Ear picking plate adjusting system, ear picking machine and ear picking plate adjusting method

Abstract

The invention relates to the technical field of agricultural machinery, and discloses an ear picking plate adjusting system, an ear picker and an ear picking plate adjusting method. When the ear picking plate adjusting system is applied to the ear picking machine for harvesting operation, butt-clamping type contact detection can be conducted on the stem diameter of crops to be harvested entering the harvesting space through the stem diameter detection module, the detection precision is higher, the control module determines the size of the stem diameter according to detection data, and the harvesting efficiency is improved. Therefore, the driving module is controlled to adjust the distance between the two ear picking plates, the width of the harvesting space is adjusted, and it is ensured that the width of the harvesting space can be matched with the stem diameter of crops to be harvested. According to the ear picking plate adjusting system, the size of the harvesting space between the two ear picking plates in the execution module can be automatically adjusted, manual adjustment is not needed, the labor intensity of workers is reduced, it is ensured that the damage rate of fruits is reduced in the harvesting process, and the ear picking efficiency is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of agricultural machinery, and specifically relates to an ear picking plate adjustment system, an ear picking machine and an ear picking plate adjustment method. Background Art

[0002] The ear-picking board on the header is an important part of the corn harvester. Its main function is to pick the corn ears from the stalks during the harvesting process. The performance of the ear-picking board directly affects the harvesting efficiency and quality. The width of the ear-picking board in the existing corn ear-picking machine is relatively fixed. However, during the harvesting process, the diameter of the corn stalks varies to a certain extent. When dealing with corn stalks with large diameter variations, it is usually necessary to manually adjust the spacing of the ear-picking boards. This manual adjustment method is not only time-consuming and labor-intensive, but also difficult to ensure the accuracy of the adjustment, resulting in low ear-picking efficiency and high corn damage rate. Summary of the invention

[0003] The purpose of the present application is to provide an ear picking plate adjustment system, an ear picking machine and an ear picking plate adjustment method, which are used to solve the problem in the prior art of manually adjusting the spacing of the ear picking plates, resulting in low ear picking efficiency and high corn damage rate.

[0004] In order to achieve the above-mentioned purpose, the first aspect of the present application provides an ear picking plate adjustment system, comprising:

[0005] An execution module includes two ear picking plates arranged in a counterposition, and a harvesting space is formed between the two ear picking plates;

[0006] A driving module, which is transmission-connected to the execution module and is used to adjust the width of the harvesting space between the two ear-picking plates;

[0007] a rod diameter detection module, which is arranged in the execution module and located at the entrance of the harvesting space, wherein the detection end of the rod diameter detection module is used to perform contact detection on both sides of the crops to be harvested in the width direction of the harvesting space to obtain the rod diameter information of the crops to be harvested; and

[0008] The control module is configured to control the driving module to adjust the width of the harvesting space according to the rod diameter information.

[0009] As a further improvement of the above technical solution:

[0010] In some embodiments, the stem diameter size range of the crops to be harvested is defined as d1-d2, and the width of the harvesting space (121a) can be adjusted within a range of D1-D2, wherein D1>d1, D2>d2.

[0011] In some embodiments, the rod diameter detection module includes two rod diameter detection units, and the detection ends of the two rod diameter detection units are arranged in alignment along the width direction of the harvesting space to form a detection gap.

[0012] In some embodiments, the rod diameter detection unit includes:

[0013] An elastic reset member, arranged on the execution module;

[0014] a detection guide plate, arranged at the detection end and connected to the elastic reset member, the detection guide plate being used for abutting contact with the crop to be harvested; and

[0015] The detection element is arranged on the execution module or the elastic reset member, and is used for detecting the compression amount of the elastic reset member and feeding back to the control module.

[0016] In some embodiments, along the feeding direction of the harvesting space, the distance between the detection guide plates of the two rod diameter detection units gradually decreases.

[0017] In some embodiments, the rod diameter detection module is configured with a detection drive mechanism corresponding to each of the rod diameter detection units;

[0018] Among them, the detection drive mechanism is arranged on the execution module, the rod diameter detection unit is transmission-connected with the detection drive mechanism, the rod diameter detection unit includes a detection position and a storage position, and the detection drive mechanism is used to drive the rod diameter detection unit to switch between the detection position and the storage position.

[0019] In some embodiments, the ear picking board adjustment system also includes a position sensor disposed on the execution module, and the position sensor is communicatively connected to the control module for detecting the width of the harvesting space formed between the two ear picking boards and feeding back to the controlled module.

[0020] In some embodiments, the ear picking board adjustment system also includes a human-computer interaction module electrically connected to the control module, the human-computer interaction module includes a display screen and multiple function buttons, at least one of the function buttons is communicatively connected to the control module and is used to adjust the width of the harvesting space.

[0021] A second aspect of the present application provides an ear picker, comprising an ear picker plate adjustment system provided according to the first aspect.

[0022] The third aspect of the present application provides an ear picking plate adjustment method, which is applied to the ear picking plate adjustment system provided according to the first aspect, and the ear picking plate adjustment method comprises:

[0023] S100: Determine the average row spacing L of the crops to be harvested;

[0024] S200: setting the initial width of the harvesting space, and controlling the ear picker to harvest at a speed V;

[0025] S300: Detecting the stem diameter information of the N crops to be harvested harvested within the first preset time T1 by the stem diameter detection module and calculating the average diameter, wherein N=(V*T1) / L;

[0026] S400: adjusting the width of the harvesting space according to the calculated average diameter.

[0027] As a further improvement of the above technical solution:

[0028] In some implementations, the step S400 further includes:

[0029] S410: determining an ideal spacing between two ear picking plates according to the calculated average diameter;

[0030] S420: Compare the ideal spacing with the width of the current harvesting space to determine the spacing amount that needs to be adjusted, and set a threshold d. If the spacing difference between the spacing that needs to be adjusted and the current harvesting space is less than the threshold d, no adjustment is made. If it is greater than the threshold d, the drive module is controlled to perform the adjustment action.

[0031] In some embodiments, the ear picking board adjustment method further comprises:

[0032] When the detection of the stem diameter information of the N crops to be harvested is completed, the stem diameter detection module is controlled to exit the detection position.

[0033] Compared with the prior art, the ear picking plate adjustment system, ear picking machine and ear picking plate adjustment method proposed in this application at least include the following technical effects:

[0034] The ear picking plate adjustment system provided by the present application, when used in an ear picking machine for harvesting operations, can perform clamp-type contact detection on the pole diameter of the crop to be harvested that enters the harvesting space through the pole diameter detection module, with higher detection accuracy, and the control module determines the pole diameter size according to the detection data, thereby controlling the drive module to adjust the spacing between the two ear picking plates, thereby adjusting the width of the harvesting space, ensuring that the width of the harvesting space can be adapted to the pole diameter of the crop to be harvested. The ear picking plate adjustment system provided by the present application can realize automatic adjustment of the size of the harvesting space between the two ear picking plates in the execution module, without the need for manual adjustment, reducing the intensity of manual labor, ensuring that the damage rate of the fruit is reduced during the harvesting process, and improving the efficiency of ear picking.

[0035] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0037] Figure 1 A schematic diagram of a module of an ear picking plate adjustment system provided in an embodiment of the present application;

[0038] Figure 2 A top view of a partial structure of cooperation between an execution module and a driving module in an ear picker provided in an embodiment of the present application;

[0039] Figure 3 A bottom view of a partial structure of cooperation between an execution module and a driving module in an ear picker provided in an embodiment of the present application;

[0040] Figure 4 for Figure 3 A local enlarged schematic diagram of the middle A;

[0041] Figure 5 for Figure 2 A schematic diagram of the three-dimensional structure of the local structure when the execution module and the driving module cooperate;

[0042] Figure 6 A flowchart of a method for adjusting an ear picking plate provided in an embodiment of the present application.

[0043] Description of Reference Numerals

[0044] 100, execution module; 110, ear picking board frame; 120, ear picking assembly; 121, ear picking board; 121a, harvesting space; 122, first rotating shaft; 123, second rotating shaft;

[0045] 200, driving module; 210, rotating driving assembly; 211, gear member; 212, rack; 220, transmission assembly; 221, transmission rod group; 2210, first transmission member; 2211, second transmission member; 222, connecting rod group; 2220, first connecting member; 2221, second connecting member; 2222, first supporting member; 2223, second supporting member;

[0046] 300, rod diameter detection module; 301, detection gap; 310, rod diameter detection unit; 311, elastic reset member; 312, detection guide plate; 313, detection element; 320, detection drive mechanism;

[0047] 400, control module;

[0048] 500, position sensor;

[0049] 600. Human-computer interaction module. DETAILED DESCRIPTION

[0050] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0051] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with exemplary embodiments.

[0052] Embodiment 1

[0053] See also Figure 1 , Figure 2 and Figure 3 The present embodiment provides an ear picking plate adjustment system, which can be applied to an ear picking machine and is used to automatically adjust the distance between two ear picking plates 121 arranged in a position in the ear picking machine.

[0054] The ear picking plate adjustment system provided in this embodiment includes an execution module 100, a driving module 200, a rod diameter detection module 300 and a control module 400. Among them, the execution modules 100 can be provided in multiple groups, and multiple groups of execution modules 100 can be driven by one driving module 200, or each execution module 100 can be configured with one driving module 200. In this embodiment, a group of execution modules 100 is taken as an example for illustration.

[0055] The execution module 100 includes two ear picking plates 121 arranged in opposition, and a harvesting space 121 a is formed between the two ear picking plates 121 . The harvesting space 121 a has an entrance for the crops to be harvested to enter.

[0056] The driving module 200 is connected to the execution module 100 in a transmission manner, and is used to adjust the width of the harvesting space 121a between the two ear picking plates 121. The adjustment method includes the two ear picking plates 121 moving away from or approaching each other along the width direction of the harvesting space 121a to achieve width adjustment, or the two ear picking plates 121 flip around the horizontal axis to open or close to achieve width adjustment.

[0057] The rod diameter detection module 300 is arranged in the execution module 100 and is located at the entrance of the harvesting space 121a. Thus, the crops to be harvested need to pass through the rod diameter detection module 300 before entering the harvesting space 121a. The detection end of the rod diameter detection module 300 is used to perform contact detection on both sides of the crops to be harvested in the width direction of the harvesting space 121a to obtain the rod diameter information of the crops to be harvested.

[0058] The control module 400 is electrically connected to the driving module 200 and the rod diameter detection module 300. The control module 400 is configured to control the driving module 200 to adjust the width of the harvesting space 121a according to the rod diameter information.

[0059] Optionally, the control module 400 includes a PLC controller.

[0060] In this way, the ear picking plate adjustment system provided in the present embodiment, when applied to an ear picker for harvesting operations, can perform a clamp-type contact detection on the pole diameter of the crop to be harvested entering the harvesting space 121a through the pole diameter detection module 300, with higher detection accuracy. The control module 400 determines the pole diameter size according to the detection data, thereby controlling the driving module 200 to drive the distance between the two ear picking plates 121 to adjust, thereby realizing the adjustment of the width of the harvesting space 121a, ensuring that the width of the harvesting space 121a can be adapted to the pole diameter of the crop to be harvested.

[0061] Compared with the prior art, the ear picking board adjustment system provided in this embodiment can realize automatic adjustment of the size of the harvesting space 121a between the two ear picking boards 121 in the execution module 100 without manual adjustment, thereby reducing the intensity of manual labor, ensuring that the damage rate of the fruit is reduced during the harvesting process, and improving the efficiency of ear picking.

[0062] Furthermore, the stem diameter size range of the crops to be harvested is defined as d1-d2, and the width of the harvesting space 121a can be adjusted within a range of D1-D2. Considering that the stem diameter of the crops to be harvested grows unevenly, with some being well-developed and some being poorly developed, in order to cope with crops with large stem diameter variations and ensure the stability of subsequent harvesting, a certain working margin needs to be reserved for the width adjustment range of the harvesting space 121a, thus, D1>d1, D2>d2.

[0063] In some embodiments, the size of the working margin is set differently according to different crops to be harvested. Taking corn harvesting as an example, the diameter of the corn stalk is between 20-30mm, and the width of the harvesting space 121a between the ear picking plates 121 should have a margin of 10mm relative to the corn stalk, so the adjustable range of the harvesting space 121a between the ear picking plates 121 is 30-40mm. If corn encounters special circumstances, when it is poorly developed or well developed, its diameter will be smaller or larger, but it will not be less than 15mm when smaller, and will not be greater than 35mm when larger. For the stability of harvesting, the adjustable range of the harvesting space 121a between the ear picking plates 121 is designed to be 25-50mm. Among them, the threshold d can be designed to be 5±1.5mm.

[0064] Optionally, D1=d1+10mm, D2=d2+(10-15)mm.

[0065] The rod diameter detection module 300 includes two rod diameter detection units 310 , which are respectively arranged under the corresponding ear picking plates 121 , and the detection ends of the two rod diameter detection units 310 are arranged in alignment along the width direction of the harvesting space 121 a to form a detection gap 301 .

[0066] It is understandable that when detecting the stem diameter during harvesting, the stem diameter of the crop to be harvested needs to pass through the detection gap 301, thereby squeezing the detection ends of the two stem diameter detection units 310, that is, the detection ends of the two stem diameter detection units 310 will perform clamping detection on both sides of the stem diameter along the width direction of the harvesting space 121a. In this way, through abutment contact detection, the measurement is more accurate and the detection accuracy is improved.

[0067] See also Figure 3 and Figure 4 In order to more clearly describe the technical solution of the present application, this embodiment selectively describes two rod diameter detection units 310. Specifically, the rod diameter detection unit 310 includes an elastic reset member 311, a detection guide plate 312 and a detection element 313.

[0068] The elastic reset member 311 is disposed on the execution module 100. The detection guide plate 312 is arranged at the detection end and connected to the elastic reset member 311, and the detection guide plate 312 is used to abut against the crop to be harvested. The detection element 313 is disposed on the execution module 100 or the elastic reset member 311, and is used to detect the compression amount of the elastic reset member 311 and convert the compression amount into an electrical signal to feed back to the control module 400. In this way, the control module 400 can calculate the size of the rod diameter according to the compression amount fed back by the detection element 313.

[0069] Optionally, the elastic return member 311 may be a compression spring, a spring or a gas spring.

[0070] Optionally, the detection element 313 may be a displacement detection sensor or a strain gauge. The displacement detection sensor may detect the displacement of the guide plate 312 after the elastic reset member 311 is compressed, thereby indirectly obtaining the compression of the elastic reset member 311. The strain gauge may be arranged on the elastic reset member 311. When the elastic reset member 311 is compressed, the strain gauge is compressed and deformed. The deformation of the strain gauge may cause a change in its resistance value, so that the magnitude of the elastic force or the amount of compression may be calculated according to the change in the resistance value, and forwarded as an electrical signal to the control module 400 for feedback.

[0071] Furthermore, along the feeding direction of the harvesting space 121a, the distance between the detection guide plates 312 of the two rod diameter detection units 310 is gradually reduced, so that the rod diameter can be smoothly measured through the detection gap 301.

[0072] Optionally, the detection guide plate 312 is an arc-shaped plate. The outer arc surfaces of the arc-shaped plates of the two rod diameter detection units 310 are arranged opposite to each other, thereby forming a reduced bell mouth on the inlet side, so that the rod diameter can be smoothly measured through the detection gap 301.

[0073] In this embodiment, the rod diameter detection module 300 is configured with a detection drive mechanism 320 corresponding to each rod diameter detection unit 310. The detection drive mechanism 320 is arranged on the execution module 100, and the rod diameter detection unit 310 is connected to the detection drive mechanism 320 by transmission. The rod diameter detection unit 310 includes a detection position and a receiving position. When the rod diameter detection unit 310 is located at the detection position, the detection end of the rod diameter detection unit 310 extends out of the harvesting space 121a. When the rod diameter detection unit 310 is located at the receiving position, the rod diameter detection unit 310 and the detection end are both received in the covering area below the corresponding ear picking board 121 (a receiving space can be provided below the ear picking board 121 to receive the rod diameter detection unit 310), and are not exposed in the harvesting space 121a, thereby reducing interference with the harvesting process and protecting the rod diameter detection unit 310.

[0074] The detection drive mechanism 320 is used to drive the rod diameter detection unit 310 to switch between the detection position and the accommodation position, wherein the switching method includes rotation switching or linear telescopic switching.

[0075] In this embodiment, linear telescopic switching is adopted. In this way, after the rod diameter detection unit 310 completes the detection of the target number of crops to be harvested and completes the adjustment of the harvesting space 121a, the detection drive mechanism 320 drives the rod diameter detection unit 310 to retract to the storage position, so that the detection end of the rod diameter detection unit 310 is not exposed in the harvesting space 121a area, so that subsequent harvesting can proceed smoothly. When detection is required, the detection drive mechanism 320 drives the rod diameter detection unit 310 to extend the preset stroke to the detection position, so that the detection end of the rod diameter detection unit 310 is exposed in the harvesting space 121a, so as to facilitate contact detection of the rod diameter.

[0076] Optionally, the detection drive mechanism 320 may be an electric push rod, an electric cylinder or a screw motor, etc. It should be understood that the above is only an example and is not intended to limit the scope of protection of the present application.

[0077] In this embodiment, the detection drive mechanism 320 is selected as a screw motor, wherein the motor is preferably a stepper motor or a servo motor.

[0078] See also Figure 1 and Figure 2 Furthermore, the ear picking board adjustment system also includes a position sensor 500 arranged on the execution module 100, and the position sensor 500 is communicated with the control module 400 to detect the width of the harvesting space 121a formed between the two ear picking boards 121 and feed back to the control module 400 to achieve precise adjustment.

[0079] Optionally, the position sensor 500 may be a laser distance sensor, a potentiometer, or an encoder.

[0080] See also Figure 1 , Figure 2 and Figure 3 In some embodiments, the ear picking board adjustment system further includes a human-computer interaction module 600 electrically connected to the control module 400, and the human-computer interaction module 600 includes a display screen and a plurality of function keys. The function keys may be physical keys or built-in touchable virtual keys. The display screen is connected to the control module 400 via serial communication, and displays the current spacing of the ear picking boards 121 (i.e., the width of the harvesting space 121a) in real time.

[0081] Among them, at least one function button is connected to the control module 400 for communication and can be used to adjust the width of the harvesting space 121a. In other words, a function button is configured to send a control signal for adjusting the width of the harvesting space 121a to the control module 400, thereby realizing manual control adjustment. In this way, if the operator finds that the spacing of the ear picking plate 121 needs to be adjusted again during the harvesting process, the position of the ear picking plate 121 can be manually adjusted through the control button for secondary adjustment or compensation.

[0082] Specifically, for example, by pressing the corresponding function button for 1 second, the driving module 200 will drive the ear picking plate 121 to adjust the spacing of 5 mm. Among them, the ear picking plate 121 can be adjusted to any spacing within the adjustable range within 5 seconds. It should be understood that the above is only an example and is not intended to limit the scope of protection of this application.

[0083] It should be noted that the above communication connection methods include wired or wireless communication. Among them, the wireless communication can be selected from Bluetooth, WIFI, 3G, 4G, 5G and other communication methods.

[0084] Compared with the prior art, the ear picking plate adjustment system provided in this embodiment can automatically adjust the spacing of the ear picking plates 121 according to the diameter of the corn stalks, and can also be manually adjusted by controlling function buttons to compensate during the harvesting process, thereby improving work efficiency and harvesting quality and reducing the complexity of manual operations.

[0085] Embodiment 2

[0086] See also Figure 2 , Figure 3 and Figure 5 This embodiment further provides an ear picker, which includes the ear picker plate adjustment system provided in the first embodiment.

[0087] In this embodiment, the width of the harvesting space 121a is adjusted by driving the two ear picking plates 121 to flip around a horizontal axis to open or close together, so as to achieve width adjustment.

[0088] Specifically, the execution module 100 further includes an ear picking plate frame 110 and an ear picking assembly 120 , and the driving module 200 includes a rotation driving assembly 210 and a transmission assembly 220 .

[0089] Among them, the ear picking component 120 includes two ear picking plates 121 arranged at intervals along the width direction and a first rotating shaft 122 and a second rotating shaft 123 rotatably arranged on the ear picking plate frame 110, wherein one ear picking plate 121 is arranged on the first rotating shaft 122, and the other ear picking plate 121 is arranged on the second rotating shaft 123, and a harvesting space 121a extending along the length direction is formed between the two ear picking plates 121.

[0090] The rotation drive assembly 210 is used to drive the first rotating shaft 122 and the second rotating shaft 123 to rotate around their own axes, so as to drive the two ear picking plates 121 to swing in opposite directions. The transmission assembly 220 is drivingly connected to the rotation drive assembly 210, and the transmission assembly 220 includes a transmission rod group 221 and a connecting rod group 222 arranged on the transmission rod group 221, and the first rotating shaft 122 and the second rotating shaft 123 corresponding to the connecting rod group 222 are drivingly connected. In this embodiment, the rotation directions of the first rotating shaft 122 and the second rotating shaft 123 are opposite.

[0091] The number of connecting rod groups 222 and the number of ear picking components 120 are both multiple and connected one by one. The transmission rod group 221 includes a first transmission member 2210 and a second transmission member 2211 arranged at intervals. The connecting rod group 222 includes a first connecting member 2220 and a second connecting member 2221 respectively arranged on the first transmission member 2210 and the second transmission member 2211. The first end of the first connecting member 2220 is hinged to the first transmission member 2210, and the second end is fixedly connected to the first rotating shaft 122. The first end of the second connecting member 2221 is hinged to the second transmission member 2211, and the second end is fixedly connected to the second rotating shaft 123.

[0092] The connecting rod group 222 also includes a first support member 2222 and a second support member 2223 respectively arranged on the first transmission member 2210 and the second transmission member 2211. The two ends of the first support member 2222 are respectively hinged to the first transmission member 2210 and the second rotating shaft 123, and the two ends of the second support member 2223 are respectively hinged to the second transmission member 2211 and the first rotating shaft 122.

[0093] The rotary drive assembly 210 includes a gear member 211, a rotary drive member, and a rack 212. The rotary drive member is drivingly connected to the gear member 211; two racks 212 are provided, and the opposite sides of the two racks 212 are meshed with the gear member 211, and the ends of the two racks 212 are connected to the first transmission member 2210 and the second transmission member 2211.

[0094] Optionally, the rotary drive member is a motor.

[0095] The ear picking machine provided in this embodiment drives the first rotating shaft 122 and the second rotating shaft 123 to rotate around their own axes through the rotating drive component 210, thereby driving the two ear picking plates 121 to swing in opposite directions, one of the ear picking plates 121 rotates counterclockwise, and the other ear picking plate 121 rotates clockwise, so that the two ear picking plates 121 are close to or away from each other, so as to achieve the purpose of adjusting the inner diameter of the harvesting space 121a to adapt to the harvesting requirements of stems of different sizes, thereby solving the technical problems of low harvesting efficiency and harvesting volume of fixed ear picking plates 121 in the prior art.

[0096] Embodiment 3

[0097] See also Figure 1 , Figure 2 , Figure 3 and Figure 6 This embodiment provides a method for adjusting an ear picking plate. The method for adjusting an ear picking plate is applied to the ear picking plate adjustment system provided in the first embodiment. The method for adjusting an ear picking plate includes:

[0098] S100: Determine the average row spacing L of crops to be harvested.

[0099] Specifically, it can be set according to the planting data of the area that needs to be harvested, or it can be measured by on-site sampling to obtain an average value.

[0100] S200: setting the initial width of the harvesting space 121a, and controlling the ear picker to travel at a speed V for harvesting.

[0101] The initial width of the harvesting space 121a can be obtained from previous research data of the crops to be harvested, and the data can be built into the program of the control module 400 for calling, or can be manually input through function keys according to the scene.

[0102] S300: Detecting the stem diameter information of N crops to be harvested within a first preset time T1 by the stem diameter detection module 300 and calculating the average diameter, wherein N=(V*T1) / L.

[0103] Wherein, N≥100. Optionally, N can be 110, 120, 130, 145, 152, 176, 180, 200, etc. It can be understood that the larger the value of N, the more accurate the measured data. In this embodiment, the value of N can be set according to the situation of the crops to be harvested on site, so the above is only an example and is not intended to limit the scope of protection of this application.

[0104] S400: Adjusting the width of the harvesting space 121a according to the calculated average diameter.

[0105] Furthermore, step S400 also includes:

[0106] S410: Determine the ideal distance between the two ear picking plates 121 according to the calculated average diameter.

[0107] S420: Compare the ideal spacing with the width of the current harvesting space 121a to determine the spacing amount that needs to be adjusted, and set a threshold d. If the spacing difference between the spacing that needs to be adjusted and the current harvesting space 121a is less than the threshold d, no adjustment is made. If it is greater than the threshold d, the drive module 200 is controlled to perform the adjustment action.

[0108] Optionally, taking corn harvesting as an example, the diameter of corn stalks is between 20-30 mm, and the width of the harvesting space 121a between the ear picking plates 121 should have a 10 mm margin relative to the corn stalks, so the adjustable range of the harvesting space 121a between the ear picking plates 121 is 30-40 mm. If corn encounters special circumstances, when it is poorly developed or well developed, its diameter will be smaller or larger, but it will not be less than 15 mm when smaller, and will not be greater than 35 mm when larger. For the stability of harvesting, the adjustable range of the harvesting space 121a between the ear picking plates 121 is designed to be 25-50 mm. Among them, the threshold d can be designed to be 5±1.5 mm.

[0109] In this embodiment, the ear picking plate adjustment method further includes:

[0110] When the stem diameter information detection of N crops to be harvested is completed, the stem diameter detection module 300 is controlled to exit the detection position. This operation is performed by the detection drive mechanism 320.

[0111] It should be noted that since the crops to be harvested may be distributed in different plots for operation, when the fields are transferred, the stem diameters of the crops to be harvested in different plots may be different. In order to avoid the situation where the gap between the ear picking plates 121 is too small to affect the stability of harvesting when the current plot just starts to be harvested after the operation on the previous plot is completed, the above steps S100-S400 are reinstalled after the transfer to adjust the width of the harvesting space 121a.

[0112] It should be noted that in the present application, unless otherwise specified, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like used to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0113] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0114] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0115] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0116] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A picking plate adjustment system, characterized in that: include: An execution module (100) comprises two ear picking plates (121) arranged in a counterposition, wherein a harvesting space (121a) is formed between the two ear picking plates (121); A driving module (200) is transmission-connected to the execution module (100) and is used to adjust the width of the harvesting space (121a) between the two ear-picking plates (121); A rod diameter detection module (300) is arranged on the execution module (100) and located at the entrance of the harvesting space (121a), wherein the detection end of the rod diameter detection module (300) is used to perform contact detection on both sides of the crop to be harvested in the width direction of the harvesting space (121a) to obtain rod diameter information of the crop to be harvested; and The control module (400) is configured to control the driving module (200) to adjust the width of the harvesting space (121a) according to the rod diameter information.

2. The ear picking plate adjustment system according to claim 1, characterized in that: The stem diameter size range of the crops to be harvested is defined as d1-d2, and the width of the harvesting space (121a) can be adjusted within a range of D1-D2, wherein D1>d1, D2>d2.

3. The ear picking plate adjustment system according to claim 1, characterized in that: The rod diameter detection module (300) comprises two rod diameter detection units (310), and the detection ends of the two rod diameter detection units (310) are arranged in alignment along the width direction of the harvesting space (121a) to form a detection gap (301).

4. The ear picking plate adjustment system according to claim 3, characterized in that: The rod diameter detection unit (310) comprises: An elastic reset member (311) is arranged on the execution module (100); a detection guide plate (312), arranged at the detection end and connected to the elastic reset member (311), the detection guide plate (312) being used for abutting contact with the crop to be harvested; and The detection element (313) is arranged on the execution module (100) or the elastic reset member (311) and is used to detect the compression amount of the elastic reset member (311) and feed back to the control module (400).

5. The ear picking plate adjustment system according to claim 4, characterized in that: Along the feeding direction of the harvesting space (121a), the distance between the detection guide plates (312) of the two rod diameter detection units (310) gradually decreases.

6. The ear picking plate adjustment system according to claim 4, characterized in that: The rod diameter detection module (300) is provided with a detection drive mechanism (320) corresponding to each of the rod diameter detection units (310); The detection drive mechanism (320) is arranged on the execution module (100), the rod diameter detection unit (310) is transmission-connected to the detection drive mechanism (320), the rod diameter detection unit (310) comprises a detection position and a receiving position, and the detection drive mechanism (320) is used to drive the rod diameter detection unit (310) to switch between the detection position and the receiving position.

7. The ear picking plate adjustment system according to claim 1, characterized in that: The ear picking board adjustment system also includes a position sensor (500) arranged on the execution module (100), and the position sensor (500) is communicatively connected with the control module (400) and is used to detect the width of the harvesting space (121a) formed between the two ear picking boards (121) and feed back to the control module (400).

8. The ear picking plate adjustment system according to any one of claims 1 to 7, characterized in that: The ear picking board adjustment system also includes a human-computer interaction module (600) electrically connected to the control module (400), and the human-computer interaction module (600) includes a display screen and a plurality of function buttons, at least one of the function buttons is communicatively connected to the control module (400) and is used to adjust the width of the harvesting space (121a).

9. An ear picking machine, characterized in that: It comprises an ear picking plate adjustment system according to any one of claims 1-8.

10. A method for adjusting an ear picking plate, characterized in that: Applied to the ear picking plate adjustment system according to any one of claims 1 to 8, the ear picking plate adjustment method comprises: S100: Determine the average row spacing L of the crops to be harvested; S200: setting the initial width of the harvesting space (121a), and controlling the ear picker to harvest at a speed V; S300: Detecting the stem diameter information of the N crops to be harvested harvested within a first preset time T1 by the stem diameter detection module (300) and calculating the average diameter, wherein N=(V*T1) / L; S400: adjusting the width of the harvesting space (121a) according to the calculated average diameter.

11. The method for adjusting the ear picking plate according to claim 10, characterized in that: The step S400 also includes: S410: determining the ideal spacing between the two ear picking plates (121) according to the calculated average diameter; S420: Compare the ideal spacing with the width of the current harvesting space (121a) to determine the spacing amount that needs to be adjusted, and set a threshold d. If the spacing difference between the spacing that needs to be adjusted and the current harvesting space (121a) is less than the threshold d, no adjustment is made. If it is greater than the threshold d, control the drive module (200) to perform an adjustment action.

12. The method for adjusting the ear picking plate according to claim 10 or 11, characterized in that: The ear picking plate adjustment method also includes: When the detection of the stem diameter information of the N crops to be harvested is completed, the stem diameter detection module (300) is controlled to exit the detection position.

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