A high-performance regenerated rice harvester and method suitable for wide and narrow row planting mode

Abstract

The present invention provides a high-performance regenerated rice harvester and method suitable for wide-narrow row planting patterns, comprising a header, an additional cutter, and a grain conveying device. The header is mounted at the front end of the harvester via a conveying trough and is used to harvest regenerated rice spike heads and feed the spike heads into the conveying trough. The symmetry axis of the header coincides with the symmetry axes of the two harvester tracks, achieving a symmetrical distribution of the harvesting range and crushing range of the regenerated rice combine harvester. In straight-line operation, the crushing range is within the wide row range, and the harvesting range covers the narrow row range. The additional cutter is mounted on the rear side of the header and is used to control the stubble height and retain dormant buds on the regenerated rice stems. The grain conveying device is mounted between a threshing and cleaning device and a grain bin and is used to lift and convey regenerated rice grains accumulated at the bottom of the threshing and cleaning device after threshing and cleaning to the grain bin. The present invention achieves high-performance, low-damage harvesting of regenerated rice in wide-narrow row planting patterns, reduces the crushing rate, and increases the yield of regenerated rice and its economic benefits.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent agricultural machinery, and in particular relates to a high-performance regenerated rice harvester and method suitable for wide-narrow row planting modes. Background Art

[0002] Ratoon rice is a special rice cultivation model that offers many advantages, including saving labor, seeds, water, fertilizer, pesticides, and nursery fields. It is an important measure to increase the land multiple cropping index and ensure my country's food security. The harvest period of ratoon rice is divided into two seasons. When the first season of rice is harvested, the rice stump and root system in the lower third of the plant must be retained. After fertilization and cultivation, it is allowed to grow another season of rice. Ratoon rice has special agronomic requirements for planting, management, and harvesting. Currently, there is no standardized mechanized production model for ratoon rice worldwide. Traditional harvesters have poor adaptability to ratoon rice, low intelligence level and operation accuracy, and cause high damage to ratoon rice. Therefore, the economic benefits and promotion prospects of ratoon rice are severely restricted.

[0003] The existing technology has not yet developed a regenerated rice combine harvester suitable for the standardized planting mode of wide and narrow rows. The currently disclosed low-damage regenerated rice combine harvester patents include: a multi-layer segmented stubble-leaving cutter device and control method for first-season regenerated rice and a combine harvester for first-season regenerated rice ZL201910899203.1, which provides a multi-layer segmented stubble-leaving cutter device and control method for first-season regenerated rice and a combine harvester for first-season regenerated rice, including a cutting table, a segmented cutter and a stubble-leaving cutter, which can achieve the harvesting of ears with only a small amount of stems. Harvesting operations are carried out while ensuring the height of the rice pile and the length of the rice stems returned to the field; a regenerated rice harvesting header and a harvester equipped with the header ZL202210092168.4, which provides a regenerated rice harvesting header and a harvester equipped with the header, including a multi-layer adjustable disc cutter, a header and a spike cutter. The multi-layer adjustable disc cutter is used to cut the stems between the spike cutting height and the stubble height multiple times, thereby preventing excessively long stems from falling into the field and covering the dormant buds of regenerated rice, thereby providing a guarantee for the return of stems to the field and the smooth growth of rice in the regeneration season. It can be seen that the problems addressed by the current inventions mainly focus on the precise cutting of the regenerated rice spikes, the effective retention of dormant buds, and the crushing of long stems. It can play a role in increasing the yield of regenerated rice to a certain extent, but due to the lack of technological breakthroughs in reducing rolling losses, the pain point problem of reduced regenerated rice yield has not yet been solved in the above inventions. It can be seen that the current mechanized high-performance and low-damage harvesting technology for regenerated rice still has room for further improvement, and the economic benefits generated by planting regenerated rice have not yet been maximized. Summary of the Invention

[0004] In response to the above technical problems, the present invention provides a high-performance regenerated rice harvester suitable for wide-narrow row planting mode, which can realize high-performance and low-damage harvesting operations of regenerated rice in standardized wide-narrow row planting mode, reduce the crushing rate, and increase the yield of regenerated rice and its economic benefits.

[0005] The present invention also provides a control method for a high-performance regenerated rice harvester suitable for a wide-narrow row planting mode.

[0006] The present invention achieves the above technical objectives through the following technical means.

[0007] A high-performance regenerated rice harvester suitable for wide and narrow row planting patterns, comprising a header, an additional cutter and a grain conveying device; the header is installed at the front end of the harvester through a conveying trough, and is used to harvest regenerated rice ears and feed the ears into the conveying trough; the symmetry axis of the header coincides with the symmetry axis of the two harvester tracks, so that the harvesting range and the crushing range of the regenerated rice combine harvester are symmetrically distributed, which is beneficial for the regenerated rice harvester to match the standardized planting pattern of wide and narrow rows. Under straight-line operation, the crushing range is within the wide row range, and the harvesting range covers the narrow row range; the additional cutter is hung on the rear side of the header, and is used to control the stubble height and retain the dormant buds under the regenerated rice stalks; the grain conveying device is installed between the threshing and cleaning device and the grain box, and is used to lift the regenerated rice grains accumulated at the bottom of the threshing and cleaning device after threshing and cleaning and convey them to the grain box.

[0008] In the above scheme, the regenerated rice harvester matches the standardized planting pattern of wide and narrow rows: in straight-line operation, the two tracks run in the center of two adjacent wide rows, that is, the rolling range is within the wide row range; the cutting platform covers the narrow rows on both sides of the two wide rows, that is, the harvesting range covers the narrow row range.

[0009] In the above scheme, the cutting platform includes a cutting platform frame, a reel, a cutting platform auger and a cutting platform cutter; the cutting platform frame is used to carry the reel, the cutting platform auger and the cutting platform cutter; the reel is installed above the cutting platform frame, and is used to guide and support the regenerated rice stalks to the cutting platform cutter, and assist the cutting platform cutter in cutting the regenerated rice ears; the cutting platform auger is installed inside the cutting platform frame, and is used to transport the cut regenerated rice ears to the middle part of the cutting platform frame and the docking point of the conveying trough, and assist in transporting materials to the threshing and cleaning device; the cutting platform cutter is installed at the front end of the cutting platform frame, and is used to cut the regenerated rice ears.

[0010] Furthermore, the header frame includes a header frame main body module and a header frame side panel; the header frame side panels are arranged at both ends of the header frame main body module which is spliced ​​together in several sections.

[0011] Furthermore, each section of the cutting platform frame main module and the cutting platform frame side panel are respectively made of aluminum alloy material through integrated die-casting, and a reinforcing rib structure is die-cast on the front edge, both end edges, rear end face, upper edge of the rear end face, and the periphery and center of the cutting platform frame side panel of each section of the cutting platform frame main module; a straw divider structure is stamped out at the front end of the cutting platform frame side panel.

[0012] Furthermore, the cutting platform auger includes a cutting platform auger main body module and an end face sealing plate;

[0013] The cutting platform auger main body module is composed of several sections spliced ​​and welded together. Each section of the cutting platform auger main body module is made of aluminum alloy material through integrated die-casting. The ends of the two outermost sections of the cutting platform auger main body modules are sealed with end face sealing plates.

[0014] In the above scheme, the additional cutter includes a reciprocating cutter assembly, a cutter support beam, a cutter support arm, a rotating shaft, a first arc-shaped connecting rod, a rotating fixed plate and a second arc-shaped connecting rod; the reciprocating cutter assembly is installed on the upper surface of the cutter support beam, and is used for cutting regenerated rice stalks and controlling the stubble height; both ends of the cutter support beam are welded to the cutter support arm, and are used for supporting the reciprocating cutter assembly; a section of the cutter support arm close to the front end is connected to the cutter support beam, and the rear end is hinged to the rotating shaft; both ends of the rotating shaft are respectively hinged to the cutter support arm and the first arc-shaped connecting rod, and are used for ensuring that the cutter support arm and the first arc-shaped connecting rod move synchronously, thereby improving the foldable cutting angle. Adjust the stability of the four-bar mechanism of the additional cutter; the first arc-shaped connecting rod is an arc-shaped slat structure, one end of the first arc-shaped connecting rod is hinged to the rotary shaft, and the other end is hinged to the top of the rotary fixed plate. The first arc-shaped connecting rod is connected to the power element, which is used to drive the entire additional cutter to switch between the working state and the storage state, and adjust the angle of the reciprocating cutter assembly relative to the ground; the rotary fixed plate is vertically connected to the rear end face of the cutting table frame, the top end of the rotary fixed plate is hinged to the first arc-shaped connecting rod, and the bottom end is hinged to the second arc-shaped connecting rod; the second arc-shaped connecting rod is an arc-shaped slat structure, one end of the second arc-shaped connecting rod is hinged to the bottom end of the rotary fixed plate, and the other end is hinged to the front end of the cutter support arm.

[0015] Furthermore, the power element controls the first arc-shaped connecting rod to adjust the angle of the reciprocating cutter assembly relative to the ground, and switches the additional cutter between the working state and the storage state. When in the working state, the reciprocating cutter assembly and the cutter support beam are adjusted to be located below the cutting table frame; when in the storage state, the reciprocating cutter assembly and the cutter support beam are adjusted to fit the bottom surface of the cutting table frame.

[0016] In the above scheme, the grain conveying device includes a transverse grain conveying auger, a first grain reversing conveying device, a first longitudinal grain conveying auger, a second longitudinal grain conveying auger and a second grain reversing conveying device; the transverse grain conveying auger is installed above the bottom plate of the threshing and cleaning device of the threshing and cleaning device; the first grain reversing conveying device is installed at one end of the transverse grain conveying auger close to the grain box; the first longitudinal grain conveying auger and the second longitudinal grain conveying auger are both vertically installed above the first grain reversing conveying device; the second grain reversing conveying device is installed at the top end of the first longitudinal grain conveying auger and the second longitudinal grain conveying auger, and is connected to the interior of the grain box through the opening above the grain box, for reversing the longitudinally conveyed regenerated rice grain flow and throwing it into the interior of the grain box.

[0017] Furthermore, the first grain reversing conveying device includes a first grain reversing conveying device housing, a first reversing conveying impeller, a second reversing conveying impeller and a grain flow guide plate; the first grain reversing conveying device housing is in the shape of a centrifugal fan volute structure, the grain inlet is located on the side of the housing, and the end of the transverse grain conveying auger close to the grain box extends to the grain inlet; the grain outlet is located on the top surface of the housing, and is connected to the bottom ends of the first longitudinal grain conveying auger and the second longitudinal grain conveying auger; the first reversing conveying impeller is installed inside the first grain reversing conveying device housing, and is connected to the end of the transverse grain conveying auger shaft close to the grain box; the second reversing conveying impeller is installed inside the first grain reversing conveying device housing, the first reversing On the side of the conveying impeller, the rotating axis of the second reversing conveying impeller is parallel to the rotating axis of the first reversing conveying impeller; the grain flow guide plate has a centrifugal fan volute tongue structure, which smoothly transitions from the narrow end to the wide end. The grain flow guide plate is installed inside the housing of the first grain reversing conveying device, with the narrow end located between the first reversing conveying impeller and the second reversing conveying impeller, and the wide end is flush with the grain outlet on the top surface of the housing of the first grain reversing conveying device. The grain flow guide plate divides the housing of the first grain reversing conveying device into front and rear grain flow channels, and separates the grain outlet into a first and a second parallel grain outlets. The first grain outlet and the second grain outlet are respectively connected to the bottom ends of the first longitudinal grain conveying augers and the second longitudinal grain conveying augers.

[0018] Furthermore, the second grain reversing conveying device includes a second grain reversing conveying device shell and a reversing sprinkling plate; the second grain reversing conveying device shell has two circular grain inlets on the bottom surface, and the grain inlets are directly connected to the top of the first longitudinal grain conveying augers and the second longitudinal grain conveying augers, and the second grain reversing conveying device shell close to the grain tank has an open grain outlet connected to the opening above the grain tank; the reversing sprinkling plate is installed inside the second grain reversing conveying device shell, and includes two sub-sprinkling plates, which are respectively connected to the top of the first longitudinal grain conveying augers and the second longitudinal grain conveying augers, and rotate together with the first longitudinal grain conveying augers and the second longitudinal grain conveying augers.

[0019] The above scheme also includes a path planning system; the path planning system includes a flat plate, several piezoelectric sensors, a control unit, an early warning device and a display screen; the flat plate is installed at the bottom of the grain tank, and the piezoelectric sensor is installed on the upper surface of the flat plate. The piezoelectric sensor is used to detect the weight of the grain in the grain tank and transmit it to the control unit; the early warning device is used to issue an early warning signal; the display screen is used to display at least the crushing rate of different operating paths, and the remaining time of the grain tank volume; the control unit is connected to the piezoelectric sensor, the early warning device and the display screen respectively.

[0020] Furthermore, the control unit calculates the compaction rates of different operation paths in advance according to the shape of the field to be operated, so as to guide the operator to select the path with the lowest compaction rate for harvesting; the control unit calculates the grain tank filling amount and the remaining time available in the grain tank volume according to the grain weight signal detected by the piezoelectric sensor, and controls the early warning device to send out an early warning signal when the remaining time available in the grain tank volume is less than the preset time, reminding the driver to plan the route according to the remaining time and unload the grain in time.

[0021] Furthermore, the remaining available time of the grain tank capacity is:

[0022]

[0023] Where g is the acceleration of gravity; ρ is the grain density; γ is the grain-to-straw ratio; B is the feed amount; Q 额 It is the rated capacity of the grain tank.

[0024] Furthermore, the early warning device includes a buzzer and an LED rotating warning light. When the remaining available time of the grain tank volume is lower than a first preset value, the buzzer will emit an intermittent alarm sound and the LED light will flash intermittently, reminding the driver that the remaining volume is insufficient and to rationally plan the harvester's route to facilitate unloading of grain; when the remaining available time of the grain tank volume is lower than a second preset value, the buzzer will emit a continuous alarm sound and the LED light will continue to flash, reminding the driver that the grain tank volume is full and harvesting can no longer continue.

[0025] Furthermore, the shapes of the working fields include regular working fields and irregular working fields, and the working paths include three types: a transverse S-shaped path, a longitudinal S-shaped path and a spiral path; the straight path of the transverse S-shaped path is perpendicular to the long side of the field and follows the S-shaped path; the straight path of the longitudinal S-shaped path is parallel to the long side of the field and follows the S-shaped path; the spiral path starts from the outermost edge of the field and proceeds in a spiral route to the center of the field.

[0026] Furthermore, the rolling rate R1 of the transverse S-shaped path is:

[0027]

[0028] The rolling rate R2 of the longitudinal S-shaped path is:

[0029]

[0030] The rolling rate R3 of the spiral path is:

[0031]

[0032] Among them, a is the length of the field, b is the width of the field, c is the width of the track, B1 is the cutting width, and r is the turning radius.

[0033] Furthermore, when working on irregular fields, laser scanning is first used to image the field information, and then the characteristic endpoints of the field information are marked. Based on the characteristic endpoints, a relatively standard field is constructed and harvest path planning is performed. This is achieved by scanning the boundary endpoints of the field, taking four characteristic points, and constructing a rectangular field. Then, the corresponding rolling rates R1, R2, and R3 are calculated according to the three working paths. Since the rolling rate calculated by this method includes the area that has not been rolled, the proportional coefficient ξ is introduced. The calculation formula is as follows:

[0034]

[0035] The area of ​​irregular fields is calculated using the integral method, the length and width a and b of standard fields are obtained by laser scanning, and the rolling rates of the three operation paths are ξR1, ξR2, and ξR3, respectively.

[0036] A control method for the high-performance regenerated rice harvester suitable for the wide-narrow row planting mode comprises the following steps:

[0037] The driver drives the harvester, and the harvesting platform harvests the regenerated rice ears and feeds the ears into the conveying trough; the symmetry axis of the harvesting platform coincides with the symmetry axis of the two harvester tracks, so that the harvesting range and the crushing range of the regenerated rice combine harvester are symmetrically distributed, so that the regenerated rice harvester matches the standardized planting pattern of wide and narrow rows: in straight-line operation, the two tracks run in the center of two adjacent wide rows, that is, the crushing range is within the wide row range; the harvesting platform covers the narrow rows on both sides of the two wide rows, that is, the harvesting range covers the narrow row range; the additional cutter controls the stubble height to retain the dormant buds under the regenerated rice stalks; the grain conveying device lifts the regenerated rice grains accumulated at the bottom of the threshing and cleaning device after threshing and conveys them to the grain box.

[0038] The above solution also includes the following steps:

[0039] The path planning system calculates the compaction rates of different operation paths in advance according to the shape of the field to be operated: the length and width a and b of the field are measured and input into the path planning system, and the path planning system calculates the compaction rates under different paths and marks them as R1, R2, and R3, so that the driver can choose the path with the lowest compaction rate to harvest crops; the path planning system calculates the grain tank filling amount and the remaining time available for the grain tank volume according to the grain weight signal detected by the piezoelectric sensor, and controls the early warning device to send an early warning signal when the remaining time available for the grain tank volume is less than the preset time, reminding the driver to plan the route according to the remaining time and unload the grain in time.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. The present invention can achieve high-performance and low-damage harvesting of the first-season rice of regenerated rice, increase the yield of regenerated rice, and improve the economic benefits of regenerated rice.

[0042] 2. The cutting platform used in the present invention is a lightweight and wide-width cutting platform, which can reduce the number of operating strokes of the regenerated rice combine harvester in the field, thereby reducing the crushing area of ​​the crawler on the regenerated rice, reducing crushing losses, and increasing the yield of regenerated rice.

[0043] 3. The cutting platform adopted in the present invention can widen the cutting width, improve the feed amount and work efficiency without increasing the weight of the cutting platform, thereby ensuring a reasonable configuration of the center of gravity of the regenerated rice combine harvester, avoiding the whole machine from tipping forward due to "top-heavy", and improving the stability of the harvester during operation and transfer.

[0044] 4. The aluminum alloy integrated die-casting adopted in the present invention can greatly reduce the number of parts of the cutting platform device, reduce the weight of the cutting platform, simplify the cutting platform structure, and at the same time improve the structural strength and operation stability of the cutting platform.

[0045] 5. The modular one-piece die-cast high-strength cutting platform frame and modular one-piece die-cast cutting platform auger adopted in the present invention can manufacture the cutting platform frame and cutting platform auger of the required width by splicing multiple sections, which greatly improves the utilization rate of the die-casting mold, reduces production costs, and improves production flexibility and production efficiency.

[0046] 6. The additional cutter used in the present invention is a foldable and retractable type with an adjustable cutting angle. The additional cutter can be stored and attached to the bottom surface of the cutting platform frame in a non-working state, effectively reducing the space occupied by the additional cutter and improving the stability of the regenerated rice combine harvester during transfer; the additional cutter can meet the optimal cutting angle of the regenerated rice stalks at any working height, avoiding pulling and damaging the dormant buds of the regenerated rice during the cutting process.

[0047] 7. The grain conveying device adopted in the present invention is a double-auger parallel type large-flow grain conveying device, which greatly improves the grain conveying capacity and avoids the grain blockage phenomenon caused by wide cutting width and large feeding amount operating conditions; the grain conveying device of the present invention, through the double-auger parallel structure, greatly reduces the lateral size of the device, effectively utilizes the limited space between the threshing and cleaning device and the grain box, and improves the space utilization rate of the whole machine.

[0048] 8. The present invention adopts a path planning system, which can display the grain filling amount and the remaining time available in the grain box to the driver in real time during the operation. When the grain box is about to be filled, an alarm will be issued to remind the driver to unload the grain to avoid unnecessary losses caused by grain overflow and leakage; at the same time, the driver will be prompted to arrange the unloading route according to the remaining time, the current location of the machine and driving experience to avoid additional crushing of the regenerated rice by the tracks during the unloading process.

[0049] 9. The present invention adopts a path planning system. When harvesting regenerated rice, it can calculate the compaction rate of different operation paths in advance according to the different field shapes, and guide the operator to select the path with the lowest compaction rate for harvesting, effectively reducing the compaction loss and increasing the yield of regenerated rice.

[0050] Note that the description of these effects does not prevent the existence of other effects, and one embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a schematic structural diagram of a high-performance regenerated rice combine harvester suitable for wide-narrow row planting mode according to one embodiment of the present invention;

[0052] Figure 2 This is a schematic diagram of the header structure according to one embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of a header frame structure according to an embodiment of the present invention;

[0054] Figure 4-5 This is a schematic structural diagram of a main module of a header frame according to an embodiment of the present invention;

[0055] Figure 6 This is a schematic structural diagram of a side plate of a header frame according to an embodiment of the present invention;

[0056] Figure 7 This is a schematic diagram of the structure of a header auger according to one embodiment of the present invention;

[0057] Figure 8 This is a schematic structural diagram of a main module of a header auger according to an embodiment of the present invention;

[0058] Figure 9 This is a schematic structural diagram of an additional cutter according to an embodiment of the present invention;

[0059] Figure 10 A schematic diagram of the connection between an additional cutter and a header according to an embodiment of the present invention;

[0060] Figure 11 This is a schematic structural diagram of an additional cutter in a working state according to an embodiment of the present invention;

[0061] Figure 12 This is a schematic structural diagram of an adjustable cutter in a retracted state according to an embodiment of the present invention;

[0062] Figure 13 This is a structural schematic diagram of a grain conveying device according to one embodiment of the present invention;

[0063] Figure 14 This is a structural schematic diagram of a first grain reversing conveying device according to one embodiment of the present invention;

[0064] Figure 15 This is a schematic structural diagram of a second grain reversing conveying device according to one embodiment of the present invention;

[0065] Figure 16 The installation location diagram of the grain tank and the path planning system according to one embodiment of the present invention only includes the grain tank portion;

[0066] Figure 17 This is a schematic diagram of installing a piezoelectric sensor on a flat plate according to one embodiment of the present invention;

[0067] Figure 18 A simplified diagram of the connection mode of a path planning system according to one embodiment of the present invention;

[0068] Figure 19 This is a workflow diagram of a path planning system according to one embodiment of the present invention;

[0069] Figure 20 Three travel path diagrams for harvesters when harvesting crops;

[0070] Figure 21 A flowchart of calculation of the crushing rate and path selection of a regenerated rice combine harvester according to one embodiment of the present invention;

[0071] Figure 22 A schematic diagram of an irregular field shape according to an embodiment of the present invention;

[0072] Figure 23 A flowchart of harvesting path selection for irregular fields according to an embodiment of the present invention;

[0073] Figure 24 This is a schematic diagram of a high-performance regenerated rice combine harvester suitable for wide-narrow row planting mode according to one embodiment of the present invention for achieving low-compaction harvesting operations.

[0074] In the figure: 1. Cutting platform, 2. Additional cutter, 3. Grain conveying device, 4. Path planning system, 5. Conveyor trough, 6. Threshing and cleaning device, 7. Grain tank, 8. Cab, 9. Track, 1-1. Cutting platform frame, 1-2. Reel, 1-3. Cutting platform auger, 1-4. Cutting platform cutter, 2-1. Reciprocating cutter assembly, 2-2. Cutter support beam, 2-3. Cutter support arm, 2-4. Rotating shaft, 2-5. First curved connecting rod, 2-6. Rotating fixed plate, 2-7. Second curved connecting rod, 3-1. Transverse grain conveying auger, 3-2. First grain reversing conveying device, 3-3. First longitudinal grain conveying auger, 3-4. Second longitudinal grain conveying auger, 3-5. Second grain reversing conveying device, 4-1. Flat plate, 4-2. Piezoelectric sensor, 6-1. Threshing and cleaning device bottom plate, 1-1-1. Cutting platform frame main module, 1-1-2. Cutting platform frame side plate, 1-3-1. Cutting platform auger main module, 1-3-2. End face sealing plate, 3-2-1. First grain reversing conveying device shell, 3-2-2. First reversing conveying impeller, 3-2-3. Second reversing conveying impeller, 3-2-4. Grain flow guide plate, 3-3-1. First longitudinal grain conveying auger blade, 3-3-2. First longitudinal grain conveying auger cylinder, 3-4-1. Second longitudinal grain conveying auger blade, 3-4-2. Second longitudinal grain conveying auger cylinder, 3-5-1. Second grain reversing conveying device shell, 3-5-2. Reversing throwing plate. DETAILED DESCRIPTION

[0075] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0076] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0077] like Figure 1 As shown, a high-performance regenerated rice harvester suitable for wide and narrow row planting patterns includes a header 1, an additional cutter 2 and a grain conveying device 3; the header 1 is installed at the front end of the harvester through a conveying trough 5, and is used to harvest the regenerated rice ears and feed the ears into the conveying trough 5; the symmetry axis of the header 1 coincides with the symmetry axis of the two harvester tracks 9, so as to achieve symmetrical distribution of the harvesting range and the crushing range of the regenerated rice combine harvester, which is conducive to matching the regenerated rice harvester with the standardized planting pattern of wide and narrow rows, and the additional cutter 2 is hung on the rear side of the header 1 for controlling the stubble height, preferably, retaining the dormant buds at the lower 1 / 3 of the regenerated rice stalks; the grain conveying device 3 is installed between the threshing and cleaning device 6 and the grain box 7, and is used to lift the regenerated rice grains accumulated at the bottom of the threshing and cleaning device 6 after threshing and cleaning and convey them to the grain box 7.

[0078] The regenerated rice harvester matches the standardized planting pattern of wide and narrow rows: in straight-line operation, the two tracks 9 run in the center of two adjacent wide rows, that is, the rolling range is within the wide row range; the cutting platform 1 covers the narrow rows on both sides of the two wide rows, that is, the harvesting range covers the narrow row range.

[0079] like Figure 2 As shown, the harvesting platform 1 includes a harvesting platform frame 1-1, a reel 1-2, a harvesting platform augers 1-3 and a harvesting platform cutter 1-4; the harvesting platform frame 1-1 is used to carry the reel 1-2, the harvesting platform augers 1-3 and the harvesting platform cutter 1-4; the reel 1-2 is installed above the harvesting platform frame 1-1, and is used to guide and support the regenerated rice stalks to deviate to the harvesting platform cutter 1-4, and assist the harvesting platform cutter 1-4 in cutting the regenerated rice ears; the harvesting platform augers 1-3 are installed inside the harvesting platform frame 1-1, and are used to transport the cut regenerated rice ears to the middle part of the harvesting platform frame 1-1 and the joint part of the conveying trough 5, and assist in transporting the materials to the threshing and cleaning device 6; the harvesting platform cutter 1-4 is installed at the front end of the harvesting platform frame 1-1, and is used to cut the regenerated rice ears.

[0080] like Figure 3 、 4 As shown in Figures 5 and 6, the header frame 1-1 includes a header frame main module 1-1-1 and a header frame side panel 1-1-2; the header frame side panels 1-1-2 are arranged at both ends of the header frame main module 1-1-1 which is spliced ​​from several sections.

[0081] Each section of the cutting platform frame main module 1-1-1 and the cutting platform frame side panel 1-1-2 are respectively made of aluminum alloy material through integrated die-casting, and a reinforcing rib structure is die-cast on the front edge, both end edges, rear end face, upper edge of the rear end face and the periphery and center of the cutting platform frame side panel 1-1-2 of each section of the cutting platform frame main module 1-1-1; a straw divider structure is stamped out at the front end of the cutting platform frame side panel 1-1-2.

[0082] The header frame main module 1-1-1 can be welded together in multiple sections according to the actual width of the header. Preferably, after the welding is completed, a docking opening is cut at the rear end of the header frame main module 1-1-1 that docks with the conveyor trough 5. The regenerated rice harvesting mixture flows through the conveyor trough 5 through this opening and then enters the threshing and cleaning device 6 for further processing. The header frame side panels 1-1-2 are welded to both ends of the header frame main module 1-1-1, which are spliced ​​together in multiple sections. They are used to strengthen the overall structure of the modular, one-piece, die-cast, high-strength header frame 1-1 and provide installation connection points for the reel 1-2 and the modular, one-piece, die-cast header auger 1-3.

[0083] like Figure 7 、 8As shown, the auger 1-3 comprises a main auger module 1-3-1 and an end sealing plate 1-3-2. The main auger module 1-3-1 can be welded together in several sections according to the actual width of the auger. Each section of the auger module 1-3-1 is made of aluminum alloy through integrated die-casting. The ends of the two outermost sections of the auger module 1-3-1 are sealed with end sealing plates 1-3-2. Preferably, the spiral blade structures of two adjacent sections of the auger module 1-3-1 are aligned end to end and smoothly connected and welded together, thereby forming a complete and continuous spiral blade structure.

[0084] According to this embodiment, preferably, except for the related transmission parts which are made of metal materials, the rest of the structure of the reel 1-2 is made of carbon fiber composite materials, which effectively utilizes the advantages of low density and high strength of carbon fiber, further reduces the weight of the cutting platform, reduces the power consumption required for the reel operation, and improves the operation stability.

[0085] The cutting platform auger main body module 1-3-1 is made of aluminum alloy through integrated die-casting, and the reel 1-2 is made of carbon fiber composite material, so that the cutting platform 1 is a multi-material lightweight wide-width cutting platform, which can widen the cutting width, improve the feed amount and work efficiency without increasing the weight of the cutting platform, thereby ensuring the reasonable configuration of the center of gravity of the regenerated rice combine harvester, avoiding the whole machine from tipping forward due to "top-heavy", and improving the stability of the harvester during operation and transfer.

[0086] like Figure 9As shown, the additional cutter 2 is a four-bar mechanism as a whole, including a reciprocating cutter assembly 2-1, a cutter support beam 2-2, a cutter support arm 2-3, a rotary shaft 2-4, a first arc-shaped connecting rod 2-5, a rotary fixed plate 2-6 and a second arc-shaped connecting rod 2-7; the reciprocating cutter assembly 2-1 is installed on the upper surface of the cutter support beam 2-2, and is used to cut the regenerated rice stalks and control the stubble height; the two ends of the cutter support beam 2-2 are welded to the cutter support arm 2-3, and are used to support the reciprocating cutter assembly 2-1; the cutter support arm 2-3 is welded to the cutter support beam 2-3 near the front end, and is connected to the cutter support beam 2- 2 is connected, and the rear end is hinged with the rotary shaft 2-4. The cutter support arm 2-3 is regarded as a connecting rod in the four-bar mechanism, which is used to support the reciprocating cutter assembly 2-1 and the cutter support beam 2-2; the two ends of the rotary shaft 2-4 are respectively hinged with the cutter support arm 2-3 and the first arc-shaped connecting rod 2-5, which are used to ensure that the cutter support arm 2-3 and the first arc-shaped connecting rod 2-5 move synchronously, thereby improving the stability of the four-bar mechanism of the foldable and retractable cutting angle adjustable additional cutter 2; the first arc-shaped connecting rod 2-5 is a circular arc-shaped slat structure with an obtuse central angle, and one end of the first arc-shaped connecting rod 2-5 is connected to the rotary shaft 2 -4 is hinged, and the other end is hinged to the top of the rotary fixed plate 2-6. The first arc-shaped connecting rod 2-5 is regarded as the connecting rod and driving rod in the four-bar mechanism, and is connected to the power elements including but not limited to the hydraulic cylinder, which is used to drive the entire additional cutter 2 to switch between the working state and the storage state, and adjust the angle of the reciprocating cutter assembly 2-1 relative to the ground; the rotary fixed plate 2-6 is vertically connected to the rear end face of the cutting platform frame 1-1 and is welded flush with the end faces of both sides of the cutting platform frame 1-1. The top of the rotary fixed plate 2-6 is hinged to the first arc-shaped connecting rod 2-5, and the bottom end is hinged to the second arc-shaped connecting rod 2-7 The hinged, rotating fixed plate 2-6 is regarded as the frame in the four-bar mechanism, which is used to connect the additional cutter 2 as a whole to the harvester through the cutting table 1; the second arc-shaped connecting rod 2-7 is an arc-shaped slat structure, and the central angle of the arc is a right angle. One end of the second arc-shaped connecting rod 2-7 is hinged to the bottom end of the rotating fixed plate 2-6, and the other end is hinged to the front end of the cutter support arm 2-3. The second arc-shaped connecting rod 2-7 is regarded as the connecting rod in the four-bar mechanism, which is used to assist the reciprocating cutter assembly 2-1 to switch between the working state and the storage state, and to assist in adjusting the angle of the reciprocating cutter assembly 2-1 relative to the ground.

[0087] Combine Figure 9 、 10As shown, according to this embodiment, preferably, the cutter support arms 2-3 can be 2 or more, and the two ends of the cutter support beam 2-2 are respectively welded to the two cutter support arms 2-3, while the middle section can be welded to one or more cutter support arms 2-3, thereby improving the support stability of the cutter support beam 2-2 on the reciprocating cutter assembly 2-1; the first arc-shaped connecting rods 2-5 can be 2 or more, and the two ends of the rotary shaft 2-4 are respectively hinged to the two cutter support arms 2-3 and the two first arc-shaped connecting rods 2-5, while the middle section can be hinged to one or more cutter support arms 2-3 and one or more first arc-shaped connecting rods 2-5, thereby further improving the foldable and retractable cutting The stability of the four-bar mechanism of the angle-adjustable additional cutter 2; the said rotary fixed plates 2-6 can be 2 or more, of which 2 rotary fixed plates 2-6 are welded flush with the end faces on both sides of the integrated die-cast high-strength cutting table frame 1-1, and the top ends of the 2 rotary fixed plates 2-6 are hinged to the first arc-shaped connecting rod 2-5, and the bottom ends are hinged to the second arc-shaped connecting rod 2-7. The rotary fixed plate 2-6 welded to the middle section of the rear end face of the integrated die-cast high-strength cutting table frame 1-1 is hinged to the first arc-shaped connecting rod 2-5 only at the top, which is used to further improve the strength of the integrated die-cast high-strength cutting table frame 1-1, and to make the driving force provided by the first arc-shaped connecting rod 2-5 distributed at multiple points on the integrated die-cast high-strength cutting table frame 1-1, thereby improving the driving stability.

[0088] like Figure 10-12 As shown, the power element controls the first curved connecting rod 2-5 to adjust the angle of the reciprocating blade assembly 2-1 relative to the ground, and switches the additional cutter 2 between an operating state and a stowed state. In the operating state, the reciprocating blade assembly 2-1 and the blade support beam 2-2 are adjusted to be positioned below the header frame 1-1; in the stowed state, the reciprocating blade assembly 2-1 and the blade support beam 2-2 are adjusted to fit against the bottom surface of the header frame 1-1. The additional cutter 2 can adjust the angle of the reciprocating blade assembly 2-1 relative to the ground via the first curved connecting rod 2-5, thereby ensuring the optimal cutting angle for regenerated rice stalks at any operating height.

[0089] like Figure 1 、 13-15, the grain conveying device 3 is a double-auger parallel large-flow grain conveying device, including a transverse grain conveying auger 3-1, a first grain reversing conveying device 3-2, a first longitudinal grain conveying auger 3-3, a second longitudinal grain conveying auger 3-4 and a second grain reversing conveying device 3-5; the transverse grain conveying auger 3-1 is installed above the threshing and cleaning device bottom plate 6-1 of the threshing and cleaning device 6, and the regenerated rice grains that fall on the threshing and cleaning device bottom plate 6-1 after threshing and cleaning are gathered on the transverse grain conveying auger 3-1 under the action of the slope structure, and the transverse grain conveying auger 3-1 further conveys the regenerated rice grains to the side of the threshing and cleaning device 6 close to the grain box 7; the first grain reversing conveying device 3-2 is installed at one end of the transverse grain conveying auger 3-1 close to the grain box 7, and is used to reverse the transversely conveyed regenerated rice grain flow and throw it to the first longitudinal grain conveying auger 3-3 and the second longitudinal grain conveying auger The bottom of the dragon 3-4; the first longitudinal grain conveying augers 3-3 and the second longitudinal grain conveying augers 3-4 have the same diameter, length and rotation speed, and the first longitudinal grain conveying augers 3-3 and the second longitudinal grain conveying augers 3-4 are both vertically installed above the first grain reversing conveying device 3-2. Under the joint action of the first longitudinal grain conveying augers blades 3-3-1, the second longitudinal grain conveying augers blades 3-4-1 and the first longitudinal grain conveying augers cylinder 3-3-2 and the second longitudinal grain conveying augers cylinder 3-4-2, the regenerated rice grain flow is lifted to the top of the first longitudinal grain conveying augers 3-3 and the second longitudinal grain conveying augers 3-4; the second grain reversing conveying device 3-5 is installed at the top of the first longitudinal grain conveying augers 3-3 and the second longitudinal grain conveying augers 3-4, and is connected to the interior of the grain tank through the opening above the grain tank 7, for reversing the longitudinally conveyed regenerated rice grain flow and throwing it into the interior of the grain tank 7.

[0090] Combine Figure 14As shown, the first grain reversing conveying device 3-2 includes a first grain reversing conveying device housing 3-2-1, a first reversing conveying impeller 3-2-2, a second reversing conveying impeller 3-2-3 and a grain flow guide plate 3-2-4; the first grain reversing conveying device housing 3-2-1 has a centrifugal fan volute structure, the grain inlet is located on the side of the housing, and the end of the transverse grain conveying auger 3-1 close to the grain box 7 extends into the grain inlet; the grain outlet is located on the top surface of the housing, and is connected to the bottom ends of the first longitudinal grain conveying auger 3-3 and the second longitudinal grain conveying auger 3-4; The first reversing conveying impeller 3-2-2 is installed inside the housing 3-2-1 of the first grain reversing conveying device and is connected to the end of the horizontal grain conveying auger 3-1 shaft near the grain box 7. The direction and speed of the first reversing conveying impeller 3-2-2 are consistent with those of the horizontal grain conveying auger 3-1, that is, with the direction perpendicular to the grain inlet as a reference, the first reversing conveying impeller 3-2-2 rotates in the counterclockwise direction; the second reversing conveying impeller 3-2-3 is installed inside the housing 3-2-1 of the first grain reversing conveying device and on the side of the first reversing conveying impeller 3-2-2. -3 rotating axis is parallel to the rotating axis of the first reversing conveying impeller 3-2-2, and the two rotate in the same direction, the diameter of the second reversing conveying impeller 3-2-3 is smaller than that of the first reversing conveying impeller 3-2-2, the number of blades of the second reversing conveying impeller 3-2-3 is less than or equal to the number of blades of the first reversing conveying impeller 3-2-2, and the speed of the second reversing conveying impeller 3-2-3 is higher than or equal to the speed of the first reversing conveying impeller 3-2-2; the particle flow guide plate 3-2-4 has a centrifugal fan volute tongue structure, which smoothly transitions from the narrow end to the wide end, and the particle flow guide plate 3-2-4 is installed on the first particle flow guide plate 3-2-4. Inside the shell 3-2-1 of the grain reversing conveying device, the narrow end is located between the first reversing conveying impeller 3-2-2 and the second reversing conveying impeller 3-2-3, and the wide end is flush with the grain outlet on the top surface of the first grain reversing conveying device shell 3-2-1. The grain flow guide plate 3-2-4 divides the first grain reversing conveying device shell 3-2-1 into two front and rear grain flow channels, and separates the grain outlet into a first and a second parallel grain outlet. The first grain outlet and the second grain outlet are respectively connected to the bottom ends of the first longitudinal grain conveying augers 3-3 and the second longitudinal grain conveying augers 3-4.

[0091] Combine Figure 15As shown, the second grain reversing conveying device 3-5 includes a second grain reversing conveying device shell 3-5-1 and a reversing sprinkling plate 3-5-2; the second grain reversing conveying device shell 3-5-1 has two circular grain inlets on the bottom surface, and the grain inlets are directly connected with the top of the first longitudinal grain conveying augers 3-3 and the second longitudinal grain conveying augers 3-4, and the second grain reversing conveying device shell 3-5-1 is close to the grain tank 7. The side has an open grain outlet that is connected with the opening above the grain tank 7; the reversing sprinkling plate 3-5-2 is installed inside the second grain reversing conveying device shell 3-5-1, and includes two sub-sprinkling plates, which are respectively connected to the top of the first longitudinal grain conveying augers 3-3 and the second longitudinal grain conveying augers 3-4, and rotate together with the first longitudinal grain conveying augers 3-3 and the second longitudinal grain conveying augers 3-4.

[0092] like Figure 16-18 As shown, the high-performance regenerated rice combine harvester suitable for wide and narrow row planting mode also includes a path planning system 4; the path planning system 4 includes a flat plate 4-1, several piezoelectric sensors 4-2, a control unit, an early warning device and a display screen; the flat plate 4-1 is installed at the bottom of the grain tank 7, and the piezoelectric sensor 4-2 is installed on the upper surface of the flat plate 4-1. The piezoelectric sensor 4-2 is used to detect the weight of the grain in the grain tank and transmit it to the control unit; the early warning device is used to issue an early warning signal; the display model is Mitsubishi GT1050, but the model is not limited to this. The display screen is used to at least display the crushing rate of different operation paths and the remaining time of the grain tank volume; the display screen can also be used to at least input the type of grain to match different densities, and at least output the filling height in the grain tank and the remaining time of the grain tank volume. The control unit calculates the remaining time of the grain tank volume based on the information input on the display screen and the data monitored by the piezoelectric sensor 4-2. When the available time of the grain tank volume is less than the preset value, the early warning device 4-4 will start to alarm.

[0093] The warning device includes a buzzer and an LED rotating warning light. The warning device and display are integrated into the cab 8. The control unit is connected to the piezoelectric sensor 4-2, the warning device, and the display, respectively. The flat plate 4-1 needs to be tightly mounted on the bottom of the grain tank 7. The shape and size of the flat plate 4-1 can be flexibly adjusted according to the number and arrangement of the required piezoelectric sensors 4-2.

[0094] Multiple piezoelectric sensors 4-2 are monitored simultaneously to reduce errors. Data from multiple sensors is fused using a BP neural network to achieve the most accurate values. In one embodiment of the present invention, the control unit uses a BP neural network to fuse data from multiple piezoelectric sensors 4-2 to reduce errors and obtain more accurate data.

[0095] Assume that n piezoelectric sensors 4-2 are used to monitor the remaining volume of the grain tank. The weights of the n sensors are automatically adjusted through the BP neural network to fuse the external stress T. The external stress T after fusion becomes T = w1% T1 + w2% T2 + ... + w n %T n The data collected by the multiple piezoelectric sensors 4-2 are fused and processed using a BP neural network, and a large amount of data is used for training to minimize the error in the calculated grain tank filling amount.

[0096] In a specific embodiment of the present invention, the control unit is a STM32h7 series single-chip microcomputer, but the model is not limited thereto, and its performance must be able to implement a BP neural network.

[0097] The control unit calculates the crushing rates of different operation paths in advance according to the shape of the field to be operated, so as to guide the operator to select the path with the lowest crushing rate for harvesting; the control unit calculates the grain tank filling amount and the remaining time available for the grain tank volume according to the grain weight signal detected by the piezoelectric sensor 4-2, and controls the early warning device to send out an early warning signal when the remaining time available for the grain tank volume is less than the preset time, reminding the driver to plan the route according to the remaining time and unload the grain in time, so as to avoid losses caused by grain leakage and additional crushing of the regenerated rice by the machine during the unloading process.

[0098] The remaining available time of the grain tank capacity is:

[0099]

[0100] Where g is the acceleration of gravity; ρ is the grain density; γ is the grain-to-straw ratio; B is the feed amount; Q 额 It is the rated capacity of the grain tank.

[0101] The early warning device includes a buzzer and an LED rotating warning light, each of which is connected to a control unit. Specifically, the input of the control unit is connected to the output of a plurality of piezoelectric sensors 4-2 via amplifier circuits. The rotating warning light and buzzer are connected to the output of the control unit via an early warning device circuit. The display screen is connected to the input and output of the control unit. The display screen is mounted within the combine harvester cab 8.

[0102] When the remaining available time of the grain tank volume is lower than the first preset value, the buzzer will emit an intermittent alarm sound and the LED light will flash intermittently, reminding the driver that the remaining volume is insufficient and to reasonably plan the harvester's route to facilitate unloading of grain; when the remaining available time of the grain tank volume is lower than the second preset value, the buzzer will emit a continuous alarm sound and the LED light will continue to flash, reminding the driver that the grain tank volume is full and harvesting can no longer continue.

[0103] like Figure 19 As shown, the piezoelectric sensor 4-2 monitors the grain weight of the combine harvester's grain tank and transmits the data to the control unit. The control unit operates under a pre-set program, calculates the final filling volume of the grain tank, and simultaneously calculates the remaining available time of the grain tank volume, and compares it with a pre-set threshold. In a specific embodiment of the present invention, when the remaining available time of the grain tank volume is 5s < t ≤ 10s, the buzzer will emit an intermittent alarm sound and the LED light will flash intermittently, reminding the driver that the remaining volume is insufficient and to plan the harvester's forward route to facilitate grain unloading. When the remaining available time of the grain tank volume is t ≤ 5s, the buzzer will emit a continuous alarm sound and the LED light will flash continuously, reminding the driver that the grain tank volume is full and that harvesting can no longer be carried out. At the same time, the remaining available time of the grain tank volume is displayed in real time on the display screen 4-5 to facilitate the driver to plan the corresponding route and unload the grain.

[0104] If the warning device sends a warning signal indicating that the grain tank is about to be full, the driver can reasonably arrange the unloading path according to the current position of the harvester to reduce the crushing rate:

[0105] If the harvester is close to the edge of the field, the driver can choose to continue harvesting and drive towards the edge of the field. When the grain tank is full, the machine is at the edge of the field and can unload the grain directly. If the harvester is at the edge of the field, although the grain tank is not full yet, the driver can choose to stop the harvesting operation directly and empty the grain tank directly at the edge of the field. If the harvester is in the center of the field and far away from the edge of the field, the operator can choose to continue harvesting until the grain tank is full, and then reverse to the edge of the field along the path the machine has traveled to unload the grain. When the driver is working along the current path, he will inevitably encounter multiple situations where the grain tank is full and needs to be unloaded. The operator can plan the unloading of grain based on the existing path and his own experience according to the alarm prompts, thereby reducing unnecessary crushing. Figure 16-19 As shown in Figure 2, the path planning process is as follows:

[0106] Before the harvest begins, Figure 18 Select the corresponding grain name on the display screen to determine the grain density and transmit the data to the control unit. Figure 18 The microcontroller shown;

[0107] like Figure 16 、 17 As shown, the plurality of piezoelectric sensors 4-2 are installed at the bottom of the grain tank 7. The continuous entry of grain causes the electrical signal of the piezoelectric sensor 4-2 to be proportional to the weight of the grain, and the obtained data is input into the control unit, i.e., the single chip microcomputer, for data processing, thereby realizing the monitoring of the weight of the grain pile in the grain tank and the volume of the filling material in the grain tank;

[0108] like Figure 18As shown, the control unit is connected to the piezoelectric sensor 4-2, the warning device, and the display screen. The control unit calculates the harvestable time of the remaining volume of the grain tank based on the information input by the piezoelectric sensor and the display screen. When the calculated time is less than or equal to a preset value, the control unit controls the warning device to sound an alarm. The calculation formula for the harvestable time of the remaining volume of the grain tank is as follows:

[0109]

[0110] By programming the calculation formula of the remaining volume of the grain tank to calculate the harvest time and running it, the remaining time of the grain tank volume is calculated and displayed on the Figure 18 The display screen shown in the figure provides a reference for the operator to operate. At the same time, it can judge whether the grain tank is about to be full and send out an alarm to remind the operator to unload the grain. The unloading alarm process is as follows: Figure 19 shown.

[0111] The principle of the piezoelectric sensor 4-2 is that some ionic crystal dielectrics can produce polarization under the action of mechanical force and their electric displacement D (charge density σ in the MKS unit system) is proportional to the external stress tensor T: Where d is the piezoelectric constant matrix.

[0112] When the external force disappears, the dielectric returns to its original uncharged state.

[0113] The remaining time that the grain tank capacity can be used should be The remaining capacity should be the combined harvester rated capacity minus the current feeding volume of grain; the grain feeding volume per second is

[0114] The remaining volume can be expressed as: Grain feeding volume per second:

[0115] Therefore, the remaining available time of the grain tank volume is:

[0116] Where g is the acceleration of gravity; ρ is the grain density; γ is the grain-to-straw ratio; B is the feed amount; Q 额 It is the rated capacity of the grain tank.

[0117] The model of the piezoelectric sensor 4-2 is BH01-YFF-4, but it is not limited to this model, and the quantity is not limited to one. The piezoelectric sensor 4-2 needs to be connected to an amplifier circuit.

[0118] Figure 22-23The figure shows a flow chart for calculating the crushing rate and selecting a path for replanting rice harvesting. During replanting rice harvesting, the path planning system 4 determines the forward harvesting route based on the field shape before harvesting to reduce the number of turns and travel distance, particularly reducing crushing of the replanting rice sprouts, thereby increasing the budding rate and, consequently, yield. The crushing rates for three different paths are calculated in advance based on the field shape, and the path with the lowest crushing rate is used for the first harvest of replanting rice, thereby minimizing damage to the replanting sprouts.

[0119] like Figure 20 As shown, the shapes of the working fields include regular working fields and irregular working fields, and the working paths include transverse S-shaped paths, longitudinal S-shaped paths, and spiral paths. The straight path of the transverse S-shaped path is perpendicular to the long side of the field and follows the S-shaped path, as shown in FIG. Figure 20 As shown in (a), the advantage is that the number of times it reaches the edge of the field is large, making it easy to arrange unloading of grain; the disadvantage is that the number of turns is large, and the turning area is large. The straight path of the longitudinal S-shaped path is parallel to the long side of the field and follows the S-shaped path, as shown in FIG. Figure 20 As shown in (b), the advantages are fewer turns and smaller turning area; the disadvantage is that it reaches the edge of the field less frequently, making it slightly more difficult to arrange grain unloading than the previous path. The spiral path starts from the outermost edge of the field and moves in a spiral path towards the center of the field, as shown in the figure below. Figure 20 As shown in (c), this route has low driving difficulty and does not require 180° turns. However, it passes by the edge of the field the least number of times. When the grain tank is full, the vehicle can only unload the grain by reversing to the edge of the field.

[0120] Next, the crushing rate when harvesting crops is calculated based on the three paths: where a is the length of the field, b is the width of the field, c is the width of the track, B1 is the cutting width, and r is the turning radius. The turning path is uniformly set to 1 / 4 arc. The total crushing rate is the straight crushing rate plus the crushing rate at the turning. Therefore, the crushing rate of the harvesting path when operating in a regular field can be calculated as:

[0121] The rolling rate R1 of the transverse S-shaped path is:

[0122]

[0123] The rolling rate R2 of the longitudinal S-shaped path is:

[0124]

[0125] The rolling rate R3 of the spiral path is:

[0126]

[0127] Before harvesting crops, the path planning system 4 calculates the crushing rates of the three paths and selects the path with the lowest crushing rate for harvesting. This is achieved in the following way:

[0128] Measure the length and width a and b of the field and input them into the control unit;

[0129] The control unit calculates the rolling rates under three paths and marks them as R1, R2, and R3;

[0130] The driver can choose the path with the lowest crushing rate to harvest crops.

[0131] The path planning system 4 can calculate the crushing rate of regular fields and standardized farmland using the above formula. However, in irregular farmland, the area of ​​the field (including length and width) needs to be roughly estimated. To adapt to the complex field operation environment, the present invention uses a laser scanning imaging method to measure the length and width of the field to determine the harvest path: first, the field information is imaged by laser scanning, and then the characteristic endpoints of the field information are marked. After constructing a relatively standard field based on the characteristic endpoints, the harvest path planning is carried out. This is achieved by the following method:

[0132] First, laser scanning is used to image the field information. Then, the characteristic endpoints of the field information are marked. After the characteristic endpoints are constructed into relatively standard fields, harvest path planning is carried out. This can be achieved in the following ways:

[0133] like Figure 22 As shown in the figure, the endpoints of the field boundary are scanned, and four feature points z, x, v, and m are taken to construct a rectangular field. Then, the corresponding rolling rates R1, R2, and R3 are calculated according to the three operation paths. Since the rolling rate calculated by this method includes the area where no rolling is performed, the proportional coefficient ξ is introduced to obtain a more accurate rolling rate. The calculation formula is as follows:

[0134]

[0135] The area of ​​irregular fields is calculated using the integral method, and the length and width a and b of standard fields are obtained through laser scanning. The compaction rates of the three operating paths are ξR1, ξR2, and ξR3, respectively. The driver can choose the harvesting path with the smallest compaction rate for harvesting.

[0136] like Figure 24As shown, the axis of symmetry of the header frame 1-1 coincides with the axis of symmetry of the two harvester tracks 9, achieving a symmetrical distribution of the harvesting and crushing ranges of the regenerated rice combine harvester. This facilitates the regenerated rice harvester's integration with the standardized wide-narrow row planting pattern: in straight-line operation, the two tracks 9 run in the center of two adjacent wide rows, meaning their crushing range falls within the wide row range; the one-piece die-cast, high-strength header frame 1-1 covers the narrow rows on either side of the two wide rows, meaning their harvesting range falls within the narrow row range. This arrangement of the header 1 and tracks 9 not only significantly reduces the crushing rate when operating in straight-line operation but also facilitates the implementation of the subsequent standardized navigation model and the execution of the subsequent intelligent path planning algorithm process.

[0137] A control method for the high-performance regenerated rice harvester suitable for the wide-narrow row planting mode comprises the following steps:

[0138] The driver drives the harvester, and the harvesting platform 1 harvests the regenerated rice ears and feeds the ears into the conveying trough 5; the symmetry axis of the harvesting platform 1 coincides with the symmetry axis of the two harvester tracks 9, so that the harvesting range and the crushing range of the regenerated rice combine harvester are symmetrically distributed, so that the regenerated rice harvester matches the standardized planting pattern of wide and narrow rows: in straight operation, the two tracks 9 run in the center of the two adjacent wide rows, that is, the crushing range is within the wide row range, and the harvesting platform 1 covers the narrow rows on both sides of the two wide rows, that is, the harvesting range covers the narrow row range; the additional cutter 2 controls the stubble height to retain the dormant buds under the regenerated rice stalks; the grain conveying device 3 lifts the regenerated rice grains accumulated at the bottom of the threshing and cleaning device 6 after threshing and cleaning and conveys them to the grain box 7.

[0139] The control method of the high-performance regenerated rice harvester suitable for the wide-narrow row planting mode further includes the following steps:

[0140] The path planning system 4 calculates the compaction rates of different operation paths in advance according to the shape of the field to be operated: the length and width a and b of the field are measured and input into the path planning system 4, which calculates the compaction rates under different paths and marks them as R1, R2, and R3, so that the driver can choose the path with the lowest compaction rate for crop harvesting;

[0141] The path planning system 4 calculates the grain tank filling amount and the remaining time of the grain tank volume based on the grain weight signal detected by the piezoelectric sensor 4-2, and controls the early warning device to send an early warning signal when the remaining time of the grain tank volume is less than the preset time, reminding the driver to plan the route according to the remaining time and unload the grain in time to avoid losses caused by grain leakage and additional crushing of the regenerated rice by the machine during the unloading process.

[0142] The present invention is based on the idea of ​​organically integrating agricultural machinery and agronomy. Through standardized and mechanized wide and narrow row planting and harvesting operation modes of regenerated rice, the wide and narrow row planting specifications are matched with the track width and gauge of the harvesting machinery. Combined with path planning and other technologies, the operating performance of the regenerated rice combine harvester is optimized, and the first-season harvest of regenerated rice with low compaction is achieved. This can greatly increase the yield of regenerated rice and reduce the damage caused when harvesting the first-season rice of regenerated rice.

[0143] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0144] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A high-performance regenerated rice harvester suitable for wide-narrow row planting mode, characterized in that: It comprises a cutting platform (1), an additional cutter (2) and a grain conveying device (3); The cutting platform (1) is installed at the front end of the harvester through the conveying trough (5) and is used to harvest the regenerated rice ears and feed the ears into the conveying trough (5); the symmetry axis of the cutting platform (1) coincides with the symmetry axis of the two harvester crawlers (9); the additional cutter (2) is hung on the rear side of the cutting platform (1) and is used to control the stubble height; The grain conveying device (3) is installed between the threshing and cleaning device (6) and the grain box (7), and is used to lift the regenerated rice grains accumulated at the bottom of the threshing and cleaning device (6) after threshing and cleaning and convey them to the grain box (7); Also includes a path planning system (4); The path planning system (4) includes a flat panel (4-1), a plurality of piezoelectric sensors (4-2), a control unit, an early warning device, and a display screen; The flat plate (4-1) is mounted on the bottom of the grain tank (7), and the piezoelectric sensor (4-2) is mounted on the upper surface of the flat plate (4-1). The piezoelectric sensor (4-2) is used to detect the weight of the grain in the grain tank and transmit it to the control unit. The early warning device is used to send out an early warning signal; The display screen is used to display at least the rolling rate of different working paths and the remaining time of the grain tank capacity; The control unit is respectively connected to the piezoelectric sensor (4-2), the early warning device and the display screen; The control unit calculates the crushing rates of different operation paths in advance according to the shape of the field to be operated, and guides the driver to select the path with the lowest crushing rate for harvesting; The control unit calculates the grain tank filling amount and the remaining time of the grain tank volume available based on the grain weight signal detected by the piezoelectric sensor (4-2), and controls the warning device to send a warning signal when the remaining time of the grain tank volume available is less than a preset time, so as to remind the driver to plan a route according to the remaining time and unload the grain in time; The remaining available time of the grain tank capacity is: ； Where, is the acceleration due to gravity; is the grain density; is the grain-straw ratio; B is the feeding amount; is the rated capacity of the grain tank; T is the external stress tensor; is the volume of grain fed per second; is the remaining volume; There are three types of operation paths: horizontal S-shaped path, longitudinal S-shaped path and spiral path; The rolling rate R1 of the transverse S-shaped path is: ； The rolling rate R2 of the longitudinal S-shaped path is: ； The rolling rate R3 of the spiral path is: ； Among them, a is the length of the field, b is the width of the field, c is the width of the track, B1 is the cutting width, and r is the turning radius.

2. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 1 is characterized in that: In straight-line operation, the two crawlers (9) travel in the center of two adjacent wide rows, that is, the rolling range is within the wide row range; the cutting platform (1) covers the narrow rows on both sides of the two wide rows, that is, the harvesting range covers the narrow row range.

3. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 1, characterized in that: The cutting platform (1) comprises a cutting platform frame (1-1), a reel (1-2), a cutting platform augers (1-3) and a cutting platform cutter (1-4); The header frame (1-1) is used to carry the reel (1-2), the header auger (1-3) and the header cutter (1-4); The reel (1-2) is installed above the header frame (1-1) and is used to guide and support the regenerated rice stalks toward the header cutter (1-4), thereby assisting the header cutter (1-4) in cutting the regenerated rice ears. The cutting platform auger (1-3) is installed inside the cutting platform frame (1-1) and is used to transport the cut regenerated rice ears to the middle of the cutting platform frame (1-1) and the joint of the conveying trough (5), and to transport the auxiliary materials to the threshing and cleaning device (6); The header cutter (1-4) is installed at the front end of the header frame (1-1) and is used for cutting the regenerated rice ears.

4. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 3, characterized in that: The header frame (1-1) comprises a header frame main body module (1-1-1) and a header frame side plate (1-1-2); The header frame side plates (1-1-2) are arranged at both ends of a header frame main body module (1-1-1) formed by splicing together a plurality of sections.

5. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 4, characterized in that: Each section of the cutting platform frame main module (1-1-1) and the cutting platform frame side plate (1-1-2) are respectively made of aluminum alloy material through integrated die-casting, and a reinforcing rib structure is die-cast on the front edge, both end edges, rear end face, upper edge of the rear end face and the periphery and center of the cutting platform frame side plate (1-1-2) of each section of the cutting platform frame main module (1-1-1); a straw divider structure is stamped out at the front end of the cutting platform frame side plate (1-1-2).

6. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 3, characterized in that: The cutting platform auger (1-3) comprises a cutting platform auger main body module (1-3-1) and an end face sealing plate (1-3-2); The cutting platform auger main body module (1-3-1) is composed of several sections that are spliced ​​and welded together. Each section of the cutting platform auger main body module (1-3-1) is made of aluminum alloy material through integrated die-casting. End face sealing plates (1-3-2) are provided at the ends of the two outermost sections of the cutting platform auger main body modules (1-3-1) for sealing.

7. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 3, characterized in that: The additional cutter (2) comprises a reciprocating cutter assembly (2-1), a cutter support beam (2-2), a cutter support arm (2-3), a rotary shaft (2-4), a first arc-shaped connecting rod (2-5), a rotary fixed plate (2-6) and a second arc-shaped connecting rod (2-7); The reciprocating cutter assembly (2-1) is mounted on the upper surface of the cutter support beam (2-2); Both ends of the cutter support beam (2-2) are welded to the cutter support arm (2-3) and are used to support the reciprocating cutter assembly (2-1); A section of the cutter support arm (2-3) close to the front end is connected to the cutter support beam (2-2), and a rear end is hinged to the rotary shaft (2-4); Both ends of the rotary shaft (2-4) are hinged to the cutter support arm (2-3) and the first arc-shaped connecting rod (2-5) respectively; The first arc-shaped connecting rod (2-5) is an arc-shaped slat structure, one end of the first arc-shaped connecting rod (2-5) is hinged to the rotary shaft (2-4), and the other end is hinged to the top end of the rotary fixed plate (2-6). The first arc-shaped connecting rod (2-5) is connected to the power element and is used to drive the entire additional cutter (2) to switch between the working state and the storage state, and to adjust the angle of the reciprocating cutter assembly (2-1) relative to the ground; The rotary fixing plate (2-6) is vertically connected to the rear end surface of the header frame (1-1); the top end of the rotary fixing plate (2-6) is hinged to the first arc-shaped connecting rod (2-5), and the bottom end is hinged to the second arc-shaped connecting rod (2-7); The second arc-shaped connecting rod (2-7) is an arc-shaped slat structure, one end of the second arc-shaped connecting rod (2-7) is hinged to the bottom end of the rotary fixed plate (2-6), and the other end is hinged to the front end of the cutter support arm (2-3).

8. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 7, characterized in that: The power element controls the first arc-shaped connecting rod (2-5) to adjust the angle of the reciprocating cutter assembly (2-1) relative to the ground, and switches the additional cutter (2) between a working state and a storage state. When in the working state, the reciprocating cutter assembly (2-1) and the cutter support beam (2-2) are adjusted to be located below the cutting table frame (1-1); when in the storage state, the reciprocating cutter assembly (2-1) and the cutter support beam (2-2) are adjusted to fit the bottom surface of the cutting table frame (1-1).

9. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 1, characterized in that: The grain conveying device (3) comprises a transverse grain conveying auger (3-1), a first grain reversing conveying device (3-2), a first longitudinal grain conveying auger (3-3), a second longitudinal grain conveying auger (3-4) and a second grain reversing conveying device (3-5); The transverse grain conveying auger (3-1) is installed above the threshing and cleaning device bottom plate (6-1) of the threshing and cleaning device (6); The first grain reversing conveying device (3-2) is installed at one end of the transverse grain conveying auger (3-1) close to the grain box (7); The first longitudinal grain conveying auger (3-3) and the second longitudinal grain conveying auger (3-4) are both vertically installed above the first grain reversing conveying device (3-2); The second grain reversing conveying device (3-5) is installed at the top of the first longitudinal grain conveying auger (3-3) and the second longitudinal grain conveying auger (3-4), and is connected to the interior of the grain box (7) through an opening above the grain box (7), and is used to reverse the longitudinally conveyed regenerated rice grain flow and throw it into the interior of the grain box (7).

10. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 9, characterized in that: The first grain reversing conveying device (3-2) comprises a first grain reversing conveying device housing (3-2-1), a first reversing conveying impeller (3-2-2), a second reversing conveying impeller (3-2-3) and a grain flow guide plate (3-2-4); The shell (3-2-1) of the first grain reversing conveying device has a centrifugal fan volute structure, the grain inlet is located on the side of the shell, and the end of the transverse grain conveying auger (3-1) close to the grain box (7) extends into the grain inlet; the grain outlet is located on the top surface of the shell and is connected to the bottom ends of the first longitudinal grain conveying auger (3-3) and the second longitudinal grain conveying auger (3-4); The first reversing conveying impeller (3-2-2) is installed inside the first grain reversing conveying device housing (3-2-1) and is connected to the end of the horizontal grain conveying auger (3-1) shaft close to the grain box (7); The second reversing conveying impeller (3-2-3) is installed inside the first grain reversing conveying device housing (3-2-1) and on the side of the first reversing conveying impeller (3-2-2), and the rotation axis of the second reversing conveying impeller (3-2-3) is parallel to the rotation axis of the first reversing conveying impeller (3-2-2); The grain flow guide plate (3-2-4) has an outer shape of a centrifugal fan volute tongue structure, with a smooth transition from a narrow end to a wide end. The grain flow guide plate (3-2-4) is installed inside the first grain reversing conveying device housing (3-2-1), with the narrow end located between the first reversing conveying impeller (3-2-2) and the second reversing conveying impeller (3-2-3), and the wide end flush with the grain outlet on the top surface of the first grain reversing conveying device housing (3-2-1). The grain flow guide plate (3-2-4) divides the first grain reversing conveying device housing (3-2-1) into front and rear grain flow channels, and separates the grain outlet into first and second parallel grain outlets. The first grain outlet and the second grain outlet are respectively connected to the bottom ends of the first longitudinal grain conveying augers (3-3) and the second longitudinal grain conveying augers (3-4).

11. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 9, characterized in that: The second grain reversing conveying device (3-5) comprises a second grain reversing conveying device housing (3-5-1) and a reversing sprinkling plate (3-5-2); The bottom surface of the second grain reversing conveying device housing (3-5-1) has two circular grain inlets, which are directly connected to the top of the first longitudinal grain conveying augers (3-3) and the second longitudinal grain conveying augers (3-4). The side of the second grain reversing conveying device housing (3-5-1) close to the grain box (7) is an open grain outlet connected to the upper opening of the grain box (7); The reversing scattering plate (3-5-2) is installed inside the second grain reversing conveying device housing (3-5-1), and comprises two sub-scattering plates, which are respectively connected to the top ends of the shafts of the first longitudinal grain conveying auger (3-3) and the second longitudinal grain conveying auger (3-4), and rotate together with the first longitudinal grain conveying auger (3-3) and the second longitudinal grain conveying auger (3-4).

12. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 1, characterized in that: The early warning device includes a buzzer and an LED rotating warning light. When the remaining available time of the grain tank volume is lower than a first preset value, the buzzer will emit an intermittent alarm sound and the LED light will flash intermittently; when the remaining available time of the grain tank volume is lower than a second preset value, the buzzer will emit a continuous alarm sound and the LED light will flash continuously. The second preset value is less than the first preset value.

13. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 1, characterized in that: The shapes of the fields to be operated include regular-shaped fields and irregular-shaped fields, and the operation paths include three types: a horizontal S-shaped path, a vertical S-shaped path, and a spiral path; The straight path of the horizontal S-shaped path is perpendicular to the long side of the field and follows the S-shaped path; the longitudinal S-shaped path The straight path is parallel to the long side of the field and follows an S-shaped path; the spiral path is carried out from the outermost edge of the field to the center of the field in a spiral route.

14. The high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 13, characterized in that: When working on irregular fields, we first use laser scanning to image the field information, then mark the characteristic endpoints of the field information. After constructing relatively standard fields based on the characteristic endpoints, we then plan the harvest path. This is achieved through the following methods: Scan the endpoints of the field boundary, take four feature points, construct a rectangular field, and then calculate the three operation paths respectively. The corresponding rolling rates are R1, R2, and R3. Since the rolling rate calculated by this method includes the area where no rolling is performed, a proportional coefficient is introduced. , the calculation formula is as follows: ， The area of ​​irregular fields was calculated using the integral method, and the length and width a and b of standard fields were obtained by laser scanning. The rolling rates of the three operation paths were 、 、 .

15. A control method for a high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to any one of claims 1 to 14, characterized in that: The following steps are involved: The driver drives the harvester, and the header (1) harvests the regenerated rice ears and feeds the ears into the conveying trough (5); the symmetry axis of the header (1) coincides with the symmetry axis of the two harvester crawlers (9), so that the harvesting range and the rolling range of the regenerated rice harvester are symmetrically distributed, so that the regenerated rice harvester matches the standardized planting pattern of wide and narrow rows: in straight-line operation, the two crawlers (9) run in the center of two adjacent wide rows, that is, the rolling range is within the wide row range, and the header (1) covers the narrow rows on both sides of the two wide rows, that is, the harvesting range covers the narrow row range; the additional cutter (2) controls the stubble height to retain the dormant buds under the regenerated rice stalks; the grain conveying device (3) lifts the regenerated rice grains accumulated at the bottom of the threshing and cleaning device (6) after threshing and cleaning and conveys them to the grain box (7).

16. The control method of the high-performance regenerated rice harvester suitable for wide-narrow row planting mode according to claim 15, characterized in that: The following steps are also included: The path planning system (4) calculates the rolling rate of different operation paths in advance according to the shape of the field to be operated: The length and width a and b of the field are input into the path planning system (4), and the path planning system (4) calculates the crushing rate under different paths and marks them as R1, R2, and R3, so that the driver can choose the path with the lowest crushing rate to harvest crops; The path planning system (4) calculates the grain tank filling amount and the remaining time available in the grain tank volume based on the grain weight signal detected by the piezoelectric sensor (4-2), and controls the warning device to send a warning signal when the remaining time available in the grain tank volume is less than a preset time, reminding the driver to plan a route based on the remaining time and unload the grain in time.

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