CN116806451A - Self-adaptive profiling double-cutter-shaft electric mini-tiller and control method thereof - Google Patents
Self-adaptive profiling double-cutter-shaft electric mini-tiller and control method thereof Download PDFInfo
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Abstract
The invention relates to the technical field of tea ridge weeding, and particularly discloses a self-adaptive profiling double-cutter-shaft electric mini-tiller and a control method thereof, wherein the self-adaptive profiling double-cutter-shaft electric mini-tiller comprises a cutter shaft, a plurality of mini-tiller blades are fixed on the cutter shaft, one end of the cutter shaft is connected with a first universal shaft, and the other end of the cutter shaft is connected with a telescopic universal shaft; the movable slide block is fixed with the telescopic universal shaft and is driven by the power piece arranged on the side guard plate to slide up and down.
Description
Technical Field
The invention relates to the technical field of tea ridge weeding, in particular to a self-adaptive profiling double-cutter-shaft electric mini-tiller and a control method thereof.
Background
The tea garden has various weeds, serious damage, and especially large earth surface space of young tea garden, and is easy to grow weeds. Weeds in tea gardens are in competition with tea trees for land, water and fertilizer, the yield and quality of tea leaves are affected, and the weeds are important intermediate hosts for spreading tea plant diseases and insect pests. Tea garden weeding is an important task in management of tea gardens. The mechanical weeding overcomes the problems of low efficiency of manual weeding and pollution of chemical weeding, has the functions of loosening soil, improving the ground temperature and preserving water and moisture, has become an important weeding method, is an organic combination of agriculture and agricultural machinery technology, and is divided into two types according to the principle and characteristics of mechanical weeding: mechanical deep scarification and mechanical surface soil methods.
The mechanical deep scarification method is also called deep ploughing or manual deep scarification, and refers to the soil tillage operation of tea garden by agricultural machinery, tractor or manual work before or after the germination of new tea shoots. The mechanical deep scarification method has small disturbance to soil, does not influence the normal growth of tea trees, and can effectively control the growth of weeds. In southern tea gardens in China, a mechanical deep loosening method is mostly adopted.
The tea gardens in China are mainly distributed in hilly areas, tea tree planting is not standard, the width of most weeder is large, the machine quality is large in the market with smaller tea ridge spacing, the operation between tea ridges is inconvenient, the transfer between rows and plots is inconvenient, and the research and development of the weeder in the tea gardens are less. At present, the tea garden weeding is commonly performed by adopting a mini-tiller, a field management machine and other machines to cultivate soil in the tea garden, so that the effects of loosening soil, removing weeds and reducing plant diseases and insect pests can be achieved. The current mini-tiller has the problems of complex operation, inconvenient operation between tea sheds, high manual operation difficulty, difficult accurate control of walking speed, long weeding time and the like. Aiming at the existing problems, the invention develops a self-adaptive profiling double-cutter-shaft electric mini-tiller and a control method thereof.
Disclosure of Invention
The invention aims to provide a self-adaptive profiling double-cutter-shaft electric mini-tiller and a control method thereof, which solve the following technical problems:
how to solve the problems that the current mini-tiller is complex in operation, inconvenient in operation between tea sheds, high in manpower operation difficulty, difficult in accurate control of walking speed, long in weeding time and the like.
The aim of the invention can be achieved by the following technical scheme:
an adaptive profiling double-cutter-shaft electric mini-tiller and a control method thereof, comprising the following steps:
the device comprises a rack, wherein a handle is connected to the rack, side guard plates perpendicular to a horizontal plane are arranged on two sides of the rack, and an installation chamber parallel to the side guard plates is arranged in the center of the rack;
the transmission shafts are rotatably connected to the mounting chamber, the two ends of each transmission shaft are rotatably connected with first universal shafts, and the pair of transmission shafts are respectively driven to rotate by a first driving structure and a second driving structure which are fixed on the frame;
the cutter shaft is fixedly provided with a plurality of mini-tiller blades, one end of the cutter shaft is connected with the first universal shaft, and the other end of the cutter shaft is connected with a telescopic universal shaft;
the movable sliding block is fixedly provided with the telescopic universal shaft and is driven by a power piece arranged on the side guard plate to slide up and down;
the sensor module comprises a pressure sensor arranged on the mini-tiller blade and a rotating speed sensor arranged on the transmission shaft;
the terrain detection device is fixed in front of the frame and comprises a radar probe for detecting terrain information and a camera probe for acquiring image information;
and the controller is fixed on the handle and used for controlling the moving speed of the rack and the rotating speed of the pair of transmission shafts.
Through the technical scheme: when the tea garden inter-ridge weeding operation is used, the double-shaft rotation directions are opposite, the stability is improved, the micro-tillage operation times are increased, the double motors are independently controlled, the double shafts are independently controlled, the controllability is higher, compared with the traditional single-shaft micro-tillage machine, the double-shaft control is performed by increasing the operation frequency, the instability of the single-shaft micro-tillage machine operation is greatly reduced, the operation difficulty of operators is reduced, meanwhile, the profiling structure is strong in pertinence in the tea garden inter-ridge weeding operation, when the tea garden inter-ridge weeding operation is used, the double-shaft included angle can be self-adaptively adjusted according to different inter-ridge shapes, the profiling structure is met, the position of the upper sliding block and the lower sliding block is moved to adjust the position of the cutter shaft away from one end of the mounting box, the ground three-dimensional laser radar is used for collecting inter-ridge topographic information in real time in the operation process, the cutter shaft and the tea ridge operation area is kept to be maximum continuously in the operation, and the mechanical weeding operation efficiency of the tea garden is greatly enhanced by the innovative tea ridge profiling structure design.
As a further technical scheme of the invention: the mini-tiller blades are spirally and equidistantly arranged and fixed on the cutter shaft through bolts, the adjacent mini-tiller blades are arranged at an angle interval of 20-40 degrees and a distance interval of 160-190 millimeters, the number of the mini-tiller blades of one cutter shaft is 5-9, and the installation directions of the mini-tiller blades connected with the cutter shaft on the transmission shaft are opposite to each other.
The control method of the self-adaptive profiling double-cutter-shaft electric mini-tiller is characterized by comprising the following steps of:
s1, a controller obtains terrain information surveyed by a terrain detection device and generates a first working command according to the terrain information;
s2, the controller adjusts the included angle value between the cutter shaft and the two sides of the tea ridge in the weeding walking process of the tea ridge according to the first working command;
and S3, the controller generates a second working command according to the data fed back by the sensor module and the terrain detection device, and controls the moving speed of the mini-tiller in the walking process according to the second working command.
The process of generating the first work order according to the topographic information comprises the following steps:
dividing the area to be weeding into a plurality of identical subareas along the moving direction of the mini-tiller according to the terrain information;
acquiring a tea ridge inclined plane angle value of each partition;
generating a first working command according to the angle values of the tea ridge inclined planes of the multiple partitions, wherein the first working command is used for controlling the angle of the cutter shaft of the mini-tiller in the partition moving process.
Through the technical scheme: after the land information is obtained, the area to be weeding is divided into a plurality of subareas, then each subarea is analyzed in the weeding process, the density of weeds is low, the area which does not need to be carefully weeding passes through quickly by using a second speed, and therefore weeding efficiency is improved when weeding is reduced as a whole.
As a further technical scheme of the invention: the method for controlling the moving speed of the mini-tiller in the walking process comprises the following steps of:
the pair of transmission shafts reversely rotate;
and controlling and adjusting the speed proportion of the transmission shaft of the mini-tiller, and adjusting the working movement speed of the mini-tiller.
As a further technical scheme of the invention: the moving speed process for controlling the walking process of the mini-tiller comprises the following steps:
analyzing the partition to be accessed by the mini-tiller to judge whether careful weeding is needed or not;
a weeding mode, which is to carefully weed the subareas, determines a first speed according to the requirements related to the weeding operation of the tea ridges and the operation of the mini-tiller, and enables the frame to move at the first speed;
and in the quick pass mode, for areas which do not need careful weeding, acquiring a second speed which is greater than the first speed, and enabling the rack to move at the second speed.
As a further technical scheme of the invention: the judging process for judging whether careful weeding is needed comprises the following steps:
acquiring image information of a partition to be accessed by a mini-tiller through a camera probe;
the weed density of the subarea to be entered is obtained according to the image information, and the weed density is compared with a preset standard density;
if the density of weeds is greater than or equal to the preset standard density, careful weeding is needed;
if the weed density is less than the preset standard density, careful weeding is not required.
As a further technical scheme of the invention: the determining mode of the second speed comprises the following steps:
by the formula:acquiring a second speed->；
wherein ,；
wherein , ;
wherein ,is the moving speed of mini-tiller for carefully weeding under standard cultivation conditions, < >>Is a correction coefficient which is used to correct the image,is a compensation function->Is a density weight coefficient, +.>Is the weed density of the zone to be entered, +.>Is a preset standard density,/->Is a mini-tiller which enters immediatelyIn the weeding process in the previous subarea of the subarea of (a), the arithmetic average of the stress magnitudes of all mini-tiller blades on a cutter shaft is changed along with time, and the load is +.>Is prepared by +.>Arithmetical average of stress magnitudes of all mini-tiller blades on cutter shaft along with time change curve in weeding process> and />Is the starting time point and the ending time point of the mini-tiller in the weeding process in the zone before the zone to be accessed>Is that the value range is in the speed change coefficient, which is determined by empirical data,/->Is a scaling factor, determined by empirical data.
The invention has the beneficial effects that:
(1) When the double-shaft micro-cultivator weeding device is used for weeding among tea garden ridges, the double-shaft rotation directions are opposite, the stability is improved, the micro-cultivator operation times are increased, the double motors are independently controlled, the double-shaft independent control is higher in controllability, compared with the traditional double-shaft control of the single-shaft micro-cultivator, the instability of the single-shaft micro-cultivator operation is greatly reduced, and the operation difficulty of operators is reduced.
(2) The profiling structure is strong in pertinence in the operation between tea gardens, when the profiling structure is used, the double-shaft included angle can be adaptively adjusted according to different shapes between the ridges, the profiling structure is met, the position of the cutter shaft, which is far away from one end of the mounting box, is adjusted by moving the upper sliding block and the lower sliding block, the ground three-dimensional laser radar acquires the topography information between the ridges in real time in the operation process, the operation area between the cutter shaft and the tea ridges is kept to be maximum continuously in the operation, and the mechanical weeding operation efficiency of the tea garden is enhanced to a greater extent by the innovative tea ridge profiling structure design.
(3) According to the invention, after the land information is obtained, the area to be weeding is divided into a plurality of subareas, and then each subarea is analyzed in the weeding process, so that the area with low density of weeds is quickly passed through by using a second speed without carefully weeding, and the weeding efficiency is improved when weeding is integrally reduced.
(4) In the process of analyzing each subarea and determining the second speed in the weeding process, the invention collects the relation curve of the average resistance and time of the micro-tillage blades contacted with soil during working through the profiled cutter shaft, uses the curve to react with the soil state of the next weeding area to be moved to, and obtains the second speed according to the state, thereby avoiding the use of the second speed which is too high during quick passing.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the mounting of a frame structure of the present invention;
fig. 3 is a schematic view of the mounting structure of the transmission shaft of the present invention.
Reference numerals illustrate:
10. a frame; 11. a side guard plate; 12. a mounting box; 13. moving the slide block; 14. a transmission member;
20. a transmission shaft; 21. a first driving structure; 22. a second driving structure;
30. a cutter shaft; 31. micro-tillage blade; 32. a first universal shaft; 33. a telescopic universal shaft.
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.
Examples
Referring to fig. 1-3, in one embodiment, an adaptive profiling dual-arbor electric mini-tiller is provided, comprising:
the machine frame 10 is connected with a handle, side guard plates 11 perpendicular to a horizontal plane are arranged on two sides of the machine frame 10, and an installation chamber 12 parallel to the side guard plates 11 is arranged in the center of the machine frame 10;
a pair of driving shafts 20, wherein the driving shafts 20 are rotatably connected to the mounting chamber 12, the two ends of the driving shafts 20 are rotatably connected with first universal shafts 32, the pair of driving shafts 20 are respectively driven to rotate by a first driving structure 21 and a second driving structure 22 which are fixed on the frame 10, and the first driving structure 21 and the second driving structure 22 are preferably two independent direct current motors;
the cutter shaft 30, a plurality of mini-tiller blades 31 are fixed on the cutter shaft 30, one end of the cutter shaft 30 is connected with a first universal shaft 32, and the other end of the cutter shaft 30 is connected with a telescopic universal shaft 33;
the movable slide block 13, the telescopic universal shaft 33 is fixed on the movable slide block 13, the movable slide block 13 is driven by a power piece arranged on the side guard plate 11 to slide up and down, and the driving piece is preferably an air cylinder;
the sensor module comprises a pressure sensor arranged on the mini-tiller blade 31 and a rotation speed sensor arranged on the transmission shaft 20;
the terrain detection device is fixed in front of the frame 10 and comprises a radar probe for detecting terrain information and a camera probe for acquiring image information;
and a controller disposed in the housing with the display device, the housing being fixed to the handle, the controller being for controlling the moving speed of the frame 10 and the rotational speeds of the pair of driving shafts 20, the controller being a small-sized programmable controller such as S7-1200.
The mini-tiller blades 31 are spirally and equidistantly arranged and fixed on the cutter shafts 30 through bolts, the adjacent mini-tiller blades 31 are spaced at an angle of 30 degrees and a distance of 180 mm, the number of the mini-tiller blades 31 of one cutter shaft 30 is 7, and the installation directions of the mini-tiller blades 31 connected with the cutter shaft 30 on the pair of transmission shafts 20 are opposite to each other.
Through the technical scheme: when the tea garden inter-ridge weeding operation is used, the double-shaft rotation directions are opposite, the stability is improved, meanwhile, the micro-tillage operation frequency is increased, the double motors are independently controlled, the double-shaft independent control is higher in controllability, compared with the traditional single-shaft micro-tillage machine double-shaft control, the instability of the single-shaft micro-tillage machine operation is greatly reduced, the operation difficulty of operators is reduced, meanwhile, when the tea garden inter-ridge weeding operation is used, the double-shaft included angle can be adaptively adjusted according to different inter-ridge shapes, the profiling structure is met, the position of the upper sliding block and the lower sliding block, which is far away from one end of the mounting box 12, is adjusted by the position of the cutter shaft 30, the ground three-dimensional laser radar collects inter-ridge topographic information in real time in the operation process, the operation area between the cutter shaft and the tea ridge is continuously kept to be the maximum, and the mechanical weeding operation efficiency of the tea garden is greatly enhanced by the innovative tea ridge profiling structure design.
Wherein, the process of controlling the moving speed of the mini-tiller walking process comprises the following steps:
analyzing the partition to be accessed by the mini-tiller to judge whether careful weeding is needed or not;
a weeding mode, wherein a first speed is determined according to the requirements related to tea ridge weeding operation and mini-tiller operation, so that the frame 10 moves at the first speed;
in the quick pass mode, for areas that do not require careful weeding, a second speed greater than the first speed is obtained, causing the frame 10 to move at the second speed.
Examples
A control method of a self-adaptive profiling double-cutter-shaft electric mini-tiller is applied to the self-adaptive profiling double-cutter-shaft electric mini-tiller, and comprises the following steps:
s1, a controller obtains terrain information surveyed by a terrain detection device, the terrain detection device adopts a ground three-dimensional laser radar, the terrain acquisition is completed before a mini-tiller works, if the controller does not receive the terrain information which is the same as a preset weeding area, the controller continues to wait for the terrain detection device to acquire input signals until the complete terrain information is adopted, and a first work command is generated according to the terrain information;
s2, the controller adjusts the included angle value between the cutter shaft 30 and the two sides of the tea ridge in the walking process of weeding the tea ridge according to a first working command, wherein the first working command is a command set which is generated according to terrain information and used for controlling the angle of the cutter shaft 30, and in the embodiment, the process for generating the first working command according to the terrain information comprises the following steps:
the controller divides the area to be weeding into a subarea along the moving direction of the mini-tiller according to the terrain information;
acquiring the angle value of the inclined plane of the tea ridge in the partition, specifically, according to the formula I:the method comprises the steps of carrying out a first treatment on the surface of the Acquiring the bevel angle value of the partition +.>Wherein n is the number of a plurality of points which are equally spaced on the partition inclined plane along the moving direction of the mini-tiller,is the vertical distance between the kth point of the n points and the horizontal plane where the slope bottom line is located, < ->Is the vertical distance between the kth point in the n points and the bottom line of the inclined plane;
acquiring an included angle value p of the cutter shaft 30 and a corresponding tea ridge inclined plane of the cutter shaft 30 according to the tea ridge inclined plane angle value of the partition and the current angle value of the cutter shaft 30, comparing p with [0, m ] to generate a first working command, wherein the first working command adjusts the angle of the cutter shaft 30 until the included angle value p of the cutter shaft 30 and the corresponding tea ridge inclined plane falls into an angle value interval [0, m ], and m is a whole real number belonging to the interval [2,5] according to profiling requirements;
s3, the controller generates a second working command according to data fed back by the sensor module and the terrain detection device, and controls the moving speed of the mini-tiller in the walking process according to the second working command, wherein in the embodiment, the moving mode of the mini-tiller in the walking process is controlled to be that a pair of transmission shafts 20 reversely rotate; the controller controls and adjusts the speed ratio of the pair of transmission shafts 20 of the mini-tiller to adjust the motion speed of the mini-tiller, and it should be noted that the side guard plates 11 on both sides of the frame 10 or the middle installation chamber 12 are in contact with the ground to support the mini-tiller.
Wherein, in the process of driving the mini-tiller by reversely rotating the pair of driving shafts 20, judging the relation between the operation movement speed of the mini-tiller and the speed of the driving shafts 20, if the relation is smaller than the operation movement speed interval [ a, b ] of the mini-tiller, the forward rotation speed of the driving shafts 20 which rotate forward is increased to be within the interval [ d, f ]; if the speed is larger than the operation movement speed interval [ a, b ] of the mini-tiller, reducing the forward rotation speed of the forward rotation transmission shaft 20 to be within the interval [ e, c ]; if the speed of the mini-tiller is within the interval [ a, b ], the forward rotation speed and the rotation speed of the two transmission shafts 20 are kept unchanged, and the operation movement speed of the mini-tiller is kept stable in the above mode. When acceleration is needed, the controller changes the movement speed interval to obtain a new threshold interval, and according to the adjustment process, the mini-tiller automatically adjusts the speed and maintains the speed in the new threshold interval.
Example 3
Based on embodiment 2, the controller in this embodiment has a wireless connection module, and adjusts the angle value between the cutter shaft 30 and the two sides of the tea ridge in the walking process of weeding the tea ridge according to a first working command, where the first working command is a command set generated according to terrain information and used for controlling the angle of the cutter shaft 30, and in this embodiment, the process of generating the first working command according to the terrain information includes:
the controller divides the area to be herbicidal into a plurality of subareas along the moving direction of the mini-tiller according to the terrain information, and the preferable areas of the subareas have the same size so as to facilitate subsequent calculation;
the angle values of the inclined planes of the tea ridges of a plurality of subareas are respectively obtained, and specifically, the angle values are obtained through a formula I:the method comprises the steps of carrying out a first treatment on the surface of the Obtaining the bevel angle value of each partition +.>Wherein n is the number of a plurality of points on the partition inclined plane at equal intervals along the moving direction of the mini-tiller, < >>Is the vertical distance between the kth point of the n points and the horizontal plane where the slope bottom line is located, < ->Is the vertical distance between the kth point in the n points and the slope bottom line.
Each time before a new partition is reached, acquiring an included angle value p of the cutter shaft 30 and a corresponding tea ridge inclined plane according to the tea ridge inclined plane angle value of the partition and the current angle value of the cutter shaft 30, comparing p with [0,5] to generate a first working command, and adjusting the angle of the cutter shaft 30 by the first working command until the included angle value p of the cutter shaft 30 and the corresponding tea ridge inclined plane falls into an angle value interval [0,5];
in this embodiment, the moving mode for controlling the micro-cultivator walking process is preferably traction walking through a tractor, so that the moving distance of the tractor can be obtained by a moving distance calculating module built in the tractor to position the micro-cultivator, and the moving distance calculating module is in wireless communication connection with the controller, thereby helping the controller to determine whether the micro-cultivator reaches a new subarea or not, and of course, the position of the micro-cultivator can also be determined by presetting a distance sensor group or a high-precision positioning system.
Through the technical scheme: after the land information is obtained, the area to be weeding is divided into a plurality of subareas, then each subarea is analyzed in the weeding process, the density of weeds is low, the area which does not need to be carefully weeding passes through quickly by using a second speed, and therefore weeding efficiency is improved when weeding is reduced as a whole.
In the embodiment, the controller analyzes the partition to be accessed by the mini-tiller to judge whether careful weeding is needed or not;
the judging process for judging whether careful weeding is needed includes:
acquiring image information of a partition to be accessed by a mini-tiller through a camera probe;
the weed density of the subarea to be entered is obtained according to the image information, and the weed density is compared with a preset standard density;
if the density of weeds is greater than or equal to the preset standard density, careful weeding is needed;
if the weed density is less than the preset standard density, careful weeding is not required.
Determining a first speed according to requirements related to tea ridge weeding operation and mini-tiller operation on a partition needing careful weeding, and enabling the frame 10 to move at the first speed;
for areas that do not require careful weeding, a second speed greater than the first speed is obtained, causing the gantry 10 to move at the second speed.
The second speed determination method includes:
by the formula:acquiring a second speed->；
wherein ,；
wherein , ;
wherein ,is the moving speed of mini-tiller for carefully weeding under standard cultivation conditions, < >>Is a correction coefficient which is used to correct the image,is a compensation function->Is a density weight coefficient, obtained by experienceData determination, ->Is the weed density of the zone to be entered, +.>Is a preset standard density,/->Is the change curve of the arithmetic average of the stress magnitudes of all mini-tiller blades 31 on the cutter shaft 30 along with time in the weeding process of the mini-tiller in the previous zone of the immediately-entering zone, when the immediately-entering zone is the first zone +.>，/>Is prepared by +.>The arithmetic average of the forces of all mini-tiller blades 31 on the cutter shaft 30 during weeding is changed along with the time, and the user is in the position of-> and />Is the starting time point and the ending time point of the mini-tiller in the weeding process in the zone before the zone to be accessed>Is the value range in the speed change coefficient, which is determined by the empirical data and is in [0.1,0.4 ]]，/>Is a proportional coefficient, and is determined by empirical data, and the value range is [0.3,0.5]。
Through the technical scheme: in the process of analyzing each subarea and determining the second speed in the weeding process, a relation curve of the average resistance and time of the micro-tillage blades in contact with soil during working is acquired through the profiling cutter shaft 30, compared with a traditional fixed structure, the profiling cutter shaft 30 is uniform in the degree of pasting with an inclined plane, the acquired average resistance information is more uniform, the state response of the obtained average resistance information to the soil is more accurate as feedback information, the fact that the soil properties of adjacent areas on the same piece of soil are extremely small is considered, the curve is used for reacting to the soil state of the next weeding area to be moved to, the second speed is acquired according to the state, and the second speed which is too high is avoided when the micro-tillage blades pass through quickly.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (8)
1. An adaptive profiling double-cutter-shaft electric mini-tiller is characterized by comprising:
the device comprises a frame (10), wherein a handle is connected to the frame (10), side guard plates (11) perpendicular to a horizontal plane are arranged on two sides of the frame (10), and an installation chamber (12) parallel to the side guard plates (11) is arranged in the center of the frame (10);
a pair of transmission shafts (20), wherein the transmission shafts (20) are rotatably connected to the mounting chamber (12), the two ends of the transmission shafts (20) are rotatably connected with first universal shafts (32), and the pair of transmission shafts (20) are respectively driven to rotate by a first driving structure (21) and a second driving structure (22) which are fixed on the frame (10);
the cutter shaft (30), a plurality of mini-tiller blades (31) are fixed on the cutter shaft (30), one end of the cutter shaft (30) is connected with the first universal shaft (32), and the other end of the cutter shaft (30) is connected with a telescopic universal shaft (33);
the telescopic universal shaft (33) is fixed on the movable sliding block (13), and the movable sliding block (13) is driven by a power piece arranged on the side guard plate (11) to slide up and down;
the sensor module comprises a pressure sensor arranged on the mini-tiller blade (31) and a rotating speed sensor arranged on the transmission shaft (20);
the terrain detection device is fixed in front of the stand (10) and comprises a radar probe for detecting terrain information and a camera probe for acquiring image information;
and the controller is fixed on the handle and is used for controlling the moving speed of the frame (10) and the rotating speed of the pair of transmission shafts (20).
2. The self-adaptive profiling double-cutter-shaft electric mini tiller according to claim 1, wherein the mini tiller blades (31) are in a spiral equidistant array and fixed on cutter shafts (30) through bolts, the angle interval between adjacent mini tiller blades (31) is 20-40 degrees, the distance interval is 160-190 mm, the number of the mini tiller blades (31) of one cutter shaft (30) is 5-9, and the installation directions of the mini tiller blades (31) connected with the cutter shafts (30) on a pair of transmission shafts (20) are opposite to each other.
3. A control method of the self-adaptive profiling double-cutter shaft electric mini-tiller according to any one of claims 1-2, comprising the following steps:
s1, a controller obtains terrain information surveyed by a terrain detection device and generates a first working command according to the terrain information;
s2, the controller adjusts the included angle value between the cutter shaft (30) and the two sides of the tea ridge in the weeding walking process of the tea ridge according to the first working command;
and S3, the controller generates a second working command according to the data fed back by the sensor module and the terrain detection device, and controls the moving speed of the mini-tiller in the walking process according to the second working command.
4. The control method of the self-adaptive profiling dual-cutter shaft electric mini-tiller according to claim 3, wherein the process of generating the first work command according to the terrain information comprises the following steps:
the controller divides the area to be weeding into a plurality of identical subareas along the moving direction of the mini-tiller according to the terrain information;
acquiring a tea ridge inclined plane angle value of each partition;
generating a first working command according to the tea ridge inclined plane angle values of the same partitions, wherein the first working command is used for controlling the angle of the cutter shaft (30) of the mini-tiller in the partition moving process.
5. The control method of the self-adaptive profiling double-cutter-shaft electric mini-tiller according to claim 3, wherein the mode of controlling the moving speed of the mini-tiller in the walking process comprises the following steps:
a pair of said drive shafts (20) are counter-rotated;
the controller controls and adjusts the speed proportion of a pair of transmission shafts (20) of the mini-tiller, and adjusts the working movement speed of the mini-tiller.
6. The control method of the self-adaptive profiling double-cutter-shaft electric mini-tiller according to claim 3, wherein the process of controlling the moving speed of the mini-tiller in the walking process comprises the following steps:
analyzing the partition to be accessed by the mini-tiller to judge whether careful weeding is needed or not;
determining a first speed according to requirements related to tea ridge weeding operation and mini-tiller operation on a partition needing careful weeding, and enabling a rack (10) to move at the first speed;
for areas that do not require careful weeding, a second speed greater than the first speed is obtained, causing the frame (10) to move at the second speed.
7. The method for controlling an adaptive profiling dual-cutter shaft electric mini-tiller according to claim 6, wherein the determining whether careful weeding is required comprises:
acquiring image information of a partition to be accessed by a mini-tiller through a camera probe;
the weed density of the subarea to be entered is obtained according to the image information, and the weed density is compared with a preset standard density;
if the density of weeds is greater than or equal to the preset standard density, careful weeding is needed;
if the weed density is less than the preset standard density, careful weeding is not required.
8. The method for controlling an adaptive profiling dual-cutter shaft electric mini-tiller according to claim 6, wherein the determining of the second speed comprises:
by the formula:acquiring a second speed->；
wherein ,；
wherein , ;
wherein ,is the moving speed of mini-tiller for carefully weeding under standard cultivation conditions, < >>Is a correction coefficient which is used to correct the image,is a compensation function->Is a density weight coefficient, +.>Is the weed density of the zone to be entered, +.>Is a preset standard density,/->Is a change curve of arithmetic mean after removing a maximum value and a minimum value from stress size data of all mini-tiller blades (31) on a cutter shaft (30) along with time in the weeding process in the previous zone of the mini-tiller in the immediately-entering zone>Is prepared by +.>Arithmetic mean of the stress magnitudes of all mini-tiller blades (31) on the cutter shaft (30) in the weeding process> and />Is the starting time point and the ending time point of the mini-tiller in the weeding process in the zone before the zone to be accessed>Is that the value range is in the speed change coefficient, which is determined by empirical data,/->Is a scaling factor, determined by empirical data.
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| US4251931A (en) * | 1979-04-11 | 1981-02-24 | The United States Of America As Represented By The Secretary Of The Navy | Terrain vehicle simulator contour measuring and storage device |
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