A device and method for real-time monitoring of header height in a combine harvester

Abstract

This invention discloses a real-time monitoring device and method for the header height of a combine harvester. First, a ground height change sensing module detects changes in ground height and converts the ground height change signal into a strain signal at a specific location on the flexible contour arm in real time. Then, a strain signal acquisition module collects the strain signal and transmits it to a data processing module in real time. Next, the data processing module calculates and processes the strain signal to obtain the deflection change value of the flexible contour arm's ground contact end. Based on the quantitative relationship between the ground contact end deflection change value and the header height change value, the real-time header height value can be obtained. Finally, a data display module communicates with the data processing module to visually display the real-time header height, facilitating driver observation and control. This invention overcomes the shortcomings of existing technologies that indirectly obtain header height by arranging wire sensors near the header cylinder, resulting in insufficient real-time performance and low accuracy.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery, and more specifically, to a device and method for real-time monitoring of the header height of a combine harvester. Background Technology

[0002] With the increasing prevalence of agricultural mechanization, combine harvesters, as an important type of agricultural machinery, are being used more and more widely in grain harvesting. The header, as a key component of the combine harvester, requires real-time monitoring and display of its height during the harvesting process to improve grain harvesting quality. Current methods for monitoring header height involve placing a wire sensor or push rod sensor on the hydraulic cylinder that controls the header's lifting and lowering. The calculated height of the header above the ground reflects this height. However, this method has drawbacks. The sensor mounted on the hydraulic cylinder does not directly reflect the header's height above the ground. Furthermore, the angle between the cylinder and the horizontal plane varies depending on the manufacturer, resulting in different proportional parameters for calculating the header height. Therefore, calibration and verification of the initial header position are necessary, a process susceptible to human error and cumbersome. Additionally, the sensor, placed near the hydraulic cylinder, is prone to damage.

[0003] Therefore, a combination harvester header height monitoring device and method that is intuitive, reliable, and has good real-time performance is urgently needed in the market. This device and method should be able to monitor and display the header height above the ground in real time so that the driver can observe and control it. Summary of the Invention

[0004] The purpose of this invention is to provide a direct, reliable, and real-time monitoring device and method for the header height of a combine harvester in order to overcome or at least partially solve the above-mentioned problems.

[0005] The present invention achieves the above objectives through the following technical solutions.

[0006] A real-time monitoring device for the header height of a combine harvester includes: a ground height change sensing module, a strain signal acquisition module, a data processing module, and a data display module.

[0007] The ground height change sensing module includes a flexible contouring arm, which is used to sense ground height changes in real time and generate corresponding deformations.

[0008] The strain signal acquisition module includes a resistance strain gauge sensor, which is used to acquire strain signals at specific locations of the flexible contour arm in real time.

[0009] The data processing module includes a PLC controller, which is used to analyze and calculate the strain signal collected by the data acquisition module to obtain the real-time height value and the change value of the cutting table, and then transmit these three values ​​to the data display module.

[0010] The data display module communicates with the data processing module, receiving the target height value, real-time height value, and height change value of the cutting platform from the data processing module, and displaying these three values ​​in real time on the monitor for the driver to view.

[0011] Furthermore, in the aforementioned real-time monitoring device for the header height of a combine harvester, the fixed end of the flexible contour arm is fixed on a mounting base, and the mounting base includes a connecting base plate and an angle adjustment support.

[0012] Furthermore, in the aforementioned real-time monitoring device for the header height of a combine harvester, the angle adjustment support includes an array of adjustment holes and mounting holes. One end of the connecting arm is fixedly connected to the angle adjustment support, and the other end of the connecting arm is fixedly connected to the flexible contour arm. The fixed angle is an adjustable angle, and the installation angle is adjusted by adjusting the mounting holes of the connecting arm in different installation positions within the angle adjustment support.

[0013] Furthermore, in the aforementioned real-time monitoring device for the header height of a combine harvester, both the data processing module and the data display module are installed in the cab.

[0014] A method for real-time monitoring of header height in a combine harvester includes the following steps:

[0015] The S1 ground height change sensing module senses the changes in ground height and transforms the ground height change signal into a strain signal at a specific part of the flexible contour arm in real time.

[0016] The S2 strain signal acquisition module acquires strain signals from specific parts of the flexible contour arm and transmits the strain signals to the data processing module in real time.

[0017] The S3 data processing module calculates and processes the strain signal, and obtains the deflection change value of the flexible contour arm's ground contact end in real time based on the experimental calibration relationship between the strain signal at a specific location of the flexible contour arm and the deflection change value of the flexible contour arm's ground contact end. Based on the quantitative relationship between the deflection change value of the flexible contour arm's ground contact end and the height change value of the cutting table, the real-time height value of the cutting table can be further obtained.

[0018] The S4 data display module communicates with the data processing module to visually display the real-time height of the cutting platform.

[0019] Furthermore, in the real-time monitoring method for the header height of the combine harvester, the ground height change sensing module in step S1 includes the flexible contour arm, the ground-contacting end of the flexible contour arm always maintains contact with the ground, and responds to ground height changes through the deformation of a specific part of the flexible contour arm; wherein the distance between the specific part of the flexible contour arm and the fixed end of the flexible contour arm is adjustable, and the fixed end of the flexible contour arm is fixed to the header by a mounting base.

[0020] Furthermore, in the real-time monitoring method for the header height of the combine harvester, in step S2, the strain signal acquisition module acquires strain information of a specific part of the flexible contour arm through a resistance strain gauge sensor.

[0021] Furthermore, in the real-time monitoring method for the header height of the combine harvester, step S3 includes:

[0022] Step 1: Calibrate the relationship between the strain signal at a specific part of the flexible contour arm and the deflection value at the ground-contacting end of the flexible contour arm through experiments;

[0023] The calibration relationship is characterized by the following formula:

[0024] W B = f(εX);

[0025] Among them W B εX is the deflection value of the flexible contouring arm at the ground contact end, and εX is the strain at a specific part of the flexible contouring arm;

[0026] Step 2: Based on the calibration relationship between the strain signal of a specific part of the flexible contour arm and the deflection value of the flexible contour arm's ground contact end, calculate the deflection value of the flexible contour arm's ground contact end corresponding to the target height of the cutting platform, as well as the deflection value of the flexible contour arm's ground contact end at a certain moment during the harvesting operation. The data processing module then calculates and processes the data to obtain the deflection change value of the flexible contour arm's ground contact end.

[0027] The deflection change at the ground contact end of the flexible contoured arm is characterized by the following formula:

[0028] W B0 = f(εX0);

[0029] W Bt =f(εX) t );

[0030] ΔW=W Bt -W B0 ;

[0031] Where εX0 represents the strain value at a specific location on the flexible contour arm corresponding to the target height of the cutting table, εX tΔW represents the strain value at a specific location on the flexible contoured arm at a certain moment during the harvesting operation, and ΔW is the change in deflection at the ground-contacting end of the flexible contoured arm. Bt W represents the deflection value of the flexible contour arm at the ground contact end at a certain moment during operation. B0 To set the deflection value of the contour arm at the ground contact end corresponding to the target height of the cutting platform;

[0032] Step 3: The quantitative relationship between the deflection change value of the flexible contour arm's ground contact end and the height change value of the cutting table is determined based on the deflection change value of the flexible contour arm's ground contact end and the sine value of the installation angle of the fixed end of the flexible contour arm in the vertical direction.

[0033] The quantitative relationship is characterized by the following formula:

[0034]

[0035] ΔH = Δh;

[0036] Wherein, Δh is the change in height of the flexible contouring arm in the vertical direction, and Δw is the change in deflection of the flexible contouring arm at the ground contact end. ΔH is the sine of the vertical mounting angle of the fixed end of the flexible contour arm, and ΔH is the change in the vertical height of the cutting table from the ground.

[0037] The beneficial effects of this invention are as follows:

[0038] 1. The ground height change sensing module of the present invention senses the ground height change in real time through the deformation of the flexible contour arm. After calculation and processing, the change of the cutter head height above the ground can be directly obtained, avoiding the cumbersome steps and errors that are required to calibrate the initial position of the cutter head when the cutter head height above the ground is indirectly measured by arranging a wire sensor on the cutter head cylinder accessory.

[0039] 2. This invention, by setting up a data display module, intuitively and clearly displays the target cutter height, the real-time cutter height, and the cutter height change value, providing a reference for the driver to control the cutter height.

[0040] 3. This invention includes an adjustable-angle flexible contour arm mounting base, which can select a suitable flexible contour arm mounting angle according to different crops or the required height of the header from the ground during actual operation, without having to change contour arms of different lengths. It can meet the harvesting requirements of various crops, so this invention can be widely applied to various harvesters that require measuring the height of the header, and has a broad market prospect. Attached Figure Description

[0041] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof.

[0042] In the attached diagram:

[0043] Figure 1 A schematic diagram of a real-time monitoring device for header height of a combine harvester according to the present invention is shown.

[0044] Figure 2 A schematic diagram of the installation of a real-time monitoring device for header height of a combine harvester according to the present invention is shown;

[0045] Figure 3 A flowchart of a method for real-time monitoring of header height in a combine harvester according to the present invention is shown;

[0046] Figure 4 A schematic diagram illustrating the principle of a method for calculating the change in the height of a combine harvester header above the ground, according to the present invention, is shown. Detailed Implementation

[0047] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0048] like Figure 1 , Figure 2 As shown, Figure 1 A schematic diagram of a real-time monitoring device for header height of a combine harvester according to an embodiment of the present invention is provided. Figure 2 A schematic diagram of the installation of a real-time monitoring device for the header height of a combine harvester according to the present invention is provided.

[0049] The mounting base 2 includes a connecting base plate 21 and an angle adjustment support 22. The connecting base plate 21 includes two sets of symmetrically arranged mounting holes 211, which are fixedly connected to the cutting table 1 by bolts. The angle adjustment support 22 has a quarter-circle arc shape on both sides. Two pairs of opposing adjustment hole arrays 221 are arranged near the edge of the angle adjustment support 22, and a set of opposing mounting holes 222 are arranged at the center of the corresponding adjustment hole arrays 221. Two sets of threaded holes are arranged on both sides of the connecting arm 3. The center distance between the two sets of threaded holes is the same as the distance between the adjustment hole arrays 221 and the mounting holes 222 on the angle adjustment support 222. During installation, one set of threaded holes 31 near the end of the connecting arm 3 is fixedly connected to the mounting holes 222 on the angle adjustment support 22 by bolts. The other set of threaded holes 32 on the side of the connecting arm 3 can be fixedly connected to one of the adjustment holes in the adjustment hole array 221 according to the actual target height of the cutting table. When the target height of the cutting platform is set low, a set of adjustment holes in the adjustment hole array 221 with a larger angle between the line connecting the adjustment hole 222 and the vertical direction should be connected to the threaded hole 32 on the connecting arm 3. This helps protect the flexible contouring arm 4 and prevents it from being damaged due to excessive deformation during operation. When the target height of the cutting platform is set high, a set of adjustment holes in the adjustment hole array 221 with a smaller angle between the line connecting the installation hole 222 and the vertical direction should be connected to the threaded hole 32 on the connecting arm 3. This helps ensure that the flexible contouring arm 4 remains in contact with the ground during operation and generates corresponding deformation as the ground undulates.

[0050] When connecting, the connecting arm 3 should be placed inside the two side plates of the angle adjustment support, and the two sides of the connecting arm 3 should contact the inner surfaces of the two sides of the angle adjustment support 22 to limit the lateral displacement of the connecting arm 3.

[0051] The fixed end 41 of the flexible contouring arm 4 is provided with two threaded holes, which are fixedly connected to the connecting arm 3 by bolts. The ground-contacting end 42 of the flexible contouring arm 4 always maintains contact with the ground 6.

[0052] A resistance strain gauge sensor 5 is arranged at a specific location 43 on the flexible contoured arm 4, where the specific location 43 is a position L0 away from its fixed end 41. In this embodiment, the distance L0 is not specifically limited; that is, the distance between the specific location 43 and the fixed end 41 of the flexible contoured arm 4 is adjustable. The setting of L0 should ensure that when the ground contact end 42 of the flexible contoured arm 4 deforms due to contact with the ground, a large deformation signal is generated at the specific location 43. This, in turn, allows the resistance strain gauge sensor installed at the specific location 43 to generate a large strain signal, facilitating signal processing by subsequent modules. The distance L is set between the fixed end 41 and the ground contact end 42 of the flexible contoured arm 3 when no deformation occurs. This embodiment does not limit the specific location or arrangement of the resistance strain gauge sensor at the specific location 43 on the flexible contoured arm 4.

[0053] like Figure 3 As shown, this embodiment of the invention provides a method for real-time monitoring of the header height of a combine harvester, including:

[0054] The S1 ground height change sensing module senses the changes in ground height and transforms the ground height change signal into a strain signal at a specific part of the flexible contour arm in real time.

[0055] The S2 strain signal acquisition module acquires strain signals from specific parts of the flexible contour arm and transmits the strain signals to the controller in real time.

[0056] The S3 data processing module calculates and processes the strain signal, and obtains the deflection change value of the flexible contour arm's ground contact end in real time based on the experimental calibration relationship between the strain signal of a specific part of the flexible contour arm and the deflection change value of the flexible contour arm's ground contact end. Based on the quantitative relationship between the deflection change value of the flexible contour arm's ground contact end and the change value of the cutting platform's ground clearance, the real-time change value of the cutting platform's ground clearance and the real-time ground clearance value of the cutting platform can be further obtained.

[0057] The S4 data display module communicates with the data processing module to display the target height of the cutting platform above the ground, the real-time height of the cutting platform above the ground, and the change in the height of the cutting platform above the ground.

[0058] When monitoring the height of the header 1 of a combine harvester using the real-time monitoring method provided in this embodiment of the invention, the header height is set as the distance between the fixed end 41 of the flexible contour arm 4 on the mounting surface of the header and the ground. Before the harvesting operation begins, the driver first sets the target ground clearance H0 of the header through the data processing module installed in the cab according to the operation requirements, and the header moves to the target height H0.

[0059] like Figure 4The diagram shown illustrates the principle of the method for calculating the change in the height of the cutting platform above the ground according to the present invention. When the cutting platform is set to move to the target height H0, the initial deformation state of the flexible contour arm 4 is determined accordingly. Figure 4 The diagram uses segment AB to represent the initial deformation state of the flexible contouring arm 4 at the target height of the cutting platform; segment AC to represent the deformation state of the flexible contouring arm 4 at a certain moment during the harvesting operation when the ground height decreases; segment AD to represent the deformation state of the flexible contouring arm 4 at a certain moment during the harvesting operation when the ground height increases; and segment AE to represent the state of the flexible contouring arm 4 when it is not deformed. Point A represents the fixed point of the fixed end 41 of the flexible contouring arm 4; point B represents the contact point of the ground-contacting end 42 of the flexible contouring arm 4 in its initial deformation state; point C represents the contact point of the ground-contacting end 42 of the flexible contouring arm 4 at a certain moment when the ground height decreases; point D represents the contact point of the ground-contacting end 42 of the flexible contouring arm 4 at a certain moment when the ground height increases; and point E is set as the expected contact point of the flexible contouring arm 4. It should be noted that points B, C, D, and E are simply the contact points between the ground-contacting end 42 of the flexible contouring arm 4 and the ground at different moments; these four points are the same point on the ground-contacting end 42 of the flexible contouring arm 4. Figure 4 The AO segment represents the mounting surface of the fixed end 41 of the flexible contour arm 4 on the header. Subsequently, the harvester moves forward to perform harvesting operations. The real-time header height monitoring device starts to execute monitoring step S1. The ground height change sensing module senses the undulations of the ground 6 and converts the ground height change signal into a strain signal at a specific part 43 of the flexible contour arm in real time. The flexible contour arm 4 can be made of elastically deformable materials such as synthetic rubber, natural rubber, and fiber-reinforced plastics. This embodiment of the invention does not specifically limit this.

[0060] Next, step S2 is executed, whereby the strain signal acquisition module acquires strain signals from specific parts of the flexible contour arm and transmits the strain signals to the data processing module in real time; wherein, in this embodiment of the invention, the strain signal acquisition module uses a resistance strain gauge sensor 5, and the data processing module uses a PLC controller.

[0061] Subsequently, monitoring step S3 is executed. The data processing module calculates and processes the strain signal. Based on the experimental calibration relationship between the strain signal at a specific location 43 of the flexible contouring arm and the deflection value at the ground contact end 42 of the flexible contouring arm, the deflection change value of the ground contact end 42 of the contouring arm is obtained in real time. Based on the quantitative relationship between the deflection change value of the ground contact end 42 of the flexible contouring arm and the change value of the cutting platform 1's ground clearance, the real-time change value of the cutting platform's ground clearance and the real-time ground clearance value of the cutting platform can be further obtained.

[0062] The quantitative relationship between the strain signal at a specific location 43 of the flexible contouring arm and the deflection at the ground-contacting end 42 of the flexible contouring arm was calibrated experimentally, and the calibration relationship is characterized by the following formula:

[0063] WB = f(εX);

[0064] Among them W B εX is the deflection value of the flexible contouring arm at the ground contact end; εX is the strain value at a specific location 43 of the flexible contouring arm; f is the experimentally calibrated relationship between the strain signal at a specific location of the flexible contouring arm and the deflection value of the flexible contouring arm at the ground contact end.

[0065] Based on the calibration relationship between the strain signal at a specific location 43 of the flexible contouring arm and the deflection value of the ground contact end 42 of the flexible contouring arm, the deflection value W of the ground contact end 42 of the flexible contouring arm corresponding to the set target height of the cutting table is calculated respectively. B0 and the deflection value W at the ground contact end of the flexible contour arm at a certain moment during operation. Bt The deflection change value of the flexible contour arm's ground contact end is calculated and processed by the PLC controller.

[0066] The deflection change at the ground contact end of the flexible contoured arm is characterized by the following formula:

[0067] W B0 = f(εX0);

[0068] W Bt =f(εX) t );

[0069] ΔW=W Bt -W B0 ;

[0070] Where εX0 represents the strain value at a specific location 43 on the flexible contour arm corresponding to the target height of the cutting table. t ΔW represents the strain value at a specific location 43 of the flexible contour arm at a certain moment during the harvesting operation, and ΔW is the deflection change value of the flexible contour arm at the ground contact end. Bt W represents the deflection value of the flexible contour arm at the ground contact end at a certain moment during the harvesting operation. B0 To set the deflection value of the contour arm at the ground contact end corresponding to the target height of the cutting platform;

[0071] The quantitative relationship between the deflection change value ΔW of the flexible contouring arm's ground contact end 42 and the height change value ΔH of the cutting table is based on the deflection change value ΔW of the flexible contouring arm's ground contact end and the sine value of the installation angle of the flexible contouring arm's fixed end in the vertical direction. Sure;

[0072] The quantitative relationship is characterized by the following formula:

[0073]

[0074] ΔH = Δh;

[0075] Wherein, Δh is the change in height of the flexible contouring arm 3 in the vertical direction, and Δw is the change in deflection of the flexible contouring arm at the ground contact end. ΔH is the sine of the vertical mounting angle of the fixed end of the flexible contour arm, and ΔH is the change in the vertical height of the cutting table from the ground.

[0076] like Figure 4 Only the deflection changes and cutting table height changes of the flexible contouring arm 4 in the deformation states of segments AD and AB are illustrated. The mounting angle of the flexible contouring arm 4 is also shown. The installation position of the connecting arm 3 in the support 22 is determined by adjusting the angle of the connecting arm 3 in the mounting base 2. At this time, segment BD represents the deflection change value Δw of the ground contact end 42 of the flexible contouring arm 4. The angle between segment BD and the horizontal line drawn through point B is the installation angle of the flexible contouring arm 4 according to geometric relationships. The vertical height change Δh of the flexible contour arm 4 is the deflection change Δw multiplied by the sine of the installation angle. Since the fixed end 41 of the flexible contouring arm 4 is fixedly installed on the cutting table 1 through the connecting arm 3 and the mounting base 2, the change in height Δh of the flexible contouring arm 4 in the vertical direction is the change in height ΔH of the cutting table in the vertical direction.

[0077] Finally, monitoring step S4 is executed. The data display module and the data processing module communicate to clearly and intuitively display the target ground clearance value H0, the real-time ground clearance value H1, and the change in ground clearance value ΔH, facilitating real-time observation by the driver. The data display module includes a monitor installed in the harvester's cab. The monitor communicates with the PLC controller included in the data processing module using a communication protocol based on a controller area network bus.

[0078] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A method for real-time monitoring of header height in a combine harvester, wherein the real-time header height monitoring device comprises: The system comprises a ground height change sensing module, a strain signal acquisition module, a data processing module, and a data display module. Specifically, the ground height change sensing module includes a flexible contouring arm for real-time sensing of ground height changes and generating corresponding deformation. The strain signal acquisition module includes a resistance strain gauge sensor for real-time acquisition of strain information at specific locations on the flexible contouring arm. The data processing module includes a PLC controller for analyzing and processing strain signals acquired by the data acquisition module to obtain the real-time ground height and ground height change of the cutting platform, and transmitting these three values ​​to the data display module. The data display module communicates with the data processing module, receiving the target ground height, real-time ground height, and ground height change from the data processing module, and displaying these three values ​​in real-time on a monitor for the driver's viewing. The system is characterized by the following steps: The S1 ground height change sensing module senses the changes in ground height and transforms the ground height change signal into a strain signal at a specific part of the flexible contour arm in real time. The S2 strain signal acquisition module acquires strain signals from specific parts of the flexible contour arm and transmits the strain signals to the data processing module in real time. The S3 data processing module calculates and processes the strain signal. Based on the experimental calibration relationship between the strain signal at a specific part of the flexible contour arm and the deflection change value at the ground contact end of the flexible contour arm, the deflection change value at the ground contact end of the flexible contour arm is obtained in real time. Based on the quantitative relationship between the deflection change value at the ground contact end of the flexible contour arm and the change value of the cutting platform's height above the ground, the real-time change value of the cutting platform's height above the ground and the real-time height above the ground of the cutting platform can be further obtained. The S4 data display module communicates with the data processing module to display the target height H0 of the cutter head, the real-time height H1 of the cutter head, and the change in the height of the cutter head. Displayed; Step S3 includes: Step 1: Calibrate the relationship between the strain signal at a specific part of the flexible contour arm and the deflection value at the ground-contacting end of the flexible contour arm through experiments; The relationship is characterized by the following formula: ； in The deflection value of the ground-contacting end of the flexible contoured arm. The strain at a specific location of the flexible contour arm; The functional relationship between the strain signal at a specific part of the flexible contour arm and the deflection value at the ground-contacting end of the flexible contour arm, as determined by the experiment; Step 2: Based on the quantitative relationship between the strain signal of a specific part of the flexible contour arm and the deflection value of the flexible contour arm's ground contact end, calculate the deflection value of the flexible contour arm's ground contact end at the set target height of the cutting table and the deflection value of the flexible contour arm's ground contact end at a certain moment in the working state. The controller then calculates and processes the deflection change value of the flexible contour arm's ground contact end. The deflection change at the ground contact end of the flexible contoured arm is characterized by the following formula: ; ; in, This indicates the strain value at a specific location on the flexible contour arm corresponding to the target height of the cutting table. This represents the strain value at a specific location on the flexible contour arm at a certain moment during the harvesting operation. The value represents the change in deflection at the ground contact end of the flexible contoured arm. This represents the deflection value of the flexible contour arm's ground-contact end at a specific moment during operation. To set the deflection value of the contour arm at the ground contact end corresponding to the target height of the cutting platform; Step 3: The quantitative relationship between the deflection change value of the flexible contour arm's ground contact end and the height change value of the cutting table is determined based on the deflection change value of the flexible contour arm's ground contact end and the sine value of the installation angle of the fixed end of the flexible contour arm in the vertical direction. The quantitative relationship is characterized by the following formula: ； = ; in, This represents the change in height of the flexible contour arm in the vertical direction. The value represents the change in deflection at the ground contact end of the flexible contoured arm. Let be the sine of the vertical mounting angle of the fixed end of the flexible contour arm. This represents the change in the vertical height of the cutting platform above the ground.

2. The method for real-time monitoring of the header height of a combine harvester according to claim 1, characterized in that, The fixed end of the flexible contour arm is fixed to the mounting base via a connecting arm. The mounting base is fixedly installed on the cutting table and includes a connecting base plate and an angle adjustment support.

3. The method for real-time monitoring of harvester header height according to claim 2, characterized in that, The angle adjustment support includes an array of adjustment holes and mounting holes. One end of the connecting arm is fixedly connected to the angle adjustment support, and the other end of the connecting arm is fixedly connected to the flexible contour arm. The fixed angle is an adjustable angle, and the installation angle is adjusted by adjusting the mounting holes of the connecting arm in different installation positions in the angle adjustment support.

4. The method for real-time monitoring of the header height of a combine harvester according to claim 1, characterized in that, Both the data processing module and the data display module are installed in the driver's cab.

5. The method for real-time monitoring of the header height of a combine harvester according to claim 1, characterized in that, In step S1, the flexible contour arm of the ground height change sensing module always maintains contact with the ground, and responds to ground height changes by deforming a specific part of the flexible contour arm; wherein the distance between the specific part of the flexible contour arm and the fixed end of the flexible contour arm is adjustable, and the fixed end of the flexible contour arm is fixed to the mounting base by a connecting arm.

6. The method for real-time monitoring of header height in a combine harvester according to claim 1, characterized in that, In step S2, the strain signal acquisition module acquires strain information of the specific location using a resistance strain gauge sensor.

7. The method for real-time monitoring of the header height of a combine harvester according to claim 1, characterized in that, In step S4, the height of the cutting platform target above the ground is set by the data processing module in step S3.

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