Automatic row-aligning driving detection device for beet topping and seedling-cutting machine and row-aligning method of automatic row-aligning driving detection device

Abstract

The invention relates to an automatic row control driving detection device of a beet topping and seedling cutting machine and a row control method thereof, and the device comprises a mounting frame which is used for being adjustably connected with a tractor; the leaf separating mechanism is connected with the mounting frame, and the leaf separating mechanism can separate stems and leaves of the sensed crop rows; the stalk sensing mechanism comprises a stalk contact plate clamping device, a stalk contact plate and an angle locking piece, the stalk contact plate, the stalk contact plate clamping device and the angle locking piece are sequentially connected, the angle locking piece is connected with a rotating piece, and the rotating piece is rotationally connected with the mounting frame; the encoder is connected with the rotating part and is used for measuring the rotating angle of the rotating part; and the row control controller is connected with the encoder through an electric signal. According to the detection device, a stalk sensing mechanism is arranged to detect row alignment deviation, so that a tractor and a beet top-cutting and seedling-cutting machine can conveniently adjust advancing routes relative to crop rows, and the detection device belongs to the technical field of agricultural machinery.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to an automatic row-aligning driving detection device for a sugar beet topping and rice seedling removing machine and a row-aligning method thereof. Background Art

[0002] Beet is one of the raw materials for sugar production. The step-by-step harvesting of beets is divided into three stages: topping, digging and separating, and picking up and stacking. The main operating machinery used in the topping stage is the topping machine, which is composed of a topping machine and a wheeled tractor. When harvesting beets, due to the lush leaves of the beet vines, it is not easy to judge the crop rows with the naked eye. The agricultural machine operator needs to concentrate on judging the position of the crop rows and constantly fine-tune the driving direction so that the tractor's driving trajectory is always along the crop rows. Only then can the topping machine achieve accurate topping and topping operations. Otherwise, the tractor tires will crush the beet roots, resulting in harvest losses. Therefore, the agricultural machine operators have a heavy workload and low operating efficiency, and there is an urgent need for automatic row-direction driving technology.

[0003] The detection of row deviation of beet topping and vineyard beet removers is the primary task in realizing automatic row-aligned driving technology. At present, the row deviation of beet topping and vineyard beet removers is mainly detected by satellite positioning or row sensors. The field environment is complex and changeable, and agricultural machinery operators cannot form ideal straight sowing rows during the beet sowing process, whether manual sowing or navigation sowing. In the process of topping and vineyard beet, since the position information of the beet crop row is difficult to obtain accurately, the existing agricultural machinery GNSS navigation system cannot accurately calculate the relative position information of the tractor and the crop row, and it is also impossible to realize the automatic row-aligned driving operation of the beet topping and vineyard beet remover. Summary of the invention

[0004] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide an automatic row-aligning driving detection device and a row-aligning method for a beet topping and vineyard removing machine, which can detect the relative position information between the driving trajectory of the tractor and the crop rows, thereby assisting in adjusting the travel route of the beet topping and vineyard removing machine relative to the crop rows.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] An automatic row driving detection device for a beet topping and threshing machine comprises:

[0007] A mounting frame, the mounting frame being used for adjustably connecting with the tractor;

[0008] A leaf separation mechanism, the leaf separation mechanism is connected to the mounting frame, and the leaf separation mechanism can separate the stems and leaves of the sensed crop row;

[0009] The stem sensing mechanism comprises a stem contact plate holder, a stem contact plate and an angle locking member, the stem contact plate, the stem contact plate holder and the angle locking member are connected in sequence, the angle locking member is connected with a rotating member, and the rotating member is rotatably connected to the mounting frame;

[0010] The encoder is connected with the rotating member to measure the rotation angle of the rotating member; the row controller is connected with the encoder through an electrical signal.

[0011] As a preference, there are two stem sensing mechanisms, and the two stem sensing mechanisms are rotatably connected to the mounting frame via two rotating members respectively, and the two rotating members are connected via a linkage assembly so that the rotation angles of the two stem sensing mechanisms are the same.

[0012] As a preference, the linkage assembly includes two follower plates and a linkage rod, the two follower plates are fixedly connected to the two rotating parts respectively, a return spring is connected between each follower plate and the mounting frame, and both ends of the linkage rod are hinged to the two follower plates respectively.

[0013] As a preference, each stem sensing mechanism has two stem contact plates, and the two stem contact plates are respectively fixedly connected to two movable ends of the stem contact plate clamp.

[0014] As a preferred embodiment, the leaf splitting mechanism includes two leaf splitter baffles, both of which are fixed to the mounting frame, and the two leaf splitter baffles are spaced apart and distributed in parallel on the mounting frame.

[0015] As a preference, a ground-contacting metal plate is provided at the bottom of each leaf splitter baffle.

[0016] As a preferred embodiment, the mounting frame includes a front frame, a parallelogram profiling frame, a rear mounting plate, a guide block and a counterweight block connecting frame, the leaf splitting mechanism is fixedly connected to the front frame, the rotating member is rotatably connected to the front frame, and the encoder is installed on the front frame; the front frame is hinged to the parallelogram profiling frame, the parallelogram profiling frame is hinged to the rear mounting plate, the rear mounting plate is connected to the guide block, the guide block is connected to the counterweight block connecting frame, and the counterweight block connecting frame is used for adjustably connecting to the tractor.

[0017] As a preference, the mounting frame further comprises an elastic rubber component, which is arranged between the rear mounting plate and the parallelogram-shaped profiling frame and between the front frame and the parallelogram-shaped profiling frame.

[0018] A row alignment method of an automatic row alignment driving detection device for a beet topper and thresher, comprising the following steps: assembling a mounting frame on a tractor and adjusting the mounting frame to a working height; before the beet topper and thresher start working, aligning a leaf splitter baffle with a row of crops and advancing; during the advancing process, the crop stems will always contact the stem contact plate; when the crop stems do not deviate or the force applied by the stems to the stem contact plate is less than or equal to the preload force of a return spring, the rotating part does not rotate; when the force applied by the stems to the stem contact plate exceeds the preload force of the return spring, the crop stems push the stem contact plate to rotate the rotating part; when the rotating part rotates, the rotating shaft of the encoder is synchronously driven to rotate, and the rotation angle of the rotating shaft is converted into an angle electrical signal and transmitted to the row alignment controller;

[0019] A kinematic model was established, and the row deviation of the sugar beet topping and thresher was obtained by inputting the rotation angle received by the row controller into the kinematic model for calculation.

[0020] As a preferred embodiment, the kinematic model is:

[0021]

[0022] Among them, l AC is the length of the stem contact plate, point A is the rotation center of the stem contact plate, C0 is the position of the end of the stem contact plate when there is no deviation in the crop row, C1 is the position of the end of the stem contact plate when the crop row deviation is d, ab is the fitted beet row straight line, a'b' is the offset beet row straight line, d is the lateral deviation, is the maximum left and right deflection angle of the stem contact plate, v is the forward speed direction, C0′ and C1′ are when the stem contact plate rotates to the maximum angle The foot point of C0 and C1.

[0023] In general, the present invention has the following advantages:

[0024] 1. The automatic row-aligning driving detection device of the sugar beet topping and thresher of the present invention detects row-aligning deviation by setting a stalk sensing mechanism, thereby facilitating the tractor and the sugar beet topping and thresher to adjust the travel route relative to the crop row.

[0025] 2. The automatic driving detection device of the beet topping and rice seedling beeting machine of the present invention is provided with a ground-touching metal plate, which cooperates with the straw of the mounting frame so that the whole device can float with the terrain, effectively reducing the influence of the terrain fluctuation on the detection accuracy, and mitigating the impact on the device, thereby improving the reliability of the device.

[0026] 3. The automatic row driving detection device of the sugar beet topping and vine removing machine of the present invention can be installed on a tractor and used for topping and vine removing operations of sugar beet segmented harvesting. At the same time, the device can be transferred between fields and can be installed or disassembled according to the operation needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A side view of the detection device.

[0028] Figure 2 It is a front view of the detection device.

[0029] Figure 3 A top view of the detection device.

[0030] Figure 4 This is the installation diagram of the detection device.

[0031] Figure 5 A three-dimensional diagram of an elastic rubber component.

[0032] Figure 6 This is an enlarged view of the encoder.

[0033] Figure 7 Schematic diagram of the kinematic model.

[0034] Among them, 1 is the front frame, 2 is the leaf splitter baffle, 3 is the ground contact metal plate, 4 is the stem contact plate clamp, 5 is the stem contact plate, 6 is the angle locking piece, 7 is the lower bearing seat, 8 is the parallelogram contour frame, 9 is the rear mounting plate, 10 is the guide block, 11 is the elastic rubber component, 12 is the encoder bracket, 13 is the encoder, 14 is the linkage rod, 15 is the return spring, 16 is the rotating part, 17 is the baffle, 18 is the follower plate, 19 is the follower plate fixing piece, 20 is the upper bearing seat, 21 is the counterweight block connecting frame, 22 is the tractor counterweight block, 1101 is the pre-compressed rubber built-in, 1102 is the circular center, and 1103 is the outer shell. DETAILED DESCRIPTION

[0035] The present invention will be further described in detail below in conjunction with specific implementation methods.

[0036] Embodiment 1

[0037] like Figure 1-6 As shown, the present embodiment provides an automatic row-direction driving detection device for a beet topping and threshing machine, comprising:

[0038] The mounting frame is used for adjustably connecting with the tractor; the mounting frame comprises a front frame 1, a parallelogram profiling frame 8, a rear mounting plate 9, a guide block 10, a counterweight block connecting frame 21 and an elastic rubber component 11; the leaf splitting mechanism is fixedly connected with the front frame 1, the rotating member 16 is rotatably connected with the front frame 1, and the encoder 13 is mounted on the front frame 1; the front frame 1 is hinged with the parallelogram profiling frame 8, the parallelogram profiling frame 8 is hinged with the rear mounting plate 9, the rear mounting plate 9 is connected with the guide block 10 through a rotating shaft so that the rear mounting plate and the guide block can rotate relative to each other, the guide block 10 is fixedly connected with the counterweight block connecting frame 21, and the counterweight block connecting frame 21 is used for adjustably connecting with the tractor; the elastic rubber component 11 is arranged between the rear mounting plate 9 and the parallelogram profiling frame 8 and between the front frame 1 and the parallelogram profiling frame 8. Specifically, the counterweight block connecting frame 21 is connected to the tractor counterweight block 22. The counterweight block connecting frame 21 is provided with a telescopic sleeve, and the installation height can be adjusted by a latch. The telescopic sleeve is matched by two long steel pipes with rectangular cross-sections. Through holes are processed on the sides of the two long steel pipes with rectangular cross-sections. One of the two long steel pipes with rectangular cross-sections can be sleeved on the outside of the other and slide relatively. When sliding to the corresponding position, the through holes of the two long steel pipes with rectangular cross-sections correspond to each other, and then the pins are inserted and fixed. Among them, the number of telescopic sleeves is two, and the bottom ends of the two telescopic sleeves are connected and fixed by a crossbeam. The crossbeam can also be processed and prepared by a rectangular steel pipe, and the crossbeam is fixed to the telescopic sleeve by welding. The number of guide blocks 10 is two, and the two guide blocks 10 are fixedly connected to the two telescopic sleeves by bolts respectively.

[0039] There are two rear mounting plates 9, both of which are bent structures, and one end of the two rear mounting plates 9 is respectively hinged to two guide blocks 10; the parallelogram profiling frame 8 includes two parallelogram profiling frames, one end of each parallelogram frame is respectively hinged to the other end and the middle of the rear mounting plate 9, and the other end of each parallelogram frame is respectively hinged to the hinged member, and the hinged mode of both ends of each parallelogram frame is shaft hole matching; it should be noted that the middle of the two parallelogram profiling frames is connected with a rod, and the function of the rod is to maintain the height of the two parallelogram profiling frames at the same level to ensure the stability during the row detection operation. Each parallelogram profiling frame is composed of two hollow rectangular tubes, and the head and tail ends of each hollow rectangular tube are respectively welded with sheet metal for installing the elastic rubber component 11. The elastic rubber component 11 has a circular hole in the middle, which is connected to the front frame 1 and the rear mounting plate 9 through the shaft hole.

[0040] The front frame 1 includes two columns and a connecting profile. The two columns are spaced apart. The two ends of the connecting profile are fixedly connected to the two columns respectively. The two parallelogram-shaped frames are connected to the two columns respectively through hinges (sheet metal and rotating shafts). The two leaf splitter baffles 2 are fixedly connected to the two columns respectively. The two leaf splitter baffles 2 are symmetrical with the two parallelogram-shaped frames along the columns respectively; the encoder 13 is fixed to the top of one of the columns through the encoder bracket 12. The encoder is provided with a baffle 17 on the side of the tractor's traveling direction. The rotating shaft of the encoder 13 is connected to the rotating member 16.

[0041] The rotating member 16 is connected to the column through the lower bearing seat 7 and the upper bearing seat 20. The rotating member 16 is a cylindrical rod that passes through the interior of the column, and its two ends extend outward from both ends of the column. The two ends of the rotating member 16 and the column are respectively connected through the lower bearing seat 7 and the upper bearing seat 20.

[0042] The number of elastic rubber components 11 is eight, two elastic rubber components 11 are arranged between the two hinges of each parallelogram profiling frame and the front frame 1, and two elastic rubber components 11 are arranged between the two intersections of each parallelogram profiling frame and the rear mounting plate 9. For example, when the hinge part between each parallelogram profiling frame and the front frame 1 is an axis, the elastic rubber component 11 can be sleeved on the outside of the axis and located between the parallelogram profiling frame and the front frame 1.

[0043] The leaf splitting mechanism is connected to the mounting frame, and the leaf splitting mechanism can separate the stems and leaves of the sensed crop row; the leaf splitting mechanism includes two leaf splitter baffles 2, both of which are fixed to the mounting frame, and the two leaf splitter baffles 2 are spaced and parallel on the mounting frame. The leaf splitter baffle can be fixedly connected to the column through a sheet metal part. A ground contact metal plate 3 is provided at the bottom of each leaf splitter baffle 2. The ground contact metal plate 3 is relatively horizontal. During the entire device movement, the ground contact metal plate 3 senses the terrain undulations, and cooperates with the parallelogram profiling frame 8 in the mounting frame, so that the entire device drives the front frame 1 to swing with the terrain undulations, and then uses the elastic rubber component 11 to reduce the impact caused by the terrain undulations. The elastic rubber component 11 is composed of four pre-compressed rubber inserts 1101, a circular center 1102, and a shell 1103 with four notches. Due to the molecular friction inside the rubber element, the entire component has a good characteristic of absorbing vibration stress. When the terrain is undulating, the ground will exert a reaction force on the ground contact metal plate 3. Since the ground contact metal plate 3 is connected to the leaf splitter baffle 2 and installed on the front frame 1, the reaction force will cause an impact on the front frame 1 along the direction of the reaction force. The parallelogram profiling frame 8 is connected to the front frame 1 through bolts and the elastic rubber component 11. When the front frame 1 receives an upward impact, the rubber built-in in the elastic rubber component 11 will be quickly compressed. Since the rubber material has high elasticity and softness, it can effectively absorb the impact force caused by the undulating terrain and play a buffering role.

[0044] The stem sensing mechanism includes a stem contact plate holder 4, a stem contact plate 5 and an angle locking member 6. The stem contact plate 5, the stem contact plate holder 4 and the angle locking member 6 are connected in sequence. The angle locking member 6 is connected to a rotating member 16, and the rotating member 16 is rotatably connected to the mounting frame. There are two stem sensing mechanisms, and the two stem sensing mechanisms are rotatably connected to the mounting frame through two rotating members 16 respectively. The two rotating members 16 are connected through a linkage assembly so that the rotation angles of the two stem sensing mechanisms are the same. The stem contact plate 5 can change the opening angle through the stem contact plate holder 4, and the angle is locked by the angle locking member 6 and fixed to the rotating member 16. When the stem contact plate 5 touches the stem of the deviated beet, it will drive the follower plate 18 to move through the rotating member 16, and drive the follower plate 18 on the other side to move through the linkage rod 14. Specifically, the angle locking member 6 is an existing guide shaft support, and the model is round flange STHRB20; the stem contact plate holder 4 can be prepared by sheet metal processing.

[0045] The linkage assembly includes two follower plates 18 and a linkage rod 14. The two follower plates 18 are fixedly connected to the two rotating members 16 through the follower plate fixing members 19. A return spring 15 is connected between each follower plate 18 and the mounting frame. Both ends of the linkage rod 14 are respectively hinged to the two follower plates 18. Specifically, both ends of the return spring 15 are connected to the upper bearing seat 20 and the follower plate 18. The return spring 15 is connected to the front frame 1 through the upper bearing seat 20.

[0046] The number of the stem contact plates 5 of each stem sensing mechanism is two, and the two stem contact plates 5 are fixedly connected to the two movable ends of the stem contact plate clamp 4 respectively.

[0047] The encoder 13 is connected to the rotating member 16 to measure the rotation angle of the rotating member 16; the row controller is connected to the encoder via an electrical signal. The encoder 13 converts the rotation angle of the stem contact plate 5 into an electrical signal through the rotation of the rotating member 16 and transmits it to the row controller. When the stem contact plate 5 does not sense the stem of the deviated beet, it will return to the middle position through the return spring 15. Specifically, the row controller can be an external controller, such as the SPC-STW-2612 motion controller of Shuobo Electronics.

[0048] Embodiment 2

[0049] like Figure 7 As shown, this embodiment provides a row alignment method of an automatic row alignment driving detection device for a beet topping and threshing machine, comprising the following steps: assembling a mounting frame at the working height of a tractor, and before the beet topping and threshing machine starts working, first aligning the leaf splitter baffle 2 with a row of crops and moving forward. During the moving forward process, the crop stems will always contact the stem contact plate 5. When the crop stems do not deviate or the force applied by the stems to the stem contact plate 5 is less than or equal to the preload force of the return tension spring 15, the rotating member 16 does not rotate; when the force applied by the stems to the stem contact plate 5 exceeds the preload force of the return tension spring 15, the crop stems push the stem contact plate 5 to rotate the rotating member 16; when the rotating member 16 rotates, it synchronously drives the rotating shaft of the encoder 13 to rotate, and converts the rotation angle of the rotating shaft into an angle electrical signal and transmits it to the row alignment controller;

[0050] A kinematic model was established, and the row deviation of the sugar beet topping and thresher was obtained by inputting the rotation angle received by the row controller into the kinematic model for calculation.

[0051] The kinematic model is:

[0052]

[0053] Among them, l ACis the length of the stem contact plate 5, point A is the rotation center point of the stem contact plate 5 (i.e., the rotating member 16), C0 is the position of the end of the stem contact plate when the crop row ab line has no deviation, C1 is the position of the end of the stem contact plate when the crop row ab line deviation is d, ab is the fitted beet row straight line, a'b' is the offset beet row straight line, d is the lateral deviation, is the maximum left and right deflection angle of the stem contact plate, v is the forward speed direction, C0′ and C1′ are when the stem contact plate rotates to the maximum angle The foot point of C0 and C1.

[0054] After the row deviation of the beet topper and thresher is calculated through the kinematic model, the row controller performs row control and finally obtains the desired speed of the tractor's electric steering wheel, thereby controlling the tractor's electric steering wheel so that the tractor's route is consistent with the beet row route.

[0055] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A beet topping and vineyard removing machine automatic row driving detection device, characterized in that: include: A mounting frame, the mounting frame being used for adjustably connecting with the tractor; A leaf separation mechanism, the leaf separation mechanism is connected to the mounting frame, and the leaf separation mechanism can separate the stems and leaves of the sensed crop row; The stem sensing mechanism comprises a stem contact plate holder, a stem contact plate and an angle locking member, the stem contact plate, the stem contact plate holder and the angle locking member are connected in sequence, the angle locking member is connected with a rotating member, and the rotating member is rotatably connected to the mounting frame; An encoder is connected to the rotating member and is used to measure the rotation angle of the rotating member; For the row controller, the row controller is connected to the encoder through electrical signals.

2. The automatic row-direction driving detection device for a beet topping and rice seedling removing machine according to claim 1, characterized in that: There are two stem sensing mechanisms, and the two stem sensing mechanisms are rotatably connected to the mounting frame via two rotating members respectively. The two rotating members are connected via a linkage assembly so that the rotation angles of the two stem sensing mechanisms are the same.

3. The automatic row-direction driving detection device for a beet topping and rice seedling removing machine according to claim 2, characterized in that: The linkage assembly includes two follower plates and a linkage rod. The two follower plates are fixedly connected to the two rotating members respectively. A return spring is connected between each follower plate and the mounting frame. Both ends of the linkage rod are hinged to the two follower plates respectively.

4. The automatic row-direction driving detection device for a beet topping and rice seedling removing machine according to claim 1, characterized in that: The number of stem contact plates of each stem sensing mechanism is two, and the two stem contact plates are respectively fixedly connected to the two movable ends of the stem contact plate clamp.

5. The automatic row-direction driving detection device for a beet topping and threshing machine according to claim 1, characterized in that: The leaf splitting mechanism comprises two leaf splitter baffles, both of which are fixed on the mounting frame, and the two leaf splitter baffles are spaced apart and distributed in parallel on the mounting frame.

6. The automatic row-direction driving detection device for a beet topping and rice seedling removing machine according to claim 5, characterized in that: A ground contact metal plate is provided at the bottom of each leaf splitter baffle.

7. The automatic row-direction driving detection device for a beet topping and rice seedling removing machine according to claim 1, characterized in that: The mounting frame comprises a front frame, a parallelogram profiling frame, a rear mounting plate, a guide block and a counterweight block connecting frame; the leaf splitting mechanism is fixedly connected to the front frame, the rotating member is rotatably connected to the front frame, and the encoder is mounted on the front frame; the front frame is hinged to the parallelogram profiling frame, the parallelogram profiling frame is hinged to the rear mounting plate, the rear mounting plate is connected to the guide block, the guide block is connected to the counterweight block connecting frame, and the counterweight block connecting frame is used for adjustably connecting to the tractor.

8. The automatic row-direction driving detection device for a beet topping and rice seedling removing machine according to claim 7, characterized in that: The mounting frame also includes an elastic rubber component, which is arranged between the rear mounting plate and the parallelogram-shaped profiling frame and between the front frame and the parallelogram-shaped profiling frame.

9. A row alignment method of an automatic row alignment driving detection device for a beet topping and rice seedling removing machine according to any one of claims 1 to 8, characterized in that: The following steps are involved: Install the mounting frame on the tractor and adjust the mounting frame to the working height. Before the beet topper and rice seedling remover starts to work, first align the leaf separator baffle with a row of crops and move forward. During the forward movement, the crop stems will always contact the stem contact plate. When the crop stems do not deviate or the force applied by the stems to the stem contact plate is less than or equal to the preload force of the return spring, the rotating part does not rotate; when the force applied by the stems to the stem contact plate exceeds the preload force of the return spring, the crop stems push the stem contact plate to rotate the rotating part; when the rotating part rotates, it synchronously drives the rotating shaft of the encoder to rotate, and converts the rotation angle of the rotating shaft into an angle electrical signal and transmits it to the row controller; A kinematic model was established, and the row deviation of the sugar beet topping and thresher was obtained by inputting the rotation angle received by the row controller into the kinematic model for calculation.

10. A row alignment method for an automatic row alignment driving detection device for a beet topping and rice seedling removing machine according to claim 9, characterized in that: The kinematic model is: Among them, l AC is the length of the stem contact plate, point A is the rotation center of the stem contact plate, C0 is the position of the end of the stem contact plate when there is no deviation in the crop row, C1 is the position of the end of the stem contact plate when the crop row deviation is d, ab is the fitted beet row straight line, a'b' is the offset beet row straight line, d is the lateral deviation, and is the maximum left and right deflection angle of the stem contact plate, v is the forward speed direction, C0′ and C1′ are when the stem contact plate rotates to the maximum angle The foot point of C0 and C1.

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