CN116267176A - Radix aconiti lateralis harvesting device of self-adaptation topography - Google Patents
Radix aconiti lateralis harvesting device of self-adaptation topography Download PDFInfo
- Publication number
- CN116267176A CN116267176A CN202310189413.8A CN202310189413A CN116267176A CN 116267176 A CN116267176 A CN 116267176A CN 202310189413 A CN202310189413 A CN 202310189413A CN 116267176 A CN116267176 A CN 116267176A
- Authority
- CN
- China
- Prior art keywords
- central control
- power
- control system
- gradient value
- terrain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D33/00—Accessories for digging harvesters
- A01D33/12—Driving mechanisms, with or without motor
-
- 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
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a self-adaptive terrain aconite harvesting device, which comprises a frame, a driving mechanism and a harvesting mechanism, wherein the driving mechanism comprises: the dual-energy power system comprises an internal combustion engine and a motor which are respectively connected with the input end of the power transmission system; the output end of the power transmission system is respectively connected with the crawler-type traveling system and the harvesting mechanism and is used for driving the aconite harvesting device to travel, and the harvesting mechanism executes harvesting operation; the terrain monitoring system is used for acquiring the terrain parameters in front of the walking of the aconite harvesting device; the central control system controls the energy supply proportion of the dual-energy power system and the power distribution of the power transmission system according to the affiliated terrain parameters. The invention can adjust the power supply mode according to the energy reserve condition and the topography condition, so that the energy supply characteristics are adapted to the working state, and the working efficiency is improved; the energy supply mode and the power distribution are dynamically adjusted according to the gradient value, so that the requirement of manual operation is reduced, high automation is realized, and the running and operation process is better matched with the terrain conditions.
Description
Technical Field
The invention relates to the field of agricultural mechanical equipment, in particular to a radix aconiti lateralis harvesting device adaptive to terrain.
Background
The radix Aconiti lateralis also called aconite or radix Aconiti lateralis, is processed product of radix Aconiti lateralis of Aconitum of Ranunculaceae, has inverted conical root tuber, 2-4 cm long and 1-1.6 cm thick. Is generally planted in the hillside grass slope or bush. When harvesting, the whole plant is dug out, the sediment is removed, the root of the seed (aconite) is picked up, and the fibrous root is removed, namely the 'mud aconite'. In the prior art, the common mode is manual harvesting, and if a general harvester is adopted, the common mode can cause larger damage to the aconite; the existing asparagus digging shovel has the defects that the existing asparagus digging shovel is adopted for manual digging, and the digging shovel is inserted into the soil and then is pressed backwards to press the soil, so that the rear aconite root tuber to be dug is greatly damaged, the quality is seriously affected, special cutting is needed in the later stage, and a large amount of waste is caused. And the manual harvesting workload is large, the labor cost is high, the labor intensity is high, and the harvesting efficiency is low. On the other hand, because the aconite is generally planted in a mountain grass slope or a bush, the planted land has a poor terrain condition, a continuously-changing slope terrain exists, the common harvesting machine has a poor working effect on the terrain, the power output is not matched with the terrain condition, the common harvesting machine is easy to operate under full power on a flat land or a steep slope, the waste of energy is caused, and the power output is insufficient when the common harvesting machine works on the terrain with a larger slope, even the common harvesting machine cannot work.
Disclosure of Invention
In order to solve the technical problems, the invention provides a aconite harvesting device which is applicable to complex terrain changes and is provided with a multi-source power supply system.
The technical scheme provided by the invention comprises the following steps:
the utility model provides a self-adaptation topography's aconite harvesting apparatus, includes frame, actuating mechanism and harvesting mechanism, its characterized in that, actuating mechanism includes: the system comprises a dual-energy power system, a crawler-type traveling system, a power transmission system, a terrain monitoring system and a central control system;
the dual-energy power system comprises an internal combustion engine and a motor which are respectively connected with the input end of the power transmission system;
the output end of the power transmission system is respectively connected with the crawler-type traveling system and the harvesting mechanism and is used for driving the aconite harvesting device to travel and driving the harvesting mechanism to perform harvesting operation;
the terrain monitoring system is used for acquiring the terrain parameters in front of the walking of the aconite harvesting device and transmitting the terrain parameters to the central control system;
the central control system is used for controlling the energy supply proportion of the dual-energy power system and the power distribution of the power transmission system according to the terrain parameters.
In some preferred embodiments, the terrain monitoring system comprises a lidar disposed on the frame forward of the direction of travel for acquiring terrain point cloud data forward of the direction of travel of the radix Aconiti lateralis harvesting device;
the method for acquiring the terrain parameters by the terrain monitoring system comprises the following steps:
presetting a ground plane according to geographical position information of an operation area;
carrying out noise reduction and background difference on the obtained point cloud data to obtain a point cloud data set representing the slope surface, and fitting the slope surface based on the point cloud data set;
and calculating a gradient value in the front of the walking direction of the aconite harvesting device according to a normal vector of a preset ground plane and a normal vector of a fitting slope.
In some preferred embodiments, the method for controlling the energy supply proportion of the dual-energy power system by the central control system comprises the following steps:
the central control system presets gradient value change thresholds and matches different energy supply proportions of the dual-energy power system for each change threshold;
the central control system receives the gradient value in front of the walking direction transmitted by the terrain monitoring system, compares the gradient value with a preset gradient value change threshold value and controls the working mode of the dual-energy power system, and specifically comprises the following steps:
when the gradient value is within the range of 0.00-9.99 degrees, the central control system controls the internal combustion engine to stop working, and the motor is used for independently supplying energy;
when the gradient value is within the range of 10.00-14.99 degrees, the central control system controls the motor to stop working, and the internal combustion engine supplies power independently;
when the gradient value is larger than 15.00 degrees, the central control system controls the motor and the internal combustion engine to work simultaneously and supply energy together.
In some preferred embodiments, the central control system adjusts the power ratio of the electric motor to the internal combustion engine when the electric motor and the internal combustion engine are co-powered, wherein the power ratio of the internal combustion engine is greater than the power ratio of the electric motor.
In some preferred embodiments, the method for controlling the power distribution of the power transmission system by the central control system comprises:
the central control system presets gradient value change thresholds and matches different power distribution ratios of the power transmission system for each change threshold;
the central control system receives the gradient value transmitted by the terrain monitoring system in front of the walking direction, compares the gradient value with a preset gradient value change threshold value and controls the power distribution proportion of the power transmission system, and specifically comprises the following steps:
when the gradient value is within the range of 0.00-4.99 degrees, the central control system controls the power transmission system to transmit 30% of power to the crawler-type traveling system and transmit 70% of power to the harvesting mechanism;
when the gradient value is within the range of 5.00-9.99 degrees, the central control system controls the power transmission system to transmit 40% of power to the crawler-type traveling system and transmit 60% of power to the harvesting mechanism;
when the gradient value is within the range of 10.00-14.99 degrees, the central control system controls the power transmission system to transmit 50% of power to the crawler-type traveling system and transmit 50% of power to the harvesting mechanism;
when the gradient value is 15.00 degrees, the central control system controls the power transmission system to transmit the power of the motor to the harvesting mechanism and transmit the power of the internal combustion engine to the crawler-type running system.
In some preferred embodiments, the central control system is in signal connection with the harvesting mechanism and is used for controlling the harvesting mechanism to adjust the working state of the screening chain in real time according to different topographic parameters.
In some preferred embodiments, the method for adjusting the working state of the screening chain in real time comprises the following steps:
the central control system presets gradient value change thresholds and matches the working states of different screening chains for each change threshold;
the central control system receives the gradient value in front of the walking direction transmitted by the terrain monitoring system, compares the gradient value with a preset gradient value change threshold value and controls the working state of the screening chain, and specifically comprises the following steps:
taking the working state of the screening chain in a stable state after starting as an initial state;
when the gradient value is in the range of 0.00-4.99 degrees, the central control system controls the screening chain to increase the vibration amplitude by 8% and the vibration frequency by 10% compared with the initial state;
when the gradient value is in the range of 5.00-9.99 degrees, the central control system controls the screening chain to increase the vibration amplitude by 6% and the vibration frequency by 8% compared with the initial state;
when the gradient value is within the range of 10.00-14.99 degrees, the central control system controls the screening chain to reduce the vibration amplitude by 2% and the vibration frequency by 4% compared with the initial state;
when the gradient value is 15.00 degrees, the central control system controls the screening chain to reduce the vibration amplitude by 4 percent and the vibration frequency by 6 percent compared with the initial state.
Advantageous effects
1. The invention provides two energy supply modes of a motor and an internal combustion engine, which can be dynamically adjusted according to the energy storage condition and the topography condition, so that on one hand, energy can be saved, and on the other hand, the energy supply characteristics are adapted to the working state, and the working efficiency is improved;
2. the invention provides a method for acquiring the terrain parameters in front of the working direction in real time by utilizing a laser radar, obtaining a gradient value through processing, dynamically adjusting an energy supply mode and power distribution according to the gradient value, on one hand, reducing the requirement of manual operation, realizing high automation, on the other hand, better matching the running and working process with the terrain conditions, and improving the working efficiency.
Drawings
FIG. 1 is a schematic view of a preferred embodiment of the present invention;
in the figure: 1. a frame; 2. a harvesting mechanism; 3. an internal combustion engine; 4. a motor; 5. a power transmission system; 6. a crawler-type walking system; 7. a terrain monitoring system; 8. a central control system;
Detailed Description
The present invention will be further described with reference to the accompanying drawings, in order to make the objects, technical solutions and advantages of the present invention more apparent. In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Example 1
As shown in fig. 1, the present embodiment provides a terrain-adaptive aconite harvesting device, which comprises a frame 1, a driving mechanism and a harvesting mechanism 2. The frame 1 is a basic structure for supporting the whole aconite harvesting device, the harvesting mechanism 2 is an operation mechanism for harvesting mature aconite, and the driving mechanism is a power supply source for driving the running mechanism and the harvesting mechanism 2 to operate. The frame 1 and the harvesting mechanism 2 may be used in the prior art, and are not described herein because they are not the focus of the present invention.
The driving mechanism includes: the system comprises a dual-energy power system, a crawler-type walking system 6, a power transmission system 5, a terrain monitoring system 7 and a central control system 8.
The dual-energy power system comprises an internal combustion engine 3 and a motor 4 which are respectively connected with the input end of the power transmission system 5. It should be appreciated that the dual energy power system may be configured to switch power output by a switch or the like, may be configured to be powered by the motor 4 or the internal combustion engine 3 alone, may be configured to be powered by both the motor 4 and the internal combustion engine 3, and may be configured to adjust power output to match different power modes.
The output end of the power transmission system 5 is respectively connected with the crawler-type traveling system 6 and the harvesting mechanism 2 and is used for driving the aconite harvesting device to travel and driving the harvesting mechanism 2 to perform harvesting operation;
the terrain monitoring system 7 is used for acquiring the terrain parameters in front of the walking of the aconite harvesting device and transmitting the terrain parameters to the central control system 8;
the central control system 8 is arranged to control the energy supply ratio of the dual energy power system and the power distribution of the power transmission system 5 according to the topographic parameters. The central control system 8 may be an industrial personal computer or a single chip microcomputer with built-in implementation related energy supply software and hardware, or may be a central control server arranged in the cloud, and is respectively connected with the dual-energy power system and the power transmission system 5 through signals to realize control, so that the implementation mode of the central control system is not further required.
In some preferred embodiments, a specific structural schematic and working method of a terrain monitoring system 7 is provided, wherein the terrain monitoring system 7 comprises a laser radar which is arranged on the frame 1 towards the front of the walking direction and is used for acquiring terrain point cloud data in front of the walking direction of the aconite harvesting device;
the method for acquiring the topographic parameters by the topographic monitoring system 7 comprises the following steps:
and presetting a ground plane according to the geographical position information of the operation area. The geographical position information can be a geographical information map provided by the home country and earth resource bureau, a remote sensing map or an unmanned aerial vehicle aerial photo, and the like, as long as the information of the ground plane of the operation area can be obtained.
And carrying out noise reduction and background difference on the obtained point cloud data to obtain a point cloud data set representing the slope surface, and fitting the slope surface based on the point cloud data set. Noise reduction and background differencing are conventional operations in the field of point cloud data processing, and slope fitting is also referred to mature techniques in the prior art, and the invention does not require further implementation of the above techniques. It should be understood that, although the above data acquisition is based on the prior art, it should not be taken as an inventive basis for evaluating the present invention, and the present invention focuses on the use of the above basic data.
And calculating a gradient value in the front of the walking direction of the aconite harvesting device according to a normal vector of a preset ground plane and a normal vector of a fitting slope.
In other preferred embodiments, the method for controlling the energy supply proportion of the dual-energy power system by the central control system 8 includes:
the central control system 8 presets gradient value change thresholds and matches different energy supply proportions of the dual-energy power system for each change threshold;
the central control system 8 receives the gradient value transmitted by the terrain monitoring system 7 in front of the walking direction, compares the gradient value with a preset gradient value change threshold value and controls the working mode of the dual-energy power system, and specifically comprises the following steps:
when the gradient value is in the range of 0.00-9.99 degrees, the terrain gradient at the moment belongs to a flat ground or a gentle slope, and the power required by the crawler-type traveling system 6 for traveling is smaller, so that the central control system 8 can control the internal combustion engine 3 to stop working, and the motor 4 can be used for independently supplying energy to save fossil fuel.
When the gradient value is in the range of 10.00-14.99 degrees, the gradient of the terrain is larger, the power required by the crawler-type traveling system 6 for traveling is larger, if the motor 4 is adopted to independently supply power, the requirements of the power supply parameters (such as output torque and output linearity) of the motor 4 are improved, and those skilled in the art can know that the more powerful motor 4 has higher purchasing cost and can have some inexpensiveness compared with the saved energy; on the other hand, the high-power supply of the motor 4 accelerates the consumption of the stored electric quantity and shortens the total supply time of the motor 4, so that the central control system 8 controls the motor 4 to stop working and the internal combustion engine 3 supplies power independently.
When the gradient value is greater than 15.00 degrees, the slope is formed as a steep slope, the power required by the crawler-type traveling system 6 for traveling is maximum, and the independent energy supply mode may not meet the requirement at the moment, so that the central control system 8 can work simultaneously with the internal combustion engine 3 to supply energy together.
It should be appreciated that, considering the amount of power output and the cost and convenience of the fuel and power cells, the central control system 8 may adjust the power supply ratio of the motor 4 to the internal combustion engine 3 when the motor 4 and the internal combustion engine 3 are supplied together, wherein the power supply ratio of the internal combustion engine 3 is greater than the power supply ratio of the motor 4. Preferably, the energy supply proportion of the internal combustion engine 3 is more than 60% and the energy supply proportion of the motor 4 is not more than 40%.
In other preferred embodiments, the method for controlling the power distribution of the power transmission system 5 by the central control system 8 includes:
the central control system 8 presets gradient value change thresholds and matches different power distribution ratios of the power transmission system 5 for each change threshold;
the central control system 8 receives the gradient value transmitted by the terrain monitoring system 7 in front of the walking direction, compares the gradient value with a preset gradient value change threshold value and controls the power distribution proportion of the power transmission system 5, and specifically comprises the following steps:
when the gradient value is in the range of 0.00-4.99 degrees, the slope of the terrain at the moment belongs to a flat ground or a gentle slope, the power required by the crawler-type traveling system 6 for traveling is smaller, and the traveling speed is faster, so the central control system 8 is considered to control the power transmission system 5 to transmit 30% of the power to the crawler-type traveling system 6 and 70% of the power to the harvesting mechanism 2.
When the gradient value is in the range of 5.00-9.99 degrees, the gradient of the terrain is gentle at this time, but the power required by the crawler-type traveling system 6 for traveling is improved compared with the previous state, and the traveling speed at this time is also reduced to a certain extent, so the central control system 8 is considered to control the power transmission system 5 to transmit 40% of the power to the crawler-type traveling system 6 and 60% of the power to the harvesting mechanism 2.
When the gradient value is in the range of 10.00-14.99 °, the gradient of the terrain is larger, the power required by the crawler-type traveling system 6 to perform traveling is larger, and the traveling speed is slower, so the central control system 8 is considered to control the power transmission system 5 to transmit 50% of the power to the crawler-type traveling system 6 and 50% of the power to the harvesting mechanism 2.
When the gradient value is 15.00 degrees, the gradient of the terrain is a steep gradient, the power required by the crawler-type traveling system 6 for traveling is the largest, and the traveling speed is the slowest, and the central control system 8 is considered to control the power transmission system 5 to transmit the power of the motor 4 to the harvesting mechanism 2, and the power of the internal combustion engine 3 is transmitted to the crawler-type traveling system 6, namely, the internal combustion engine 3 is used for driving the traveling, and the motor 4 is used for driving the harvesting.
In some preferred embodiments, the central control system 8 is in signal connection with the harvesting mechanism 2, and is used for controlling the harvesting mechanism 2 to adjust the working state of the screening chain in real time according to different topographic parameters.
Specifically, the method for adjusting the working state of the screening chain in real time comprises the following steps:
the central control system 8 presets gradient value change thresholds and matches the working states of different screening chains for each change threshold;
the central control system 8 receives the gradient value transmitted by the terrain monitoring system 7 in front of the walking direction, compares the gradient value with a preset gradient value change threshold value and controls the working state of the screening chain, and specifically comprises the following steps:
taking the working state of the screening chain in a stable state after starting as an initial state; it should be understood that the vibration amplitude and the vibration frequency of the screening chain in the initial state belong to preset parameters at the shipment of the screening chain or to parameters which have been adjusted by a person skilled in the art before starting the device. The specific values are not of interest to the present invention.
When the gradient value is in the range of 0.00-4.99 degrees, the terrain gradient at the moment belongs to a flat land or a gentle slope, and the running speed of the crawler-type running system 6 is higher, so that the vibration amplitude and the vibration frequency are required to be adaptively improved to meet the matching of the harvesting operation speed and the running speed, specifically, the central control system 8 controls the screening chain to be improved by 8% of the vibration amplitude and 10% of the vibration frequency in comparison with the initial state;
when the gradient value is in the range of 5.00-9.99 degrees, the gradient of the terrain is gentle at the moment, but the running speed of the crawler-type running system 6 is reduced to a certain extent compared with the land terrain, so that compared with the previous stage, the vibration amplitude and the vibration frequency are required to be reduced in an adaptive manner to meet the matching of the harvesting operation speed and the running speed, and specifically, the central control system 8 controls the screening chain to increase the vibration amplitude by 6% and the vibration frequency by 8% compared with the initial state;
when the gradient value is in the range of 10.00-14.99 degrees, the gradient of the terrain is larger at the moment, and the running speed of the crawler-type running system 6 is slower, so that compared with the harvesting speed in the land leveling stage, the vibration amplitude and the vibration frequency are required to be further reduced to meet the matching of the harvesting operation speed and the running speed, and specifically, the central control system 8 controls the screening chain to be reduced by 2% of the vibration amplitude and 4% of the vibration frequency compared with the initial state;
when the gradient value is 15.00 degrees, the gradient of the terrain is a steep slope, and the running speed of the crawler-type running system 6 is the slowest, so that compared with the harvesting speed in the land leveling stage, the vibration amplitude and the vibration frequency need to be further reduced to meet the matching of the harvesting operation speed and the running speed, and particularly, the central control system 8 controls the screening chain to reduce the vibration amplitude by 4% and the vibration frequency by 6% compared with the initial state.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a self-adaptation topography's aconite harvesting apparatus, includes frame (1), actuating mechanism and harvesting mechanism (2), its characterized in that, actuating mechanism includes: the system comprises a dual-energy power system, a crawler-type walking system (6), a power transmission system (5), a terrain monitoring system (7) and a central control system (8);
the dual-energy power system comprises an internal combustion engine (3) and a motor (4) which are respectively connected with the input end of the power transmission system (5);
the output end of the power transmission system (5) is respectively connected with the crawler-type traveling system (6) and the harvesting mechanism (2) and is used for driving the aconite harvesting device to travel and driving the harvesting mechanism (2) to execute harvesting operation;
the terrain monitoring system (7) is used for acquiring the terrain parameters in front of the walking of the aconite harvesting device and transmitting the terrain parameters to the central control system (8);
the central control system (8) is used for controlling the energy supply proportion of the dual-energy power system and the power distribution of the power transmission system (5) according to the terrain parameters.
2. The terrain-adaptive aconite harvesting device according to claim 1, characterized in that the terrain monitoring system (7) comprises a laser radar arranged on the frame (1) towards the front of the walking direction for acquiring terrain point cloud data in front of the walking direction of the aconite harvesting device;
the method for acquiring the topographic parameters by the topographic monitoring system (7) comprises the following steps:
presetting a ground plane according to geographical position information of an operation area;
carrying out noise reduction and background difference on the obtained point cloud data to obtain a point cloud data set representing the slope surface, and fitting the slope surface based on the point cloud data set;
and calculating a gradient value in the front of the walking direction of the aconite harvesting device according to a normal vector of a preset ground plane and a normal vector of a fitting slope.
3. The terrain-adaptive aconite harvesting device of claim 2, wherein the method of controlling the energy supply ratio of the dual-energy power system by the central control system (8) comprises:
the central control system (8) presets gradient value change thresholds and matches different energy supply proportions of the dual-energy power system for each change threshold;
the central control system (8) receives the gradient value transmitted by the terrain monitoring system (7) in front of the walking direction, compares the gradient value with a preset gradient value change threshold value and controls the working mode of the dual-energy power system, and specifically comprises the following steps:
when the gradient value is in the range of 0.00-9.99 degrees, the central control system (8) controls the internal combustion engine (3) to stop working, and the motor (4) is used for independently supplying energy;
when the gradient value is within the range of 10.00-14.99 degrees, the central control system (8) controls the motor (4) to stop working, and the internal combustion engine (3) is used for independently supplying energy;
when the gradient value is larger than 15.00 degrees, the central control system (8) controls the motor (4) and the internal combustion engine (3) to work simultaneously and supply energy together.
4. A terrain-adaptive aconite harvesting apparatus as claimed in claim 3, wherein: when the motor (4) and the internal combustion engine (3) are jointly powered, the central control system (8) adjusts the power supply proportion of the motor (4) and the internal combustion engine (3), wherein the power supply proportion of the internal combustion engine (3) is larger than the power supply proportion of the motor (4).
5. The terrain-adaptive aconite harvesting device of claim 2, wherein the method of controlling the power distribution of the power transmission system (5) by the central control system (8) comprises:
the central control system (8) presets gradient value change thresholds and matches different power distribution ratios of the power transmission system (5) for each change threshold;
the central control system (8) receives the gradient value transmitted by the terrain monitoring system (7) in front of the walking direction, compares the gradient value with a preset gradient value change threshold value and controls the power distribution proportion of the power transmission system (5), and specifically comprises the following steps:
when the gradient value is within the range of 0.00-4.99 degrees, the central control system (8) controls the power transmission system (5) to transmit 30% of power to the crawler-type traveling system (6) and transmit 70% of power to the harvesting mechanism (2);
when the gradient value is within the range of 5.00-9.99 degrees, the central control system (8) controls the power transmission system (5) to transmit 40% of power to the crawler-type traveling system (6) and transmit 60% of power to the harvesting mechanism (2);
when the gradient value is within the range of 10.00-14.99 degrees, the central control system (8) controls the power transmission system (5) to transmit 50% of power to the crawler-type traveling system (6) and transmit 50% of power to the harvesting mechanism (2);
when the gradient value is 15.00 degrees, the central control system (8) controls the power transmission system (5) to transmit the power of the motor (4) to the harvesting mechanism (2) and transmit the power of the internal combustion engine (3) to the crawler-type running system (6).
6. The terrain-adaptive aconite harvesting device according to claim 2, wherein the central control system (8) is in signal connection with the harvesting mechanism (2) and is used for controlling the harvesting mechanism (2) to adjust the working state of the screening chain in real time according to different terrain parameters.
7. The terrain-adaptive aconite harvesting apparatus of claim 6, wherein the method for adjusting the operating state of the sieving chain in real time comprises:
the central control system (8) presets gradient value change thresholds and matches the working states of different screening chains for each change threshold;
the central control system (8) receives the gradient value transmitted by the terrain monitoring system (7) in front of the walking direction, compares the gradient value with a preset gradient value change threshold value and controls the working state of the screening chain, and specifically comprises the following steps:
taking the working state of the screening chain in a stable state after starting as an initial state;
when the gradient value is in the range of 0.00-4.99 degrees, the central control system (8) controls the screening chain to increase the vibration amplitude by 8% and the vibration frequency by 10% compared with the initial state;
when the gradient value is in the range of 5.00-9.99 degrees, the central control system (8) controls the screening chain to increase the vibration amplitude by 6% and the vibration frequency by 8% compared with the initial state;
when the gradient value is in the range of 10.00-14.99 degrees, the central control system (8) controls the screening chain to reduce the vibration amplitude by 2 percent and the vibration frequency by 4 percent compared with the initial state;
when the gradient value is 15.00 degrees, the central control system (8) controls the screening chain to reduce the vibration amplitude by 4 percent and the vibration frequency by 6 percent compared with the initial state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310189413.8A CN116267176A (en) | 2023-03-02 | 2023-03-02 | Radix aconiti lateralis harvesting device of self-adaptation topography |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310189413.8A CN116267176A (en) | 2023-03-02 | 2023-03-02 | Radix aconiti lateralis harvesting device of self-adaptation topography |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116267176A true CN116267176A (en) | 2023-06-23 |
Family
ID=86797160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310189413.8A Pending CN116267176A (en) | 2023-03-02 | 2023-03-02 | Radix aconiti lateralis harvesting device of self-adaptation topography |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116267176A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020008027A1 (en) * | 2018-07-05 | 2020-01-09 | Rayvolt, Inc | Control system for a hybrid bicycle, and hybrid bicycle equipped with such a control system |
| CN111775927A (en) * | 2020-07-22 | 2020-10-16 | 三一重型装备有限公司 | A hybrid drive system of a mining dump truck |
| CN217753449U (en) * | 2022-07-12 | 2022-11-08 | 中联农业机械股份有限公司 | Electric tractor |
-
2023
- 2023-03-02 CN CN202310189413.8A patent/CN116267176A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020008027A1 (en) * | 2018-07-05 | 2020-01-09 | Rayvolt, Inc | Control system for a hybrid bicycle, and hybrid bicycle equipped with such a control system |
| CN111775927A (en) * | 2020-07-22 | 2020-10-16 | 三一重型装备有限公司 | A hybrid drive system of a mining dump truck |
| CN217753449U (en) * | 2022-07-12 | 2022-11-08 | 中联农业机械股份有限公司 | Electric tractor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108207130B (en) | An adaptive multi-frequency ultrasonic vibration low-resistance wear-resistant subsoiler and method | |
| CN108401648B (en) | Wind-solar energy storage and charging integrated intelligent lawn maintenance system | |
| CN201345823Y (en) | Novel peanut harvesting machine | |
| CN202958261U (en) | Ultrasonic plant growth promoting and yield increasing machine | |
| CN208191343U (en) | A kind of wind-light storage fills integrated intelligent lawn maintenance system | |
| CN116267176A (en) | Radix aconiti lateralis harvesting device of self-adaptation topography | |
| CN111409714A (en) | Multifunctional crawler tractor for hillside orchard | |
| CN210130105U (en) | Hybrid high-speed rice transplanter | |
| Shamshiri | Electrical tractors for autonomous farming | |
| CN216796027U (en) | Forestry is grown seedlings and is cultivated and use irrigation equipment | |
| CN206267210U (en) | A kind of agricultural ditching machine | |
| Yue et al. | Intelligent control system of agricultural unmanned tractor tillage trajectory | |
| CN213523097U (en) | Lotus root harvester | |
| CN219844072U (en) | Radix aconiti lateralis harvester | |
| CN101971735A (en) | Lithium ion battery applied to power device of rape harvester as new energy | |
| CN208850136U (en) | A kind of tillage machine for mountainous region | |
| CN222772903U (en) | Agricultural ecological environment monitoring device | |
| CN212086961U (en) | A miniature orchard fertilizing and mulching machine | |
| CN219761839U (en) | An unmanned subsoil no-tillage unit | |
| CN201919343U (en) | Power device for applying lithium ion battery new energy to rapeseed plant harvester | |
| CN217360827U (en) | Crops lack of fertilizer recognition device | |
| CN209749108U (en) | Ditching fertilizer applicator applied to small-scale farmland | |
| CN203505400U (en) | Light paddy field weeding machine | |
| CN211106958U (en) | A multifunctional crawler remote control agricultural vehicle unit with interchangeable structure | |
| CN204652879U (en) | A kind of small-sized wet-field roller boat |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |