Self-adaptive adjusting type universal header and control method

Abstract

The invention provides a self-adaptive adjusting type universal header and a control method, and belongs to the technical field of agricultural machinery, the self-adaptive adjusting type universal header comprises a first hydraulic motor, a second hydraulic motor, a hydraulic valve, a header lifting oil cylinder, a reel lifting oil cylinder, an adjusting oil cylinder, an image processing device and a controller, the second hydraulic motor is in transmission connection with the gathering piece and the cutting assembly, the first hydraulic motor, the second hydraulic motor, the adjusting oil cylinder, the header lifting oil cylinder and the reel lifting oil cylinder are all connected with the hydraulic valve, and the image processing device and the hydraulic valve are both connected with the controller. According to the header, the ear length, the plant height and the planting density of grains identified by the image processing device are judged, so that the header can realize a self-adaptive grain harvesting process, self-adaptive work under different crop and plant lodging states in the harvesting process is ensured, and the crop harvesting efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of agricultural machinery, and in particular relates to a self-adaptive adjustable universal cutting platform and a control method thereof. Background Art

[0002] Harvesters are an indispensable and important equipment in modern agriculture, and the header is one of its key components, which directly affects the harvesting efficiency and crop quality. The header can effectively reduce the loss of crops during the harvesting process, such as stem breakage and grain scattering.

[0003] Due to the large regional and climatic differences in China's agricultural development, some harvester headers have certain limitations in adapting to the needs of different regions and crops, and lack flexibility. In addition, some traditional models of harvesters have high fuel consumption due to limitations in design and power performance, which need to be further optimized. In addition, due to the complex ground conditions during the harvesting process, lodging and other phenomena are very likely to occur, resulting in the need to rely on the operator's experience to operate the header, which seriously hinders the harvesting process.

[0004] In view of the difficulties in the current research on cutting platform mechanisms, it is urgent to develop an adaptive and universal cutting platform and control method to overcome the shortcomings in current practical applications. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the embodiments of the present invention is to provide an adaptively adjustable universal header and a control method.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an adaptively adjustable universal harvesting platform, comprising a reel, a teeth, a cutting assembly, a harvesting platform frame, and also comprising a first hydraulic motor, a second hydraulic motor, a hydraulic valve, a gathering piece, a harvesting platform lifting cylinder, a reel lifting cylinder, an adjusting cylinder, an image processing device, and a controller, wherein the first hydraulic motor is movably mounted on an adjusting seat, and the adjusting seat is rotatably mounted on the harvesting platform frame, a reel is mounted on the output end of the first hydraulic motor, a plurality of teeth are circumferentially mounted between adjacent reels, a plurality of cutting assemblies are mounted below the reels, a gathering piece is mounted on one side of the cutting assembly, and the first The second hydraulic motor is connected to the gathering piece and the cutting assembly in a transmission manner. The output end of the cutting platform lifting cylinder is connected to the cutting platform frame. The cutting platform lifting cylinder is used to drive the cutting platform frame to lift and lower. The reel lifting cylinder is movably installed on the cutting platform frame. The output end of the reel lifting cylinder is connected to the adjusting seat. The reel lifting cylinder is used to drive the reel to lift and lower. One end of the adjusting cylinder is connected to the adjusting seat. The output end of the adjusting cylinder is connected to the first hydraulic motor. The adjusting cylinder is used to adjust the distance between the reel and the cutting assembly. The first hydraulic motor, the second hydraulic motor, the adjusting cylinder, the cutting platform lifting cylinder and the reel lifting cylinder are all connected to the hydraulic valve. The image processing device is installed on the harvesting table frame, and the image processing device and the hydraulic valve are electrically connected to the controller. The image processing device is used to collect grain images, judge the ear length, plant height and planting density through visual recognition and output corresponding parameters, and the controller is used to control the hydraulic oil flow output by the hydraulic valve to the first hydraulic motor, the second hydraulic motor, the regulating cylinder, the harvesting table lifting cylinder and the reel lifting cylinder according to the corresponding parameters.

[0007] As a further improvement scheme: the cutting assembly includes a swing ring box and a cutter, and the cutter is installed under the plurality of the reels. The output end of the swing ring box is connected to the cutter, and the swing ring box is installed on the side wall of the cutting table frame. The second hydraulic motor is connected to the swing ring box in a transmission manner.

[0008] As a further improvement scheme: it also includes a conveying chain plate, a conveying chain plate is arranged on the side of the gathering member away from the cutting assembly, and the second hydraulic motor is drivingly connected to the conveying chain plate.

[0009] As a further improvement scheme: a bearing connecting rod is fixedly installed on the cutting table frame, and the adjustment seat is rotatably connected to the bearing connecting rod through an adjustment bearing.

[0010] As a further improvement scheme: the shape of the adjustment seat is V-shaped, and the first hydraulic motor is slidably connected to an end of the adjustment seat away from the adjustment bearing.

[0011] As a further improvement scheme: both sides of the harvesting table frame are equipped with crop dividers.

[0012] As a further improvement scheme: the image processing device includes a camera, a telescopic rod, a support seat, and a processor. The support seat is fixedly installed on the cutting table frame, one end of the telescopic rod is installed on the support seat, and the other end of the telescopic rod is fixedly connected to the camera. The processor is used to identify the image captured by the camera.

[0013] As a further improvement scheme: the gathering piece is a auger.

[0014] As a further improvement plan: a plurality of telescopic teeth are installed on the auger.

[0015] The present invention also provides a control method for an adaptively adjustable universal header, comprising: The grain image is collected by an image processing device; Based on the collected images, the ear length, plant height and planting density of the grains are judged and the corresponding parameters are output; Based on the corresponding output parameters, the controller controls the rotation speed or telescopic distance of the first hydraulic motor, the second hydraulic motor, the header lifting cylinder, the regulating cylinder and the reel lifting cylinder.

[0016] As a further improvement scheme: the step of judging the ear length, plant height and planting density of the cereals based on the collected images and outputting the corresponding parameters specifically includes: determining the ratio of the plant height to the ear length of the cereals based on the ear length and plant height of the cereals, and determining the ratio of the plant height to the normal upright plant height based on the plant height; The ratio of plant height to grain ear length is compared with a preset threshold value. When the ratio of plant height to grain ear length is greater than or equal to the preset threshold value, it is judged as a tall plant crop; when the ratio of plant height to grain ear length is less than the preset threshold value, it is judged as a short plant crop, and the corresponding parameters are determined based on the judgment result; The ratio of the plant height to the normal upright plant height is compared with a preset threshold. When the ratio of the plant height to the normal upright plant height is greater than or equal to the preset threshold, it is judged to be in a semi-lodging state; when the ratio of the plant height to the normal upright plant height is less than the preset threshold, it is judged to be in a full lodging state, and the corresponding parameters are determined based on the judgment result.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: the ear length, plant height and planting density of the grains are identified by the image processing device for judgment, and the parameters are outputted, and the stubble height is automatically judged according to the ear length and plant height of the crop plants; the hydraulic oil flow of the hydraulic system is controlled by the controller, so that the harvesting platform can realize adaptive grain ear length, plant height and planting density, ensuring adaptive work under different crops and plant lodging states during the harvesting process, thereby improving the harvesting efficiency of the crops; The harvesting table is an independent system that can be freely matched with various harvesting machinery to meet the requirements of versatility. The hydraulic motor provides full harvesting table power to control the movement speed and force of the gathering pieces, cutting components and the entire harvesting table moving parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of a self-adjustable universal header; Figure 2 It is a schematic diagram of the top view structure of a self-adjustable universal header; Figure 3 It is a schematic diagram of the side structure of a self-adjustable universal header; In the figure: 1. crop divider; 2. crop wheel; 3. crop teeth; 4. adjustment bearing; 5. bearing connecting rod; 6. adjustment seat; 7. crop wheel lifting cylinder; 8. adjustment cylinder; 9. first hydraulic motor; 10. cutting table frame; 12. auger; 13. telescopic picking teeth; 14. second hydraulic motor; 15. first driving wheel; 16. cutting table lifting cylinder; 17. first transmission wheel; 18. swing ring box; 19. second transmission wheel; 20. chain; 21. second driving wheel; 22. conveying chain plate; 23. bridge housing; 24. cutter; 25. camera; 26. telescopic rod; 27. support seat; 28. hydraulic valve. DETAILED DESCRIPTION

[0019] The technical solution of the present application is further described in detail below in conjunction with specific implementation methods.

[0020] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0021] See also Figures 1 to 3In one embodiment, an adaptively adjustable universal harvesting platform includes a reel 2, a tooth 3, a swing ring box 18, a cutting assembly, a harvesting platform frame 10, and also includes a first hydraulic motor 9, a second hydraulic motor 14, a hydraulic valve 28, a gathering piece, a harvesting platform lifting cylinder 16, a reel lifting cylinder 7, an adjusting cylinder 8, an image processing device, and a controller. The second hydraulic motor 14 is installed on the harvesting platform frame 10, the first hydraulic motor 9 is movably installed on the adjusting seat 6, and the adjusting seat 6 is rotatably installed on the harvesting platform frame 10. A reel 2 is installed on the output end of the first hydraulic motor 9, and the reel 2 is used to send grains to the gathering piece. A plurality of teeth 3 are circumferentially installed between adjacent reels 2, and a cutting assembly is installed below the plurality of reels 2. A gathering piece is installed on one side of the cutting assembly, and the gathering piece is used to gather the harvested grains. The grains are gathered and transported, the second hydraulic motor 14 is connected to the gathering piece and the cutting assembly in a transmission manner, the output end of the header lifting cylinder 16 is connected to the header frame 10, the header lifting cylinder 16 is used to drive the header frame 10 to rise and fall, the reel lifting cylinder 7 is movably installed on the header frame 10, the output end of the reel lifting cylinder 7 is connected to the adjustment seat 6, the reel lifting cylinder 7 is used to drive the reel 2 to rise and fall, one end of the adjustment cylinder 8 is connected to the adjustment seat 6, the output end of the adjustment cylinder 8 is connected to the first hydraulic motor 9, the adjustment cylinder 8 is used to adjust the distance between the reel 2 and the cutting assembly, the first hydraulic motor 9, the second hydraulic motor 14, the adjustment cylinder 8, the header lifting cylinder 16 and the reel lifting cylinder 7 are all connected to the hydraulic valve 28, and the hydraulic valve 28 is fixed on the header frame 10; The image processing device is installed on the harvesting table frame 10, and the image processing device and the hydraulic valve 28 are electrically connected to the controller. The image processing device is used to collect grain images, judge the ear length, plant height and planting density through visual recognition and output corresponding parameters. The controller is used to control the hydraulic valve 28 to output the hydraulic oil flow to the first hydraulic motor 9, the second hydraulic motor 14, the regulating cylinder 8, the harvesting table lifting cylinder 16 and the reel lifting cylinder 7 according to the corresponding parameters.

[0022] In this embodiment, a first transmission wheel 17 is fixedly installed at one end of the gathering piece, and the first transmission wheel 17 is fixed to the side plate of the harvesting table frame 10 through a bearing seat. A first driving wheel 15 is installed at the output end of the second hydraulic motor 14. The first driving wheel 15 and the first transmission wheel 17 are connected by belt transmission. The cutting assembly is connected to the first driving wheel 15 through a belt transmission. One end of the harvesting table lifting cylinder 16 is installed on the harvesting table frame 10 with a clearance fit, and the other end is connected to the harvester frame with a clearance fit.

[0023] The transmission connection mode between the second hydraulic motor 14 and the gathering member and the cutting assembly is not limited to belt and chain transmission, and gear meshing transmission can also be used.

[0024] The grain image is collected by an image processing device installed on the harvesting table frame 10, and different hydraulic oil flows are provided to the first hydraulic motor 9, the second hydraulic motor 14, the adjusting cylinder 8, the harvesting table lifting cylinder 16 and the reel lifting cylinder 7 through the controller instructions according to the collected image, so as to adjust the position and speed of the reel 2, adjust the speed of the second hydraulic motor 14, that is, automatically adjust the feed amount, and adjust the position of the harvesting table.

[0025] See also Figures 1 to 3 In one embodiment, the cutting assembly includes a swing ring box 18 and a cutter 24. The cutter 24 is installed under the plurality of reels 2. The output end of the swing ring box 18 is connected to the cutter 24. The swing ring box 18 is installed on the side wall of the cutting table frame 10. The second hydraulic motor 14 is connected to the swing ring box 18 in a transmission manner.

[0026] In this embodiment, the swing ring box 18 is fixed to the side plate of the cutting table frame 10 through a bearing seat, and the swing ring box 18 is connected to the first driving wheel 15 through a belt.

[0027] The cutting assembly is not limited to the driving form of the swing ring box 18, and can also use a crank slider mechanism to convert rotation into reciprocating linear motion to achieve cutting operations.

[0028] See also Figures 1 to 3 In one embodiment, it further comprises a conveying chain plate 22, and a conveying chain plate 22 is provided on a side of the gathering member away from the cutter 24, and the conveying chain plate 22 is used to convey the grain mixture to the separation and cleaning module. In this embodiment, a second driving wheel 21 is also installed at the output end of the second hydraulic motor 14, and the conveying chain plate 22 is rotatably installed inside the bridge housing 23. The second driving wheel 21 is fixed to the outside of the bridge housing 23 through a bearing seat, and the second driving wheel 21 is fixedly connected to the first driving wheel 15 through a driving shaft. The second driving wheel 21 is connected to the second transmission wheel 19 through a chain 20, and the second driving wheel 21 and the second transmission wheel 19 are both connected to the conveying chain plate 22.

[0029] See also Figure 1 , Figure 2 In one embodiment, a bearing connecting rod 5 is fixedly mounted on the cutting table frame 10, and the adjustment seat 6 is rotatably connected to the bearing connecting rod 5 through the adjustment bearing 4.

[0030] In this embodiment, the bearing connecting rod 5 is provided so as to realize the rotatable connection of the entire reel 2 .

[0031] See also Figure 1 , Figure 3 In one embodiment, the shape of the adjustment seat 6 is V-shaped, and the first hydraulic motor 9 is slidably connected to an end of the adjustment seat 6 away from the adjustment bearing 4.

[0032] In this embodiment, the first hydraulic motor 9 and the end of the adjustment seat 6 away from the adjustment bearing 4 are inclined toward the cutter 24. By designing the shape of the adjustment seat 6 to be V-shaped, the distance between the cutter 24 and the reel 2 can be adjusted by adjusting the oil cylinder 8.

[0033] See also Figures 1 to 3 In one embodiment, a crop divider 1 is installed on both sides of the harvesting table frame 10.

[0034] In this embodiment, the crop divider 1 is located at the front end of the header, distributed at both ends of the header, and fixedly connected to the header frame 10; See also Figure 2 In one embodiment, the image processing device includes a camera 25, a telescopic rod 26, a support seat 27, and a processor. The support seat 27 is fixedly installed on the cutting table frame 10, one end of the telescopic rod 26 is installed on the support seat 27, and the other end of the telescopic rod 26 is fixedly connected to the camera 25. The processor is used to identify the image captured by the camera 25.

[0035] In this embodiment, the camera 25 can be extended by the telescopic rod 26 to obtain a larger field of view. The camera 25 collects pictures, and the ear length, plant height and planting density are judged through visual recognition, and the corresponding parameters are output and converted into controller instructions.

[0036] See also Figure 2 In one embodiment, the gathering member is an auger 12, and the auger 12 is rotatably mounted on the harvesting table frame 10. The spiral directions of the two ends of the auger 12 are opposite, so that the grains are gathered to the conveying chain plate 22 set in the middle.

[0037] In this embodiment, a first transmission wheel 17 is fixedly mounted on one end of the auger 12 .

[0038] The gathering member is not limited to the auger 12, and the grains can also be gathered by converting rotation into linear motion through a crank slider mechanism.

[0039] See also Figure 2 In one embodiment, a plurality of telescopic teeth 13 are installed on the auger 12 .

[0040] In this embodiment, the telescopic teeth 13 are installed inside the auger 12, so that the harvested grains can be gathered and transported to the inside of the bridge housing 23; In one embodiment, a method for controlling an adaptively adjustable universal header includes: The grain image is collected by an image processing device; Based on the collected images, the ear length, plant height and planting density of the grains are judged and the corresponding parameters are output; The controller controls the rotation speed or telescopic distance of the first hydraulic motor 9, the second hydraulic motor 14, the header lifting cylinder 16, the regulating cylinder 8 and the reel lifting cylinder 7 based on the corresponding output parameters.

[0041] In one embodiment, the step of judging the ear length, plant height and planting density of the grain based on the collected images and outputting the corresponding parameters specifically includes: Based on the ear length and plant height of the grain, the ratio of the plant height to the ear length of the grain is determined; based on the plant height, the ratio of the plant height to the normal upright plant height is determined; The ratio of plant height to grain ear length is compared with a preset threshold value. When the ratio of plant height to grain ear length is greater than or equal to the preset threshold value, it is judged as a tall plant crop; when the ratio of plant height to grain ear length is less than the preset threshold value, it is judged as a short plant crop, and the corresponding parameters are determined based on the judgment result; The ratio of the plant height to the normal upright plant height is compared with a preset threshold. When the ratio of the plant height to the normal upright plant height is greater than or equal to the preset threshold, it is judged to be in a semi-lodging state; when the ratio of the plant height to the normal upright plant height is less than the preset threshold, it is judged to be in a full lodging state, and the corresponding parameters are determined based on the judgment result.

[0042] In this embodiment, the stubble height can be automatically determined based on the crop plant ear length and plant height. When the ratio of the plant ear length to the plant height is greater than 1 / 8, it is a tall crop. At this time, the amount of straw during the harvesting process is large and the grain quality is low, which can be adjusted through density detection. At this time, the harvester works faster, the cutting table works at a lower pressure, the reel 2 rotates faster, and the cutter 24 works faster.

[0043] When the ratio of plant ear length to plant height is less than 1 / 8, it is a low plant crop. At this time, the number of grains and plants during the harvesting process is relatively equal, and adjustment is made through density detection. At this time, the harvester works slowly, the working pressure of the cutting table is large, the speed of the reel 2 is slow, and the working speed of the cutter 24 is slow.

[0044] When the plants are in an upright state, the system operates normally. When the plants reach the ridge position, the system decelerates, the cutting table lifting cylinder 16 lifts the cutting table to the highest position, and the harvester turns; When the plant is in a semi-lodging state, that is, the plant height is lower than 1 / 2 of the normal upright state, but higher than 1 / 5 of the ground height, it is a semi-lodging state, and the system enters the lodging crop harvesting mode. In this mode, the reel 2 lowers its height and automatically adjusts its front and rear positions according to the specific lodging direction, and other components operate normally; When the plant is in a completely lodged state, which is lower than 1 / 5 of the ground height, it is a completely lodged state. At this time, the reel 2 stops working and is raised to a stopped working state, the cutting platform is lowered, and the working speed of the operating parts such as the cutter 24 is increased.

[0045] During the harvesting process, the driver can obtain the status of the grain plants in the field ahead through the monitoring screen inside the cabin. At this time, the display screen outputs the ratio of plant height to grain ear length and planting density. The system will perform related operations through automatic monitoring, so that the header can achieve adaptive grain harvesting process. Ensure that during the harvesting process, adaptive work is performed under different crops and plant lodging conditions to improve crop harvesting efficiency.

[0046] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0047] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An adaptive adjustable universal cutting platform, comprising a reel, a tooth, a cutting assembly, and a cutting platform frame, characterized in that: It also includes a first hydraulic motor, a second hydraulic motor, a hydraulic valve, a gathering piece, a cutting platform lifting cylinder, a reel lifting cylinder, an adjusting cylinder, an image processing device, and a controller. The first hydraulic motor is movably mounted on an adjusting seat, and the adjusting seat is rotatably mounted on a cutting platform frame. A reel is mounted on the output end of the first hydraulic motor, and a plurality of teeth are circumferentially mounted between adjacent reels. Cutting assemblies are mounted below the reels, and a gathering piece is mounted on one side of the cutting assembly. The second hydraulic motor is transmission-connected to the gathering piece and the cutting assembly. The cutting platform lifting cylinder The output end is connected to the cutting platform frame, the cutting platform lifting cylinder is used to drive the cutting platform frame to lift, the reel lifting cylinder is movably installed on the cutting platform frame, the output end of the reel lifting cylinder is connected to the adjustment seat, the reel lifting cylinder is used to drive the reel to lift, one end of the adjustment cylinder is connected to the adjustment seat, the output end of the adjustment cylinder is connected to the first hydraulic motor, the adjustment cylinder is used to adjust the distance between the reel and the cutting assembly, the first hydraulic motor, the second hydraulic motor, the adjustment cylinder, the cutting platform lifting cylinder and the reel lifting cylinder are all connected to the hydraulic valve; The image processing device is installed on the harvesting table frame, and the image processing device and the hydraulic valve are electrically connected to the controller. The image processing device is used to collect grain images, judge the ear length, plant height and planting density through visual recognition and output corresponding parameters, and the controller is used to control the hydraulic oil flow output by the hydraulic valve to the first hydraulic motor, the second hydraulic motor, the regulating cylinder, the harvesting table lifting cylinder and the reel lifting cylinder according to the corresponding parameters.

2. The self-adjustable universal header according to claim 1, characterized in that: The cutting assembly includes a swing ring box and a cutter. The cutter is installed under a plurality of the reels. The output end of the swing ring box is connected to the cutter. The swing ring box is installed on the side wall of the cutting table frame. The second hydraulic motor is transmission-connected to the swing ring box.

3. The self-adjustable universal header according to claim 1, characterized in that: It also includes a conveying chain plate. The conveying chain plate is arranged on a side of the gathering member away from the cutting assembly. The second hydraulic motor is drivingly connected to the conveying chain plate.

4. The self-adjustable universal header according to claim 1, characterized in that: A bearing connecting rod is fixedly installed on the cutting table frame, and the adjusting seat is rotatably connected with the bearing connecting rod through an adjusting bearing.

5. The self-adjustable universal header according to claim 4, characterized in that: The shape of the adjustment seat is V-shaped, and the first hydraulic motor is slidably connected to an end of the adjustment seat away from the adjustment bearing.

6. The self-adjustable universal header according to claim 1, characterized in that: The image processing device includes a camera, a telescopic rod, a support seat, and a processor. The support seat is fixedly installed on the cutting table frame, one end of the telescopic rod is installed on the support seat, and the other end of the telescopic rod is fixedly connected to the camera. The processor is used to identify the image collected by the camera.

7. The self-adjustable universal header according to claim 1, characterized in that: The gathering piece is a auger.

8. The self-adjustable universal header according to claim 7, characterized in that: A plurality of telescopic teeth are installed on the auger.

9. A control method for the self-adaptive universal header according to any one of claims 1 to 8, characterized in that: include: The grain image is collected by an image processing device; Based on the collected images, the ear length, plant height and planting density of the grains are judged and the corresponding parameters are output; Based on the corresponding output parameters, the controller controls the rotation speed or telescopic distance of the first hydraulic motor, the second hydraulic motor, the header lifting cylinder, the regulating cylinder and the reel lifting cylinder.

10. The control method of the self-adaptive adjustable universal header according to claim 9, characterized in that: The step of judging the ear length, plant height and planting density of the grains based on the collected images and outputting the corresponding parameters specifically includes: Based on the ear length and plant height of the grain, the ratio of the plant height to the ear length of the grain is determined; based on the plant height, the ratio of the plant height to the normal upright plant height is determined; The ratio of plant height to grain ear length is compared with a preset threshold value. When the ratio of plant height to grain ear length is greater than or equal to the preset threshold value, it is judged as a tall plant crop; when the ratio of plant height to grain ear length is less than the preset threshold value, it is judged as a short plant crop, and the corresponding parameters are determined based on the judgment result; The ratio of the plant height to the normal upright plant height is compared with a preset threshold. When the ratio of the plant height to the normal upright plant height is greater than or equal to the preset threshold, it is judged to be in a semi-lodging state; when the ratio of the plant height to the normal upright plant height is less than the preset threshold, it is judged to be in a full lodging state, and the corresponding parameters are determined based on the judgment result.

Images