A vertical clamping longitudinal conveying system and method for reed whole-stalk harvesting and a harvester

Abstract

The present application provides a kind of reed whole stalk harvesting vertical clamping longitudinal conveying system and method and harvester, including vertical clamping longitudinal conveying device, clamping conveying chain height adjusting mechanism and control unit;Before cutting detection unit is used to detect reed height information in cutting area, and is delivered to control unit;Position sensor is used to detect the current height of vertical clamping longitudinal conveying device, and is delivered to control unit;Lifting device is connected with vertical clamping longitudinal conveying device;Control unit calculates the average height of reed in cutting area, the height of gravity center of reed, and the height difference between the height of gravity center of reed and the current height of vertical clamping longitudinal conveying device, adjusts the position of vertical clamping longitudinal conveying device to correspond the gravity center of reed in cutting area, so that conveying device can adapt to different reed height by height adjustment, so that reed can be reliably and neatly clamped and conveyed, and the neatness of reed in conveying process is improved, which is convenient for subsequent bundling and knotting.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of intelligent agricultural machinery, and particularly relates to a reed whole-stalk harvesting vertical clamping longitudinal conveying system, a control method and a harvesting machine. BACKGROUND

[0002] The reed harvesting machine is a device for mechanically harvesting mature reeds growing in a reed field. When the reed harvesting machine harvests reeds, it generally adopts two process types. One is to immediately crush and compress the harvested reeds into square or round bales. The other is to harvest the reeds in whole stalks and bundle them into reed bales. For the reed harvesting machine that harvests reeds in whole stalks and bundles them, after the reeds are cut off at the root by a cutter, the reeds are concentrated in the middle of the cutter table by a cutter table transverse conveying chain, and then the reeds are stably clamped by a cutter table vertical clamping longitudinal conveying chain and conveyed to a bundling machine.

[0003] The existing reed harvesting machine generally adopts a fixed-height clamping conveying system or manually adjusts the height of the vertical clamping longitudinal conveying chain under the condition of stopping the machine, by manually judging the height of the reeds and using tools. This method of manually estimating the height of the reeds and adjusting the height of the vertical clamping longitudinal conveying chain accordingly has poor accuracy and low efficiency, and cannot fundamentally solve the problem of real-time adjustment of the clamping conveying chain during the harvesting process of the reed harvesting machine. From the development trend of automatic harvesting of the reed harvesting machine, there is an urgent need for a height adjustment device that can detect the height of the reeds in real time and adjust the height of the clamping conveying chain accordingly.

[0004] Currently, there is no relevant patent or literature report on the system of using a pre-cutting reed height detection device of a reed harvesting machine to real-time adjust the height of the vertical clamping longitudinal conveying device of the reed harvesting machine. SUMMARY

[0005] To solve the above technical problems, the present application provides a reed whole-stalk harvesting vertical clamping longitudinal conveying system, a control method and a harvesting machine. By obtaining the height information of the reeds in the harvesting area and real-time adjusting the relative height of the conveying device corresponding to the center of gravity of the reeds, the conveying device can adapt to different reed heights through height adjustment, so that the reeds can be reliably and neatly clamped and conveyed, greatly improving the neatness of the reeds during the conveying process and making the reeds more convenient for subsequent bundling and knotting.

[0006] Note that the description of these objects does not hinder the existence of other objects. One embodiment of the present application does not need to achieve all the above-mentioned objects. The objects other than the above-mentioned objects can be extracted from the description, drawings and claims.

[0007] The present application achieves the above technical objects by the following technical means.

[0008] A vertical clamping longitudinal conveying system for harvesting whole reed stalks, comprising a vertical clamping longitudinal conveying device, a clamping conveying chain height adjusting mechanism and a control unit;

[0009] The clamping conveying chain height adjusting mechanism comprises a pre-cut detection unit, a position sensor and a lifting device; the pre-cut detection unit is used to detect the reed height information in the pre-cut area and transmit it to the control unit; the position sensor is used to detect the current height of the vertical clamping longitudinal conveying device and transmit it to the control unit; the lifting device is connected with the vertical clamping longitudinal conveying device;

[0010] The control unit is connected with the pre-cut detection unit and the lifting device respectively; the control unit calculates the average height of the reeds in the pre-cut area according to the reed height information in the pre-cut area detected by the pre-cut detection unit, calculates the center of gravity height of the reeds, and calculates the height difference between the center of gravity height of the reeds and the current height of the vertical clamping longitudinal conveying device, and controls the lifting device to adjust the position of the vertical clamping longitudinal conveying device to correspond to the center of gravity of the reeds in the pre-cut area.

[0011] In the above scheme, the pre-cut detection unit comprises a laser radar;

[0012] The laser radar is used to scan the reeds to be harvested in front of the cutting table at a certain sampling interval time T and obtain point cloud data of the reed reflection points in the polar coordinates of the laser radar itself, and transmit it to the control unit; the control unit processes the point cloud data to obtain the point cloud in the specified square area in front of the cutting table, uniformly divides the square area into multiple equal sub-areas, calculates the maximum value of the y coordinate in the point cloud coordinate value in the sub-area, and regards the maximum value y ijmax as the average height of the reeds in the sub-area, and obtains the y ijmax of the representative reed average height of each sub-area, and calculates the average value y avg in the whole area, which is the average height of the reeds in the pre-cut area.

[0013] In the above scheme, the lifting device comprises a reduction motor, a double winch, a first pulley block, a second pulley block, a bracket and a sleeve;

[0014] The bracket is arranged on both sides of the vertical clamping longitudinal conveying device, and the bracket is connected with the main beam of the cutting table; the vertical clamping longitudinal conveying device is connected with the vertical beam of the bracket through the sleeve;

[0015] The reduction motor and the double winch are arranged at the top of the bracket, and the first pulley block is arranged on both sides of the upper part of the bracket and connected with the upper part of the vertical clamping longitudinal conveying device;

[0016] The second pulley set is arranged at both sides of the lower part of the support and connected with the lower part of the vertical clamping longitudinal conveying device; the steel wire ropes of the first pulley set and the second pulley set are connected to the double winch, the double winch drives the steel wire ropes under the drive of the speed reducer motor, realizes the winding and unwinding of the steel wire ropes, and thus drives the vertical clamping longitudinal conveying device to ascend and descend along the vertical beam of the support.

[0017] Further, the vertical clamping longitudinal conveying device comprises two symmetrically arranged vertical longitudinal conveying mechanisms, which form a clamping action on the reed in the vertical state during the longitudinal conveying of the reed;

[0018] Each vertical longitudinal conveying mechanism comprises a vertical conveying unit and a sleeve;

[0019] The vertical conveying unit comprises a traction roller, a driven roller, a clamping conveying chain, an upper cross beam and a lower cross beam;

[0020] The upper cross beam and the lower cross beam are arranged in an up-down manner, one end of the traction roller is connected with one end of the upper cross beam, the other end of the traction roller is connected with one end of the lower cross beam; one end of the driven roller is connected with the other end of the upper cross beam, the other end of the driven roller is connected with the other end of the lower cross beam; the clamping conveying chain is wound around the traction roller and the driven roller;

[0021] The upper cross beam and the lower cross beam are connected with the sleeve respectively, the sleeve is installed on the vertical beam of the support, and the sleeve can slide up and down along the vertical beam of the support, so as to drive the vertical conveying unit to ascend and descend.

[0022] In the above scheme, the speed reducer motor is provided with an electromagnetic brake system.

[0023] A reaping machine comprising the reed whole-stalk reaping vertical clamping longitudinal conveying system.

[0024] A control method of the reed whole-stalk reaping vertical clamping longitudinal conveying system, comprising the following steps:

[0025] The laser radar coordinates of the pre-cutting detection unit are set, the laser radar scans the reed to be reaped in front of the cutting table and obtains the point cloud data of the reed reflection points in the laser radar, and the point cloud data is transmitted to the control unit;

[0026] The control unit performs point cloud data coordinate conversion, filters the point cloud data, uniformly divides the point cloud data in the pre-cutting area into multiple sub-regions, obtains the maximum value y of the y coordinates of the point cloud in each region, and calculates the average height y of the reed in the pre-cutting area ijmax avg ​The control unit calculates the height difference between the center of gravity of the reed and the current height of the vertical clamping longitudinal conveying device, and controls the lifting device to adjust the position of the vertical clamping longitudinal conveying device to correspond to the center of gravity of the reed in the pre-cut area according to the height difference.

[0027] In the above scheme, the step of setting the laser radar coordinate of the pre-cut detection unit is specifically:

[0028] An adjustable-inclination laser radar base is installed at a height h of the top surface of the cutting table from the ground, the inclination of the laser radar base is set to θ, a laser radar is installed on the laser radar base, and the height of the polar coordinate origin O' of the laser radar from the ground is h;

[0029] A ground coordinate system OX, Y, Z is established on the ground directly below the polar coordinate origin O' of the laser radar, and the vertical distance between the origin O of the coordinate system and the polar coordinate origin O' of the laser radar is the height h;

[0030] A rectangular coordinate system O'X', Y', Z' is established with the polar coordinate origin O' of the laser radar as the origin and along the direction of the set inclination θ, the X' axis of the rectangular coordinate system is in the same direction as the X axis of the ground coordinate system, the Y' axis forms an angle θ with the Y axis of the ground coordinate system, and the Z' axis forms an angle θ with the Z axis of the ground coordinate system;

[0031] The laser radar scans the reed to be harvested in front of the cutting table at a certain sampling interval time T and obtains point cloud data of the reed reflection points in the polar coordinate of the laser radar itself, and transmits the point cloud data to the control unit, the point cloud data includes the radial distance radius, the elevation angle elevation, the azimuth angle azimuth and the reflection intensity intensity of each reflection point;

[0032] The point cloud data coordinate conversion performed by the control unit is specifically:

[0033] The control unit converts the radial distance radius, the elevation angle elevation, and the azimuth angle azimuth of each point in the point cloud into rectangular coordinate values in the rectangular coordinate system O'X', Y', Z' according to the conversion formula:

[0034]

[0035] Wherein, X', Y', Z' are three coordinate axes in the rectangular coordinate system O';

[0036] The control unit converts the rectangular coordinate values of the point cloud in the rectangular coordinate system O'X', Y', Z' into coordinate values in the ground coordinate system OX, Y, Z according to the conversion formula:

[0037]

[0038] Wherein, X, Y, Z are three coordinate axes in the earth coordinate system O.

[0039] In the scheme, the control unit processes the point cloud data to calculate the height of the reed in the pre-cut area.

[0040] The control unit processes the point cloud data, filters out the noise points in the point cloud using a filter, and filters out the point cloud outside the specified square region in front of the cutting table using a straight-through filter, while retaining the point cloud in the square region. The point cloud in this region reflects the reed canopy height information in front of the cutting table.

[0041] The square region is evenly divided into multiple equal sub-regions, the maximum value of the y coordinate in the point cloud coordinate value in the sub-region is calculated, and the maximum value y ijmax is regarded as the average height of the reed in the sub-region, and the obtained y ijmax representing the average height of the reed in each sub-region is obtained. avg The average value y

[0042] In the scheme, the lifting device adjusts the position of the vertical clamping longitudinal conveying device corresponding to the center of gravity of the reed in the pre-cut area.

[0043] The reduction motor of the lifting device drives the double winch to rotate clockwise, the double winch includes a drive pulley A and a drive pulley B, the drive pulley A and the drive pulley B are fixed and rotate at the same time, the drive pulley A in the double winch drives the first pulley set, and the first pulley set drives the vertical clamping longitudinal conveying device to rise under the drive of the double winch drive pulley A; At this time, the drive pulley B in the double winch is connected with the second pulley set, and at this time the drive pulley B is in a pay-off state to ensure the upward movement of the vertical clamping longitudinal conveying device.

[0044] The reduction motor drives the double winch to rotate counterclockwise, the drive pulley B in the double winch drives the second pulley set, and the second pulley set drives the vertical clamping longitudinal conveying device to descend under the drive of the double winch drive pulley B; At this time, the drive pulley A in the double winch is connected with the first pulley set, and at this time the drive pulley A is in a pay-off state to ensure the downward movement of the vertical clamping longitudinal conveying device.

[0045] Compared with the prior art, the beneficial effects of the present application are:

[0046] 1. Laser radar is used to scan and measure the reed before cutting, which realizes non-contact precise measurement of the height of the reed, and solves the problems of poor accuracy and low efficiency of human eye estimation.

[0047] 2. The use of laser radar to obtain reed height information and real-time adjustment of the relative height of the conveying device greatly improves the neatness of the reeds during the reed conveying process, making the reeds more convenient to bundle and tie.

[0048] 3. The use of a movable design of the vertical clamping longitudinal conveying device, so that the conveying device can adapt to different reed heights through height adjustment, allowing the reeds to be reliably and neatly clamped and conveyed.

[0049] 4. The use of a pulley block to drive the height adjustment of the entire conveying device, which greatly simplifies the height adjustment mechanism and saves costs. On the other hand, the pulley block is matched with a steel wire rope to drive the vertical clamping longitudinal conveying device to move, making the force on the vertical clamping longitudinal conveying device more balanced and the movement more reliable.

[0050] 5. The use of a reduction motor matched with an electromagnetic brake system to drive the pulley block, which makes the control of the motor more reliable and convenient. On the other hand, the position control is also more accurate, and the electromagnetic brake system can stabilize the clamping conveying chain at the set position.

[0051] Note that the description of these effects does not hinder the existence of other effects. One embodiment of the present application does not necessarily have all the above-mentioned effects. Effects other than the above-mentioned can be clearly seen and extracted from the description, drawings, claims, etc. BRIEF DESCRIPTION OF DRAWINGS

[0052] Figure 1 is a schematic diagram of a reed harvester according to an embodiment of the present application.

[0053] Figure 2 is a coordinate diagram according to an embodiment of the present application.

[0054] Figure 3 is a point cloud data processing diagram according to an embodiment of the present application.

[0055] Figure 4 is a reed average height fitting diagram according to an embodiment of the present application.

[0056] Figure 5 is a reed average height pre-cut detection flowchart according to an embodiment of the present application.

[0057] Figure 6 is a vertical clamping longitudinal conveying device diagram according to an embodiment of the present application.

[0058] Figure 7 is a vertical conveying unit structure diagram according to an embodiment of the present application.

[0059] Figure 8 is a clamping conveying chain lifting diagram according to an embodiment of the present application.

[0060] Figure 9 is a schematic diagram of the clamping conveying chain descending according to an embodiment of the present application.

[0061] In the figure: 1, header; 101, vertical clamping longitudinal conveying device; 102, transverse conveying device; 103, cutting knife; 104, laser radar; 105, clamping conveying chain height adjusting mechanism; 105-1, speed reduction motor; 105-2, winch; 105-3, first pulley block; 105-4, second pulley block; 105-5, bracket; 105-6, sleeve; 105-7, steel wire rope; 105-8, pull rope position sensor; 105-9, traction roller; 105-10, driven roller; 105-11, clamping conveying chain; 105-12, upper cross beam; 105-13, lower cross beam; 2, knotter; 3, material box; 4, stacking mechanism; 5, cab; 6, chassis; 7, control unit. DETAILED DESCRIPTION

[0062] Embodiments of the present application are described in detail below with reference to examples illustrated in the accompanying drawings, in which the same or similar components have the same or similar designations throughout the several figures. The embodiments described below are exemplary and are intended to be illustrative of the present application, and are not to be construed as limiting the present application.

[0063] In the description of the present application, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inner", "outer" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be construed as limiting the present application. In addition, the terms "first", "second" are only for the purpose of description, and cannot be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0064] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0065] Embodiment 1:

[0066] Figures 1-9 A preferred embodiment of the reed whole stalk harvesting vertical clamping longitudinal conveying system is shown, which comprises a vertical clamping longitudinal conveying device 101, a clamping conveying chain height adjusting mechanism and a control unit 7.

[0067] The clamping conveying chain height adjusting mechanism comprises a pre-cut detection unit, a position sensor and a lifting device 105; the pre-cut detection unit is used to detect the reed height information in the pre-cut area and transmit it to the control unit; the position sensor is used to detect the current height of the vertical clamping longitudinal conveying device 101 and transmit it to the control unit; the lifting device is connected with the vertical clamping longitudinal conveying device 101;

[0068] The control unit 7 is connected with the pre-cut detection unit and the lifting device respectively; the control unit 7 calculates the average height of the reed in the pre-cut area according to the reed height information in the pre-cut area detected by the pre-cut detection unit, calculates the center of gravity height of the reed, and calculates the height difference between the center of gravity height of the reed and the current height of the vertical clamping longitudinal conveying device 101, and controls the lifting device to adjust the position of the vertical clamping longitudinal conveying device 101 according to the height difference to correspond to the center of gravity of the reed in the pre-cut area. Thus, the clamping conveying chain 105-11 can adapt to different reed heights through height adjustment, so that the reed can be reliably and neatly clamped and conveyed, greatly improving the neatness of the reed during conveying, and making the reed more convenient for bundling and knotting.

[0069] The pre-cut detection unit comprises a laser radar 104; the laser radar 104 is used to scan and measure the pre-cut reed, realizing non-contact accurate measurement of the reed height and solving the problems of poor accuracy and low efficiency of human eye estimation.

[0070] The laser radar 104 is used to scan the reed to be harvested in front of the cutting table 1 at a sampling interval time T and obtain the point cloud data of the reed reflection points in the polar coordinates of the laser radar 104 itself, and deliver to the control unit 7, the control unit 7 processes the point cloud data to obtain the point cloud in the specified square region in front of the cutting table 1, evenly divides the square region into a plurality of equal sub-regions, calculates the maximum value of the y coordinate in the point cloud coordinate value in the sub-region, and the maximum value y ijmax is regarded as the average height of the reed in the sub-region, and the y ijmax is the average value of each sub-region representing the average height of the reed, and the average value y avg is the average height of the reed in the region before cutting.

[0071] The lifting device comprises a speed reduction motor 105-1, a double winding capstan 105-2, a first pulley block 105-3, a second pulley block 105-4, a support 105-5 and a sleeve 105-6.

[0072] The support 105-5 is arranged on both sides of the vertical clamping longitudinal conveying device 101, and the support 105-5 is connected with the main beam of the cutting table 1. The vertical clamping longitudinal conveying device 101 is connected with the vertical beam of the support 105-5 through the sleeve 105-6, so that the vertical clamping longitudinal conveying device 101 can move up and down along the vertical beam of the support 105-5 to realize position adjustment.

[0073] The speed reduction motor 105-1 and the double winding capstan 105-2 are arranged on the top of the support 105-5, the first pulley block 105-3 is arranged on both sides of the upper part of the support 105-5 and connected with the upper part of the vertical clamping longitudinal conveying device 101, and is used to realize the upward movement of the vertical clamping longitudinal conveying device 101.

[0074] The second pulley block 105-4 is arranged on both sides of the lower part of the support 105-5 and connected with the lower part of the vertical clamping longitudinal conveying device 101, and is used to realize the downward movement of the vertical clamping longitudinal conveying device 101. The steel wire ropes 105-7 of the first pulley block 105-3 and the second pulley block 105-4 are connected to the double winding capstan 105-2. The double winding capstan 105-2 drives the steel wire rope under the drive of the speed reduction motor 105-1, realizes the winding and unwinding of the steel wire rope, and drives the vertical clamping longitudinal conveying device 101 to ascend and descend along the vertical beam of the support 105-5.

[0075] Preferably, the double winding capstan 105-2 comprises two capstans, and the two capstans rotate together with the motor shaft. The double winding capstan drives the steel wire rope 105-7 under the drive of the single motor shaft, realizes the winding and unwinding of the steel wire rope 105-7, and drives the vertical longitudinal conveying unit to ascend and descend.

[0076] As Figure 6As shown, the vertical clamping longitudinal conveying device 101 comprises two symmetrically arranged vertical longitudinal conveying mechanisms which form a clamping action on the vertical reed during the longitudinal conveying process of the reed;

[0077] Each vertical longitudinal conveying mechanism comprises a vertical conveying unit and a sleeve 105-6.

[0078] As shown, the vertical conveying unit comprises a traction roller 105-9, a driven roller 105-10, a clamping conveying chain 105-11, an upper crossbeam 105-12 and a lower crossbeam 105-13. Figure 7

[0079] The upper crossbeam 105-12 and the lower crossbeam 105-13 are arranged in an up-down manner, one end of the traction roller 105-9 is connected with one end of the upper crossbeam 105-12, the other end of the traction roller 105-9 is connected with one end of the lower crossbeam 105-13; one end of the driven roller 105-10 is connected with the other end of the upper crossbeam 105-12, the other end of the driven roller 105-10 is connected with the other end of the lower crossbeam 105-13; the clamping conveying chain 105-11 is wound around the traction roller 105-9 and the driven roller 105-10.

[0080] The upper crossbeam 105-12 and the lower crossbeam 105-13 are respectively connected with the sleeve 105-6, the sleeve 105-6 is installed on the vertical beam of the support 105-5 and can slide up and down along the vertical beam of the support 105-5, thereby driving the vertical conveying unit to rise and fall.

[0081] The first pulley set 105-3 comprises at least four pulleys, two of which are respectively installed on the two sides of the upper part of the support 105-5, and the remaining two pulleys are respectively located on the two sides of the upper part of the support 105-5 and connected with the upper crossbeam 105-12 of the vertical clamping longitudinal conveying device 101, for realizing the rising of the vertical clamping longitudinal conveying device 101; the second pulley set 105-4 comprises at least four pulleys, two of which are respectively installed on the two sides of the lower part of the support 105-5, and the remaining two pulleys are respectively located on the two sides of the lower part of the support 105-5 and connected with the lower crossbeam 105-13 of the vertical clamping longitudinal conveying device 101, for realizing the falling of the vertical clamping longitudinal conveying device 101.

[0082] The pulley set is used to drive the height adjustment of the whole conveying device, which on the one hand greatly simplifies the height adjustment mechanism and saves the cost, and on the other hand the pulley set matched with the steel wire rope 105-7 drives the vertical clamping longitudinal conveying device 101 to move, so that the stress of the vertical clamping longitudinal conveying device 101 is more balanced and the movement is more reliable.

[0083] Preferably, the position sensor is a pull rope position sensor 105-8.​

[0084] The deceleration motor 105-1 is provided with an electromagnetic brake system. When the pull rope position sensor 105-8 obtains the height of the vertical clamping longitudinal conveying device 101 corresponding to the center height of the reed in the pre-cut area, the control unit 7 controls the deceleration motor 105-1 to be powered off, and the electromagnetic brake system works, so that the vertical clamping longitudinal conveying device 101 is stabilized at the set height, and the height adjustment process is completed.

[0085] As shown in Figures 2-5 A control method of the vertical clamping longitudinal conveying system for reed whole stalk harvesting according to the reed whole stalk harvesting vertical clamping longitudinal conveying system, comprising the following steps:

[0086] The coordinates of the laser radar 104 of the pre-cut detection unit are set, the laser radar 104 scans the reed to be harvested in front of the cutting table 1 and obtains the point cloud data of the reed reflection points in the laser radar 104, which is transmitted to the control unit 7;

[0087] The control unit 7 performs point cloud data coordinate conversion, filters the point cloud data, uniformly divides the point cloud data in the pre-cut area into multiple sub-regions, obtains the maximum value y of the point cloud y coordinates in each region, and calculates the average height y of the reed in the pre-cut area. ijmax avg The control unit 7 calculates the height difference between the center of gravity height of the reed and the current height of the vertical clamping longitudinal conveying device 101, and controls the lifting device to adjust the position of the vertical clamping longitudinal conveying device 101 to correspond to the center of gravity of the reed in the pre-cut area according to the height difference.

[0088] Due to the difference of reed varieties and growth sites, there is a large difference in the height of the reed or the position of the center of gravity of the reed. In order to make the reed reliable and uniform during the vertical clamping and conveying process, the vertical clamping conveying chain of the vertical clamping longitudinal conveying device 101 adjusts the clamping position in real time according to the center of gravity height of the reed, so that the clamping conveying chain always remains near the center of gravity height of the reed.

[0089] Specifically, the laser radar is used to scan the reed in front of the reed harvester cutting table in real time, and three-dimensional point cloud data containing the growth height and density of the reed are obtained. After filtering and mathematical processing, the point cloud data reflecting the height of the reed canopy are obtained. The data are processed by mean value to obtain the canopy height data of the reed in the fixed area in front of the reed harvester cutting table. According to the data, the height of the vertical clamping longitudinal conveying device 101 of the reed harvester cutting table is adjusted in real time by the lifting device 105, so that the clamping height of the vertical clamping longitudinal conveying device 101 always maintains near the center of gravity height of the reed.

[0090] The step of setting the coordinates of the laser radar 104 of the pre-cut detection unit is specifically:​

[0091] As shown in Figures 2-5 The laser radar base with adjustable inclination is installed at the height h from the ground on the top surface of the header 1, the inclination of the laser radar base is set as θ, the laser radar 104 is installed on the laser radar base, and the height of the polar coordinate origin O' of the laser radar 104 from the ground is h;

[0092] A ground coordinate system O(X, Y, Z) is established on the ground directly below the polar coordinate origin O' of the laser radar, and the vertical distance between the origin O of the ground coordinate system and the polar coordinate origin O' of the laser radar is the height h;

[0093] A rectangular coordinate system O'(X', Y', Z') is established along the direction with the set inclination θ with the polar coordinate origin O' of the laser radar as the origin, the X' axis of the rectangular coordinate system is in the same direction as the X axis of the ground coordinate system, the Y' axis forms an angle θ with the Y axis of the ground coordinate system, and the Z' axis forms an angle θ with the Z axis of the ground coordinate system;

[0094] The laser radar 104 scans the reed to be harvested in front of the header 1 at a certain sampling interval time T and obtains the point cloud data of the reed reflection points in the polar coordinate of the laser radar 104 itself, and transmits the point cloud data to the control unit 7, the point cloud data includes the radial distance radius, the elevation angle elevation, the azimuth angle azimuth and the reflection intensity intensity of each reflection point;

[0095] The control unit 7 performs point cloud data coordinate conversion, which is specifically:

[0096] The control unit 7 converts the radial distance radius, the elevation angle elevation, and the azimuth angle azimuth of each point in the point cloud into the rectangular coordinate values in the rectangular coordinate system O'(X', Y', Z') according to the radial distance radius, the elevation angle elevation, and the azimuth angle azimuth, and the conversion formula is:

[0097]

[0098] Wherein, X', Y', Z' are three coordinate axes in the rectangular coordinate system O';

[0099] The rectangular coordinate values of the point cloud in the rectangular coordinate system O'(X', Y', Z') are converted into the coordinate values in the ground coordinate system O(X, Y, Z), and the conversion formula is:

[0100]

[0101] Wherein, X, Y, Z are three coordinate axes in the ground coordinate system O.

[0102] As shown in Figure 3 The control unit 7 processes the point cloud data and calculates the height of the reed in the pre-harvesting area, which is specifically:

[0103] The control unit 7 processes the point cloud data, uses a StatisticalOutlierRemoval filter to filter out noise points (outliers) in the point cloud, and uses a pass-through filter to filter out the point cloud outside the designated square area abcd in front of the cutting platform 1, while retaining the point cloud within the square area abcd. The point cloud in this area reflects the biological parameter of the reeds in front of the cutting platform: plant height.

[0104] Divide the square region abcd into m×n equal subregions. Calculate the maximum y-coordinate value among the point cloud coordinates within each subregion, and then assign this maximum y-coordinate to the corresponding subregion. ijmax Considering the average height of reeds within this sub-region, when m×n is divided into a sufficiently large number of equal parts, y ijmax The error caused by the average height of reeds in the representative sub-region will be within an acceptable range.

[0105] The y-value representing the average height of reeds in each sub-region is obtained. ijmax Find the average value y over the entire region. avg This average value represents the average height of the reeds in the area before cutting, such as Figure 4 As shown in the diagram. The workflow for the entire reed height pre-cutting inspection is as follows. Figure 5 As shown: LiDAR 104 obtains point cloud data at the current time t = T(n) and transmits it to control unit 7. Control unit 7 performs point cloud data coordinate transformation, point cloud data filtering (noise removal + pass-through filtering), uniformly divides the point cloud data in the pre-cut area into multiple sub-regions, and obtains the maximum y-coordinate of the point cloud in each sub-region. ijmax Based on this, the average height y of the reeds in the area before cutting was obtained. avg Calculate the height of the center of gravity y of the reed. grav The control unit 7 obtains the current height value of the vertical clamping longitudinal conveying device 101 through the position sensor, and calculates the average height y of the reeds. avg The height difference between the vertical clamping longitudinal conveyor 101 and the vertical clamping longitudinal conveyor 101 is adjusted according to the height difference to the center of gravity of the reeds in the pre-cutting area in the current cycle. When t = T(n+1), the next cycle adjustment begins (t = T(n+1)), where n represents the current cycle and n+1 represents the next cycle.

[0106] Preferably, the height of the reed's center of gravity is equal to the actual length of the reed. Right now h1 is the height of the cutter above the ground detected by the cutter height sensor (103-1).

[0107] like Figures 7-9 As shown, the lifting device adjusts the position of the upright clamping longitudinal conveying device 101 to correspond to the center of gravity of the reeds in the pre-cutting area as follows:

[0108] The reduction motor 105-1 of the lifting device drives the double capstan 105-2 to rotate clockwise, the double capstan 105-2 includes driving pulley A and driving pulley B, the driving pulley A and the driving pulley B are fixed and rotate at the same time, the driving pulley A in the double capstan 105-2 drives the first pulley block 105-3, as shown in the solid line in the figure, the first pulley block 105-3 drives the vertical clamping longitudinal conveying device 101 to rise under the driving of the double capstan driving pulley A; at this time, the driving pulley B in the double capstan 105-2 is connected with the second pulley block 105-4, as shown in the dotted line in the figure, at this time, the driving pulley B is in the state of paying off wire, so as to ensure the rising of the vertical clamping longitudinal conveying device 101. Figure 7 Figure 7

[0109] The reduction motor 105-1 of the lifting device drives the double capstan 105-2 to rotate counterclockwise, the driving pulley B in the double capstan 105-2 drives the second pulley block 105-4, as shown in the dotted line in the figure, the second pulley block 105-4 drives the vertical clamping longitudinal conveying device 101 to descend under the driving of the double capstan driving pulley B; at this time, the driving pulley A in the double capstan 105-2 is connected with the first pulley block 105-3, as shown in the solid line in the figure, at this time, the driving pulley A is in the state of paying off wire, so as to ensure the descending of the vertical clamping longitudinal conveying device 101. Figure 8 Figure 8

[0110] Embodiment 2

[0111] A harvester, which comprises a knotter 2, a material box 3, a counter mechanism 4, a cab 5, a chassis 6 and the reed whole-stalk harvesting vertical clamping longitudinal conveying system of embodiment 1, thus has the beneficial effects of embodiment 1, which will not be repeated here. The header 1, the knotter 2, the material box 3, the counter mechanism 4 and the cab 5 are all mounted on the chassis 6.

[0112] The header 1 comprises a vertical clamping longitudinal conveying device 101, a transverse conveying device 102 and a cutter 103; the transverse conveying device 102 is arranged in front of the vertical clamping longitudinal conveying device 101, the cutter 103 is installed below the transverse conveying device 102, and the vertical clamping longitudinal conveying device 101 is connected with a clamping conveying chain height adjusting mechanism; the knotter 2 is located behind the vertical clamping longitudinal conveying device 101, and the counter mechanism 4 is located behind the knotter 2, the knotter 2 is used for knotting the reed conveyed by the vertical clamping longitudinal conveying device 101 into small bundles, and the counter mechanism 4 is used for stacking the small bundles of reed into the material box 3.

[0113] ​​​​It should be understood that although the present specification is described in terms of various embodiments, each of which describes only one implementation, the specification is intended to cover all possible implementations that are within the scope of the application, which is defined by the claims. One skilled in the art will readily recognize from the disclosure herein, that alternative embodiments of the present application can be constructed from a number of approaches already known in the art, which do not depart from the spirit and scope of the present application. The individual features of the various embodiments of this application each will be recognized by one of ordinary skill in the art to be an innovative application that alone would entitle the applicant to a patent, but the present application is intended to cover each and every combination of the individual features disclosed herein and any other innovative feature that would be recognized by those of ordinary skill in the art to be an innovative application that alone would entitle the applicant to a patent.

[0114] The foregoing detailed description has set forth various embodiments of the devices and / or processes via the use of specific terminology. However, embodiments thereof can be practiced without the specific details (e.g., dimensions, times, direction, order of sequence, etc.) that are described herein. It is to be understood that the foregoing detailed description of the devices and / or processes is susceptible to various modifications, adaptations, and implementations by one of ordinary skill in the art. It is to be understood that such modifications, adaptations, and implementations are intended to fall within the scope of the present application.

Claims

1. A vertical clamping and longitudinal conveying system for harvesting whole reed stalks, characterized in that, It includes an upright clamping longitudinal conveyor (101), a clamping conveyor chain height adjustment mechanism (105), and a control unit (7); The clamping conveyor chain height adjustment mechanism (105) includes a pre-cutting detection unit, a position sensor, and a lifting device; the pre-cutting detection unit is used to detect the height information of the reeds in the pre-cutting area and transmit it to the control unit; the position sensor is used to detect the current height of the upright clamping longitudinal conveyor (101) and transmit it to the control unit; the lifting device is connected to the upright clamping longitudinal conveyor (101). The control unit (7) is connected to the pre-cutting detection unit and the lifting device respectively. The control unit (7) calculates the average height of the reeds in the pre-cutting area based on the height information of the reeds in the pre-cutting area detected by the pre-cutting detection unit, calculates the center of gravity height of the reeds, and calculates the height difference between the center of gravity height of the reeds and the current height of the vertical clamping longitudinal conveying device (101). Based on the height difference, the lifting device is controlled to adjust the position of the vertical clamping longitudinal conveying device (101) to correspond to the center of gravity of the reeds in the pre-cutting area. The pre-cutting detection unit includes a lidar (104). The lidar (104) is used to scan the reeds to be harvested in front of the cutter (1) at a certain sampling interval T and obtain the point cloud data of the reed reflection points in the polar coordinates of the lidar (104) itself, and transmit it to the control unit (7). The control unit (7) processes the point cloud data to obtain the point cloud in a specified square area in front of the cutter (1), divides the square area into multiple equally divided sub-areas, calculates the maximum value of the y-coordinate in the point cloud coordinate values ​​in the sub-areas, and sets the maximum value of the y-coordinate. ijmax Considering the average height of reeds within that sub-region, the y-value representing the average height of reeds in each sub-region is obtained. ijmax Find the average value y over the entire region. avg This average value represents the average height of the reeds in the area before cutting. The lifting device includes a geared motor (105-1), a double winch (105-2), a first pulley block (105-3), a second pulley block (105-4), a bracket (105-5), and a sleeve (105-6). The bracket (105-5) is set on both sides of the vertical clamping longitudinal conveying device (101). The bracket (105-5) is connected to the main beam of the cutting table (1). The vertical clamping longitudinal conveying device (101) is connected to the vertical beam of the bracket (105-5) through the sleeve (105-6). The geared motor (105-1) and the double winch (105-2) are respectively installed on the top of the bracket (105-5), and the first pulley group (105-3) is installed on both sides of the upper part of the bracket (105-5) and connected to the upper part of the vertical clamping longitudinal conveying device (101). The second pulley block (105-4) is set on both sides of the lower part of the support (105-5) and connected to the lower part of the vertical clamping longitudinal conveying device (101); the wire ropes (105-7) of the first pulley block (105-3) and the second pulley block (105-4) are both connected to the double winch (105-2). The double winch (105-2) drives the wire rope under the drive of the reduction motor (105-1) to realize the winding and unwinding of the wire rope, thereby driving the vertical clamping longitudinal conveying device (101) to rise and fall along the vertical beam of the support (105-5).

2. The reed stalk harvesting upright clamping longitudinal conveying system according to claim 1, characterized in that, The upright clamping longitudinal conveying device (101) includes two symmetrically arranged upright longitudinal conveying mechanisms, which clamp the upright reeds during the longitudinal conveying process. Each vertical longitudinal conveying mechanism includes a vertical conveying unit and a sleeve (105-6). The vertical conveying unit includes a traction roller (105-9), a driven roller (105-10), a clamping conveyor chain (105-11), an upper crossbeam (105-12), and a lower crossbeam (105-13). The upper crossbeam (105-12) and lower crossbeam (105-13) are arranged vertically. One end of the traction roller (105-9) is connected to one end of the upper crossbeam (105-12), and the other end of the traction roller (105-9) is connected to one end of the lower crossbeam (105-13). One end of the driven roller (105-10) is connected to the other end of the upper crossbeam (105-12), and the other end of the driven roller (105-10) is connected to the other end of the lower crossbeam (105-13). The clamping conveyor chain (105-11) is wrapped around the traction roller (105-9) and the driven roller (105-10). The upper crossbeam (105-12) and lower crossbeam (105-13) are respectively connected to the sleeve (105-6). The sleeve (105-6) is installed on the vertical beam of the support (105-5). The sleeve (105-6) can slide up and down along the vertical beam of the support (105-5), thereby driving the vertical conveying unit to rise and fall.

3. The reed stalk harvesting upright clamping longitudinal conveying system according to claim 1, characterized in that, The geared motor (105-1) is equipped with an electromagnetic brake system.

4. A harvester, characterized in that, The system includes the vertical clamping and longitudinal conveying system for harvesting whole reed stalks as described in any one of claims 1-3.

5. A control method for a longitudinal conveying system for harvesting whole reed stalks according to any one of claims 1-3, characterized in that, Includes the following steps: The coordinates of the lidar (104) of the pre-cutting detection unit are set. The lidar (104) scans the reeds to be harvested in front of the cutting table (1) and obtains the point cloud data of the reed reflection points in the lidar (104), which is then transmitted to the control unit (7). The control unit (7) performs point cloud data coordinate transformation, filters the point cloud data, uniformly divides the point cloud data in the pre-cut area into multiple sub-regions, and obtains the maximum y-coordinate of the point cloud in each sub-region. ijmax The average height y of the reeds in the area before cutting was calculated. avg The center of gravity height of the reed is calculated, and the current height value of the vertical clamping longitudinal conveying device (101) is obtained through the position sensor. The control unit (7) calculates the height difference between the center of gravity height of the reed and the current height of the vertical clamping longitudinal conveying device (101), and controls the lifting device to adjust the position of the vertical clamping longitudinal conveying device (101) to correspond to the center of gravity of the reed in the pre-cutting area according to the height difference.

6. The control method for the vertical clamping and longitudinal conveying system for whole reed harvesting according to claim 5, characterized in that, The specific steps for setting the coordinates of the lidar (104) of the pre-cutting detection unit are as follows: An adjustable laser radar base is installed on the top surface of the cutting table (1) at a height h above the ground. The tilt angle of the laser radar base is set to θ. The laser radar (104) is installed on the laser radar base. The origin of the polar coordinates of the laser radar (104) is h above the ground. Establish a geodetic coordinate system O (X, Y, Z) on the ground directly below the origin O′ of the lidar polar coordinate system. The vertical distance between the origin O of this coordinate system and the origin O′ of the lidar coordinate system is the height h. With the origin O′ of the laser radar polar coordinates as the origin, a rectangular coordinate system O′ (X′, Y′, Z′) is established along the direction of a set tilt angle θ. The X′ axis of the rectangular coordinate system is in the same direction as the X axis of the geodetic coordinate system, the Y′ axis is at an angle θ to the Y axis of the geodetic coordinate system, and the Z′ axis is at an angle θ to the Z axis of the geodetic coordinate system. The lidar (104) scans the reeds to be harvested in front of the cutting table (1) at a certain sampling interval T and obtains the point cloud data of the reed reflection points in the polar coordinates of the lidar (104) itself, and transmits it to the control unit (7). The point cloud data includes the radial distance, elevation angle, azimuth angle and intensity of each reflection point. The point cloud data coordinate transformation performed by the control unit (7) is specifically as follows: The control unit (7) converts the radial distance, elevation angle, and azimuth angle of each point in the point cloud into rectangular coordinates in the rectangular coordinate system O′ (X′, Y′, Z′). The conversion formula is as follows: ； Where X′, Y′, and Z′ are the three coordinate axes in the rectangular coordinate system O′; The control unit (7) converts the rectangular coordinates of the point cloud in coordinate system O′ (X′, Y′, Z′) to coordinates in geodetic coordinate system O (X, Y, Z). The conversion formula is as follows: ； Where X, Y, and Z are the three coordinate axes in the geodetic coordinate system O.

7. The control method for the vertical clamping and longitudinal conveying system for whole reed harvesting according to claim 5, characterized in that, The control unit (7) processes the point cloud data and calculates the height of the reeds in the area before cutting, specifically: The control unit (7) processes the point cloud data, uses a filter to remove noise points in the point cloud, and uses a pass-through filter to remove the point cloud outside the designated square area in front of the cutter (1), while retaining the point cloud in the square area. The point cloud in this area reflects the height information of the reed canopy in front of the cutter. Divide the square region evenly into multiple equal sub-regions, calculate the maximum y-coordinate among the point cloud coordinates within each sub-region, and then set this maximum y-coordinate as the maximum value. ijmax Considering the average height of reeds within that sub-region, the y-value representing the average height of reeds in each sub-region is obtained. ijmax Find the average value y over the entire region. avg This average value represents the average height of the reeds in the area before cutting.

8. The control method for the vertical clamping and longitudinal conveying system for whole reed harvesting according to claim 5, characterized in that, The lifting device adjusts the position of the upright clamping longitudinal conveying device (101) to correspond to the center of gravity of the reeds in the pre-cutting area as follows: The reduction motor (105-1) of the lifting device drives the double winch (105-2) to rotate clockwise. The drive pulley A in the double winch (105-2) drives the first pulley group (105-3). The first pulley group (105-3) drives the vertical clamping longitudinal conveyor (101) to rise under the drive of the drive pulley A of the double winch. At this time, the drive pulley B in the double winch (105-2) is connected to the second pulley group (105-4). At this time, the drive pulley B is in the unloading state to ensure the rise of the vertical clamping longitudinal conveyor (101). The geared motor (105-1) drives the double winch (105-2) to rotate counterclockwise. The drive pulley B in the double winch (105-2) drives the second pulley group (105-4). The second pulley group (105-4) drives the vertical clamping longitudinal conveying device (101) to descend under the drive of the double winch drive pulley B. At this time, the drive pulley A in the double winch (105-2) is connected to the first pulley group (105-3). At this time, the drive pulley A is in the wire-releasing state to ensure the descent of the vertical clamping longitudinal conveying device (101).

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