Automatic row unit device and method for a corn combine

Abstract

The application discloses a corn combine automatic alignment device and method, and relates to the field of agricultural machinery automation.The device comprises a long detection rod, a short detection rod, a right angle sensor, a left angle sensor and an alignment controller.A modular device is formed by the long detection rod, the short detection rod, the right angle sensor, the left angle sensor and the alignment controller, and a modular design is adopted to accurately position corn plants according to the rotation angles of the long detection rod and the short detection rod, to calculate a desired rotation angle of a steering wheel, to determine a steering instruction of the steering wheel according to the sign and value of the desired rotation angle of the steering wheel, and to control the rotation of the steering wheel by a steering execution mechanism according to the received steering instruction to automatically align.The application can reduce installation requirements while improving alignment detection precision, so as to ensure the alignment operation quality of the corn combine and improve the automation level of agricultural machinery equipment.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery automation technology, and in particular to an automatic row alignment device and method for a corn combine harvester. Background Technology

[0002] With the development of precision agriculture and smart agriculture, the level of agricultural mechanization is constantly improving. As an important manifestation of agricultural mechanization, combine harvesters have been gradually applied to the corn harvesting process in recent years. Accurate row alignment is one of the key technologies in corn harvesting, affecting the quality of the harvesting operation. When operating a combine harvester manually, it is necessary to constantly observe the relative position of the header and the corn plants, increasing the labor intensity of the operator.

[0003] The automatic row alignment device for corn combine harvesters detects the position of corn rows to determine the harvester's heading angle and lateral deviation, and adjusts its travel direction accordingly to achieve automatic row alignment. Corn row position detection methods are mainly divided into non-contact and contact detection. Non-contact detection uses cameras or radar, but this method is limited by the working environment, has poor adaptability, and is costly. Contact detection uses devices equipped with mechanical sensors, but existing devices have limited installation options and require high installation accuracy. In practical applications, existing automatic row alignment methods for corn combine harvesters still suffer from problems such as the inability to guarantee row alignment detection accuracy. Therefore, how to reduce installation requirements while improving row alignment detection accuracy to ensure the quality of corn combine harvester row alignment operations and thus improve the automation level of agricultural machinery has become a problem urgently needing to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic row alignment device and method for corn combine harvesters, which can reduce installation requirements while improving row alignment detection accuracy, thereby ensuring the quality of row alignment operations of corn combine harvesters and improving the level of automation of agricultural machinery equipment.

[0005] To achieve the above objectives, the present invention provides the following solution: An automatic row alignment device for a corn combine harvester, the device being installed on top of the divider of the header, the device comprising a long probe rod, a short probe rod, a right angle sensor, a left angle sensor, and a row alignment controller; Both the long and short probes are metal rods with a rotating shaft and an arc-shaped end, but the length of the long probe is greater than the length of the short probe. Both the arc-shaped ends of the long and short probes are in contact with the corn plants. The arc-shaped end of the long probe is used to sense corn plants that are farther away from the header, while the arc-shaped end of the short probe is used to sense corn plants that are closer to the header. The rotation shaft of the long probe is connected to the input shaft of the right angle sensor via a coupling, and the right angle sensor is used to detect the rotation angle of the long probe; the rotation shaft of the short probe is connected to the input shaft of the left angle sensor via a coupling, and the left angle sensor is used to detect the rotation angle of the short probe. The alignment controller is connected to the signal output terminals of the left angle sensor and the right angle sensor, respectively. The alignment controller receives the rotation angle of the long probe rod output from the signal output terminal of the right angle sensor and the rotation angle of the short probe rod output from the signal output terminal of the left angle sensor. Based on the rotation angles of the long and short probe rods, the controller obtains the desired steering angle of the steering wheel. Based on the sign and value of the desired steering angle, the controller determines the steering command of the steering wheel and sends the steering command to the steering actuator. The steering actuator controls the steering wheel to rotate automatically for alignment based on the received steering command.

[0006] Optionally, the device can be installed in two ways: an integral installation method and a split installation method. The integrated installation method involves stacking the long probe rod and the short probe rod together as a single unit and installing them on the top of the same divider. The split installation method involves the long probe rod and the short probe rod being installed independently on the top of different dividers.

[0007] Optionally, the device is mounted on top of the divider of the header via a mounting plate; the mounting plate is used in conjunction with bolts to mount the device on top of the divider of the header.

[0008] Optionally, the number of mounting plates is two.

[0009] Optionally, each of the mounting plates is fixed with a seated bearing; The two bearings are respectively fixed to the two mounting plates by bolts, for fixing the long probe rod and the short probe rod.

[0010] Optionally, a sensor bracket is fixed to each of the mounting plates; The two sensor brackets are respectively fixed to the two mounting plates by their own studs, for fixing the left angle sensor and the right angle sensor.

[0011] Optionally, a return spring is connected to each of the mounting plates; One end of one of the return springs is connected to the long probe rod, and the other end is connected to a first stud fixedly connected to the mounting plate, for returning the long probe rod to its initial position after completing the detection action; one end of the other return spring is connected to the short probe rod, and the other end is connected to a second stud fixedly connected to the mounting plate, for returning the short probe rod to its initial position after completing the detection action; the first stud and the second stud are respectively fixedly connected to different mounting plates.

[0012] The present invention also provides the following solutions: An automatic row alignment method for a corn combine harvester, applied to the automatic row alignment device of the corn combine harvester, the method comprising: Step S1: Obtain the rotation angle of the short probe and the rotation angle of the long probe; Step S2: Preprocess the rotation angles of the short probe and the long probe to obtain the preprocessed rotation angles of the short probe and the long probe. Step S3: Calculate the heading angle of the combine harvester based on the rotation angle of the pre-processed short probe and the rotation angle of the pre-processed long probe; Step S4: Calculate the lateral deviation based on the heading angle; Step S5: Determine whether the heading angle is less than the allowable error of the heading angle and whether the lateral deviation is less than the allowable error of the lateral deviation; If the output of step S5 is negative, then proceed to step S6: calculate the desired steering angle of the steering wheel based on the heading angle and the lateral deviation, determine the steering command of the steering wheel based on the sign and value of the desired steering angle, send the steering command to the steering actuator, and then return to step S1; the steering command is used by the steering actuator to control the rotation of the steering wheel for automatic alignment. If the output of step S5 is yes, then proceed to step S7: determine whether the heading angle is equal to 0 and whether the lateral deviation is equal to 0; If the output of step S7 is yes, then the row will automatically end; If the output of step S7 is negative, then return to step S1.

[0013] Optionally, the rotation angles of the short probe and the long probe are preprocessed to obtain preprocessed rotation angles of the short probe and the long probe, specifically including: The rotation angles of the short probe rod and the long probe rod are filtered using a recursive averaging algorithm to obtain the filtered rotation angles of the short probe rod and the long probe rod. A second-order difference identification algorithm based on peaks and troughs is used to eliminate the periodic variation error of the rotation angle of the filtered short probe rod and the rotation angle of the filtered long probe rod, thereby obtaining the rotation angle of the preprocessed short probe rod and the rotation angle of the preprocessed long probe rod.

[0014] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects: The automatic row alignment device and method for corn combine harvesters disclosed in this invention form a modular device consisting of a long probe rod, a short probe rod, a right angle sensor, a left angle sensor, and a row alignment controller. Employing a modular design, the device accurately locates corn plants based on the rotation angles of the long and short probe rods, calculates the desired rotation angle of the steering wheels, and determines the steering command for the steering wheels based on the sign and value of the desired rotation angle. The steering actuator controls the rotation of the steering wheels according to the received steering command to automatically align the rows. This modular device reduces installation requirements while improving row alignment detection accuracy, ensuring the quality of row alignment operations for corn combine harvesters and ultimately improving the automation level of agricultural machinery. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a structural diagram of an automatic row alignment device for a corn combine harvester according to the present invention; Figure 2 This is a schematic diagram of the installation of the automatic alignment device provided in an embodiment of the present invention; Figure 3 This is a flowchart of an automatic row alignment method for a corn combine harvester according to the present invention; Figure 4 This is a motion model analysis diagram of the automatic alignment device during integrated installation provided in an embodiment of the present invention; Figure 5 Motion model analysis of the automatic alignment device during split installation provided in the embodiments of the present invention. Figure 1 ; Figure 6 Motion model analysis of the automatic alignment device during split installation provided in the embodiments of the present invention. Figure 2 ; Symbol explanation: 1-Right angle sensor, 2-Long probe rod, 3-Short probe rod, 4-Left angle sensor, 5-Bearing with seat, 6-Sensor mounting bracket, 7-Reset spring, 8-Mounting plate, 9-Corn plant, 10-Divider. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] The purpose of this invention is to provide an automatic row alignment device and method for corn combine harvesters, which can reduce installation requirements while improving row alignment detection accuracy, thereby ensuring the quality of row alignment operations of corn combine harvesters and improving the level of automation of agricultural machinery equipment.

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] Figure 1 This is a structural diagram of an automatic row alignment device for a corn combine harvester according to the present invention. Figure 2 This is a schematic diagram of the installation of the automatic row alignment device (automatic row alignment device for corn combine harvesters) provided in an embodiment of the present invention. Figure 1 and Figure 2 As shown, the present invention provides an automatic row alignment device for a corn combine harvester. The automatic row alignment device is installed on the top of the divider 10 of the header via mounting plates 8. There are two mounting plates 8, which are used in conjunction with bolts to install the automatic row alignment device on the top of the divider 10 of the header. The automatic row alignment device includes a long detection rod 2, a short detection rod 3, a right angle sensor 1, a left angle sensor 4, and a row alignment controller (not shown in the figure).

[0021] Both the long probe 2 and the short probe 3 are metal rods with a rotating shaft and an arc-shaped end, but the length of the long probe 2 is greater than the length of the short probe 3. The arc-shaped ends of both the long probe 2 and the short probe 3 are in contact with the corn plant 9. The arc-shaped end of the long probe 2 is used to sense corn plants 9 that are farther away from the header, while the arc-shaped end of the short probe 3 is used to sense corn plants 9 that are closer to the header.

[0022] The rotation shaft of the long probe rod 2 is connected to the input shaft of the right angle sensor 1 via a coupling. The right angle sensor 1 is used to detect the rotation angle of the long probe rod 2. The rotation shaft of the short probe rod 3 is connected to the input shaft of the left angle sensor 4 via a coupling. The left angle sensor 4 is used to detect the rotation angle of the short probe rod 3.

[0023] The alignment controller is connected to the signal output terminals of the left angle sensor 4 and the right angle sensor 1, respectively. The alignment controller receives the rotation angle of the long probe 2 output from the signal output terminal of the right angle sensor 1 and the rotation angle of the short probe 3 output from the signal output terminal of the left angle sensor 4. Based on the rotation angles of the long probe 2 and the short probe 3, the desired steering angle of the steering wheel is obtained. Based on the sign and value of the desired steering angle, the steering command of the steering wheel is determined and sent to the steering actuator. The steering actuator controls the rotation of the steering wheel to automatically align the vehicle according to the received steering command.

[0024] Each mounting plate 8 has a seated bearing 5 and a sensor bracket 6 fixed on it; the two seated bearings 5 ​​are fixed to the two mounting plates 8 by bolts respectively, and are used to fix the long probe rod 2 and the short probe rod 3; the two sensor brackets 6 are fixed to the two mounting plates 8 by their own studs respectively, and are used to fix the left angle sensor 4 and the right angle sensor 1.

[0025] Each mounting plate 8 is connected to a return spring 7; one end of the return spring 7 is connected to the long probe 2, and the other end is connected to the first stud fixedly connected to the mounting plate 8, so as to return the long probe 2 to the initial position after completing the detection action; one end of the other return spring 7 is connected to the short probe 3, and the other end is connected to the second stud fixedly connected to the mounting plate 8, so as to return the short probe 3 to the initial position after completing the detection action; the first stud and the second stud are fixedly connected to different mounting plates 8 respectively.

[0026] Figure 2 Two installation methods of the automatic alignment device of the present invention are shown. Figure 2 Part (a) is a schematic diagram of the integrated installation method. Figure 2 Part (b) is a schematic diagram of the split installation method, as shown below. Figure 2 As shown, the automatic row alignment device for corn combine harvesters of the present invention has two installation methods: an integral installation method and a split installation method. In the integral installation method, the long probe rod 2 and the short probe rod 3 are stacked and connected as one unit and installed on the top of the same divider 10. In the split installation method, the long probe rod 2 and the short probe rod 3 are installed independently on the top of different dividers 10.

[0027] The automatic row alignment device for a corn combine harvester of the present invention is illustrated below with a specific embodiment: Figure 1 This is an overall structural diagram of the automatic row alignment device for a combine harvester provided in an embodiment of the present invention, as shown below. Figure 1 As shown, this invention provides an automatic row alignment device suitable for corn combine harvesters (automatic row alignment device for corn combine harvesters), mainly including a long detection rod 2, a short detection rod 3, a right angle sensor 1, a left angle sensor 4, a row alignment controller, and auxiliary components. The auxiliary components include two bearings 5, two sensor mounting brackets 6, two return springs 7, and two mounting plates 8. The long detection rod 2 is a metal rod with a rotating shaft and an arc-shaped end, whose arc-shaped end contacts the corn plant 9, used to sense corn plants 9 located far from the header. The rotating shaft of the long detection rod 2 is connected to the input shaft of the right angle sensor 1 via a coupling to detect the rotation angle of the long detection rod 2. The short detection rod 3 is similar in shape to the long detection rod 2 and is used to sense corn plants 9 located closer to the header. The rotating shaft of the short detection rod 3 is connected to the input shaft of the left angle sensor 4 via a coupling to detect the rotation angle of the short detection rod 3. The row controller is connected to the signal output terminals of the left angle sensor 4 and the right angle sensor 1 to receive and process two angle signals (the rotation angle of the short probe and the rotation angle of the long probe). Based on the angle signals, the relative position of the combine harvester and the corn row is calculated, and the desired rotation angle of the steering wheel is further calculated. Based on the sign and value of the desired rotation angle (desired rotation angle of the steering wheel), the steering command of the steering wheel is determined and sent to the steering actuator.

[0028] Two bearings 5 ​​are fixed to two mounting plates 8 by bolts to fix the long probe 2 and the short probe 3. Two sensor brackets 6 are fixed to the two mounting plates 8 by studs to fix the left angle sensor 4 and the right angle sensor 1. Two return springs 7 are connected at one end to the probe and at the other end to the studs fixed to the mounting plates 8 to return the long probe 2 and the short probe 3 to their initial positions after completing the detection action. The functions of the two mounting plates 8 are: (1) to fix the two bearings 5, the two sensor brackets 6 and the two return springs 7; (2) to be used in conjunction with the bolts to install the automatic alignment device on the top of the divider 10.

[0029] The automatic row alignment device for a corn combine harvester of this invention is installed on top of the divider 10 of the header. Except for being mounted on top of the divider 10 via the mounting plate 8, the other components of the automatic row alignment device are not connected to the header in any way. The automatic row alignment device of this invention has two installation methods: integral and separate. Figure 2As shown. The integrated installation involves stacking and connecting the long probe 2 and short probe 3 as a single unit, mounted on top of the same divider 10. In the integrated installation, the long probe and short probe are connected as a single unit, which can be installed on top of any divider 10, but only on top of one divider 10. The separate installation involves independently mounting the long probe 2 and short probe 3 on top of different dividers 10. In the separate installation, the long probe 2 and short probe 3 are two separate parts; the long probe 2 is mounted on top of one divider 10, and the short probe 3 is mounted on top of another divider 10, with only one long probe 2 and one short probe 3 installed.

[0030] Based on the automatic row alignment device for corn combine harvesters provided by the present invention, the present invention also provides an automatic row alignment method for corn combine harvesters. This method is applied to the aforementioned automatic row alignment device for corn combine harvesters and includes the following steps: Step S1: Obtain the rotation angle of the short probe and the rotation angle of the long probe.

[0031] Step S2: Preprocess the rotation angles of the short probe and the long probe to obtain the preprocessed rotation angles of the short probe and the long probe.

[0032] Step S2 specifically includes: A recursive averaging algorithm is used to filter the rotation angles of the short and long probe rods, resulting in filtered rotation angles for the short and long probe rods.

[0033] A second-order difference identification algorithm based on peaks and troughs is used to eliminate the periodic variation error of the rotation angles of the filtered short probe rod and the filtered long probe rod, thus obtaining the rotation angles of the preprocessed short probe rod and the preprocessed long probe rod.

[0034] Step S3: Calculate the heading angle of the combine harvester based on the rotation angle of the pre-processed short probe and the rotation angle of the pre-processed long probe.

[0035] Step S4: Calculate the lateral deviation based on the heading angle.

[0036] Step S5: Determine whether the heading angle is less than the allowable error of the heading angle and whether the lateral deviation is less than the allowable error of the lateral deviation.

[0037] If the output of step S5 is negative, then proceed to step S6: calculate the desired steering angle of the steering wheel based on the heading angle and lateral deviation, determine the steering command of the steering wheel based on the sign and value of the desired steering angle, send the steering command to the steering actuator, and then return to step S1; the steering command is used by the steering actuator to control the rotation of the steering wheel for automatic alignment.

[0038] If the output of step S5 is yes, then proceed to step S7: determine whether the heading angle is equal to 0 and whether the lateral deviation is equal to 0.

[0039] If the output of step S7 is yes, then the row will automatically end.

[0040] If the output of step S7 is negative, then return to step S1.

[0041] The automatic row alignment method for a corn combine harvester according to the present invention is illustrated below with a specific embodiment: Figure 3 This is a flowchart of an automatic row alignment method for a corn combine harvester according to the present invention, as shown below. Figure 3 As shown, this invention provides an automatic row alignment method for a corn combine harvester, applied to the aforementioned automatic row alignment device. The row alignment controller positions the corn plants based on the rotation angle between the long and short probe rods measured by an angle sensor, and further calculates the desired rotation angle of the steering wheels. The specific steps of the automatic row alignment method for a corn combine harvester of this invention are as follows: Step S1: Angle reading. When the combine harvester approaches the corn, the row controller receives the rotation angle of the short probe. Rotation angle of the long probe rod The rotation angle of the probe rods is only received when the combine harvester approaches the corn. During this approach, the longer probe rod contacts the corn first, followed by the shorter probe rod. When both the longer and shorter probe rods rotate and produce a rotation angle, it is determined that the combine harvester has approached the corn.

[0042] Step S2: Angle Preprocessing. During the movement of the probe rod, its contact with the corn plant is intermittent, causing periodic changes in the probe rod's rotation angle. Since the rotation angle of the probe rod when it is not in contact with the corn plant affects the row controller's calculation of the combine harvester's position relative to the corn plant, to avoid the influence of the rotation angle when the probe rod is not in contact with the corn plant, the row controller preprocesses the rotation angle of the received short probe rod. and the rotation angle of the long probe rod Perform the following processing: Step 1: Use a recursive averaging algorithm to process the angle signal (including the rotation angle of the short probe rod). and the rotation angle of the long probe rod Perform filtering: in, The angle of rotation of the filtered short probe rod; The angle of rotation of the filtered long probe rod; This is the sequence number of the filtered rotation angle. ; N This represents the number of angle signal samples within the sampling period. i This is the sequence number of the rotation angle before filtering.

[0043] Step 2: Use the second-order difference recognition algorithm for peaks and troughs to eliminate the periodic variation error of the probe rod's rotation angle, and obtain the rotation angles of the long and short probe rods: in, , The result is the first-order difference calculation of the rotation angles of the filtered long and short probe rods. The rotation angle of the pre-processed short probe rod; This refers to the rotation angle of the pre-processed long probe rod. , This is the result after performing a difference calculation, and it needs to be... , Only after performing differential calculations and judgments again will we obtain the results of the second-order differential recognition algorithm for the rotation angles of the long and short probe rods. and .

[0044] Step S3: Calculate the heading angle based on the pre-processed short probe rotation angle. Rotation angle of long probe rod The heading angle of the combine harvester is calculated using the heading angle estimation formula. Long probe rods and short probe rods, for example... Figure 2 The motion model analysis of the automatic alignment device during the integrated installation shown in Part (a) is as follows: Figure 4 As shown, point A is the contact point between the long probe and the corn plant, point B is the contact point between the short probe and the corn plant, point C is the intersection of the combine harvester's centerline and the corn row, point E is the center of the combine harvester, point O is the sensor mounting point for the long and short probes, arc OA represents the long probe, and arc OB represents the short probe. The heading angle is calculated as follows: in, The length of line segment OB; Let OA be the length of line segment OA; Let AB be the length of line segment AB.

[0045] Long probe rods and short probe rods, for example Figure 2 The split installation shown in section (b) is as follows, and At the same time, the motion model analysis of the automatic alignment device is as follows: Figure 5 As shown, point O R Point O is the mounting point for the angle sensor on the long probe rod. L For the mounting point of the short probe angle sensor, the heading angle is calculated as follows: in, For line segment O L The length of B; For line segment O R The length of A; For line segment AO L The length.

[0046] Long probe rods and short probe rods, for example Figure 2 The split installation shown in section (b) is as follows, and At the same time, the motion model analysis of the automatic alignment device is as follows: Figure 6 As shown, the method for calculating its heading angle is as follows: in, For AO R with BO R The angle between them.

[0047] Step S4: Calculate the lateral deviation based on the heading angle. And the lateral deviation estimation formula for lateral deviation Calculations are performed. The long probe and the short probe are as follows: Figure 2 (a) When the installation is done as a single unit, the lateral deviation is calculated as follows: in, Let OA be the angle between OA and AB. The distance from the center point E of the vehicle body to the row of corn stalks AB is the lateral deviation. The distance is the projected distance along the vehicle's travel direction by the line connecting the angle sensor installation location and the center of the combine harvester body.

[0048] Long probe rods and short probe rods, for example Figure 2 The split installation shown in section (b) is as follows, and The lateral deviation is calculated as follows: in, This refers to the installation distance between the left and right angle sensors.

[0049] Long probe rods and short probe rods, for example Figure 2 The split installation shown in section (b) is as follows, and The lateral deviation is calculated as follows: Steps S3 and S4 calculate the heading angle and lateral deviation based on the rotation angles of the long and short probe rods.

[0050] Step S5: Determine the heading angle Is it less than the allowable error of heading angle? lateral deviation Is it less than the allowable error of lateral deviation? If both conditions are met, proceed to step S7; otherwise, proceed to step S6.

[0051] Among these methods, the impact of heading angle on harvest quality was determined through experiments, thereby determining the permissible error of heading angle. Maximum permissible value. The impact of lateral deviation on harvest quality is determined through experiments, thereby establishing the permissible error for lateral deviation. Maximum allowed value.

[0052] Step S6: Calculate the desired steering angle of the steering wheels to obtain the heading angle of the combine harvester relative to the corn plant. and lateral deviation Then, the desired steering wheel angle is obtained using the formula for estimating the desired steering wheel angle. The steering command of the steering wheel is determined according to the sign and value of the desired steering angle, and the steering command is sent to the steering actuator to control the rotation of the steering wheel, and then the process returns to step S1.

[0053] in, Adjust the angle of the steering wheel to meet demand; , This is the proportionality coefficient; , The specific value needs to be calculated and determined based on the specific parameters of the combine harvester and the pure tracking algorithm.

[0054] Step S7: Determine the heading angle Is it equal to 0? Lateral deviation Check if it equals 0. If both conditions are true, the row will automatically end; otherwise, return to step S1.

[0055] This invention uses the rotation angles of the long and short probe rods to accurately locate corn plants, and calculates the desired steering wheel angle by measuring the heading angle and lateral deviation of the corn combine harvester. This invention improves the row alignment accuracy of the corn combine harvester while reducing the workload of the operator.

[0056] Figure 3 The following is a flowchart illustrating the automatic row alignment workflow provided by an embodiment of the present invention, such as... Figure 3 As shown, the working process of this invention is as follows: During the automatic row-to-row harvesting operation of a corn combine harvester, both the long and short probe rods simultaneously contact the corn plants and rotate in the same direction due to the pressure from the plants. The rotation of the long and short probe rods is transmitted to the input shaft of an angle sensor via their respective rotation axes. The angle sensor outputs the rotation angle of the long probe rod. Rotation angle of the short probe rod The line controller receives the rotation angles of the long and short probe rods and filters the angle signals. The line controller then processes the filtered rotation angle of the long probe rod. α 2. Rotation angle of the short probe rod α 1. The heading angle of the corn combine harvester was calculated. θ Then, based on the heading angle θ Calculation of lateral deviation x Finally, by the heading deflection angle θ Lateral deviation x The desired steering angle of the steering wheel is obtained through comprehensive calculation. .

[0057] Compared with existing technologies, the automatic row alignment device and method for corn combine harvesters provided by this invention enable corn combine harvesters to accurately detect the position of corn plants and improve row alignment accuracy. The advantages and beneficial effects of this invention are as follows: 1. The automatic row alignment device for corn combine harvesters of the present invention adopts a modular design. The long probe rod and the short probe rod can be installed independently at the divider of the corn combine harvester, or they can be connected as a whole and installed at the divider of the corn combine harvester, which is convenient for disassembly and adjustment.

[0058] 2. The automatic alignment method of this invention has designed corresponding calculation methods for heading angle and lateral deviation for different installation methods and installation positions, so that the device has flexible adaptability and can be easily adjusted by operators according to actual operation requirements.

[0059] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0060] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automatic row alignment device for a corn combine harvester, characterized in that, The device is installed on top of the divider of the header, and the device includes a long probe rod, a short probe rod, a right angle sensor, a left angle sensor, and a row controller; Both the long and short probes are metal rods with a rotating shaft and an arc-shaped end, but the length of the long probe is greater than the length of the short probe. Both the arc-shaped ends of the long and short probes are in contact with the corn plants. The arc-shaped end of the long probe is used to sense corn plants that are farther away from the header, while the arc-shaped end of the short probe is used to sense corn plants that are closer to the header. The rotation shaft of the long probe is connected to the input shaft of the right angle sensor via a coupling, and the right angle sensor is used to detect the rotation angle of the long probe; the rotation shaft of the short probe is connected to the input shaft of the left angle sensor via a coupling, and the left angle sensor is used to detect the rotation angle of the short probe. The alignment controller is connected to the signal output terminals of the left angle sensor and the right angle sensor, respectively. The alignment controller receives the rotation angle of the long probe rod output from the right angle sensor and the rotation angle of the short probe rod output from the left angle sensor. Based on the rotation angles of the long and short probe rods, it obtains the desired steering wheel angle. Based on the sign and value of the desired steering wheel angle, it determines the steering command and sends the steering command to the steering actuator. The steering actuator controls the steering wheel rotation to automatically align the vehicle according to the received steering command. The automatic row alignment device for the corn combine harvester is used to implement an automatic row alignment method for the corn combine harvester, the method comprising: Step S1: Obtain the rotation angle of the short probe and the rotation angle of the long probe; Step S2: Preprocess the rotation angles of the short probe and the long probe to obtain the preprocessed rotation angles of the short probe and the long probe. Step S3: Calculate the heading angle of the corn combine harvester based on the rotation angle of the pre-processed short probe and the rotation angle of the pre-processed long probe; Step S4: Calculate the lateral deviation based on the heading angle; Step S5: Determine whether the heading angle is less than the allowable error of the heading angle and whether the lateral deviation is less than the allowable error of the lateral deviation; If the output of step S5 is negative, then proceed to step S6: calculate the desired steering angle of the steering wheel based on the heading angle and the lateral deviation, determine the steering command of the steering wheel based on the sign and value of the desired steering angle, send the steering command to the steering actuator, and then return to step S1; the steering command is used by the steering actuator to control the rotation of the steering wheel for automatic alignment. If the output of step S5 is yes, then proceed to step S7: determine whether the heading angle is equal to 0 and whether the lateral deviation is equal to 0; If the output of step S7 is yes, then the row will automatically end; If the output of step S7 is negative, then return to step S1.

2. The automatic row alignment device for a corn combine harvester according to claim 1, characterized in that, The device has two installation methods: integral installation and split installation. The integrated installation method involves stacking the long probe rod and the short probe rod together as a single unit and installing them on the top of the same divider. The split installation method involves the long probe rod and the short probe rod being installed independently on the top of different dividers.

3. The automatic row alignment device for a corn combine harvester according to claim 1, characterized in that, The device is mounted on the top of the divider of the header via a mounting plate; the mounting plate is used in conjunction with bolts to mount the device on the top of the divider of the header.

4. The automatic row alignment device for a corn combine harvester according to claim 3, characterized in that, The number of mounting plates is two.

5. The automatic row alignment device for a corn combine harvester according to claim 4, characterized in that, Each of the mounting plates is fixed with a seated bearing; The two bearings are respectively fixed to the two mounting plates by bolts, for fixing the long probe rod and the short probe rod.

6. The automatic row alignment device for a corn combine harvester according to claim 5, characterized in that, Each of the mounting plates is fixed with a sensor bracket; The two sensor brackets are respectively fixed to the two mounting plates by their own studs, for fixing the left angle sensor and the right angle sensor.

7. The automatic row alignment device for a corn combine harvester according to claim 6, characterized in that, Each of the mounting plates is connected to a return spring; One end of one of the return springs is connected to the long probe rod, and the other end is connected to a first stud fixedly connected to the mounting plate, for returning the long probe rod to its initial position after completing the detection action; one end of the other return spring is connected to the short probe rod, and the other end is connected to a second stud fixedly connected to the mounting plate, for returning the short probe rod to its initial position after completing the detection action; the first stud and the second stud are respectively fixedly connected to different mounting plates.

8. The automatic row alignment device for a corn combine harvester according to claim 1, characterized in that, The rotation angles of the short probe and the long probe are preprocessed to obtain the preprocessed rotation angles of the short probe and the long probe, specifically including: The rotation angles of the short probe rod and the long probe rod are filtered using a recursive averaging algorithm to obtain the filtered rotation angles of the short probe rod and the long probe rod. A second-order difference identification algorithm based on peaks and troughs is used to eliminate the periodic variation error of the rotation angle of the filtered short probe rod and the rotation angle of the filtered long probe rod, thereby obtaining the rotation angle of the preprocessed short probe rod and the rotation angle of the preprocessed long probe rod.

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