Agricultural machine and agronomy combined production mode for increasing yield of ratoon rice, ratoon rice combine harvester and inter-row weeding machine

Abstract

The application provides a kind of high-yield production mode of regenerative rice, regenerative rice combine harvester, inter-row weeding machine, green manure; seeding and seedling raising; during the growth of the first season / regenerative season of the next season rice, physical weeding is carried out on the interval area between wide-row planting and wide row and narrow row, pest control is carried out through high-clearance plant protection machine; regenerative rice combine harvester with wide header and narrow track is used for harvesting the first season / regenerative season of rice; the working wheel distance of the wide-narrow row transplanter, the working wheel distance of the high-clearance plant protection machine, the working wheel distance of the inter-row weeding machine and the track gauge of the regenerative rice combine harvester with wide header and narrow track are the same. The application can reduce the rolling rate of regenerative rice during the period from transplanting to harvesting, and improve the germination rate of dormant buds of regenerative rice.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of regenerative rice agricultural machinery and agronomy or the field of harvesting machine equipment or the field of regenerative rice weeding equipment or the field of intelligent agricultural machinery, in particular to a regenerative rice yield-increasing agricultural machinery and agronomy combined production mode, a regenerative rice combine harvester and an inter-row cultivation weeder. BACKGROUND

[0002] Regenerative rice is a rice planting mode that is planted once and harvested twice, and its harvesting period is divided into two seasons. When the first season of rice is harvested, dormant buds on the stems need to be preserved. Regenerative rice has high yield, high quality rice, low planting cost and good economic benefit. Promoting the planting of regenerative rice is a favorable approach to improving China's grain yield per unit.

[0003] The complete production process of regenerative rice includes seed selection, seedling raising, transplanting, management and harvesting. The traditional rice production mode is not suitable for regenerative rice, and its problems include, but are not limited to, the fact that when the first season of rice is harvested, the track of the harvester will cause damage to the dormant buds on the stubble of regenerative rice. Since the row spacing of rice planting is generally set at 200-300 mm, and the width of the track of the traditional combine harvester is often about 550 mm, this means that at least 2 to 3 rows of rice will be covered and compacted each time, with a compaction ratio of up to 50%. This high-intensity compaction seriously damages the dormant buds on the stubble of regenerative rice, thereby inhibiting subsequent germination and directly leading to a reduction in the yield of regenerative rice.

[0004] At the present stage, it is difficult to break through the yield bottleneck of regenerative rice through only agronomic means. Combining agronomy and agricultural machinery to improve the yield of regenerative rice is the future direction of development. At present, there are few research results on the regenerative rice agricultural machinery and agronomy combined production mode at home and abroad. The existing technology proposes a new method of regenerative rice cultivation aimed at reducing mechanical compaction, the core of which is to expand the row spacing to 60 cm, and correspondingly reduce the planting density by about 33.3%. This strategy can reduce compaction, but at the expense of greatly sacrificing the total yield of regenerative rice in two seasons, so it is difficult to achieve the purpose of improving the yield of regenerative rice.

[0005] The cutterbar of the traditional combine harvester is a whole, and its cutting height is uniformly adjusted, so it cannot simultaneously satisfy the optimal cutting height of the "left track left side regenerative rice plant", "regenerative rice plant between the two tracks" and "right track right side regenerative rice plant", thereby causing the occurrence of the phenomenon of damaging the dormant buds, which directly reduces the yield of the second season of regenerative rice.

[0006] The planting and management of the previous regenerative rice in China generally adopts the mode of common rice, which results in that the yield of the regenerative rice cannot reach the ideal state, and the common planting and harvesting mode is sowing, pesticide weeding, fertilization, head season harvesting, and regenerative season harvesting. In this mode, the weeding in the management process of the regenerative rice is particularly important, and the manual weeding is time-consuming and laborious. The current weeding device cannot meet the weeding requirement of the planting mode of the regenerative rice, and it is necessary to avoid the crushing and damage of the regenerative rice stubble, and there is no equipment that can simultaneously weed in the ridge and row. SUMMARY

[0007] In view of the problems in the prior art, the present application provides a farm machinery and agronomy integrated production mode for improving the yield per unit of regenerative rice, which alternately plants the regenerative rice in wide and narrow rows, and combines the "railway" mode of the planting machine, the weeding machine, the plant protection machine and the harvesting machine. The mode not only breaks through the full-chain mechanized operation from the transplanting of the regenerative rice, the field management to the harvesting, but also successfully avoids the mechanical crushing problem existing in the harvesting of the head season rice. Under the premise of ensuring the yield of the head season rice, the yield of the regenerative season rice is significantly improved, which opens up a new path for improving the yield per unit of rice and maintaining the national food security, and has very high practical application value and popularization prospect. The farm machinery and agronomy integrated production mode of the present application combines the farm machinery and agronomy of the green manure returning, the sowing and seedling, the seedling transplanting, the field management of rice, the harvesting of the head season rice and the green manure returning, and greatly improves the yield of the regenerative season rice under the premise of ensuring the yield of the head season rice, so as to improve the yield per unit of the regenerative rice and guarantee the food security.

[0008] The present application realizes the above technical object through the following technical means.

[0009] A farm machinery and agronomy integrated production mode for improving the yield per unit of regenerative rice, comprising the following steps:

[0010] Green manure returning: after the harvesting of the previous regenerative rice is completed, the front rotary tillage device is used to preliminarily till the regenerative rice planting land for removing the roots of the regenerative rice; the rear rotary tillage device is used to secondarily till the regenerative rice planting land to level the land; the sowing device is used to sow the organic green manure; after the organic green manure is mature, the cutting device is used to cut the plants, and the conveying device conveys the plants to the pulverizing device for pulverization; the front rotary tillage device is used to primarily till the regenerative rice planting land, and the pulverizing device pulverizes the plants and throws them to the field, and the pulverized debris is treated by spraying hot water so as to be thrown to the field after contacting the hot water; the rear rotary tillage device mixes the pulverized and thrown organic green manure with the soil;

[0011] Sowing and seedling;

[0012] The wide and narrow row planting machine is used to alternately plant the next season of regenerative rice in wide and narrow rows;

[0013] During the growth period of the first season / regeneration season rice, the physical weeding is performed on the interval area between the wide rows and the wide and narrow rows by the inter-row cultivator, and the pest control is performed by the high-clearance plant protection machine, so as to ensure the yield of the regeneration rice;

[0014] The wide-cutting-table narrow-track regeneration rice combine harvester is used to harvest the first season / regeneration season rice, and the track of the wide-cutting-table narrow-track regeneration rice combine harvester is located in the ridge interval, so that the first season straight-row non-roller compaction harvesting of the regeneration rice is realized, thereby avoiding the damage of the dormant buds and ensuring the germination of the dormant buds of the regeneration season rice;

[0015] The operation wheel distance of the wide-narrow-row transplanter, the operation wheel distance of the high-clearance plant protection machine, the operation wheel distance of the inter-row cultivator and the track distance of the track of the wide-cutting-table narrow-track regeneration rice combine harvester are the same, which is used to reduce the roller compaction rate of the regeneration rice and improve the germination rate of the dormant buds of the regeneration rice during the period from transplanting to harvesting.

[0016] Further, the seeding and seedling raising specifically comprises the following steps:

[0017] The whole-plate air-assisted seed metering device is used for hole-by-hole seeding in the field, the seeding accuracy is 2-4 seeds per hole, the empty hole rate is less than or equal to 1%, and the seed damage rate is less than or equal to 0.5%.

[0018] The seedling tray after seeding is moved to a darkening room, the temperature in the darkening room is kept at 32-35°C, and the humidity in the darkening room is kept at 45%-60%.

[0019] When the seedling length reaches 0.8-1 cm, the seedlings are transported to the seedling field, and when the seedling age is 30-35 days and the seedlings reach 3.1-3.5 leaves per plant, the seedlings are transplanted.

[0020] Further, the operation wheel distance of the wide-narrow-row transplanter, the operation wheel distance of the high-clearance plant protection machine and the operation wheel distance of the inter-row cultivator d1=x1+y, and the track distance of the track of the wide-cutting-table narrow-track regeneration rice combine harvester d1'=x1+y; the cutting width of the wide-cutting-table narrow-track regeneration rice combine harvester d2=x1+2y+x2; wherein x1 is the narrow-row planting ridge width, x2 is the wide-row planting ridge width, and y is the ridge interval distance.

[0021] Further, when the wide-narrow-row transplanter performs wide-narrow-row alternate transplanting, the rice plant row spacing in the narrow row is 150-250 mm, the rice plant row spacing in the wide row is 200-400 mm, and the ridge interval distance between the wide row and the narrow row is 450-600 mm; the rice plant spacing is 100-180 mm; the operation wheel distance of the wide-narrow-row transplanter is 1050-1800 mm, and the cultivation density of the wide-narrow-row alternate transplanting is 1.0-2.7 ten thousand holes per mu.

[0022] Further, the working wheel distance of the high-clearance plant protection machine is 1050mm-1800mm, the ground clearance is 700mm-1200mm, and it is used for plant protection operation on 0-1200mm rice plants.

[0023] Further, the single-row operation width of the inter-row cultivation weeder is 300mm-600mm, the operation row number is 2-5 rows, the operation width of the inter-row cultivation weeder is 1500mm-2400mm; the working wheel distance of the inter-row cultivation weeder is 1050mm-1800mm, and the cultivation depth of the inter-row cultivation weeder is ≥31mm.

[0024] Further, the track width of the wide-cut-head narrow-track regenerative rice combine harvester is 280mm-350mm, and the track gauge is 1050mm-1800mm; the operation cutting width of the wide-cut-head narrow-track regenerative rice combine harvester is 1950mm-3150mm.

[0025] Further, the wide-cut-head narrow-track regenerative rice combine harvester uses the field block checkerboard filling operation path planning method to harvest the first season / regenerative season rice.

[0026] Further, the field block checkerboard filling operation path planning method comprises the following steps:

[0027] Obtaining basic data, the basic data is determined according to the device using the path planning method, and the basic data includes the device operation width, the rated parameters of the device storage capacity, the aerial image of the field block, the size data of the field block, and the crop parameters;

[0028] According to the aerial image of the field block and the device operation width, the field block is divided into a checkerboard, and the smallest unit cell in the field block checkerboard is a basic cell; the basic cells in the outermost circle of the field block checkerboard are recorded as a functional area, and the functional area is used for the device to enter or leave the field block checkerboard, and the device only unloads or replenishes in the functional area, and the device only changes the advancing direction in the functional area;

[0029] The position of the device entering the initial operation of the field block is determined from the functional area;

[0030] The number of crops in the basic cell is determined; the current state of the device is determined according to the device storage capacity, and the current state of the device includes an unworkable state and a workable state;

[0031] The area of the basic grid which is not traveled by the device is recorded as an unworked area, the unworked area traveled by the device in a workable state is recorded as a worked area, and the unworked area traveled by the device in an unworkable state is still recorded as an unworked area; the worked area traveled by the device in any state is recorded as a damaged area, and the damaged area traveled by the device in any state is still recorded as a damaged area; a plurality of work routes are generated according to the starting work position of the device and the current state of the device;

[0032] The work route with the largest number of basic grids in the worked area and the smallest number of basic grids in the damaged area is selected as the best work route.

[0033] Further, the field is divided into a chessboard grid according to the aerial image of the field and the working width of the device, and a field chessboard is constructed, specifically:

[0034] The working width of the device is used as the width of the basic grid, and the distance from the front end to the tail end of the device is used as the length of the basic grid.

[0035] The aerial image of the field is identified by an image recognition method to obtain the boundary of the field.

[0036] The field contour is simplified and fitted into a polygon with all internal angles being right angles in combination with the field boundary and the field size data, and a field chessboard is constructed.

[0037] The basic grid is used to fill the field chessboard along the extension direction of the crop planting row in the field.

[0038] Further, a plurality of harvesting work routes are generated according to the starting work position of the device and the current state of the device, specifically:

[0039] If the device is in the functional area, the device can move a unit step length in any one of the front, rear, left, and right directions of the functional area; if the device is in the basic grid outside the functional area, the device can move a unit step length forward or backward along the extension direction of the crop planting row;

[0040] After all unworked areas are converted into worked areas and damaged areas, any basic grid on which the device completes work and returns to the functional area is taken as an end point, and a plurality of harvesting work routes from the position where the device enters the starting work of the field to the end point are generated.

[0041] An inter-row cultivator used in a production mode of combining agricultural machinery and agronomy to improve the yield of rices grown from the same seed in the same season, comprising a ridge-to-ridge weeding device and an inter-row weeding device, the ridge-to-ridge weeding device being mounted on a chassis assembly; the inter-row weeding device being located behind the side of the ridge-to-ridge weeding device;

[0042] The inter-ridge weeding device comprises a plurality of inter-ridge cutting units for inter-ridge cutting weeding and an inter-ridge adjusting device for changing the cutting height of the inter-ridge cutting device; the inter-row weeding device comprises a sliding mechanism, an inter-row cutting unit and an inter-row adjusting device, the inter-row cutting unit is movably installed on the chassis assembly through the sliding mechanism, the inter-row cutting unit is used for inter-row cutting weeding, and the inter-row adjusting device is used for changing the distance between adjacent inter-row cutting units.

[0043] Further, the inter-ridge weeding device comprises an inter-ridge cutting unit, an inter-ridge connecting shaft and an inter-ridge connecting shaft fixing plate; the inter-ridge connecting shaft is uniformly distributed in the axial direction of the inter-ridge cutting unit, and the inter-ridge connecting shaft is connected with the chassis assembly through the inter-ridge connecting shaft fixing plate; the inter-ridge cutting unit comprises an inter-ridge cutting blade, an inter-ridge blade driving mechanism, an inter-ridge connecting rod and an inter-ridge lifting hydraulic cylinder; one end of the inter-ridge connecting rod is connected with the inter-ridge blade driving mechanism, the other end of the inter-ridge connecting rod is hinged with the inter-ridge connecting shaft, the inter-ridge cutting blade is in transmission connection with the inter-ridge blade driving mechanism, one end of the inter-ridge lifting hydraulic cylinder is connected with the inter-ridge connecting rod for changing the ground clearance of the inter-ridge cutting blade, and the other end of the inter-ridge lifting hydraulic cylinder is connected with the chassis assembly; the length of the inter-ridge weeding device is greater than or equal to the inter-ridge distance of the regenerated rice planting.

[0044] Further, the inter-row weeding device comprises an inter-row weeding unit, an inter-row transverse distance adjusting hydraulic cylinder, a hydraulic cylinder sliding connection support, a sliding block with a sliding groove, a fixed sliding groove block, a sliding groove block support frame, a sliding hydraulic cylinder and a support frame, the fixed sliding groove block is installed on the fixed end through the sliding groove block support frame, the sliding block with a sliding groove is slidably installed in the fixed sliding groove block, the sliding hydraulic cylinder is installed on the fixed sliding groove block through the support frame, the stretching rod of the sliding hydraulic cylinder is connected with the fixed sliding groove block for moving the sliding block with a sliding groove; a plurality of hydraulic cylinder sliding connection supports are uniformly distributed in the sliding groove of the sliding block with a sliding groove, each hydraulic cylinder sliding connection support is connected with the inter-row transverse distance adjusting hydraulic cylinder, and one end of the stretching rod of the inter-row transverse distance adjusting hydraulic cylinder is connected with the adjacent inter-row transverse distance adjusting hydraulic cylinder; the inter-row weeding unit is installed on the stretching rod of each inter-row transverse distance adjusting hydraulic cylinder for inter-row weeding.

[0045] Further, the inter-row weeding unit comprises an inter-row cutting blade, an inter-row driving mechanism and an inter-row lifting hydraulic cylinder, one end of the inter-row lifting hydraulic cylinder is connected with the stretching rod of the inter-row transverse distance adjusting hydraulic cylinder, the stretching rod of the inter-row lifting hydraulic cylinder is connected with the inter-row driving mechanism, and the inter-row driving mechanism is connected with the inter-row cutting blade.

[0046] Further, a liftable support rod is installed on the chassis assembly, one end of the liftable support rod is connected with the inter-ridge weeding device for lifting the inter-ridge weeding device.

[0047] A control method of an inter-row inter-tillage weeder, comprising the following steps:

[0048] The length of the inter-ridge weeding device is M, the inter-ridge distance M1 of the regenerated rice planting is determined, and M≥M1; the inter-ridge cutting unit on one side of the inter-ridge weeding device is aligned with the weeds on one side of the inter-ridge;

[0049] The sequence number T of the inter-ridge cutting unit that needs to be adjusted in height is determined according to the distance B of the inter-ridge cutting unit in the inter-ridge weeding device, the cutting height of the Tth inter-ridge cutting unit to the Yth inter-ridge cutting unit is respectively raised by the inter-ridge adjusting device, so that the Tth inter-ridge cutting unit to the Yth inter-ridge cutting unit do not work; Y is the total number of the inter-ridge cutting units;

[0050] The inter-row weeding device sliding mechanism moves M1 laterally, so that one side of the inter-row weeding device is aligned with the intersection of the inter-row and the inter-ridge; the inter-row adjusting device adjusts the distance h2 between adjacent inter-row cutting units, which is determined by the total width of the row distance and the number of rows of the regenerated rice planting land.

[0051] A regenerated rice combine harvester used in a farming and agronomy integrated production mode for improving the yield of regenerated rice, comprising a segmented floating type profiling header, the header main body of the profiling header is divided into two outer belt regions and a region between the two belts according to the two walking belts on the walking chassis; the region between the two belts of the header main body is hinged at the front end to a middle segment floating type profiling cutter, and the outer belt regions of the header main body are respectively hinged at the front end to a left segment floating type profiling cutter and a right segment floating type profiling cutter;

[0052] The middle axis of the left side belt on the walking chassis coincides with the intersection line of the middle segment floating type profiling cutter and the left segment floating type profiling cutter; the middle axis of the right side belt on the walking chassis coincides with the intersection line of the middle segment floating type profiling cutter and the right segment floating type profiling cutter.

[0053] The left-middle segment cutter transmission mechanism is used to transmit power to the left segment floating type profiling cutter and the middle segment floating type profiling cutter; the right segment cutter transmission mechanism is used to transmit power to the right segment floating type profiling cutter.

[0054] Further, the left segment floating type profiling cutter, the right segment floating type profiling cutter and the middle segment floating type profiling cutter each comprise a frame, a reciprocating cutter, an electro-hydraulic profiling device, an adjusting hydraulic cylinder and an angle sensor; one end of the frame is hinged to the header main body, the other end of the frame is provided with the reciprocating cutter, the hinge point of the frame and the header main body is provided with the electro-hydraulic profiling device for obtaining the distance from the hinge point to the ground; the adjusting hydraulic cylinder is arranged between the header main body and the other end of the frame for adjusting the angle of the reciprocating cutter; the angle sensor is used to measure the included angle between the reciprocating cutter and the horizontal plane.

[0055] Further, the frame comprises a support beam, a bottom plate, a hinged pipe shaft, a longitudinal beam and a hydraulic cylinder connecting seat; the hinged pipe shaft is connected with the support beam through the longitudinal beam, the upper side between the hinged pipe shaft and the support beam is paved with the bottom plate, the hydraulic cylinder connecting seat is installed on the longitudinal beam; the reciprocating cutter is installed on the support beam, one end of the electro-hydraulic profiling device is installed on the hinged pipe shaft, one end of the adjusting hydraulic cylinder is connected with the hydraulic cylinder connecting seat; the hinged pipe shaft is hinged with the cutter main body.

[0056] Further, the middle section floating type profiling cutter further comprises a middle section dividing plate and a middle section cutter driving plate, the two sides of the reciprocating cutter of the middle section floating type profiling cutter are provided with the dividing plate; the middle section cutter driving plate is located below the frame, the middle section cutter driving plate is connected with the reciprocating cutter of the middle section floating type profiling cutter, and the middle section cutter driving plate is connected with the left-middle section cutter transmission mechanism.

[0057] Further, the cutter main body comprises a cutter frame, a cutter auger and a reel; the front end of the cutter frame is provided with a plurality of hinged structures for being hinged with the frame of the left section floating type profiling cutter, the frame of the right section floating type profiling cutter and the frame of the middle section floating type profiling cutter respectively; the cutter frame is respectively provided with the cutter auger and the reel; the two sides of the cutter frame are respectively provided with a sliding groove for placing the sliding components in the left-middle section cutter transmission mechanism and the right section cutter transmission mechanism.

[0058] Further, the left-middle section cutter transmission mechanism comprises a first input pulley, a first main drive shaft, a left section swing shaft, a left section swing shaft bearing seat, a left section swing arm, a left section power connecting plate, a middle section swing shaft, a middle section swing arm and a middle section power connecting plate; the first input pulley is used for driving the first main drive shaft, the two ends of the first main drive shaft are respectively connected with one end of the left section swing shaft and one end of the middle section swing shaft through a swing ring assembly, the other end of the left section swing shaft is installed with the left section swing shaft bearing seat, the left section swing shaft bearing seat is in sliding fit with the sliding groove of the cutter frame, and the left section swing shaft bearing seat moves in the sliding groove through the extension and contraction of the adjusting hydraulic cylinder of the left section floating type profiling cutter; the other end of the left section swing shaft is connected with the left section power connecting plate through the left section swing arm, and the other end of the left section power connecting plate is connected with the reciprocating cutter of the left section floating type profiling cutter; the other end of the middle section swing shaft is connected with the middle section power connecting plate through the middle section swing arm, and the other end of the middle section power connecting plate is connected with the reciprocating cutter of the middle section floating type profiling cutter.

[0059] Further, the right section cutter transmission mechanism comprises a second input pulley, a second main drive shaft, a right section swing shaft, a right section swing shaft bearing seat, a right section swing arm and a right section power connecting plate; the second input pulley is used to drive the second main drive shaft, one end of the second main drive shaft is connected with one end of the right section swing shaft through a swing ring assembly, the other end of the right section swing shaft is installed with the right section swing shaft bearing seat, the right section swing shaft bearing seat is in sliding fit with a sliding groove of the header frame, and the right section swing shaft bearing seat is moved in the sliding groove through the extension and retraction of the adjusting hydraulic cylinder of the right section floating profile cutter; the other end of the right section swing shaft is connected with the right section power connecting plate through the right section swing arm, and the other end of the right section power connecting plate is connected with a reciprocating cutter of the right section floating profile cutter.

[0060] Further, a control system is further included, which determines the ground clearance of two track outer side areas and an area between the two tracks according to angle sensors and electro-hydraulic profiling devices on the left section floating profile cutter, the right section floating profile cutter and the middle section floating profile cutter; when one of the ground clearances exceeds a set value, the control system adjusts the adjusting hydraulic cylinder of the floating profile cutter in the corresponding area of the ground clearance.

[0061] Further, the control system comprises a calculation unit and a display unit; the calculation unit and the display unit are both installed on a harvester driver's platform, the calculation unit generates an optimal operation route according to basic data; the display unit is connected with the calculation unit and is used to visualize the optimal operation route and feed back to the client.

[0062] The present application has the following advantages:

[0063] 1. The agricultural machinery and agronomy fusion production mode for increasing the yield of ratoon rice disclosed by the present application can reduce the compaction rate of ratoon rice and improve the germination rate of ratoon rice during the period from rice seedling transplanting to harvesting, because the working wheel distance of the wide-narrow row rice seedling transplanter, the working wheel distance of the high-clearance plant protection machine, the working wheel distance of the inter-row cultivator and the track gauge of the wide header narrow track ratoon rice combine harvester are the same.

[0064] 2. The agricultural machinery and agronomy integration production mode for improving the yield of ratooning rice described in this invention addresses the problems of low sowing precision, low efficiency, and high seed damage rate in the ratooning rice planting process. It proposes a whole-disc air-suction seed metering device for precision hole sowing, achieving a sowing precision of 2 seeds / hole (2±1 seeds / hole ≥90%), 3 seeds / hole (3±1 seeds / hole ≥85%), and 4 seeds / hole (4±1 seeds / hole ≥85%), with a void hole rate ≤1% and a seed damage rate ≤0.5%. The whole-disc air-suction seed metering device features low seed damage rate and high precision, while significantly improving sowing efficiency while ensuring sowing precision. Precision hole sowing technology can increase the rice seedling age and promote rice tillering, thereby increasing rice yield.

[0065] 3. The agricultural machinery and agronomy integration production model for improving the yield of ratooning rice described in this invention addresses the issue that the row spacing during the transplanting process of ratooning rice is fixed, and that mechanized field management and harvesting of ratooning rice can easily damage rice seedlings and stubble. It proposes a wide-narrow row spacing planting method suitable for the agronomical requirements of ratooning rice cultivation. In narrow rows, the row spacing of rice plants is 150mm–250mm, and in wide rows, the row spacing is 200mm–400mm. The distance between wide and narrow rows is 450mm–600mm, ensuring that the distance between wide and narrow rows allows for the passage of plant protection machinery, weeding machinery, and harvesting machinery. Simultaneously, the wide-narrow row spacing ensures a basic rice seedling density per acre, achieving mechanization of ratooning rice planting, management, and harvesting while maintaining the overall yield.

[0066] 4. The agricultural machinery and agronomy integrated production model for improving the yield of ratooning rice described in this invention addresses the challenges of field management for first-season and ratooning rice. It proposes a high-clearance plant protection system for both types of rice. By analyzing the occurrence patterns and real-time status of rice pests and diseases, a high-clearance plant protection machine is used to achieve mechanized plant protection operations. With a wheel track of 1050mm-1800mm and a ground clearance of 700-1200mm, it can protect rice plants from 0 to 1200mm in height, thus controlling pests and diseases in both first-season and ratooning rice.

[0067] 5. The agricultural machinery and agronomy integrated production mode for improving the yield of ratooning rice described in this invention addresses the problem of difficult weeding in the fields of first-season rice and ratooning rice. It proposes a method for inter-row cultivation and weeding for ratooning rice with wide and narrow rows, which enables inter-row cultivation and weeding in the inter-row areas and the intervals between wide and narrow rows of ratooning rice. The single-row working width of the inter-row cultivation and weeding machine is 300mm to 600mm, the number of working rows is 2 to 5, the overall machine working width is 1500mm to 2400mm, the working wheel distance is 1050mm to 1800mm, and the cultivation depth is ≥31mm.

[0068] 6. The agricultural machinery and agronomic fusion production mode for increasing the yield of ratoon rice according to the application, in view of the problem of low ratoon rice dormancy bud germination rate caused by high ratoon rice head season harvesting compaction rate, proposes a ratoon rice special combined harvester with wide header and narrow track for head season harvesting without compaction, the narrow track avoids compaction between wide and narrow rows, and the wide header improves the rice cutting width, the operation cutting width is 1950mm-3150mm, the track width is 280mm-350mm, and the track gauge is 1050mm-1800mm, ensuring that there is no compaction during the head season rice harvesting process, ensuring ratoon rice dormancy bud germination, improving ratoon rice yield in the ratoon season, and ultimately improving ratoon rice yield per unit, ensuring food security.

[0069] 7. The agricultural machinery and agronomic fusion production mode for increasing the yield of ratoon rice according to the application, which uses an organic green manure seeding, harvesting, and pulverizing and returning to field device suitable for ratoon rice planting to complete the removal and soil turning of the second season ratoon rice roots, and then seeds the organic green manure, and when the organic green manure is basically mature next year, completes the cutting, conveying, pulverizing, and throwing, and mixing and soil turning of the organic green manure, saving the complexity of traditional manual and time and machinery for planting organic green manure, and continuously completes the processes of seeding, harvesting, pulverizing, and returning to field of organic green manure, especially the machine integrates organic green manure pulverizing, throwing, hot water treatment, and soil mixing, which can accelerate the rotting and fermentation of green manure to the greatest extent, on the one hand saving the fermentation time of organic green manure, and on the other hand saving the waiting time for ratoon rice planting.

[0070] 8. The inter-row cultivation weeder according to the application, which combines ridge inter-row weeding devices and inter-row weeding devices to achieve simultaneous removal of weeds in the ridge and inter-row, and further designs a lifting and sliding device that can adjust the weeding range according to the ridge and row spacing width to achieve a variable spacing weeding function for different row spacing ratoon rice planting, which on the one hand improves the applicability of the machine, and on the other hand avoids damage to ratoon rice stubble, which is beneficial to improving the cultivation quality of ratoon rice during planting and thereby improving yield.

[0071] 9. The field block chessboard filling operation path planning method according to the application, in view of the problem of temporary stoppage of work and movement to the field edge for replanting / unloading caused by the completion of seedling transplanting and the fullness of the grain box of the ratoon rice transplanter and harvester during operation, and thereby causing additional compaction, the system can intelligently plan the best replanting / unloading route according to the field shape and size data and the operation parameters of the transplanter / harvester, and visually process the route and feed it back to the operator to guide the operator to operate according to the best route. The system has strong universality and high reliability, effectively avoids empty travel and repeated travel, greatly reduces the additional compaction of ratoon rice caused by the transplanter and harvester, and improves the yield of ratoon rice in the head season and the ratoon season.

[0072] 10. The combined harvester for the ratoon rice according to the present application, wherein the sectional floating profiled header divides the cutting area into two regions outside the walking tracks, two regions between the tracks according to the walking tracks, and cuts each region by using the left, middle and right sectional floating profiled cutters respectively, so that the wide-narrow row planting mode can be matched in height, and the cutting height can be adjusted individually to meet the different optimal cutting heights of the ratoon rice plants in the three regions of the left side of the left track, between the tracks and the right side of the right track, so as to avoid damaging the dormant buds and effectively improve the yield of the ratoon rice. BRIEF DESCRIPTION OF DRAWINGS

[0073] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. The drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0074] Figure 1 The flowchart of the agricultural machinery and agronomic fusion production mode for improving the yield of ratoon rice according to the present application.

[0075] Figure 2 The wide-narrow row planting schematic diagram of the ratoon rice according to the present application.

[0076] Figure 3 The wide-narrow row planting row distance and plant distance schematic diagram of the ratoon rice according to the present application.

[0077] Figure 4 The wide-narrow row planting schematic diagram of the ratoon rice provided by the embodiment of the present application.

[0078] Figure 5 The wide-narrow row planting field real object diagram in the embodiment.

[0079] Figure 6 The low-loss harvesting field real object diagram of the ratoon rice in the embodiment.

[0080] Figure 7 The flowchart of the field block chessboard filling operation path planning method according to the present application.

[0081] Figure 8 The field block overhead view schematic diagram of one embodiment of the present application.

[0082] Figure 9 The field block overhead view schematic diagram of one embodiment of the present application, which has been processed by the calculation unit and recognized the boundary range.

[0083] Figure 10The construction principle schematic diagram of the field chessboard of an embodiment of the present application.

[0084] Figure 11 The filling division process schematic diagram of the field chessboard of an embodiment of the present application;

[0085] Figure 12 The schematic diagram of the field chessboard of an embodiment of the present application after the chessboard grid filling division is completed;

[0086] Figure 13 The functional area schematic diagram of the field chessboard of an embodiment of the present application;

[0087] Figure 14 The schematic diagram of the working starting point position of the harvester of an embodiment of the present application;

[0088] Figure 15 The schematic diagram of the first time grain unloading position of the harvester of an embodiment of the present application, i.e. the working path before the grain unloading;

[0089] Figure 16 The schematic diagram of the second time grain unloading position of the harvester and its working path under the condition that the path planning is not performed of an embodiment of the present application;

[0090] Figure 17 The schematic diagram of the "damage area" position caused by the second time grain unloading process under the condition that the path planning is not performed of an embodiment of the present application;

[0091] Figure 18 The schematic diagram of the second time grain unloading position of the harvester and its working path under the condition that the path planning is performed of an embodiment of the present application;

[0092] Figure 19 The schematic diagram of the complete grain unloading position and its working path under the condition that the path planning is performed of an embodiment of the present application.

[0093] Figure 20 The overall structure schematic diagram of the inter-row cultivation and weeding machine of the present application.

[0094] Figure 21 The structure schematic diagram of the inter-ridge weeding device of the present application.

[0095] Figure 22 The structure schematic diagram of the inter-ridge cutting unit of the present application.

[0096] Figure 23 The structure schematic diagram of the inter-row weeding device of the present application.

[0097] Figure 24 The structure schematic diagram of the sliding mechanism of the present application.

[0098] Figure 25Schematic diagram of the row-cutting unit according to the invention.

[0099] Figure 26 Schematic diagram of the liftable support pole structure according to the invention.

[0100] Figure 27 Spatial layout diagram of the various weeding devices according to the invention.

[0101] Figure 28 Motion diagram of the various weeding devices according to the invention.

[0102] Figure 29 Three-dimensional diagram of the segmented floating contouring header according to the invention.

[0103] Figure 30 Three-dimensional diagram of the segmented floating contouring header according to the invention from another perspective.

[0104] Figure 31 Three-dimensional diagram of the left segment floating contouring cutter structure according to the invention.

[0105] Figure 32 Three-dimensional diagram of the left segment floating contouring cutter structure according to the invention from another perspective.

[0106] Figure 33 Three-dimensional diagram of the middle segment floating contouring cutter structure according to the invention.

[0107] Figure 34 Three-dimensional diagram of the middle segment floating contouring cutter structure according to the invention from another perspective.

[0108] Figure 35 Three-dimensional diagram of the right segment floating contouring cutter structure according to the invention.

[0109] Figure 36 Three-dimensional diagram of the right segment floating contouring cutter structure according to the invention from another perspective.

[0110] Figure 37 Schematic diagram of the header main structure according to the invention.

[0111] Figure 38 Schematic diagram of the left-middle segment cutter transmission mechanism structure according to the invention.

[0112] Figure 39 Schematic diagram of the right segment cutter transmission mechanism structure according to the invention.

[0113] Figure 40 Contouring work flow diagram of the segmented floating contouring header according to the invention.

[0114] Figure 41Simplified mathematical model diagram of the segmented floating profiling cutterbar of the present application at a reference height.

[0115] Figure 42 Simplified mathematical model diagram of the segmented floating profiling cutterbar during operation of the combined harvester for regenerated rice.

[0116] Figure 43 Front view of the combined harvester equipped with the segmented floating profiling cutterbar of the embodiment of the present application during operation in a wide-narrow row planting pattern in a regenerated rice field.

[0117] In the figure:

[0118] 1-1-ridge weeding device; 1-1-1-ridge cutting blade; 1-1-2-ridge blade driving mechanism; 1-1-3-ridge connecting rod; 1-1-4-ridge lifting hydraulic cylinder; 1-1-5-ridge connecting shaft; 1-1-6-ridge connecting shaft fixing plate; 1-2-row weeding device; 1-2-1-row cutting blade; 1-2-2-row driving mechanism; 1-2-3-row lifting hydraulic cylinder; 1-2-4-row transverse distance adjusting hydraulic cylinder; 1-2-5-hydraulic cylinder sliding connection support; 1-2-6-sliding block with sliding groove; 1-2-7-fixed sliding groove block; 1-2-8-sliding groove block support frame; 1-2-9-sliding hydraulic cylinder; 1-2-10-support frame; 1-2-11-sliding block end face welding plate with sliding groove; 1-3-ridge soil turning and mixing device; 1-4-chassis assembly; 1-4-1-liftable support rod; 2-1-left segment floating type profiling cutter; 2-1-1-left segment rack; 2-1-2-left segment reciprocating cutter; 2-1-3-left segment electro-hydraulic profiling device; 2-1-4-left segment angle sensor; 2-1-5-left segment adjusting hydraulic cylinder; 2-1-1-1-left segment support cross beam; 2-1-1-2-left segment bottom plate; 2-1-1-3-left segment hinged pipe shaft; 2-1-1-4-left segment longitudinal beam; 2-1-1-5-left segment hydraulic cylinder connecting seat; 2-2-middle segment floating type profiling cutter; 2-2-1-middle segment rack; 2-2-2-middle segment reciprocating cutter; 2-2-3-middle segment divider plate; 2-2-4-middle segment cutter driving plate; 2-2-5-middle segment electro-hydraulic profiling device; 2-2-6-middle segment angle sensor; 2-2-7-middle segment adjusting hydraulic cylinder; 2-2-1-1-middle segment support cross beam; 2-2-1-2-middle segment bottom plate; 2-2-1-3-middle segment hinged pipe shaft; 2-2-1-4-middle segment longitudinal beam; 2-2-1-5-middle segment hydraulic cylinder connecting seat; 2-3-right segment floating type profiling cutter; 2-3-1-right segment rack; 2-3-2-right segment reciprocating cutter; 2-3-3-right segment electro-hydraulic profiling device; 2-3-4-right segment angle sensor; 2-3-5-right segment adjusting hydraulic cylinder; 2-3-1-1-right segment support cross beam; 2-3-1-2-right segment bottom plate; 2-3-1-3-right segment hinged pipe shaft; 2-3-1-4-right segment longitudinal beam; 2-3-1-5-right segment hydraulic cylinder connecting seat; 2-4-header main body; 2-4-1-header rack; 2-4-2-header auger; 2-4-3-cleaning reel; 2-4-1-1-hinged structure; 2-4-1-2-sliding groove; 2-4-1-3-hydraulic cylinder connecting seat; 2-5-left-middle segment cutter transmission mechanism; 2-5-1-first input pulley; 2-5-2-first main drive shaft; 2-5-3-left segment swing shaft; 2-5-4-left segment swing shaft bearing seat; 2-5-5-left segment swing arm; 2-5-6-left segment power connection plate; 2-5-7-middle segment swing shaft; 2-5-8-middle segment swing arm; 2-5-9-middle segment power connection plate;2-6-Right section cutter transmission mechanism; 2-6-1-Second input pulley; 2-6-2-Second main drive shaft; 2-6-3-Right section swing shaft; 2-6-4-Right section swing shaft bearing seat; 2-6-5-Right section swing arm; 2-6-6-Right section power connecting plate. DETAILED DESCRIPTION

[0119] Embodiments of the present application are described in detail below with reference to examples illustrated in the accompanying drawings, in which the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0120] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "axial", "radial", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0121] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0122] As Figure 1 The agricultural machinery and agronomic fusion production mode for increasing the yield of ratoons according to the present application specifically comprises the following steps:

[0123] S01: Green manure is returned to the field, specifically:

[0124] S1.1: After the previous season's ratooning rice is harvested, the ratooning rice planting area is initially tilled using a pre-rotating tiller to remove the roots of the ratooning rice; the ratooning rice planting area is then tilled a second time using a post-rotating tiller to level the land.

[0125] S1.2: Organic green manure is sown using a seeding device;

[0126] S1.3: After the organic green manure matures, the plants are cut by a cutting device, and the conveying device transports the plants to the crushing device for crushing. The pre-rotating tillage device performs the initial rotary tillage of the ratooning rice planting area, and the crushing device crushes and spreads the plants to the field. At the same time, hot water is sprayed to treat the crushed debris, so that the crushed debris is exposed to hot water before being spread to the field. The post-rotating tillage device turns over and mixes the crushed and spread organic green manure with soil.

[0127] S02: Sowing and seedling raising, including the following steps:

[0128] S2.1: In the field, use a whole-pan air suction seed metering device for hole sowing, with a sowing accuracy of 2-4 seeds / hole, empty hole rate ≤1%, and seed damage rate ≤0.5%;

[0129] S2.2: Move the seedling trays after sowing to the darkening room, maintain the temperature in the darkening room at 32-35℃, and maintain the humidity in the darkening room at 45%-60%;

[0130] S2.3: When the seedlings reach a length of 0.8-1cm, transport them to the seedbed. Transplant them when the seedlings are 30-35 days old and have 3.1-3.5 leaves per plant.

[0131] S03: Use a wide-narrow row rice transplanter to perform alternating wide-narrow row transplanting of ratooning rice for the next season;

[0132] S04: During the first / recycled rice growing season of the next season, physical weeding is carried out in the inter-row weeding machine in the inter-row planting area and the interval area between the wide and narrow rows, and pest and disease control is carried out in the high ground clearance plant protection machine to ensure the yield of recycled rice.

[0133] S05: A combined harvester with a wide header and narrow tracks is used for harvesting first-season / second-season rice. The tracks of the combined harvester with a wide header and narrow tracks are located between the rows, allowing for straight-line harvesting of first-season second-season rice without crushing, thus avoiding damage to dormant buds and ensuring the germination of dormant buds in second-season rice.

[0134] The working wheel track of the wide-narrow row rice transplanter, the working wheel track of the high ground clearance plant protection machine, the working wheel track of the inter-row weeding machine, and the track track of the wide-cutting-platform narrow-track ratooning rice combine harvester are the same. They are used to reduce the crushing rate of ratooning rice during the period from transplanting to harvesting, while increasing the germination rate of dormant buds of ratooning rice.

[0135] Wide and narrow row planting of ratooning rice Figure 2 As shown in the figure, x1 is the width of the narrow row planting ridge; x2 is the width of the wide row planting ridge; y is the distance between ridges; d1 is the working wheel track of the wide and narrow row rice transplanter, the high-clearance plant protection machine, and the inter-row weeding machine. d1 is also the track gauge of the wide-heading, narrow-track ratooning rice combine harvester, denoted as d1' for distinction; d2 is the cutting width of the ratooning rice combine harvester. The working wheel track of the wide and narrow row rice transplanter, the high-clearance plant protection machine, and the inter-row weeding machine is d1 = x1 + y; the track gauge of the wide-heading, narrow-track ratooning rice combine harvester is d1' = x1 + y; the cutting width of the wide-heading, narrow-track ratooning rice combine harvester is d2 = x1 + 2y + x2; where x1 is the width of the narrow row planting ridge; x2 is the width of the wide row planting ridge; and y is the distance between ridges.

[0136] The row spacing and plant spacing for wide and narrow row planting of ratooning rice are as follows: Figure 3 As shown, m is the distance between plants of ratooning rice, simply called plant spacing. n is the distance between rows of ratooning rice plants, simply called row spacing. Traditional rice cultivation generally uses equal row spacing. In this invention, while keeping the plant spacing constant, the row spacing is adjusted to wide rows and narrow rows, with each wide and narrow row forming a ridge. The distance between the ridges is the ridge distance y, which is key to ensuring straight rows without trampling and with low damage during the ratooning rice field management and harvesting process.

[0137] The row spacing for rice planting in narrow rows is 150mm-250mm, while the row spacing for wide rows is 200mm-400mm, with a ridge distance of 450mm-600mm between wide and narrow rows. The plant spacing is 100mm-180mm. The wheel gauge of the wide-narrow row transplanter is 1050mm-1800mm. The planting density for alternating wide and narrow row transplanting is 10,000-27,000 hills per mu (approximately 667 square meters). The high-clearance plant protection machine has a wheel gauge of 1050mm-1800mm and a ground clearance of 700mm-1200mm, and is used for plant protection operations on rice plants with a height of 0-1200mm. Inter-row tillers and weeders are used to cultivate and weed the areas between wide-row plantings and the intervals between wide and narrow rows. The single-row working width of the inter-row tiller and weeder is 300mm-600mm, with 2-5 rows operated, and the working width is 1500mm-2400mm. The wheel track of the inter-row tiller and weeder is 1050mm-1800mm, and the tillage depth is ≥31mm. The track width of the wide-heading, narrow-track ratooning rice combine harvester is 280mm-350mm, and the track gauge is 1050mm-1800mm. The cutting width of the wide-heading, narrow-track ratooning rice combine harvester is 1950mm-3150mm.

[0138] The wide-narrow row transplanter uses the field checkerboard filling operation path planning method for transplanting; the wide header narrow track regenerative rice combine harvester uses the field checkerboard filling operation path planning method for harvesting the head season / regenerative season rice, which can greatly reduce the additional rolling of the transplanter and the harvester on the regenerative rice, and improve the yield of the head season and the regenerative season of the regenerative rice. The field checkerboard filling operation path planning method comprises the following steps:

[0139] Obtaining basic data, the basic data is determined according to the equipment using the path planning method, and the basic data includes the equipment operation width, the rated parameters of the equipment storage capacity, the aerial image of the field, the size data of the field, and the crop parameters;

[0140] According to the aerial image of the field and the equipment operation width, the field is divided into a checkerboard, and a field checkerboard is constructed, wherein the smallest unit cell in the field checkerboard is a basic cell; the basic cells in the outermost circle of the field checkerboard are recorded as a functional area, and the functional area is used for the equipment to enter or leave the field checkerboard, and the equipment only unloads or replenishes in the functional area, and the equipment only changes the advancing direction in the functional area;

[0141] The position of the equipment entering the initial operation of the field is determined from the functional area;

[0142] The number of crops in the basic cell is determined; the current state of the equipment is determined according to the equipment storage capacity, and the current state of the equipment includes an unworkable state and a workable state;

[0143] The area of the basic cell not traveled by the equipment is recorded as an unworked area, the unworked area traveled by the equipment in the workable state is recorded as a worked area, and the unworked area traveled by the equipment in the unworkable state is still recorded as an unworked area; the worked area traveled by the equipment in any state is recorded as a damaged area, and the damaged area traveled by the equipment in any state is still recorded as a damaged area; a plurality of operation routes are generated according to the initial operation position of the equipment and the current state of the equipment;

[0144] The operation route with the most number of worked cells and the least number of damaged cells is selected as the best operation route.

[0145] The field checkerboard filling operation path planning method will be described in detail below with the wide header narrow track regenerative rice combine harvester as an example, as shown in FIG. Figure 7 The method comprises the following steps:

[0146] S01: Obtaining basic data, the basic data includes the harvester cutting width, the harvester grain box volume, the aerial image of the field, the size data of the field, the unit area regenerative rice grain yield of the field, and the regenerative rice grain bulk density;

[0147] The harvesting machine cutting width and the grain tank volume of the harvesting machine are obtained according to the corresponding model parameters of the harvesting machine; the aerial image of the field plot is obtained by means of, but not limited to, a surveying and mapping unmanned aerial vehicle; the size data of the field plot, including the field plot area, shape and boundary line length, are obtained by means of, but not limited to, surveying and mapping unmanned aerial vehicle determination; the unit area yield of the field plot and the grain bulk density of the field plot are obtained according to historical data and manual estimation, and the unit area yield (mass) data of the field plot is generally obtained by means of, but not limited to, manual five-point yield estimation; the grain bulk density data of the field plot are obtained by referring to agronomic parameters.

[0148] S02: According to the aerial image of the field plot and the harvesting machine cutting width, the field plot is divided into a chessboard, and the minimum cell in the field plot chessboard is a basic grid, specifically:

[0149] S02-1: The harvesting machine cutting width is used as the width of the basic grid, and the distance from the front end of the harvesting machine cutting table to the tail end of the track is used as the length of the basic grid; for a wide cutting width, the basic grid can be approximately equivalent to a square, and the harvesting machine occupies one basic grid;

[0150] S02-2: The aerial image of the field plot is recognized by using existing methods such as Prewitt operator and LoG algorithm, and the boundary of the field plot is obtained, as shown in Figure 8 and Figure 9

[0151] S02-3: The field plot profile is simplified and fitted into a polygon with all internal angles being right angles in combination with the field plot boundary and the field plot size data, and the field plot chessboard is constructed, as shown in Figure 10

[0152] S02-4: Along the extension direction of the planting row of the field plot, the basic grid is filled into the field plot chessboard according to an S-shaped path, as shown in Figure 11 and Figure 12

[0153] The basic grid of the outermost circle of the field plot chessboard is recorded as a functional area, as shown in Figure 13 The functional area is used for the harvesting machine to enter or leave the field plot chessboard, and the harvesting machine only unloads grain and changes the advancing direction in the functional area, that is, the functional area includes the following limiting conditions:

[0154] 1) The harvesting machine must enter the field plot from the functional area for operation, as shown in Figure 14

[0155] 2) The harvesting machine must return to the functional area after completing the operation;

[0156] 3) The harvesting machine must travel to the functional area for unloading;

[0157] ​​​​4) The harvester can only turn (change the direction of travel) in the functional area.

[0158] S03: Determine the position of the harvester entering the field from the functional area;

[0159] S04: Determine the total yield of the regenerated rice grains in the basic grid and the bulk density of the regenerated rice grains in the basic grid according to the unit area yield of the regenerated rice grains in the field; determine the state of the current harvester according to the volume of the grain tank of the harvester, the state of the current harvester including the non-working state and the working state, and the specific determination is as follows:

[0160] S04-1: Calculate the total yield (mass) of regenerated rice grains in a single basic grid according to the area of the basic grid and the unit area yield (mass) of regenerated rice grains in the field;

[0161] S04-2: Calculate the maximum number of basic grids that the grain tank of the harvester can travel between the empty state and the full state when harvesting regenerated rice, combined with the total yield (mass) of regenerated rice grains in a single basic grid, the bulk density of regenerated rice grains, and the volume of the grain tank of the harvester, and define it as the maximum number of single walking grids, denoted as nmax;

[0162] S04-3: When the grain tank of the harvester is in the empty state, the number of basic grids n traveled by the harvester is 0, and during the operation, the harvester travels one basic grid of the unharvested area, n = n + 1;

[0163] S04-4: When n < nmax, the harvester has not reached the maximum number of single walking grids, and at this time the state of the harvester is defined as the working state; when n ≥ nmax, the harvester has reached the maximum number of single walking grids, and at this time the state of the harvester is defined as the non-working state.

[0164] In addition, the harvester in the working state or the non-working state can unload the grain at any time, and the number of basic grids n traveled by the harvester after unloading the grain is counted as 0.

[0165] S05: Generate multiple harvesting operation routes according to the starting operation position of the harvester and the state of the current harvester, and the specific generation of the harvesting operation route is as follows:

[0166] The area of the base grid which is not traveled by the harvester is recorded as an unharvested area, the area of the unharvested area which is traveled by the harvester in a working state is recorded as a harvested area, the area of the unharvested area which is traveled by the harvester in a non-working state is still recorded as an unharvested area, the area of the harvested area which is traveled by the harvester in any state is recorded as a damaged area, the area of the damaged area which is traveled by the harvester in any state is still recorded as a damaged area, if the harvester is in the functional area, the harvester can move a unit step length in any one of the front, rear, left and right directions of the functional area, that is, the harvester can only change the advancing direction in the functional area, if the harvester is outside the functional area, the harvester can move a unit step length in the extending direction of the planting row of the riceseedling, that is, the harvester cannot move across the planting row of the riceseedling, in the working process, the harvester in any state must be moved to the functional area for unloading, and n is reset to 0, after all the unharvested areas are converted into the harvested areas and the damaged areas, the working process is completed and the harvester returns to any base grid in the functional area as an end point, and a plurality of harvesting operation routes from the position where the harvester enters the field to the end point are generated.

[0167] S06: Select the harvesting operation route with the largest number of harvested area grids and the smallest number of damaged area grids as the best harvesting and unloading path.

[0168] The following will take a wide-narrow row transplanter as an example to specifically describe the operation path planning method of the field chessboard grid filling, including the following steps:

[0169] S01: Obtain basic data, the basic data including a transplanter cutting width, a transplanter seedling storage quantity, a field aerial image, a field size data, and a field unit area planting quantity;

[0170] The transplanter cutting width and the transplanter seedling storage quantity are obtained according to the corresponding model parameters of the transplanter, and the field unit area planting quantity is determined according to the wide-narrow row alternate planting process.

[0171] S02: Divide the field into a chessboard grid according to the field aerial image and the transplanter cutting width, and construct a field chessboard, the smallest unit grid in the field chessboard being a base grid. In the specific steps, the transplanter operation width is taken as the width of the base grid, and the distance from the front end of the transplanter running part to the tail end of the transplanting part is taken as the length of the base grid, and the remaining steps are the same as those of the harvester S02.

[0172] The base grids of the outermost contour of the field chessboard are recorded as functional areas, as shown in FIG. 1, the functional areas are used for the transplanter to enter or leave the field chessboard, and the transplanter only performs seedling supplementing and changes the advancing direction in the functional areas, Figure 13

[0173] S03: Determine the position where the harvester enters the field for starting operation from the functional area;

[0174] ​S04: Determine the number of seedlings in the basic grid according to the number of seedlings per unit area of the field, and determine the state of the current harvester according to the current number of seedlings stored in the seedling planting machine. The state of the current seedling planting machine includes an unworkable state and a workable state. The determination method is similar to that of the harvester. When the seedling planting machine is in a workable state or an unworkable state, the seedling planting machine can be supplemented at any time, and the number n of basic grids passed by the seedling planting machine after the supplement is counted as 0.

[0175] S05: Record the area of the basic grid not passed by the seedling planting machine as an unseeded area, record the area of the unseeded area passed by the seedling planting machine in a workable state as a seeded area, and record the area of the unseeded area passed by the seedling planting machine in an unworkable state as an unseeded area; record the area of the seeded area passed by the seedling planting machine in any state as a damaged area, and record the area of the damaged area passed by the seedling planting machine in any state as a damaged area; generate a plurality of operation routes according to the starting operation position of the seedling planting machine and the state of the current seedling planting machine;

[0176] S06: Select the operation route with the most number of grid cells and the least number of damaged grid cells as the best operation route.

[0177] Embodiment:

[0178] To verify the effectiveness of the agricultural machinery and agronomic integrated mechanized planting, management and harvesting method, the experiment of improving the yield of regenerated rice by agricultural machinery and agronomic integrated mechanized planting, management and harvesting method was carried out in the experimental base of Hekou Village in Guichi District of Chizhou Agricultural Academy.

[0179] To ensure the effectiveness of the results, three identical 5-acre test fields were selected in the test base, and test field 1, test field 2 and test field 3 were selected. Among them, test field 1 adopts the traditional planting mode, and test field 2 and test field 3 adopt the planting, management and harvesting method of the present application.

[0180] During the experiment, Tai Liangyou 1332 recommended by the Agricultural Academy and suitable for wide planting in Chizhou area was selected as the regenerated rice variety for this experiment.

[0181] Generally, in the middle and late October of the year, the previous season of regenerated rice has been harvested, and at this time, the planting of organic green manure needs to be started. Before planting, the soil around the regenerated rice roots needs to be turned over and removed, and the land needs to be leveled by secondary rotary tillage. The front rotary tillage device performs preliminary rotary tillage on the regenerated rice planting site to ensure that the regenerated rice roots can be removed, and the rear rotary tiller performs secondary rotary tillage on the regenerated rice planting site to level the land.

[0182] After the field rotary tillage is carried out, the organic green manure needs to be sown in the middle and late October of the same year. Before sowing, if the soil is too dry, it needs to be sprayed with water for wetting before sowing. When the soil is too dry, the multifunctional machine of the organic green manure opens the water spraying device to spray water on the soil for wetting, which is convenient for sowing. Then the sowing device sows the organic green manure. The organic green manure seeds include Chinese milk vetch, rape, arrow peas, etc.

[0183] In early March of the next year, the diseased grains, broken grains, shriveled grains and impurities in the Tai Liangyou 1332 rice seeds are screened and removed, and then a rice seed awn removing machine is used to remove the awns of the rice seeds.

[0184] In late March of the next year, the rice seeds are soaked. The seeds are placed in a wet cloth and soaked in 30℃ water for 24-48 hours, and turned over every 12 hours. When the seeds are white and the sprouts are about 0.5mm long, the soaking is stopped, and the sprout seeds are treated with imidacloprid, pymetrozine, thiamethoxam, and dinotefuran for seed dressing, in preparation for sowing.

[0185] In late March of the next year, the whole-plate air-suction type rice precision-to-hole seedling raising sowing machine is used for sowing. The seeds treated with seed dressing are placed in the sowing machine seed box. The sowing density is 3 grains per hole, and the sowing precision reaches 3±1 grains per hole≥85%, and the seed quality of each seedling tray is 35-45g. The processes of bottom soil laying, hole pressing, precision-to-hole sowing, watering, surface soil covering, and tray stacking are completed at one time. The sowing completed seedling tray is moved to the darkening room for darkening, and the temperature in the darkening room is maintained at 32-35℃ and the humidity is 60%. When the seedling length reaches 0.8-1cm, the seedlings are transported to the seedling field. The water amount in the seedling field is ensured during the growth of the seedlings. When the seedling age is 30-35 days and the seedlings reach 3.1-3.5 leaves per plant, the seedlings are transplanted.

[0186] In April of the next year, the organic green manure is in the mature stage. The cutting device is used for cutting, conveying, crushing, throwing, and soil mixing operations to uniformly mix the organic green manure in the soil, increase the soil fertility, and provide natural organic fertilizer for the growth of the rice. That is, the cutting device cuts the plants, the front rotary tillage device performs the initial rotary tillage of the rice planting site to remove the organic green manure roots, the conveying device conveys the plants to the crushing device, the crushing device crushes the plants and uniformly throws them to the field, and the hot water spraying device installed at the bottom of the crushing device is opened, so that the crushed debris is thrown to the field after being contacted with the hot water. Because the organic green manure can be accelerated to rot and ferment after being scalded with hot water, the rear rotary tillage device mixes the crushed and thrown organic green manure debris from the surface into the soil as natural organic green manure to fertilize the soil.

[0187] After the organic green manure is crushed and spread, in late April of the next year, rice seedlings are transplanted in the test plot 1 by using a traditional rice transplanter, the planting distance of rice is 140 mm, the row distance is 250 mm, and the cultivation density is 19057 holes per mu; the wide-narrow row planting of the regenerated rice in the test plot 1 is shown in FIGS. Figure 4 and Figure 5 In the test plot 2, rice seedlings are transplanted by using a wide-narrow row rice transplanter, the planting distance m is 140 mm, there are 4 rows of wide rows and narrow rows per ridge, the row distance n2 between the narrow rows is uniformly distributed as 200 mm, in the wide rows, n 12 =n 34 =200 mm, n 23 =300 mm, the ridge distance y is 500 mm, and the cultivation density is 16571 holes per mu; in the test plot 3, rice seedlings are transplanted by using a wide-narrow row rice transplanter, the planting distance m is 120 mm, there are 4 rows of wide rows and narrow rows per ridge, the row distance n2 between the narrow rows is uniformly distributed as 200 mm, in the wide rows, n 12 =n 34 =200 mm, n 23 =300 mm, the ridge distance y is 500 mm, and the cultivation density is 19333 holes per mu.

[0188] According to the test of the embodiment, the track distance and the cutting width meet the parameter requirements of the mechanized harvesting, that is, the wheel distance d1 of the high-clearance plant protection machine, the row-intersection cultivator and the combined harvester is 1200 mm, and the cutting width d2 of the regenerated rice combined harvester is 2300 mm.

[0189] In late April to early August of the next year, the rice is continuously and reasonably managed in the field, after the rice seedlings are transplanted, the variable fertilizer applicator is used to detect the soil fertility of the rice field in real time and to accurately fertilize the rice field. According to the occurrence law of the first-season rice and the real-time occurrence of pests and diseases, the high-clearance plant protection machine is used to realize the mechanized plant protection operation in time, the working wheel distance of the high-clearance plant protection machine is 1200 mm, and the ground clearance is 1200 mm, so as to realize the prevention and control of pests and diseases of the first-season rice. The pesticide can be selected from abamectin, methoxyfenozide, triazophos, benzyl-propylcarbazole, pymetrozine, nitenpyram-pymetrozine, emamectin benzoate-indoxacarb, etc. At the same time, according to the growth of the rice and the occurrence of weeds, the row-intersection cultivator is used to cultivate and weed the interval area between the wide rows and the narrow rows when necessary, the working width of the row-intersection cultivator is 1700 mm, the working wheel distance is 1200 mm, and the cultivation depth is 31 mm, so as to realize the non-damage green weeding of the wide-narrow row planting of the rice.

[0190] In mid August of the next year, according to the growth of rice and time comprehensive selection suitable time for the first season rice harvesting. Test field 1 harvest operation adopts Wode 4LZ-6.0E sharp dragon combine harvester, header width is 2200mm, track width is 550mm, track gauge is 1250mm, stubble height is 15cm; Test field 2 and test field 3 operation all adopt the wide header narrow track of the invention's ratoon rice combine harvester, header width is 2300mm, track width is 280mm, track gauge is 1200mm, stubble height is 15cm, ensure that the first season rice harvesting process is not rolling. Track width is 280mm less than the distance y between ridges, as shown in Figure 6

[0191] In mid August to early October of the next year, the field management of the ratoon season rice is completed, and the nutrient quantitative monitoring of the ratoon rice in the rice field is realized by the unmanned aerial vehicle carrying the hyperspectral sensor during the growth of the ratoon season rice. The nutrient distribution data of the ratoon rice are obtained, the nutrient distribution prescription map is established, and the unmanned aerial vehicle precision variable fertilization based on the prescription distribution is carried out. At the same time, the disease and pest control is carried out. The high-clearance plant protection machine is used for pesticide application operation during the heading and breaking period of the ratoon season rice. The pesticide can be avermectin, methoxyfenozide, triazophos, benzyl propylazole, pymetrozine, nitenpyram pymetrozine, emamectin benzoate indoxacarb, etc.

[0192] In mid October of the next year, when the ratoon season rice is completely mature, the test field 1 adopts the Wode 4LZ-6.0E sharp dragon combine harvester to carry out ordinary combine harvesting on the ratoon season rice. The test field 2 and the test field 3 operation all adopt the wide header narrow track of the invention's ratoon rice combine harvester.

[0193] The test results of the embodiment are as follows:

[0194] Tables 1, 2, 3 and 4 respectively represent the comparison of the rice plant density, the first season rice yield per mu, the ratoon season rice yield per mu and the total rice yield per mu under different planting modes.

[0195] Table 1 comparison of rice plant density under different planting modes

[0196]

[0197] As can be seen from Table 1, the wide-narrow row planting of the test field 2 reduces the planting density by 13% while keeping the plant spacing at 140mm, and increases the row spacing between the wide rows. The test field 3 increases the planting density by 1.45% by reducing the plant spacing to 120mm, which makes up for the row spacing between the wide rows, and basically keeps the same as the conventional planting.

[0198] Table 2 comparison of first season rice yield per mu under different planting modes

[0199] ​

[0200] As can be seen from Table 2, the first-season rice of the test plot 2 has an increase of 3.4% in yield under the condition of a 13% reduction in planting density. Due to the large distance between the plants in the wide-narrow row planting, the light transmittance is good, the population transpiration and light transmittance conditions are improved, more leaves of a single plant can receive the radiation of light energy, the photosynthesis of the leaves is promoted, the number of ears of a single plant in the wide-narrow row boundary area is more, the seed setting rate is better, and the yield is higher. The yield is increased through the marginal effect to make up for the shortage of planting density. Compared with the test plot 2, the test plot 3 has good overall ventilation under the condition of wide-narrow row planting, and the plants can still grow healthily under the condition of high planting density. The yield of the first season is further increased by reducing the plant spacing and increasing the planting density. At the same time, through the wide-narrow row planting, the disease and pest control and field weeding are more effective, and the damage to the rice plants caused by field management is reduced, which provides an important guarantee for the stable yield of the first-season rice.

[0201] Table 3 Comparison of per mu yield of the second-season rice under different planting methods

[0202]

[0203] As can be seen from Table 3, the conventional planting of the test plot 1 is combined with a general-purpose combine harvester, so that the straight-rolling rate during harvesting is high, and the dormant bud heads on the rice stalks are damaged. The wide-narrow row planting of the test plot 2 and the test plot 3 avoids the straight-rolling during harvesting of the first-season rice, thereby avoiding the damage to the dormant bud heads on the rice stalks, ensuring the germination of the dormant bud heads on the rice stalks, and further ensuring the yield of the second-season rice through the marginal effect of the wide-narrow row planting, combined with the mechanized field weeding and disease and pest control. The yield of the second-season rice of the test plot 2 and the test plot 3 is increased by 41.9% and 57.3% respectively compared with the conventional planting.

[0204] Table 4 Comparison of total per mu yield of rice under different planting methods

[0205]

[0206] As can be seen from Table 4, through the implementation of the method for improving the yield of the regenerative rice proposed in the patent, the mechanized planting, management and harvesting of the method for the integration of agricultural machinery and agronomy are realized, the stable yield of the first-season rice and the increased yield of the second-season rice are ensured, which is of great significance for increasing the yield of the regenerative rice and ensuring food security.

[0207] In the example, the test plot 2 uses the operation path planning method of the field plot checkerboard to harvest, specifically:

[0208] After calculation, it needs to harvest 9 basic grid areas of regenerative rice grains from the full-empty state of the grain box to the full state, that is, the maximum number of single walking grids nmax of the harvester type is 9.

[0209] As Figure 15 shown, at the beginning of the operation, the harvester starts from the lower right corner of the field and travels along the right boundary of the field. After 9 basic grids, the grain box is full, and the harvester needs to stop and unload. The basic grids traveled by the machine change from yellow to green, i.e. from unharvested area to harvested area, and the unloading position is marked with a red dot in the figure.

[0210] As Figure 16 shown, when no path planning is performed (i.e. the existing method), after unloading, the grain box is empty again, at which time the harvester continues to advance and turn, and continues to travel along the "S" shaped harvesting path for 9 basic grids. At this time, the grain box is full again, and the harvester needs to stop and unload. According to the conventional operation logic of the operator, the harvester can be driven to the nearest field boundary for unloading, so it turns 90° to the left along the current advancing direction and advances 1 basic grid to reach the field boundary.

[0211] As Figure 17 shown, if the above method is used, the harvester will roll over two green squares during the process of driving to the field boundary for unloading, thereby converting the two "basic grids" from "harvested area" to "damage area", and converting the green squares to red squares.

[0212] As Figure 18 shown, when the path planning of the present application is used, after the first unloading, the grain box is empty again, at which time the harvester continues to advance and turn, and continues to travel along the "S" shaped harvesting path for 3 "basic grids". At this time, the grain box is only 1 / 3 full, and the harvester is still in the functional area, so the system suggests that the operator unload once, and the unloading point is marked with a red dot and displayed on the display unit.

[0213] As Figure 19 shown, after unloading the only 1 / 3 capacity of the grain box according to the system suggestion, the grain box is empty again, at which time the system judges that the harvester can perform harvesting operation according to the "S" shaped harvesting route, and every time it reaches the upper and lower boundary functional areas of the field, the grain box is just full or the grain accumulation is 8 / 9 of the capacity of the grain box. Whether the grain box is full or not, the harvester can unload when it reaches the functional area. The system suggests the path and all unloading points are marked and displayed on the display unit, and according to this path, the entire field can be harvested with zero damage area, i.e. all basic grids are green, and there is no repeated rolling. This embodiment effectively avoids the additional rolling caused by the transplanter during the process of replanting, realizes low-rolling damage transplanting of the first season of rice after the regeneration of rice, and effectively improves the yield of the first season of rice, the yield of the second season of rice, and the economic benefit of the regeneration of rice.

[0214] As Figure 20As shown, the inter-row weeding machine used in the high-yield production mode of the combination of agricultural machinery and agronomy for the high-yield production of japonica rice includes an inter-ridge weeding device 1-1, an inter-row weeding device 1-2, and an inter-ridge soil mixing device 1-3, the inter-ridge weeding device 1-1 and the inter-ridge soil mixing device 1-3 are respectively installed on a chassis assembly 1-4, the inter-row weeding device 1-2 is installed on the inter-ridge soil mixing device 1-3, the inter-ridge weeding device 1-1 includes a plurality of inter-ridge cutting units and an inter-ridge adjusting device, the inter-ridge cutting units are used for inter-ridge cutting and weeding, and the inter-ridge adjusting device is used for changing the cutting height of the inter-ridge cutting device, the inter-row weeding device 1-2 is located behind the inter-ridge weeding device 1-1, the inter-row weeding device 1-2 includes a sliding mechanism, inter-row cutting units, and an inter-row adjusting device, the inter-row cutting units are movably installed on the chassis assembly 1-4 through the sliding mechanism, the inter-row cutting units are used for inter-row cutting and weeding, and the inter-row adjusting device is used for changing the distance between adjacent inter-row cutting units, and the inter-ridge soil mixing device 1-3 is located behind the inter-row weeding device 1-2 and is used for mixing the inter-ridge cut weeds and the inter-ridge soil.

[0215] As shown in Figure 21 and Figure 22 , the inter-ridge weeding device 1-1 includes inter-ridge cutting units, an inter-ridge connecting shaft 1-1-5, and an inter-ridge connecting shaft fixing plate 1-1-6, the inter-ridge connecting shaft 1-1-5 is axially uniformly distributed with a plurality of inter-ridge cutting units, the inter-ridge connecting shaft 1-1-5 is connected with the chassis assembly 1-4 through the inter-ridge connecting shaft fixing plate 1-1-6, the inter-ridge cutting unit includes an inter-ridge cutting blade 1-1-1, an inter-ridge blade driving mechanism 1-1-2, an inter-ridge connecting rod 1-1-3, and an inter-ridge lifting hydraulic cylinder 1-1-4, one end of the inter-ridge connecting rod 1-1-3 is connected with the inter-ridge blade driving mechanism 1-1-2, the other end of the inter-ridge connecting rod 1-1-3 is hinged with the inter-ridge connecting shaft 1-1-5, the inter-ridge cutting blade 1-1-1 is in transmission connection with the inter-ridge blade driving mechanism 1-1-2, one end of the inter-ridge lifting hydraulic cylinder 1-1-4 is connected with the inter-ridge connecting rod 1-1-3 and is used for changing the ground clearance of the inter-ridge cutting blade 1-1-1, and the other end of the inter-ridge lifting hydraulic cylinder 1-1-4 is connected with the chassis assembly 1-4. The connecting shaft fixing plate 1-1-6 can be connected with the chassis assembly 1-4 through the liftable support rod 1-4-1, and the inter-ridge weeding device in the present application can be suitable for the general maximum inter-ridge distance because the inter-ridge distance is different in different planting environments and modes when inter-ridge weeding is performed. The length of the inter-ridge weeding device 1-1 is greater than or equal to the inter-ridge distance of the japonica rice planting.

[0216] As shown in Figure 23 , Figure 24 and Figure 25As shown, the inter-row weeding device 1-2 comprises an inter-row weeding unit, an inter-row transverse distance adjusting hydraulic cylinder 1-2-4, a hydraulic cylinder sliding connection support 1-2-5, a sliding block with a sliding groove 1-2-6, a fixed sliding groove block 1-2-7, a sliding groove block support 1-2-8, a sliding hydraulic cylinder 1-2-9 and a support 1-2-10, the fixed sliding groove block 1-2-7 is installed on the tillage connecting shaft fixing plate 1-3-6 of the inter-row tillage mixing device 1-3 through the sliding groove block support 1-2-8, the sliding block with a sliding groove 1-2-6 is installed in the fixed sliding groove block 1-2-7, the sliding hydraulic cylinder 1-2-9 is installed on the fixed sliding groove block 1-2-7 through the support 1-2-10, the stretching rod of the sliding hydraulic cylinder 1-2-9 is connected with the fixed sliding groove block 1-2-7, for moving the sliding block with a sliding groove 1-2-6; the sliding grooves of the sliding block with a sliding groove 1-2-6 are evenly distributed with a plurality of hydraulic cylinder sliding connection supports 1-2-5, each hydraulic cylinder sliding connection support 1-2-5 is connected with the inter-row transverse distance adjusting hydraulic cylinder 1-2-4, one end of the stretching rod of the inter-row transverse distance adjusting hydraulic cylinder 1-2-4 is connected with the adjacent inter-row transverse distance adjusting hydraulic cylinder 1-2-4; the stretching rod of each inter-row transverse distance adjusting hydraulic cylinder 1-2-4 is installed with an inter-row weeding unit, for inter-row weeding. The inter-row weeding unit comprises an inter-row cutting blade 1-2-1, an inter-row driving mechanism 1-2-2 and an inter-row lifting hydraulic cylinder 1-2-3, one end of the inter-row lifting hydraulic cylinder 1-2-3 is connected with the stretching rod of the inter-row transverse distance adjusting hydraulic cylinder 1-2-4, the stretching rod of the inter-row lifting hydraulic cylinder 1-2-3 is connected with the inter-row driving mechanism 1-2-2, the inter-row driving mechanism 1-2-2 is connected with the inter-row cutting blade 1-2-1. The inter-row weeding device of the planting field can be applied to the general maximum inter-row distance.

[0217] The implementation process is as follows: first, the sliding block 1-2-7 is fixedly connected to the soil turning connecting shaft fixing plate 1-3-6 through three sliding block support frames 1-2-8, the sliding block with a sliding groove 1-2-6 is installed in the sliding groove of the fixed sliding block 1-2-7 to facilitate sliding, when the row spacing is adjusted and weeding is performed, the sliding hydraulic cylinder 1-2-9 pushes the sliding block with a sliding groove 1-2-6 to move in the sliding groove of the fixed sliding block 1-2-7 to the boundary between the planting rows of ratoons, the sliding hydraulic cylinder 1-2-9 is fixedly connected to the fixed sliding block 1-2-7 through the support frame 1-2-10, on the one hand, the stability of the hydraulic cylinder is ensured, and on the other hand, it is ensured that the sliding block with a sliding groove 1-2-6 can stably move in the sliding groove, when the boundary between the planting rows of ratoons is reached, the row-to-row transverse distance adjustment hydraulic cylinder 1-2-4 is extended and retracted to drive the row-to-row lifting hydraulic cylinder 1-2-3 to reach between the planting row spacings of ratoons, and then drive the row-to-row cutting blade 1-2-1 and the row-to-row driving mechanism 1-2-2 to reach between the planting row spacings of ratoons, wherein the first row-to-row transverse distance adjustment hydraulic cylinder 1-2-4 is fixedly connected to the sliding block end face welding plate 1-2-11 with a small sliding groove, and the rest of the row-to-row transverse distance adjustment hydraulic cylinders 1-2-4 are connected end to end, so that after the distance adjustment is completed, the whole device will not sway left and right, and the hydraulic cylinder sliding connection support 1-2-5 is fixedly connected to the row-to-row transverse distance adjustment hydraulic cylinder 1-2-4 at one end and is installed in the sliding groove of the sliding block with a sliding groove 1-2-6 at the other end, when the row-to-row transverse distance adjustment hydraulic cylinder 1-2-4 is extended and retracted to adjust the distance, the hydraulic cylinder sliding connection support 1-2-5 moves in the sliding groove to provide support force for the row-to-row transverse distance adjustment hydraulic cylinder 1-2-4.

[0218] As shown in Figure 26 The chassis assembly 1-4 is provided with a liftable support rod 1-4-1, one end of the liftable support rod 1-4-1 is connected with the row-to-row weeding device 1-1 and the row-to-row soil turning and mixing device 1-3 respectively, and the liftable support rod 1-4-1 is used for synchronously lifting the row-to-row weeding device 1-1 and the row-to-row soil turning and mixing device 1-3.

[0219] The control method of the row-to-row cultivator and weeder provided by the application comprises the following steps:

[0220] S01: The length of the row-to-row weeding device 1-1 is M, the row-to-row distance M1 of ratoon planting is determined, and M is greater than or equal to M1; the row-to-row cutting unit on one side of the row-to-row weeding device 1-1 is aligned with weeds on one side of the row.

[0221] S02: The serial number T of the row-to-row cutting unit that needs to be adjusted in height is determined according to the spacing B of the row-to-row cutting unit in the row-to-row weeding device 1-1, the cutting height of the Tth row-to-row cutting unit to the Yth row-to-row cutting unit is raised through the row-to-row adjusting device, so that the Tth row-to-row cutting unit to the Yth row-to-row cutting unit does not work; Y is the total number of row-to-row cutting units.

[0222] S03: The row weeding device 1-2 sliding mechanism moves horizontally M1, aligning one side of the row weeding device 1-2 with the intersection of the row and the ridge; the row adjusting device adjusts the distance h2 between the adjacent row cutting units, which is determined by the total width of the row spacing and the number of rows of the regenerated rice planting site.

[0223] There are two cases, case one is that the length M of the ridge weeding device 1-1 is greater than the ridge distance M1 of the regenerated rice planting; case two is that the length M of the ridge weeding device 1-1 is equal to the ridge distance M1 of the regenerated rice planting;

[0224] As shown in case one in Figure 27 and Figure 28 , when the length M of the ridge weeding device 1-1 is greater than the ridge distance M1 of the regenerated rice planting, at this time part of the ridge cutting units of the ridge weeding device 1-1 work, and the rest do not work, at this time the row weeding device 1-2 will have row cutting units intersecting and overlapping with the non-working ridge cutting units, and the ridge soil mixing device is located at the back of the ridge weeding device, but the intersection and overlapping part of the ridge weeding device is raised, the specific steps are as follows:

[0225] S01: Adjust the ridge weeding device 1-1, the row weeding device 1-2 and the ridge soil mixing device 1-3 to the appropriate position (the height at which weed removal can be performed) through the liftable support rod 1-4-1; align the ridge cutting units on one side of the ridge weeding device with the weeds on one side of the ridge;

[0226] S02: Determine the serial number T of the ridge cutting units that need to be adjusted in height according to the distance B between the ridge cutting units in the ridge weeding device, specifically: Take the integer part by removing the decimal part. Adjust the first to T-1 ridge cutting units to the height at which they can contact and cut the weeds; raise the cutting height of the Tth to Yth ridge cutting units through the ridge adjusting device, so that the Tth to Yth ridge cutting units do not work, to avoid damaging the rice stubble; Y is the total number of ridge cutting units;

[0227] S03: The row weeding device sliding mechanism moves horizontally M1, aligning one side of the row weeding device with the intersection of the row and the ridge, at this time part of the blades of the row weeding device and part of the blades of the ridge weeding device have intersection and overlap from the front end of the machine body to the back. The row adjusting device adjusts the distance h2 between the adjacent row cutting units, which is determined by the total width of the row spacing and the number of rows of the regenerated rice planting site: Where N1 is the total width of the row spacing of the regenerated rice planting site, and K1 is the number of rows of the regenerated rice planting.

[0228] The cutting blade is just adjusted to the distance between the rows by the transverse distance adjustment hydraulic cylinder 1-2-4, which moves in the sliding groove of the sliding block 1-2-6 through the sliding connection support 1-2-5 of the hydraulic cylinder, so that the cutting blade can be in each row distance.

[0229] S04: After the transverse distance adjustment hydraulic cylinder 1-2-4 is adjusted, the row lifting hydraulic cylinder 1-2-3 adjusts the row cutting blade 1-2-1 to lift and move to contact the bottom of the weeds for removal, and the blade driving mechanism drives the blade to rotate and adjusts the rotating speed.

[0230] In case two, the length M of the row weeding device 1 is equal to the row distance M1 of the regenerated rice planting, so that the serial number T of the row cutting unit whose height needs to be adjusted is determined according to the distance B of the row cutting unit in the row weeding device in the S02 step, and the serial number T-1 is Y, that is, the first to Y row cutting units are adjusted to be able to contact the bottom of the weeds for cutting; there is no row cutting unit whose height needs to be adjusted.

[0231] As shown in Figure 29 and Figure 30 The regenerated rice combine harvester used in the improved regenerated rice yield per unit of the agricultural machinery and agronomic integrated production mode of the application comprises a segmented floating type profiled header, and the header main body 2-4 is divided into two outer belt regions and a region between the two belts according to the two walking belts on the walking chassis. The front end of the region between the two belts of the header main body 2-4 is hingedly connected to a middle segment floating type profiled cutter 2-2, and the front end of the outer belt regions of the header main body 2-4 is respectively hingedly connected to a left segment floating type profiled cutter 2-1 and a right segment floating type profiled cutter 2-3. A left-middle segment cutter transmission mechanism 2-5 is used to transmit power to the left segment floating type profiled cutter 2-1 and the middle segment floating type profiled cutter 2-2, and a right segment cutter transmission mechanism 2-6 is used to transmit power to the right segment floating type profiled cutter 2-3. The left-middle segment cutter transmission mechanism 2-5 transmits power to the left segment floating type profiled cutter 2-1 and the middle segment floating type profiled cutter 2-2 from the left end surface and the lower surface of the header main body 2-4, respectively, and the right segment cutter transmission mechanism 2-6 transmits power to the right segment floating type profiled cutter 2-3 from the right end surface of the header main body 2-4.

[0232] The left segment floating type profiled cutter 2-1 and the right segment floating type profiled cutter 2-3 are symmetrically arranged in the outer belt regions of the header main body 2-4. Figure 31 and Figure 32As shown, the left segment floating profiling cutter 2-1 comprises a left segment frame 2-1-1, a left segment reciprocating cutter 2-1-2, a left segment electro-hydraulic profiling device 2-1-3 and a left segment adjusting hydraulic cylinder 2-1-5; the left segment frame 2-1-1 comprises a left segment support cross beam 2-1-1-1, a left segment bottom plate 2-1-1-2, a left segment articulated pipe shaft 2-1-1-3, a left segment longitudinal beam 2-1-1-4 and a left segment hydraulic cylinder connecting seat 2-1-1-5; the left segment articulated pipe shaft 2-1-1-3 is connected with the left segment support cross beam 2-1-1-1 through the left segment longitudinal beam 2-1-1-4, and the left segment bottom plate 2-1-1-2 is laid on the upper side between the left segment articulated pipe shaft 2-1-1-3 and the left segment support cross beam 2-1-1-1; the left segment hydraulic cylinder connecting seat 2-1-1-5 is installed on the left segment longitudinal beam 2-1-1-4; the left segment reciprocating cutter 2-1-2 is installed on the left segment support cross beam 2-1-1-1, one end of the left segment electro-hydraulic profiling device 2-1-3 is installed on the left segment articulated pipe shaft 2-1-1-3, one end of the left segment adjusting hydraulic cylinder 2-1-5 is connected on the left segment hydraulic cylinder connecting seat 2-1-1-5, and the other end of the left segment adjusting hydraulic cylinder 2-1-5 is connected with the cutter bar main body 2-4; the left segment articulated pipe shaft 2-1-1-3 is articulated with the cutter bar main body 2-4.

[0233] As Figure 33 and Figure 34As shown, the middle section floating type profile cutter 2-2 comprises a middle section frame 2-2-1, a middle section reciprocating cutter 2-2-2, a middle section divider 2-2-3, a middle section cutter driving plate 2-2-4, a middle section electro-hydraulic profiling device 2-2-5 and a middle section adjusting hydraulic cylinder 2-2-7; the middle section frame 2-2-1 comprises a middle section support beam 2-2-1-1, a middle section bottom plate 2-2-1-2, a middle section hinged pipe shaft 2-2-1-3, a middle section longitudinal beam 2-2-1-4 and a middle section hydraulic cylinder connecting seat 2-2-1-5; the middle section hinged pipe shaft 2-2-1-3 is connected with the middle section support beam 2-2-1-1 through the middle section longitudinal beam 2-2-1-4, and the middle section hinged pipe shaft 2-2-1-3 is laid with the middle section bottom plate 2-2-1-2 on the upper side between the middle section hinged pipe shaft 2-2-1-3 and the middle section support beam 2-2-1-1; the middle section hydraulic cylinder connecting seat 2-2-1-5 is installed on the middle section longitudinal beam 2-2-1-4; the middle section reciprocating cutter 2-2-2 is installed on the middle section support beam 2-2-1-1, one end of the middle section electro-hydraulic profiling device 2-2-5 is installed on the middle section hinged pipe shaft 2-2-1-3, one end of the middle section adjusting hydraulic cylinder 2-2-5 is connected on the middle section hydraulic cylinder connecting seat 2-2-1-5, and the other end of the middle section adjusting hydraulic cylinder 2-2-5 is connected with the cutter main body 2-4; the middle section reciprocating cutter 2-2-2 is provided with the divider 2-2-3 on both sides; the middle section cutter driving plate 2-2-4 is located below the middle section frame 2-2-1, and the front end edge of the middle section cutter driving plate 2-2-4 is riveted on the lower surface of the middle section reciprocating cutter 2-2-2; the middle section hinged pipe shaft 2-2-1-3 is hinged with the cutter main body 2-4.

[0234] As shown in Figure 35 and Figure 36 As shown, the right section floating type profile cutter 2-3 comprises a frame 2-3-1, a reciprocating cutter 2-3-2, an electro-hydraulic profiling device 2-3-3, an angle sensor 2-3-4 and an adjusting hydraulic cylinder 2-3-5; the frame 2-3-1 comprises a cutter support beam 2-3-1-1, a bottom plate 2-3-1-2, a hinged pipe shaft 2-3-1-3, a reinforcing longitudinal beam 2-3-1-4 and a hydraulic cylinder connecting seat 2-3-1-5; the reciprocating cutter 2-3-2 is installed on the cutter support beam 2-3-1-1, the electro-hydraulic profiling device 2-3-3 is installed on the hinged pipe shaft 2-3-1-3, the angle sensor 2-3-4 is sleeved on the hinged pipe shaft 2-3-1-3, and one end of the adjusting hydraulic cylinder 2-3-5 is connected on the hydraulic cylinder connecting seat 2-3-1-5. The right section floating type profile cutter 2-3 and the left section floating type profile cutter 2-1 are completely consistent in constituent parts, and the structures of the two are mirror-symmetrical.

[0235] As shown in Figure 37As shown, the header main body 2-4 includes a header frame 2-4-1, a header auger 2-4-2 and a reel 2-4-3; the front end of the header frame 2-4-1 is provided with a plurality of hinge structures 2-4-1-1 for respectively hingedly connecting with the frame of the left section floating profile cutter 2-1, the frame of the right section floating profile cutter 2-3 and the frame of the middle section floating profile cutter 2-2; the header frame 2-4-1 is respectively provided with the header auger 2-4-2 and the reel 2-4-3; the two sides of the header frame 2-4-1 are respectively provided with a chute 2-4-1-2 for respectively placing the sliding components in the left-middle section cutter transmission mechanism 2-5 and the right section cutter transmission mechanism 2-6. In the embodiment, the sliding components are the left section swing shaft bearing seat 2-5-4 and the right section swing shaft bearing seat 2-6-4, which move up and down along the bearing seat chute 2-4-1-2 during the cutter height adjustment. The lower end edge of the rear end face of the header frame 2-4-1 is processed with a left, middle and right three hydraulic cylinder connecting seat 2-4-1-3 for connecting with one end of the left section floating profile cutter adjusting hydraulic cylinder 2-1-5, the middle section floating profile cutter adjusting hydraulic cylinder 2-2-7 and the right section floating profile cutter adjusting hydraulic cylinder 2-3-5.

[0236] As Figure 38As shown, the left-middle section cutter transmission mechanism 2-5 includes a first input pulley 2-5-1, a first main drive shaft 2-5-2, a left section swing shaft 2-5-3, a left section swing shaft bearing seat 2-5-4, a left section swing arm 2-5-5, a left section power connection plate 2-5-6, a middle section swing shaft 2-5-7, a middle section swing arm 2-5-8, and a middle section power connection plate 2-5-9. The first input pulley 2-5-1 is connected to the output shaft pulley of the gearbox of the combine harvester conveying and threshing device via a rubber transmission belt, thereby obtaining power. The first input pulley 2-5-1 is used to drive the first main drive shaft 2-5-2. The two ends of the first main drive shaft 2-5-2 are respectively connected to one end of the left section swing shaft 2-5-3 and one end of the middle section swing shaft 2-5-7 via a swing ring assembly. The swing ring assembly is a common mechanical structure in the header that converts rotational motion into swinging motion. Its structure is existing technology and will not be described in detail here. The other end of the left swing shaft 2-5-3 is equipped with a left swing shaft bearing seat 2-5-4. The left swing shaft bearing seat 2-5-4 is slidably engaged with the slide groove 2-4-1-2 of the cutting table frame 2-4-1. The left swing shaft bearing seat 2-5-4 moves within the slide groove by extending and retracting the left section adjusting hydraulic cylinder 2-1-5. The other end of the left swing shaft 2-5-3 is connected to the left section power connection plate 2-5-6 via the left section swing arm 2-5-5. The other end of the left section power connection plate 2-5-6 is connected to the left section floating contour cutter 2-1, which is used to drive the reciprocating cutter to move back and forth. The other end of the middle swing shaft 2-5-7 is connected to the middle section power connection plate 2-5-9 via the middle section swing arm 2-5-8. The other end of the middle section power connection plate 2-5-9 is connected to the middle section floating contour cutter 2-2, which is used to drive the reciprocating cutter to move back and forth.

[0237] like Figure 39 As shown, the right-section cutter transmission mechanism 2-6 includes a second input pulley 2-6-1, a second main drive shaft 2-6-2, a right-section swing shaft 2-6-3, a right-section swing shaft bearing seat 2-6-4, a right-section swing arm 2-6-5, and a right-section power connection plate 2-6-6. The second input pulley 2-6-1 drives the second main drive shaft 2-6-2. One end of the second main drive shaft 2-6-2 is connected to one end of the right-section swing shaft 2-6-3 through a swing ring assembly. The other end of the right-section swing shaft 2-6-3 is equipped with the right-section swing arm. The right swing shaft bearing seat 2-6-4 is slidably engaged with the slide groove 2-4-1-2 of the cutting table frame 2-4-1. The right swing shaft bearing seat 2-6-4 moves within the slide groove by extending and retracting the right section adjusting hydraulic cylinder 2-3-5. The other end of the right swing shaft 2-6-3 is connected to the right section power connection plate 2-6-6 via the right section swing arm 2-6-5. The other end of the right section power connection plate 2-6-6 is connected to the right section floating contour cutter 2-3, which is used to drive the reciprocating cutter to move back and forth.

[0238] As Figure 40 shown, the profiling method of the segmented floating profiling cutterbar of the application comprises the following steps:

[0239] S1: Height calibration is performed on a horizontal road surface, and the left, middle and right segment floating profiling cutters are adjusted to a reference height, at which the left, middle and right segment floating profiling cutters, their reciprocating cutters and the adjusting hydraulic cylinders are all in a horizontal position, the angle sensor measures an angle of 0°, and the ground clearance measured by the electro-hydraulic profiling device is consistent with the actual ground clearance of the reciprocating cutters;

[0240] S2: The plant growth and terrain undulations of different areas of the field to be harvested for the regenerated rice are investigated, and the ground clearance ranges of the reciprocating cutters of the left, middle and right segment floating profiling cutters are respectively preset;

[0241] S3: The regenerated rice combine harvester is operated in the field, the angle sensor measures the angle between the reciprocating cutters and the horizontal plane in real time, the electro-hydraulic profiling device measures the ground clearance H of the hinged position of the left, middle and right segment floating profiling cutters and the cutterbar main body in real time, and the control unit calculates the real-time ground clearance h of the reciprocating cutters in combination with γ and H;

[0242] S4: The control unit determines whether the reciprocating cutters of the left, middle and right segment floating profiling cutters are within the preset ground clearance range, if yes, no adjustment is made, and if no, the control unit calculates the extension / shortening amount of the adjusting hydraulic cylinder and further adjusts the flow of the adjusting hydraulic cylinder to make the ground clearance of the reciprocating cutters return to the preset range.

[0243] The calculation method of the real-time ground clearance h of the reciprocating cutters and the extension / shortening amount Δx of the adjusting hydraulic cylinder is described below by taking the left segment floating profiling cutter as an example as follows:

[0244] As Figure 41 shown, the segmented floating profiling cutterbar at the reference height is simplified. In the figure, point A represents the cutterbar frame hydraulic cylinder connecting seat; point B represents the hinged point of the left segment floating profiling cutter and the cutterbar main body; point C represents the welded fixing point of the left segment floating profiling cutter frame hydraulic cylinder connecting seat on the reinforcing longitudinal beam; point D represents the hinged point of the left segment floating profiling cutter frame hydraulic cylinder connecting seat and the adjusting hydraulic cylinder of the left segment floating profiling cutter; point E represents the top end point of the cutter; h is the ground clearance of the top end of the reciprocating cutter; H is the ground clearance of the hinged position, i.e. the height data measured by the electro-hydraulic profiling device. ADThat is, to adjust the length of the hydraulic cylinder, the angle a is defined as the angle between the segment AB and the horizontal plane, and the angle g is defined as the angle between the segment BE and the horizontal plane. The angle g is 0° at the reference height, and thus is not shown in the figure.

[0245] As shown in Figure 42 , when the rice combine is working in the field, the height h of the reciprocating cutter needs to be adjusted to meet the optimal cutting height of the different areas of the regenerated rice. At this time, the data of h can be calculated according to the data g measured by the angle sensor and the data H measured by the electro-hydraulic profiling device, according to the following formula:

[0246] h = H - l BE · sin g

[0247] After obtaining the value of h, it is compared with the preset ground clearance range. If the value of h is within the range, no adjustment is made. If it is higher or lower than the height range, the control unit calculates the length of the adjusting hydraulic cylinder, and further adjusts the flow of the adjusting hydraulic cylinder to make the ground clearance of the reciprocating cutter return to the preset range. Combined with Figure 14 and the cosine theorem, the relationship between the length x of the adjusting hydraulic cylinder and g can be derived as:

[0248] l AD 2 = l AB 2 + l BD 2 - 2 · l AB · l BD · cos (p - a - g - ∠CBD)

[0249] The relationship between l AD and h can be obtained as:

[0250]

[0251] According to the above formula, the length of the adjusting hydraulic cylinder corresponding to different cutter heights can be calculated, so that when the value of h is outside the preset ground clearance range, the length of the adjusting hydraulic cylinder is adjusted to make the cutter height return to the preset range. AD

[0252] It should be understood that although the present specification is described according to each embodiment, not every embodiment contains only one independent technical solution. The description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole. The technical solutions in each embodiment can also be combined to form other embodiments that can be understood by those skilled in the art.

[0253] ​The above detailed description merely illustrates feasible embodiments of the present application, and is not intended to limit the protection scope of the present application, and equivalent embodiments or changes made without departing from the spirit of the present application shall be included in the protection scope of the present application.

Claims

1. A farm machinery and agronomy combined production mode for increasing yield of regenerated rice, characterized in that, Comprise the following steps: Green manure: after the last season of the rice is harvested, the preliminary rotary tillage device is used to remove the rice roots; the secondary rotary tillage device is used to level the land; the organic green manure is sown by the seeding device; after the organic green manure is mature, the cutting device is used to cut the plants, and the conveying device conveys the plants to the crushing device for crushing; the preliminary rotary tillage device is used to perform the primary rotary tillage of the rice planting land, and the crushed plants are scattered in the field, and the pulverized debris is treated by spraying hot water, so that the pulverized debris is scattered in the field after being contacted with the hot water; the pulverized and scattered organic green manure is mixed by the post rotary tillage device; Sowing and seedling raising; The next season of the rice is planted by the wide-narrow row rice transplanter; During the growth of the next season of the rice, the inter-row cultivation weeder is used to physically remove weeds in the inter-row, the interval between the wide row and the narrow row, and the high-clearance plant protection machine is used for pest control, so as to ensure the yield of the rice; The wide-cutting-table narrow-track rice combine harvester is used to harvest the rice; the track of the wide-cutting-table narrow-track rice combine harvester is located in the ridge, so that the rice is directly harvested without rolling, thereby avoiding damage to the dormant buds and ensuring the germination of the dormant buds of the rice; The working wheel distance of the wide-narrow row rice transplanter, the working wheel distance of the high-clearance plant protection machine, the working wheel distance of the inter-row cultivation weeder, and the track gauge of the wide-cutting-table narrow-track rice combine harvester are the same, so as to reduce the rolling rate of the rice and improve the germination rate of the dormant buds of the rice during the planting and harvesting; the working wheel distance of the wide-narrow row rice transplanter, the working wheel distance of the high-clearance plant protection machine, and the working wheel distance of the inter-row cultivation weeder are d1=x1+y, and the track gauge of the wide-cutting-table narrow-track rice combine harvester is d1'=x1+y; the cutting width of the wide-cutting-table narrow-track rice combine harvester is d2=x1+2y+x2; wherein, x1 is the narrow row planting ridge width; x2 is the wide row planting ridge width; and y is the ridge distance.

2. The farm machinery and agronomy combined production mode for increasing yield of rices of the claim 1, characterized in that, The sowing and seedling raising specifically comprises the following steps: The whole tray air-assisted seed metering device is used for hole-by-hole sowing in the field, the sowing accuracy is 2-4 seeds per hole, the empty hole rate is less than or equal to 1%, and the seed damage rate is less than or equal to 0.5%; The sowed tray is moved to the darkening room, the temperature in the darkening room is kept at 32-35°C, and the humidity in the darkening room is kept at 45%-60%; When the seedling length reaches 0.8-1 cm, the seedlings are transported to the seedling field, and when the seedling age is 30-35 days and the seedlings reach 3.1-3.5 leaves per plant, the seedlings are transplanted.

3. The production mode of the combination of agricultural machinery and agronomy for increasing yield of rices of the regenerated rices according to claim 1, characterized in that, The wide-narrow row transplanter has a row spacing of 150-250 mm for the narrow row and a row spacing of 200-400 mm for the wide row, a ridge distance of 450-600 mm between the wide row and the narrow row, a plant spacing of 100-180 mm, a wheel track of 1050-1800 mm, and a cultivation density of 1.0-2.7 ten thousand holes per mu.

4. The high-yield rice production mode of claim 1, wherein the high-yield rice production mode is characterized by, The high-clearance plant protection machine has a wheel track of 1050-1800 mm and a ground clearance of 700-1200 mm, and is used for plant protection of 0-1200 mm rice plants.

5. The high-yield rice production mode of claim 1, wherein the high-yield rice production mode is characterized in that, The inter-row cultivator has a single-row working width of 300-600 mm, a working row number of 2-5, a working width of 1500-2400 mm, a working wheel track of 1050-1800 mm, and a cultivator depth of ≥31 mm.

6. The high-yield rice production mode of claim 1, wherein the high-yield rice production mode is characterized by, The wide-cutting-head narrow-track combined harvester for ratoon rice has a track width of 280-350 mm and a track gauge of 1050-1800 mm, and has a working cutting width of 1950-3150 mm.

7. The high-yield rice production mode of claim 1, wherein the high-yield rice production mode is characterized by, The wide-narrow row transplanter uses the field block checkerboard filling working path planning method for transplanting, and the wide-cutting-head narrow-track combined harvester for ratoon rice uses the field block checkerboard filling working path planning method for harvesting of the first season and the ratoon season rice.

8. The high-yield rice production mode of claim 7, wherein the high-yield rice production mode is characterized by, The field block checkerboard filling working path planning method comprises the following steps: obtaining basic data, the basic data being determined according to the device used for path planning, the basic data comprising device working width, rated parameters of device storage capacity, aerial image of the field block, size data of the field block, and crop parameters; dividing the field block into a checkerboard according to the aerial image of the field block and the device working width, constructing a field block checkerboard, and taking the minimum unit cell in the field block checkerboard as a basic cell; taking the basic cells in the outermost circle of the field block checkerboard as a functional area, the functional area being used for enabling the device to enter or exit the field block checkerboard, and the device only unloading or reloading in the functional area, and the device only changing the advancing direction in the functional area; determining the position of the starting work of the device in the functional area; determining the number of crops in the basic cell; determining the state of the current device according to the device storage capacity, the state of the current device comprising an unworkable state and a workable state; taking the basic cell area not traveled by the device as an unworked area, taking the unworked area traveled by the device in the workable state as a worked area, and taking the unworked area traveled by the device in the unworkable state as an unworked area; taking the worked area traveled by the device in any state as a damaged area, and taking the damaged area traveled by the device in any state as a damaged area; generating a plurality of working routes according to the starting work position of the device and the state of the current device; selecting the working route with the largest number of worked cells and the smallest number of damaged cells as the best working route.

9. The farming and agricultural fusion production mode for increasing the yield of rices of the claim 8, characterized in that, According to the aerial image of the field and the equipment operation width, the field is divided into a chessboard, and the field chessboard is constructed, specifically: The equipment operation width is used as the width of the basic grid; and the distance from the front end to the tail end of the equipment is used as the length of the basic grid; The aerial image of the field is identified by an image recognition method to obtain the boundary of the field; The field boundary and the field size data are combined to simplify and fit the field contour into a polygon with all internal angles being right angles, thereby constructing the field chessboard; Along the extension direction of the crop planting row in the field, the basic grid is used to fill the field chessboard in an S-shaped path.

10. The high-yield rice production mode of claim 8, wherein the high-yield rice production mode is characterized by, According to the starting operation position of the equipment and the current state of the equipment, a plurality of harvesting operation routes are generated, specifically: If the equipment is in the functional area, the equipment can move a unit step length in any one of the front, rear, left and right directions of the functional area; if the equipment is in the basic grid outside the functional area, the equipment can move a unit step length forward or backward along the extension direction of the crop planting row; After all unoperated areas are converted into operated areas and damaged areas, the operation is completed and the equipment returns to any basic grid in the functional area as the terminal point, thereby generating a plurality of harvesting operation routes from the starting operation position of the equipment in the field to the terminal point.

11. An inter-row weeding cultivator used in the production mode of claim 1-10 for increasing the yield of japonica rice. The inter-ridge weeding device (1-1) is installed on the chassis assembly (1-4); and the inter-row weeding device (1-2) is located behind the side of the inter-ridge weeding device (1-1); The inter-ridge weeding device (1-1) includes a plurality of inter-ridge cutting units and an inter-ridge adjusting device, the inter-ridge cutting units are used for inter-ridge cutting weeding, and the inter-ridge adjusting device is used for changing the cutting height of the inter-ridge cutting device; the inter-row weeding device (1-2) includes a sliding mechanism, an inter-row cutting unit and an inter-row adjusting device, the inter-row cutting unit is movably installed on the chassis assembly (1-4) through the sliding mechanism, the inter-row cutting unit is used for inter-row cutting weeding, and the inter-row adjusting device is used for changing the distance between adjacent inter-row cutting units.

12. The inter-row cultivator-weeder of claim 11, wherein, The inter-ridge weeding device (1-1) comprises an inter-ridge cutting unit, an inter-ridge connecting shaft (1-1-5) and an inter-ridge connecting shaft fixing plate (1-1-6); the inter-ridge connecting shaft (1-1-5) is axially distributed with a plurality of inter-ridge cutting units, and the inter-ridge connecting shaft (1-1-5) is connected with the chassis assembly (1-4) through the inter-ridge connecting shaft fixing plate (1-1-6); the inter-ridge cutting unit comprises an inter-ridge cutting blade (1-1-1), an inter-ridge blade driving mechanism (1-1-2), an inter-ridge connecting rod (1-1-3) and an inter-ridge lifting hydraulic cylinder (1-1-4); one end of the inter-ridge connecting rod (1-1-3) is connected with the inter-ridge blade driving mechanism (1-1-2), the other end of the inter-ridge connecting rod (1-1-3) is hinged with the inter-ridge connecting shaft (1-1-5), the inter-ridge cutting blade (1-1-1) is in transmission connection with the inter-ridge blade driving mechanism (1-1-2), one end of the inter-ridge lifting hydraulic cylinder (1-1-4) is connected with the inter-ridge connecting rod (1-1-3) for changing the ground clearance of the inter-ridge cutting blade (1-1-1), and the other end of the inter-ridge lifting hydraulic cylinder (1-1-4) is connected with the chassis assembly (1-4); the length of the inter-ridge weeding device (1-1) is greater than or equal to the inter-ridge distance of the regenerated rice planting.

13. The inter-row cultivator-weeder of claim 11, wherein, The inter-row weeding device (1-2) comprises an inter-row weeding unit, an inter-row transverse distance adjusting hydraulic cylinder (1-2-4), a hydraulic cylinder sliding connection support (1-2-5), a sliding block with a sliding groove (1-2-6), a fixed sliding groove block (1-2-7), a sliding groove block support (1-2-8), a sliding hydraulic cylinder (1-2-9) and a support (1-2-10); the fixed sliding groove block (1-2-7) is installed on the fixed end through the sliding groove block support (1-2-8), the sliding block with a sliding groove (1-2-6) is installed in the fixed sliding groove block (1-2-7) and can slide, the sliding hydraulic cylinder (1-2-9) is installed on the fixed sliding groove block (1-2-7) through the support (1-2-10), the stretching rod of the sliding hydraulic cylinder (1-2-9) is connected with the fixed sliding groove block (1-2-7) and is used for moving the sliding block with a sliding groove (1-2-6); a plurality of hydraulic cylinder sliding connection supports (1-2-5) are uniformly distributed in the sliding groove of the sliding block with a sliding groove (1-2-6), each hydraulic cylinder sliding connection support (1-2-5) is connected with the inter-row transverse distance adjusting hydraulic cylinder (1-2-4), one end of the stretching rod of the inter-row transverse distance adjusting hydraulic cylinder (1-2-4) is connected with the adjacent inter-row transverse distance adjusting hydraulic cylinder (1-2-4); the inter-row weeding unit is installed on the stretching rod of each inter-row transverse distance adjusting hydraulic cylinder (1-2-4) and is used for inter-row weeding.

14. The inter-row cultivator / weeder of claim 13, wherein, The inter-row weeding unit comprises an inter-row cutting blade (1-2-1), an inter-row driving mechanism (1-2-2) and an inter-row lifting hydraulic cylinder (1-2-3), one end of the inter-row lifting hydraulic cylinder (1-2-3) is connected with a stretching rod of an inter-row transverse distance adjustment hydraulic cylinder (1-2-4), the stretching rod of the inter-row lifting hydraulic cylinder (1-2-3) is connected with the inter-row driving mechanism (1-2-2), and the inter-row driving mechanism (1-2-2) is connected with the inter-row cutting blade (1-2-1).

15. The inter-row cultivator-weeder of claim 11, wherein, A liftable support rod (1-4-1) is arranged on the chassis assembly (1-4), one end of the liftable support rod (1-4-1) is connected with the inter-ridge weeding device (1-1), and the liftable support rod (1-4-1) is used for lifting the inter-ridge weeding device (1-1).

16. A control method for the inter-row cultivator according to claim 11, characterized in that, The method comprises the following steps: The length of the inter-ridge weeding device (1-1) is M, the inter-ridge distance M1 of the regenerated rice planting is determined, and M is greater than or equal to M1; the inter-ridge cutting unit on one side of the inter-ridge weeding device (1-1) is aligned with weeds on one side of the inter-ridge; The serial number T of the inter-ridge cutting unit which needs to be adjusted in height is determined according to the distance B of the inter-ridge cutting unit in the inter-ridge weeding device (1-1), the cutting height of the Tth inter-ridge cutting unit to the Yth inter-ridge cutting unit is raised by the inter-ridge adjusting device, and the Tth inter-ridge cutting unit to the Yth inter-ridge cutting unit is not worked; Y is the total number of the inter-ridge cutting units. The inter-row weeding device (1-2) sliding mechanism moves transversely by M1, so that one side of the inter-row weeding device (1-2) is aligned with the junction of the inter-row and the inter-ridge; the inter-ridge adjusting device adjusts the distance h2 between the adjacent inter-ridge cutting units, and the distance h2 is determined by the total width of the row distance and the number of rows of the regenerated rice planting land.

17. A ratoon crop combine harvester used in the production mode of claim 1-10, wherein, The method comprises the following steps: The middle segment floating type profiled cutter (2-2) is hinged to the front end of the two-belt-between-region of the cutter main body (2-4), and the left segment floating type profiled cutter (2-1) and the right segment floating type profiled cutter (2-3) are respectively hinged to the front end of the two-belt-outside-region of the cutter main body (2-4). The middle axis of the left side belt on the walking chassis coincides with the junction line of the middle segment floating type profiled cutter (2-2) and the left segment floating type profiled cutter (2-1); and the middle axis of the right side belt on the walking chassis coincides with the junction line of the middle segment floating type profiled cutter (2-2) and the right segment floating type profiled cutter (2-3). The left-middle segment cutter transmission mechanism (2-5) is used for transmitting power to the left segment floating type profiled cutter (2-1) and the middle segment floating type profiled cutter (2-2); and the right segment cutter transmission mechanism (2-6) is used for transmitting power to the right segment floating type profiled cutter (2-3).

18. The combined rice regenerative harvester according to claim 17, characterized in that, The left segment floating type profiling cutter (2-1), the right segment floating type profiling cutter (2-3) and the middle segment floating type profiling cutter (2-2) all comprise a frame, a reciprocating cutter, an electro-hydraulic profiling device, an adjusting hydraulic cylinder and an angle sensor; one end of the frame is hinged to a cutterbar main body (2-4), the other end of the frame is provided with the reciprocating cutter, the frame is provided with the electro-hydraulic profiling device at the hinge point with the cutterbar main body (2-4) for obtaining the distance from the hinge point to the ground; the cutterbar main body (2-4) and the other end of the frame are provided with the adjusting hydraulic cylinder for adjusting the angle of the reciprocating cutter; the angle sensor is used for measuring the included angle between the reciprocating cutter and the horizontal plane.

19. The combined rice regenerative harvester according to claim 18, characterized in that, The frame comprises a support beam, a bottom plate, a hinged pipe shaft, a longitudinal beam and a hydraulic cylinder connecting seat; the hinged pipe shaft is connected with the support beam through the longitudinal beam, the upper side between the hinged pipe shaft and the support beam is paved with the bottom plate; the hydraulic cylinder connecting seat is installed on the longitudinal beam; the reciprocating cutter is installed on the support beam, one end of the electro-hydraulic profiling device is installed on the hinged pipe shaft, one end of the adjusting hydraulic cylinder is connected to the hydraulic cylinder connecting seat; the hinged pipe shaft is hinged to the cutterbar main body (2-4).

20. The combined rice regenerative harvester of claim 17, wherein, The middle segment floating type profiling cutter (2-2) further comprises a middle segment divider (2-2-3) and a middle segment cutter driving plate (2-2-4), the middle segment floating type profiling cutter (2-2) is provided with the middle segment divider (2-2-3) on both sides of the reciprocating cutter; the middle segment cutter driving plate (2-2-4) is located below the frame, the middle segment cutter driving plate (2-2-4) is connected with the reciprocating cutter of the middle segment floating type profiling cutter (2-2), and the middle segment cutter driving plate (2-2-4) is connected with the left-middle segment cutter transmission mechanism (2-5).

21. The combined rice harvester of claim 17, wherein, The cutterbar main body (2-4) comprises a cutterbar frame (2-4-1), a cutterbar auger (2-4-2) and a reel (2-4-3); the cutterbar frame (2-4-1) is provided with a plurality of hinge structures (2-4-1-1) at the front end for being hinged to the frame of the left segment floating type profiling cutter (2-1), the frame of the right segment floating type profiling cutter (2-3) and the frame of the middle segment floating type profiling cutter (2-2) respectively; the cutterbar frame (2-4-1) is provided with the cutterbar auger (2-4-2) and the reel (2-4-3) respectively; the two sides of the cutterbar frame (2-4-1) are respectively provided with a sliding groove (2-4-1-2) for placing the sliding components in the left-middle segment cutter transmission mechanism (2-5) and the right segment cutter transmission mechanism (2-6) respectively.

22. The combined rice regenerative harvester of claim 17, wherein, The left-middle section cutter transmission mechanism (2-5) comprises a first input pulley (2-5-1), a first main drive shaft (2-5-2), a left section swing shaft (2-5-3), a left section swing shaft bearing seat (2-5-4), a left section swing arm (2-5-5), a left section power connecting plate (2-5-6), a middle section swing shaft (2-5-7), a middle section swing arm (2-5-8) and a middle section power connecting plate (2-5-9); the first input pulley (2-5-1) is used to drive the first main drive shaft (2-5-2), the first main drive shaft (2-5-2) is connected with one end of the left section swing shaft (2-5-3) and one end of the middle section swing shaft (2-5-7) through a swing ring assembly at two ends respectively, the other end of the left section swing shaft (2-5-3) is installed with the left section swing shaft bearing seat (2-5-4), the left section swing shaft bearing seat (2-5-4) is slidably matched with a sliding groove (2-4-1-2) of a cutterbar frame (2-4-1), the left section swing shaft bearing seat (2-5-4) is moved in the sliding groove through the extension and retraction of an adjusting hydraulic cylinder of a left section floating type contour cutter (2-1); the other end of the left section swing shaft (2-5-3) is connected with the left section power connecting plate (2-5-6) through the left section swing arm (2-5-5), the other end of the left section power connecting plate (2-5-6) is connected with a reciprocating cutter of the left section floating type contour cutter (2-1); the other end of the middle section swing shaft (2-5-7) is connected with the middle section power connecting plate (2-5-9) through the middle section swing arm (2-5-8), the other end of the middle section power connecting plate (2-5-9) is connected with a reciprocating cutter of a middle section floating type contour cutter (2-2).

23. The combined rice harvester of claim 17, wherein, The right section cutter transmission mechanism (2-6) comprises a second input pulley (2-6-1), a second main drive shaft (2-6-2), a right section swing shaft (2-6-3), a right section swing shaft bearing seat (2-6-4), a right section swing arm (2-6-5) and a right section power connecting plate (2-6-6); the second input pulley (2-6-1) is used to drive the second main drive shaft (2-6-2), one end of the second main drive shaft (2-6-2) is connected with one end of the right section swing shaft (2-6-3) through a swing ring assembly, the other end of the right section swing shaft (2-6-3) is installed with the right section swing shaft bearing seat (2-6-4), the right section swing shaft bearing seat (2-6-4) is slidably matched with a sliding groove (2-4-1-2) of a cutterbar frame (2-4-1), the right section swing shaft bearing seat (2-6-4) is moved in the sliding groove through the extension and retraction of an adjusting hydraulic cylinder of a right section floating type contour cutter (2-3); the other end of the right section swing shaft (2-6-3) is connected with the right section power connecting plate (2-6-6) through the right section swing arm (2-6-5), the other end of the right section power connecting plate (2-6-6) is connected with a reciprocating cutter of the right section floating type contour cutter (2-3).

24. The combined rice harvester of claim 17, wherein, Also include a control system, the control system determines the ground clearance of two track outer side areas and two track between areas according to the angle sensors and electro-hydraulic profiling devices on the left segment floating profiling cutter (2-1), the right segment floating profiling cutter (2-3) and the middle segment floating profiling cutter (2-2); when one of the ground clearances exceeds the set value, the control system adjusts the adjusting hydraulic cylinder of the floating profiling cutter corresponding to the ground clearance.

25. The combined rice harvester of claim 24, wherein, The control system includes a calculation unit and a display unit; the calculation unit and the display unit are both installed on the harvester cab, the calculation unit generates the optimal operation route according to the basic data; the display unit is connected with the calculation unit, used for visualizing the optimal operation route and feeding back to the client.

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