Profiling anti-blocking leaf vegetable harvester and control system and method control thereof

A control system and harvester technology, applied in the field of agricultural machinery, can solve the problems of complex ridge surface environment, no lateral profiling, anti-blocking, large ridge surface information error, etc.

Active Publication Date: 2020-06-05
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Chinese patent CN109699287A discloses a leaf vegetable harvester with the function of harvesting height adjustment and its control method. According to the signal detected by the infrared distance measuring sensor, the electric push rod is controlled to expand and contract, and the lifting platform is controlled to expand and contract according to the signal detected by the ultrasonic sensor. However, the executive device of the harvester still

Method used

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  • Profiling anti-blocking leaf vegetable harvester and control system and method control thereof
  • Profiling anti-blocking leaf vegetable harvester and control system and method control thereof
  • Profiling anti-blocking leaf vegetable harvester and control system and method control thereof

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0099] figure 1 , figure 2 , image 3 It is a preferred embodiment of the profiling anti-blocking leafy vegetable harvester, and the profiling anti-blocking leafy vegetable harvester includes a reel assembly 1, a header assembly 2, and a header chassis connection assembly 3. Header chassis limit assembly 4. Collection device 5. Header adjustment assembly 6. Chassis assembly 7. Ridge surface detection assembly 8 and control system 9. The reel assembly 1 is laterally symmetrically installed on the front part of the header assembly 2, and the header assembly 2 is connected to the chassis assembly 7 through the header chassis connection assembly 3; The header chassis limit assembly 4 is installed between the header assembly 2 and the chassis assembly 7; two sets of header adjustment assemblies 6 are installed laterally and symmetrically between the header assembly 2 and the chassis assembly. 7 are used to adjust the posture of the header assembly 2 in the horizontal and vertic...

Embodiment 2

[0122] A control system for a profiling anti-blocking leaf vegetable harvester according to Embodiment 1 has the beneficial effects of Embodiment 1, and will not be repeated here.

[0123]The control system of the profiling anti-blocking leaf vegetable harvester includes a detection mechanism, a control system 9 and an execution mechanism. The detection mechanism includes a reel encoder 1-7, a travel encoder 7-3-1, a torque sensor 1-16, an ultrasonic sensor 8-15 and a displacement sensor 6-4. The executive mechanism includes a reel lifting motor 1-10, a reel rotating speed motor 1-18 and an electric push rod 6-3. The detection mechanism is connected with the control system 9, and the control system 9 is connected with the execution mechanism; the control system 9 includes a header profiling control module, a reel speed control module and a reel anti-blocking control module.

[0124] The header profiling control module obtains the length l of the current left electric push rod...

Embodiment 3

[0149] A control method for the control system of the profiling anti-blocking leaf vegetable harvester described in Embodiment 2 has the beneficial effects of Embodiment 2, and will not be repeated here.

[0150] The control method of the control system of the profiling anti-blocking leaf vegetable harvester comprises the following steps:

[0151] Header profiling control: the header profiling control module of the control system 9 obtains the length l of the current left electric push rod 6-3 through the displacement sensors 6-4 on the left and right sides 0l , and the length l of the current right electric push rod 6-3 0r , and the included angle α between the left and right sides of the header assembly 2 relative to the ridge surface is respectively obtained through the mathematical model of the header inclination angle l 、α r ; The vertical distance d between the top inner side of the parallel four-bar mechanism on the left and right sides and the detection plate 8-8 is ...

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Abstract

The invention belongs to the field of agricultural machinery, and relates to a profiling anti-blocking leaf vegetable harvester and a control system and a control method thereof. The profiling anti-blocking leaf vegetable harvester comprises a reel assembly, a header assembly, a header chassis connecting assembly, a header chassis limiting assembly, a collecting device, two header adjusting assemblies, a chassis assembly, two ridge surface detecting assemblies and a control system, wherein the reel assembly is installed at the front part of the header assembly; the header assembly is connectedto the chassis assembly through the header chassis connecting assembly; the header chassis limiting assembly is installed between the header assembly and the chassis assembly; the collecting device is installed at the rear part of the chassis assembly; the two header adjusting assemblies are transversely and symmetrically installed between the header assembly and the chassis assembly and are usedfor adjusting the postures of the header assembly in the transverse direction and the longitudinal direction; and the two ridge surface detecting assemblies are transversely and symmetrically installed in front of the lower part of the header assembly. The functions of ridge surface self-adaption in the transverse direction and the longitudinal direction of the cutting height, reel rotating speedself-adaption operation speed, intelligent anti-blocking regulation and the like are achieved, low loss rate of leaf vegetable harvesting is guaranteed, and the leaf vegetable harvesting quality is improved.

Description

technical field [0001] The invention belongs to the field of agricultural machinery, and in particular relates to a profiling anti-blocking leaf vegetable harvester and its control system and method. Background technique [0002] Harvesting leafy vegetables is one of the most labor-intensive links in leafy vegetable production, and it is also the last link to ensure the appearance and quality of leafy vegetables. Leafy vegetables are mostly slender and loose due to their morphological characteristics, so the planting methods are mostly broadcast or drilled. Due to the low precision of ridge preparation before sowing and the impact of irrigation after sowing, the ridge surface is uneven when the leaf vegetables are harvested, that is, the vertical and horizontal fluctuations of the ridge surface are relatively large. The height of the first cotyledon from the ground is extremely low. Therefore, if the header cannot follow the ground for horizontal and vertical profiling duri...

Claims

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Application Information

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IPC IPC(8): A01D45/00A01D45/28A01D34/13A01D34/37A01D34/40A01D57/04G05B19/042
CPCA01D34/13A01D34/37A01D34/40A01D45/00A01D45/28A01D57/04G05B19/042
Inventor 毛罕平彭海涛韩绿化高峰李立治
Owner JIANGSU UNIV
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