接，所述压力调节件的一端与所述机体连接，所述压力调节件的另一端与所述仿形四连杆铰接；水平度检测仪，设置于所述仿形四连杆，所述水平度检测仪用于检测所述仿形四连杆与水平面之间的倾斜角度。
根据本发明提供的一种播种限深轮对地压力测量标定装置，还包括升降机构，所述升降机构设置于所述限深轮与所述压力采集标定器之间，所述升降机构用于调节所述仿形四连杆与水平面之间的倾斜角度。
根据本发明提供的一种播种限深轮对地压力测量标定装置，所述升降机构包括：承重板，位于所述限深轮的下方，并与所述限深轮抵接；一对滑轨，位于所述承重板的下方；一对X型支架，每个所述X型支架的第一端与所述承重板连接，每个所述X型支架的第二端连接有滑块，所述滑块与所述滑轨滑动连接；一对油缸，每个所述油缸的第一端与一个所述滑块连接，每个所述油缸的第二端与一个所述X型支架连接，以调节所述承重板与水平面之间的倾斜角度。
根据本发明提供的一种播种限深轮对地压力测量标定装置，还包括开沟器，所述开沟器与所述机体连接，所述开沟器位于一对所述限深轮之间。
根据本发明提供的一种播种限深轮对地压力测量标定装置，所述承重板设有镂空槽，所述开沟器的部分贯穿所述镂空槽延伸至所述承重板的下方，以使所述开沟器处于悬空状态。
本发明还提供了一种利用如上所述的播种限深轮对地压力测量标定装置进行播种限深轮对地压力测量标定的方法，包括：以预设时间间隔调节所述压力调节件的输出压力；获取所述压力调节件的多个所述实际压力和所述限深轮施加给地面的多个对地压力；将多个所述实际压力和多个所述对地压力以数组形式存储，并进行数据拟合，建立限深轮对地压力测量模型。
根据本发明提供的一种播种限深轮对地压力测量标定的方法，在所述以预设时间间隔调节所述压力调节件的输出压力的步骤之前，所述方法还包括：控制所述升降机构动作，以使所述仿形四连杆与水平面之间的倾斜角度为0°。
本发明提供的播种限深轮对地压力测量标定装置，通过设置压力调节件、压力传感器和压力采集标定器，可以自动获取多个实际压力和多个对地压力，进而建立限深轮对地压力测量模型，避免了采用人工记录和手动拟合导致作业人员劳动强度大、耗时长、效率低以及准确性差的问题出现。
为了更清楚地说明本发明或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明提供的播种限深轮对地压力测量标定装置的主视图；
图2是本发明提供的播种限深轮对地压力测量标定装置的侧视图；
图3是图1中示出的升降机构的结构示意图之一；
图4是升降机构的结构示意图之二；
图5是图3中示出的承重板的结构示意图；
图6是图1中示出的固定件的主视图；
图7是图1中示出的固定件的俯视图；
附图标记：
10：压力调节件；20：限深轮；30：固定件；40：压力采集标定器；41：显示屏；50：升降机构；51：承重板；52：X型支架；53：滑轨；54：油缸；55：液压泵；56：滑块；60：仿形四连杆；70：水平度检测仪；80：开沟器；100：机体；501：电机；502：第一丝杠；503：换向器；504：第二丝杠；511：镂空槽。
为使本发明的目的、技术方案和优点更加清楚，下面将结合本发明中的附图，对本发明中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明的说明书和权利要求书中的术语“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。
下面结合图1-图7描述本发明的播种限深轮对地压力测量标定装置及播种限深轮对地压力测量标定的方法。
如图1和图2所示，在本发明的实施例中，播种限深轮对地压力测量标定装置包括：机体100、压力调节件10、限深轮20、压力传感器和压力采集标定器40。一对限深轮20与机体100连接，压力调节件10设置于机体100，压力调节件10用于调节限深轮20对地的压力。压力传感器设置于机体100，压力传感器用于检测压力调节件10输出的实际压力。压力采集标定器40设置于限深轮20的下方并与限深轮20抵接，压力采集标定器40与压力传感器电性连接。其中，压力采集标定器40用于调节压力调节件10输出的实际压力，压力采集标定器40还用于检测限深轮20施加给地面的对地压力，压力采集标定器40还用于将多个实际压力和多个对地压力存储，自动拟合后建立限深轮20对地压力测量模型。
具体来说，机体100上设置有压力调节件10，压力采集标定器40用于调节压力调节件10输出的实际压力，具体地，压力采集标定器40可按照预设的间隔时间调节压力调节件10输出的实际压力，压力调节件10输出的实际压力传递至限深轮20，限深轮20将压力传
递至地面，调节压力调节件10输出的实际压力即可调节限深轮20施加给地面的对地压力，从而保证不同土壤硬度环境下开沟器能达到适宜的开沟深度。在本实施例中，压力传感器用于采集压力调节件10输出的实际压力，并将采集的数据发送至压力采集标定器40。压力采集标定器40设置于限深轮20的下方，压力采集标定器40内设置有称重传感器，称重传感器用于检测限深轮20施加给地面的对地压力。压力采集标定器40将多个实际压力和多个对地压力存储，并将多个实际压力和多个对地压力定义为两组数组，通过最小二乘法进行数据拟合后建立压力传感器标定方程，并实时显示拟合方程中的关键参数，进而获得限深轮对地压力测量模型。
可选地，在本发明的实施例中，压力调节件10可以为电动推杆、气动弹簧、液压油缸或电磁阻尼器等。
需要说明的是：在本实施例中，电性连接可以为有线连接，也可以为无线通讯连接。
本发明实施例提供的播种限深轮对地压力测量标定装置，通过设置压力调节件、压力传感器和压力采集标定器，可以自动获取多个实际压力和多个对地压力，进而建立限深轮对地压力测量模型，避免了采用人工记录和手动拟合导致作业人员劳动强度大、耗时长、效率低以及准确性差的问题出现。
进一步地，在本发明的实施例中，压力采集标定器40包括：称重传感器和处理器。称重传感器用于检测限深轮20施加给地面的对地压力。处理器与承重传感器和压力传感器电性连接，处理器用于调节压力调节件10的输出压力，处理器还用于将多个实际压力和多个对地压力存储，自动拟合后建立限深轮对地压力测量模型。
具体来说，处理器包括信号放大器、A/D采集模块和单片机。称重传感器可以一定频率实时采集限深轮20的对地压力，称重传感器利用应变片测力原理检测与采集限深轮20的对地压力，对地压力数
据经放大电路的增益处理和A/D采集模块转换后传送至单片机，单片机通过改变压力调节件10输出的实际压力，实时采集压力传感器反馈值、限深轮对地压力，进而根据多个实际压力和多个对地压力自动拟合，建立压力传感器标定方程，并实时显示拟合方程中的关键参数，进而获得限深轮对地压力测量模型，大大提高了限深轮对地压力测量模型的精确度和使用便捷性。
进一步地，压力采集标定器40还设有显示屏41，显示屏41用于显示实际压力、对地压力、标定方程关键参数等。
如图1所示，在本发明的实施例中，播种限深轮对地压力测量标定装置还包括仿形四连杆60和水平度检测仪70。仿形四连杆60与机体100铰接，压力调节件10的一端与机体100连接，压力调节件10的另一端与仿形四连杆60铰接。水平度检测仪70设置于仿形四连杆60，水平度检测仪70用于检测仿形四连杆60与水平面之间的倾斜角度。
具体来说，仿形四连杆60位于限深轮20的上方，仿形四连杆60包括一对上臂和一对下臂，水平度检测仪70可设置于仿形四连杆60的上臂或下臂，用于检测仿形四连杆60与水平面之间是否存在倾斜。在本实施例中，水平度检测仪70固定于仿形四连杆60的上臂，以检测上臂与水平面之间的倾斜角度，当上臂与水平面之间发生倾斜时，应调整仿形四连杆60的位姿，使仿形四连杆60与水平面之间的夹角为0°，以避免压力调节件10输出的压力在传递至限深轮20的过程中被分解，从而影响压力采集标定器40的测量准确性。
可选地，在本实施例中，水平度检测仪70可以为角度传感器、倾角传感器或水平尺等。
如图1所示，在本发明的实施例中，播种限深轮对地压力测量标定装置还包括升降机构50。升降机构50设置于限深轮20与压力采集标定器40之间，升降机构50用于调节仿形四连杆60与水平面之
间的倾斜角度，保证压力调节件10输出的实际压力不会被分解，进而保证压力采集标定器40测量的准确性。
进一步地，如图3所示，在本实施例中，升降机构50包括：承重板51、一对X型支架52、一对滑轨53、油缸54和滑块56。承重板51位于限深轮20的下方，并与限深轮20抵接。一对滑轨53位于承重板51的下方，每个X型支架52的第一端与承重板51连接，每个X型支架52的第二端连接有滑块56，滑块56与滑轨53滑动连接，油缸54的第一端与滑块56连接，油缸54的第二端与X型支架52连接。
具体来说，X型支架52包括两个支腿，两个支腿交叉铰接，每个支腿的第一端与承重板51的底面连接，每个支腿的第二端连接有滑块56，滑块56设置于滑轨53内，并能够沿滑轨53滑动。每个X型支架52均连接有一个油缸54，油缸54的两端分别与滑块56和支腿连接。分别调节两个油缸54伸缩，可调节承重板51与地面之间的倾斜角度。具体地，当地面不平整时，分别调节两个油缸54的伸缩量，可使承重板51处于水平，进而使仿形四连杆60处于水平，以保证压力采集标定器40测量的准确性。
进一步地，升降机构50还包括液压泵55，液压泵55与油缸54连接，用于带动油缸54伸缩。
可选地，如4所示，在本发明的另一个实施例中，升降机构50包括：承重板51、电机501、第一丝杠502、换向器503和第二丝杠504。电机501正向或反向转动时可带动第一丝杠502转动，换向器503用于将第一丝杠502的水平直线运动换向为第二丝杠504的竖直直线运动，承重板51套接在第二丝杠504的外部，在第二丝杠504转动时可带动承重板51沿竖直方向运动。进一步地，在本实施例中，换向器503和第二丝杠504的数量均为两个，两个第二丝杠504位于承重板51的两端，两个第二丝杠504的转速不同时，承重板51两端
升降速度不同。当地面不平整时，通过调节两个第二丝杠504的转速，可使承重板51处于水平，从而使仿形四连杆60处于水平，以保证压力采集标定器40测量的准确性。
如图1所示，在本发明的实施例中，播种限深轮对地压力测量标定装置还包括开沟器80，开沟器80与机体100连接，开沟器80位于一对限深轮20之间。
具体来说，开沟器80呈一定角度固定在机体100上，通过改变压力调节件10输出的实际压力，可以调节限深轮20的对地压力，从而保证不同土壤硬度环境下开沟器80能够达到适宜的开沟深度。
如图5所示，在本发明的实施例中，承重板51设有镂空槽511，开沟器80的部分贯穿镂空槽511延伸至承重板51的下方，从而使开沟器80悬空至于机体100，使得压力调节件10输出的实际压力完全作用于限深轮20，减小了实际压力与对地压力之间的差值。
进一步地，如图6和图7所示，在本发明的实施例中，播种限深轮对地压力测量标定装置还包括固定件30，固定件30用于固定压力传感器，固定件30设置于机体100靠近限深轮20的位置，固定件30为四爪卡盘，每对爪子的背部通过螺钉旋紧或放松，从而使四爪卡盘与机体100之间的距离改变，两对爪子可同时调节抓紧力，以将压力传感器固定。
进一步地，在本实施例中，每个爪子的一侧表面为阶梯形，当两个爪子具有阶梯形的表面相对设置时，可使一对爪子之间形成多个尺寸不同的安装空间，进而可安装不同型号的压力传感器，提高了播种限深轮对地压力测量标定装置的适用性。
本发明实施例提供的播种限深轮对地压力测量标定装置，可适配播种机上不同规格型号的压力传感器，提高了使用者标定建模的效率，节省了时间；同时提高了承重传感器的检测准确性，为后续种床坚实度的精准调控奠定了基础，进而构造出良好的种床压实环境，促进了
种子生长发育。
本发明实施例还提供了一种播种限深轮对地压力测量标定的方法，具体包括以下步骤：
步骤01：以预设时间间隔调节压力调节件10的输出压力。
具体来说，压力采集标定器40以预设时间间隔发送信号至压力调节件10，控制压力调节件10调节输出的实际压力。需要说明的是：在本实施例中，预设时间间隔可以根据测量需求自行设定。
步骤02：获取压力调节件10的多个实际压力和限深轮20施加给地面的多个对地压力。
具体来说，压力调节件10输出的实际压力作用于压力传感器，压力传感器将检测到的实际压力发送至压力采集标定器40。压力采集标定器40内设有承重传感器，承重传感器检测限深轮20施加给地面的对地压力，并将检测到的数据发送至压力采集标定器40。
步骤03：将多个实际压力和多个对地压力以数组形式存储，并进行数据拟合，建立限深轮对地压力测量模型。
具体来说，压力采集标定器40接收并存储多个实际压力x和多个对地压力y后，根据拟合曲线距离各离散点距离和最小的原则，即总误差的平方和公式值最小，具体的计算公式如下：
其中，x为实际压力，y为对地压力，a和b为关键参数，由于不同的a、b会导致不同的当它们的偏微分等于0时，可取最小值。
譬如，当建立的限深轮对地压力测量模型为一元一次方程时，通过以下公式可算出对应的a与b。其中数据拟合部分，包括但不限于采用梯度下降法、高斯牛顿(即迭代最小二乘)、列-马算法等方式，均可实现一元多项式拟合，此处不再赘述。
本发明实施例提供的播种限深轮对地压力测量标定的方法，可以自动获取多个实际压力和多个对地压力，进而建立限深轮对地压力测量模型，避免了采用人工记录和手动拟合导致作业人员劳动强度大、耗时长、效率低以及准确性差的问题出现。
进一步地，在本发明的实施例中，在以预设时间间隔调节压力调节件10的输出压力之前，播种限深轮对地压力测量标定的方法还包括以下步骤：控制升降机构50动作，以使仿形四连杆60与水平面之间的倾斜角度为0°。
具体来说，在测量标定之前，控制油缸54动作，使X型支架52动作，进而调整承重板51的与地面之间的倾斜角度，从而使仿形四连杆60处于水平状态，以保证压力调节件10输出的实际压力不会在传递过程中被分解，从而保证了压力采集标定器40的检测准确度。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。
Claims (10)
- 一种播种限深轮对地压力测量标定装置，其特征在于，包括：机体，所述机体连接有一对限深轮；压力调节件，设置于所述机体，所述压力调节件用于调节所述限深轮对地的压力；压力传感器，设置于所述机体，用于检测所述压力调节件输出的实际压力；压力采集标定器，设置于所述限深轮的下方并与所述限深轮抵接，所述压力采集标定器用于检测所述限深轮施加给地面的对地压力，所述压力采集标定器用于调节所述压力调节件输出的实际压力；其中，所述压力采集标定器与所述压力传感器电性连接，所述压力采集标定器还用于将多个所述实际压力和多个所述对地压力存储，自动拟合后建立限深轮对地压力测量模型。
- 根据权利要求1所述的播种限深轮对地压力测量标定装置，其特征在于，所述压力采集标定器包括：称重传感器，用于检测所述限深轮施加给地面的所述对地压力；处理器，与所述称重传感器和所述压力传感器电性连接，所述处理器用于调节所述压力调节件的输出压力，所述处理器用于将多个所述实际压力和多个所述对地压力存储，自动拟合后建立所述限深轮对地压力测量模型。
- 根据权利要求2所述的播种限深轮对地压力测量标定装置，其特征在于，所述处理器包括依次电性连接的信号放大电路、A/D采集模块和单片机，所述信号放大电路与所述承重传感器电性连接。
- 根据权利要求1所述的播种限深轮对地压力测量标定装置，其特征在于，还包括：仿形四连杆，与所述机体铰接，所述压力调节件的一端与所述机体连接，所述压力调节件的另一端与所述仿形四连杆铰接；水平度检测仪，设置于所述仿形四连杆，所述水平度检测仪用于检测所述仿形四连杆与水平面之间的倾斜角度。
- 根据权利要求4所述的播种限深轮对地压力测量标定装置，其特征在于，还包括升降机构，所述升降机构设置于所述限深轮与所述压力采集标定器之间，所述升降机构用于调节所述仿形四连杆与水平面之间的倾斜角度。
- 根据权利要求5所述的播种限深轮对地压力测量标定装置，其特征在于，所述升降机构包括：承重板，位于所述限深轮的下方，并与所述限深轮抵接；一对滑轨，位于所述承重板的下方；一对X型支架，每个所述X型支架的第一端与所述承重板连接，每个所述X型支架的第二端连接有滑块，所述滑块与所述滑轨滑动连接；一对油缸，每个所述油缸的第一端与一个所述滑块连接，每个所述油缸的第二端与一个所述X型支架连接，以调节所述承重板与水平面之间的倾斜角度。
- 根据权利要求6所述的播种限深轮对地压力测量标定装置，其特征在于，还包括开沟器，所述开沟器与所述机体连接，所述开沟器位于一对所述限深轮之间。
- 根据权利要求7所述的播种限深轮对地压力测量标定装置，其特征在于，所述承重板设有镂空槽，所述开沟器的部分贯穿所述镂空槽延伸至所述承重板的下方，以使所述开沟器处于悬空状态。
- 一种利用权利要求1-8中任一项所述的播种限深轮对地压力测量标定装置进行播种限深轮对地压力测量标定的方法，其特征在于，包括：以预设时间间隔调节所述压力调节件的输出压力；获取所述压力调节件的多个所述实际压力和所述限深轮施加给 地面的多个对地压力；将多个所述实际压力和多个所述对地压力以数组形式存储，并进行数据拟合，建立限深轮对地压力测量模型。
- 根据权利要求9所述的播种限深轮对地压力测量标定的方法，其特征在于，在所述以预设时间间隔调节所述压力调节件的输出压力的步骤之前，所述方法还包括：控制所述升降机构动作，以使所述仿形四连杆与水平面之间的倾斜角度为0°。
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| CN113179715A (zh) * | 2021-05-25 | 2021-07-30 | 中国农业大学 | 免耕播种机主动式播种深度与镇压力调节系统 |
| CN115226445A (zh) * | 2022-06-14 | 2022-10-25 | 中国农业机械化科学研究院集团有限公司 | 一种播深稳定性控制装置及方法 |
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| US20110313572A1 (en) * | 2010-06-22 | 2011-12-22 | Trevor Kowalchuk | Automatic Down Pressure Adjustment System For Set Of Ganged Disc Openers |
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