Automatic row guiding method of corn combine harvester based on missing plant condition
A technology for combine harvesters and missing plants, which is applied to harvesters, agricultural machinery and implements, and data processing applications. It can solve problems such as failure of detection methods and deviation of harvesters from harvesting routes, and achieve the effect of avoiding the failure of empty operations.
Active Publication Date: 2021-11-30
HAINAN UNIVERSITY
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Problems solved by technology
However, this method is to judge the relative position of the plants by constantly touching the detection sensor by the corn plants. When the distance between adjacent corn plants is relatively large, especially when there are multiple plants missing, the detection method will be useless. , seriously causing the harvester to deviate from the harvesting route
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[0028] Various exemplary embodiments of the present invention will now be described in detail. The detailed description should not be considered as a limitation of the present invention, but rather as a more detailed description of certain aspects, features and embodiments of the present invention.
[0029] It should be understood that the terminology described in the present invention is only used to describe specific embodiments, and is not used to limit the present invention. In addition, regarding the numerical ranges in the present invention, it should be understood that each intermediate value between the upper limit and the lower limit of the range is also specifically disclosed. Each smaller range between any stated value or intervening value in a stated range and any other stated value or intervening value in a stated range is encompassed within the invention. The upper and lower limits of these smaller ranges may independently be included or excluded from the range. ...
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The invention discloses an automatic row guiding method of a corn combine harvester based on a missing plant condition, which comprises the following steps: S1, judging a corn missing row according to the traveling speed of the harvester and the output values of left and right detection sensors; S2, if a missing row condition occurs, performing missing row guiding calculation to obtain a first target turning angle of an electric steering wheel; if the missingrow condition does not occur, obtaining a second target rotation angle through output values of the left and right sensors, and then adjusting the direction of the steering wheel; and finally, realizing automatic row guiding of the combine harvester. When the method is not adopted, the vehicle is out of control. By the adoption of the method, Lp is set to be 2-4 plant row spacing, when empty plant rows occur, the harvester firstly advances according to the last fixed steering angle, when it is judged that empty row occurs, the harvester advances according to the empty row control method, and the problem that empty row operation fails is successfully solved.
Description
technical field [0001] The invention relates to the technical field of corn automatic harvesting, in particular to an automatic row guidance method for a corn combine harvester based on the situation of missing strains. Background technique [0002] Corn is the third largest food crop in my country. The row corn combine harvester has high harvesting efficiency and is widely used. However, the row-to-row corn combine harvester needs to complete precise row-to-row operations. For this reason, most scholars and manufacturers adopt the method of installing contact sensors on the grain divider to judge the relative position of the corn plant relative to the grain divider in real time, and then judge the relative position of the harvester and the row of corn plants. However, this method is to judge the relative position of the plants by constantly touching the detection sensor by the corn plants. When the distance between adjacent corn plants is relatively large, especially when...
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Login to View More IPC IPC(8): A01D45/02G06Q50/02
CPCA01D45/028G06Q50/02A01D41/1278A01B69/008
Inventor 杨然兵郭雯雯张健杨松梅查显涛邢洁洁许鹏徐康孙文斌
Owner HAINAN UNIVERSITY