Sugar beet top cutting and seedling raising machine automatic alignment driving detection device and alignment method thereof

Abstract

The present application relates to a kind of sugar beet top cutting and seedling pulling machine automatic alignment driving detection device and its alignment method, comprising: mounting frame, mounting frame is used to with tractor adjustable connection;Leaf separating mechanism, leaf separating mechanism is connected with mounting frame, leaf separating mechanism can separate the stem leaf of perceived crop row;Stem sensing mechanism, stem sensing mechanism includes stem contact plate holder, stem contact plate and angle locking piece, stem contact plate, stem contact plate holder and angle locking piece are sequentially connected, angle locking piece is connected with rotating member, rotating member is rotatably connected with mounting frame;Encoder, encoder is connected with rotating member for measuring the rotation angle of rotating member;Alignment controller, alignment controller is connected with encoder by electrical signal.This detection device detects alignment deviation by setting stem sensing mechanism, so as to facilitate tractor and sugar beet top cutting and seedling pulling machine adjust the route of travel relative to crop row, belong to agricultural machinery technical field.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to an automatic row alignment driving detection device and its row alignment method for a sugar beet topping and pruning machine. Background Technology

[0002] Beetroot, one of the raw materials for sugar production, is harvested in stages, which consist of three parts: vine removal and topping, digging and separating, and collecting and piling. The main machinery used in the vine removal and topping stage is a topping and vine-removing machine, which is a combination of the topping and vine-removing implement and a wheeled tractor. During beet harvesting, because beet vines and leaves are lush, the rows of crops are not easily judged by the naked eye. The operator needs to concentrate on judging the position of the crop rows and constantly fine-tune the driving direction to ensure that the tractor's trajectory always follows the crop rows, allowing the topping and vine-removing implement to achieve precise vine removal and topping. Otherwise, the tractor tires will crush the beet roots, causing harvest losses. Therefore, the workload for operators is heavy, and the work efficiency is low, creating an urgent need for automated row-aligning driving technology.

[0003] Detecting row alignment deviation in beet topping and sapling trimmers is the primary task in achieving automated row alignment driving technology. Currently, row alignment deviation in beet topping and sapling trimmers is mainly detected through satellite positioning or row alignment sensors. Field environments are complex and variable, making it impossible for operators to create ideal straight planting rows during beet sowing, whether manually or using navigation systems. In the topping and sapling trimming stage, because the position information of the beet crop rows is difficult to obtain accurately, existing agricultural machinery GNSS navigation systems cannot accurately calculate the relative position information between the tractor and the crop rows, thus hindering automated row alignment driving of beet topping and sapling trimmers. Summary of the Invention

[0004] To address the technical problems existing in the prior art, the purpose of this invention is to provide an automatic row alignment driving detection device and its alignment method for a beet topping and threshing machine, which can detect the relative position information of the tractor's driving trajectory and the crop row, thereby assisting in adjusting the driving route of the beet topping and threshing machine relative to the crop row.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An automatic row alignment and detection device for a beet topping and vine-threshing machine includes:

[0007] Mounting frame, which is used for adjustable connection with the tractor;

[0008] The leaf-splitting mechanism is connected to the mounting frame and is capable of separating 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 piece, the stem contact plate, the stem contact plate holder 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.

[0010] An encoder is connected with the rotating piece for measuring the rotation angle of the rotating piece.

[0011] As a preferred, the number of stem sensing mechanisms is two, the two stem sensing mechanisms are rotationally connected with the mounting frame through two rotating pieces respectively, and the two rotating pieces are connected through a linkage assembly, so that the rotation angles of the two stem sensing mechanisms are the same.

[0012] As a preferred, the linkage assembly comprises two follower plates and a linkage rod, the two follower plates are fixedly connected with the two rotating pieces respectively, a return spring is connected between each follower plate and the mounting frame, and the two ends of the linkage rod are hingedly connected with the two follower plates respectively.

[0013] As a preferred, the number of stem contact plates of each stem sensing mechanism is two, and the two stem contact plates are fixedly connected with two movable ends of the stem contact plate holder respectively.

[0014] As a preferred, the leaf separating mechanism comprises two leaf separator baffles, the two leaf separator baffles are fixed on the mounting frame, and the two leaf separator baffles are spaced and parallel on the mounting frame.

[0015] As a preferred, the bottom of each leaf separator baffle is provided with a ground contact metal plate.

[0016] As a preferred, the mounting frame comprises a front frame, a parallelogram profiling frame, a rear mounting plate, a guide block and a counterweight connecting frame, the leaf separating mechanism and the front frame are fixedly connected, the rotating piece is rotationally connected with the front frame, and the encoder is mounted on the front frame; the front frame is hingedly connected with the parallelogram profiling frame, the parallelogram profiling frame is hingedly connected with the rear mounting plate, the rear mounting plate is connected with the guide block, the guide block is connected with the counterweight connecting frame, and the counterweight connecting frame is used for being adjustably connected with the tractor.

[0017] As a preferred, the mounting frame further comprises an elastic rubber assembly, and the elastic rubber assembly is arranged between the rear mounting plate and the parallelogram profiling frame and between the front frame and the parallelogram profiling frame.

[0018] The application discloses a line-keeping method of an automatic line-keeping driving detection device of a beet top cutting and seedling raising machine, which comprises the following steps: assembling an installation frame on a tractor and adjusting the installation frame to a working height; before the beet top cutting and seedling raising machine starts working, first aligning a leaf separator baffle to a row of crops in front of the machine and advancing; in the advancing process, crop stems are always in contact with a stem contact plate; when the crop stems do not deviate or the force exerted by the crop stems on the stem contact plate is less than or equal to the pre-tightening force of a return tension spring, a rotating part does not rotate; when the force exerted by the crop stems on the stem contact plate exceeds the pre-tightening force of the return tension spring, the crop stems push the stem contact plate to make the rotating part rotate; when the rotating part rotates, a synchronous belt drives a rotating shaft of an encoder to rotate, and the rotating angle of the rotating shaft of the encoder is converted into an angle electric signal and transmitted to a line-keeping controller.

[0019] A kinematic model is established, the rotating angle received by the line-keeping controller is input into the kinematic model for calculation, and a line-keeping deviation of the beet top cutting and seedling raising machine is obtained.

[0020] As a kind of preferred, kinematic model is:

[0021]

[0022] Wherein, l AC The length of stem contact plate, A point is the rotating center point of stem contact plate, C0 is the position of stem contact plate end when crop row has no deviation, C1 is the position of stem contact plate end when crop row deviation is d, ab is the fitting beet row straight line, a'b' is the offset beet row straight line, d is the lateral deviation, The maximum deflection angle of stem contact plate left and right, v is the advancing speed direction, C0' and C1' are the foot points of C0 and C1 points when stem contact plate rotates to maximum angle .

[0023] Overall, the application has the following advantages:

[0024] 1. The automatic line-keeping driving detection device of the beet top cutting and seedling raising machine detects the line-keeping deviation through the stem sensing mechanism, so that the tractor and the beet top cutting and seedling raising machine can be adjusted relative to the advancing route of the crop row.

[0025] 2. The automatic line-keeping driving detection device of the beet top cutting and seedling raising machine is provided with a ground-touching metal plate matched with the straw of the installation frame, so that the whole device can float with the terrain, effectively reduces the influence of the terrain fluctuation on the detection accuracy, slows down the impact on the device and improves the reliability of the device.

[0026] 3. The automatic alignment driving detection device of the beet top cutting and seedling pulling machine of the present application can be installed on a tractor and used for the top cutting and seedling pulling operation of the segmented beet harvesting, and the device can be transferred in the field and installed or dismounted according to the operation needs. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

[0030] Figure 4 is an installation view of the detection device.

[0031] Figure 5 is a perspective view of the elastic rubber assembly.

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

[0033] Figure 7 is a schematic view of the kinematic model.

[0034] wherein 1 is a front frame, 2 is a split-blade baffle, 3 is a ground-contacting metal plate, 4 is a stem contact plate holder, 5 is a stem contact plate, 6 is an angle locking piece, 7 is a lower bearing seat, 8 is a parallelogram profiling frame, 9 is a rear mounting plate, 10 is a guide block, 11 is an elastic rubber assembly, 12 is an encoder support, 13 is an encoder, 14 is a linkage rod, 15 is a return spring, 16 is a rotating piece, 17 is a baffle, 18 is a follower plate, 19 is a follower plate fixing piece, 20 is an upper bearing seat, 21 is a counterweight connecting frame, 22 is a tractor counterweight, 1101 is a pre-compressed rubber insert, 1102 is a circular center, and 1103 is an outer shell. DETAILED DESCRIPTION

[0035] The present application will be further described in detail below in conjunction with specific embodiments.

[0036] Embodiment One

[0037] As shown in the drawings, the automatic alignment driving detection device of the beet top cutting and seedling pulling machine provided in the present embodiment comprises: Figures 1-6

[0038] ​The mounting frame is used for adjustable connection 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 connecting frame 21 and an elastic rubber assembly 11, the split blade mechanism is fixedly connected with the front frame 1, a rotating member 16 is rotatably connected with the front frame 1, and an encoder 13 is mounted on the front frame 1; the front frame 1 is hingedly connected with the parallelogram profiling frame 8, the parallelogram profiling frame 8 is hingedly connected 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 connecting frame 21, and the counterweight connecting frame 21 is used for adjustable connection with the tractor; the elastic rubber assembly 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 connecting frame 21 is connected with the tractor counterweight 22, the counterweight connecting frame 21 is provided with a telescopic sleeve, and the mounting height can be adjusted through a bolt; the telescopic sleeve is matched by two rectangular long steel pipes, a through hole is formed in the side surface of the two rectangular long steel pipes, one of the two rectangular long steel pipes can be sleeved on the outside of the other and relatively slides, when sliding to a corresponding position, the through holes of the two rectangular long steel pipes correspond to each other, and then a bolt is inserted for fixation. The number of the telescopic sleeves is two, the bottom ends of the two telescopic sleeves are fixedly connected through a cross beam, the cross beam can also be prepared by machining a rectangular steel pipe, and the cross beam is fixed with the telescopic sleeves by welding. The number of the guide blocks 10 is two, and the two guide blocks 10 are fixedly connected with the two telescopic sleeves through bolts.

[0039] The number of the rear mounting plates 9 is two, and the two rear mounting plates 9 are both of a bending structure, one end of each of the two rear mounting plates 9 is hingedly connected with a guide block 10; the parallelogram profiling frame 8 comprises two parallelogram profiling frames, one end of each of the two parallelogram profiling frames is hingedly connected with the other end and the middle part of the rear mounting plate 9, the other end of each of the two parallelogram profiling frames is hingedly connected with a hinge member, and the hinge connection mode of the two ends of each of the two parallelogram profiling frames is shaft hole cooperation; it should be noted that the middle parts of the two parallelogram profiling frames are connected with a rod, and the rod is used to maintain the heights of the two parallelogram profiling frames at the same level and ensure the stability during the operation of detecting the road. Each of the two parallelogram profiling frames is composed of two hollow rectangular pipes, and the head and tail ends of each of the two hollow rectangular pipes are welded with sheet metal for mounting the elastic rubber assembly 11. The elastic rubber assembly 11 has a circular hole in the middle and is connected with the front frame 1 and the rear mounting plate 9 through shaft hole cooperation.

[0040] The front frame 1 comprises two uprights and a connecting profile, the two uprights are spaced apart, and the two ends of the connecting profile are fixedly connected with the two uprights, two parallelogram-shaped contour frames are connected with the two uprights through hinged pieces (sheet metal and rotating shafts), two split-blade baffles 2 are fixedly connected with the two uprights, and the two split-blade baffles 2 are symmetrical along the uprights with the two parallelogram-shaped contour frames; an encoder 13 is fixed on the top of one of the uprights through an encoder support 12, the encoder is provided with a baffle 17 on the side in the direction of travel of the tractor, and the rotating shaft of the encoder 13 is connected with a rotating piece 16.

[0041] The rotating piece 16 is connected with the upright through a lower bearing seat 7 and an upper bearing seat 20, the rotating piece 16 is a cylindrical rod, which passes through the inside of the upright and extends outward from the two ends of the upright, and the two ends of the rotating piece 16 are connected with the two ends of the upright through the lower bearing seat 7 and the upper bearing seat 20 respectively.

[0042] The number of the elastic rubber assemblies 11 is eight, two elastic rubber assemblies 11 are arranged between each parallelogram-shaped contour frame and the two hinged places of the front frame 1, and two elastic rubber assemblies 11 are arranged between each parallelogram-shaped contour frame and the two intersection places of the rear mounting plate 9, for example, when the hinged pieces of each parallelogram-shaped contour frame and the front frame 1 are shafts, the elastic rubber assemblies 11 can be sleeved on the outside of the shafts and located between the parallelogram-shaped contour frame and the front frame 1.

[0043] The leaf separating mechanism is connected with the mounting frame, and can separate the stems and leaves of the perceived crop row; the leaf separating mechanism comprises two leaf separator baffles 2, both of which are fixed on the mounting frame and are spaced and parallel on the mounting frame. The leaf separator baffles can be fixedly connected with the stand column through sheet metal parts. The bottom of each leaf separator baffle 2 is provided with a ground contact metal plate 3. The ground contact metal plate 3 is relative to the horizontal, and during the whole device running, the ground contact metal plate 3 perceives the terrain undulation, cooperates with the parallelogram profiling frame 8 in the mounting frame, so that the whole device drives the front frame 1 to swing along with the terrain undulation, and then the elastic rubber assembly 11 is used to reduce the impact caused by the terrain undulation. The elastic rubber assembly 11 is composed of four pre-compressed rubber inclusions 1101, one circular center 1102 and a shell 1103 with four notches. Due to the molecular friction of the rubber element, the whole assembly has good vibration stress absorption characteristics. When the terrain undulation is encountered, the ground will exert a reaction force on the ground contact metal plate 3. Since the ground contact metal plate 3 is connected with the leaf separator baffle 2 and mounted 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 and the front frame 1 are connected through bolts and elastic rubber assemblies 11. When the front frame 1 receives an upward impact, the rubber inclusions in the elastic rubber assembly 11 will be quickly compressed. Since the rubber material has high elasticity and softness, it can effectively absorb the impact force caused by the terrain undulation and play a buffering role.

[0044] The stem sensing mechanism comprises a stem contact plate holder 4, a stem contact plate 5 and an angle locking piece 6, the stem contact plate 5, the stem contact plate holder 4 and the angle locking piece 6 are connected in sequence, the angle locking piece 6 is connected with a rotating piece 16, and the rotating piece 16 is rotationally connected with the mounting frame; the number of the stem sensing mechanism is two, the two stem sensing mechanisms are rotationally connected with the mounting frame through two rotating pieces 16 respectively, and the two rotating pieces 16 are connected through a linkage assembly, so that the rotating 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 and fixed on the rotating piece 16 by the angle locking piece 6. When the stem contact plate 5 touches the stem of the off-row sugar beet, it drives the follower plate 18 to move through the rotating piece 16, and drives the follower plate 18 on the other side to move through the linkage rod 14. Specifically, the angle locking piece 6 is an existing guide shaft support, and the model is a round flange STHR B20; the stem contact plate holder 4 can be processed and prepared through sheet metal parts.

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

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

[0047] An encoder 13 is connected with the rotating member 16 for measuring the rotating angle of the rotating member 16; and a row controller is connected with the encoder through an electrical signal. The encoder 13 converts the rotating angle of the stalk contact plate 5 into an electrical signal through the rotation of the rotating member 16 and transmits the electrical signal to the row controller. When the stalk contact plate 5 does not sense the stalk of the off-row sugar beet, the stalk contact plate 5 will return to the neutral position through the return tension spring 15. Specifically, the row controller can be an external controller, for example, an external SPC-STW-2612 motion controller of Shibo Electronics.

[0048] Embodiment two

[0049] As shown in Figure 7 the embodiment, the method for automatic row driving detection of the sugar beet top cutting and seedling pulling machine comprises the following steps: assembling the mounting frame on the working height of the tractor, aligning the leaf divider baffle 2 with a row of crops before advancing, and the stalks of the crops will always contact the stalk contact plate 5 during the advancing process. When the stalks of the crops do not deviate or the force applied by the stalks to the stalk contact plate 5 is less than or equal to the pre-tightening force of the return tension spring 15, the rotating member 16 does not rotate. When the force applied by the stalks to the stalk contact plate 5 exceeds the pre-tightening force of the return tension spring 15, the stalks of the crops push the stalk contact plate 5 to make the rotating member 16 rotate. When the rotating member 16 rotates, the rotating shaft of the encoder 13 is synchronously driven to rotate, and the rotating angle of the rotating shaft is converted into an angle electrical signal and transmitted to the row controller.

[0050] A kinematic model is established, the rotating angle received by the row controller is input into the kinematic model for calculation, and the deviation of the sugar beet top cutting and seedling pulling machine from the row is obtained.

[0051] The kinematic model is as follows:

[0052]

[0053] Wherein, l ACL is the length of the stalk contact plate 5, A is the rotation center point of the stalk contact plate 5 (i.e. the rotating member 16), C0 is the position of the end of the stalk contact plate when there is no deviation of the crop row ab, C1 is the position of the end of the stalk contact plate when there is a deviation of the crop row ab, ab is the straight line of the fitted beet row, a'b' is the straight line of the deviated beet row, d is the lateral deviation, L is the length of the stalk contact plate 5, A is the rotation center point of the stalk contact plate 5 (i.e. the rotating member 16), C0 is the position of the end of the stalk contact plate when there is no deviation of the crop row ab, C1 is the position of the end of the stalk contact plate when there is a deviation of the crop row ab, ab is the straight line of the fitted beet row, a'b' is the straight line of the deviated beet row, d is the lateral deviation, L is the length of the stalk contact plate 5, A is the rotation center point of the stalk contact plate 5 (i.e. the rotating member 16), C0 is the position of the end of the stalk contact plate when there is no deviation of the crop row ab, C1 is the position of the end of the stalk contact plate when there is a deviation of the crop row ab, ab is the straight line of the fitted beet row, a'b' is the straight line of the deviated beet row, d is the lateral deviation,

[0054] The beet top cutting and straw cutting machine calculates the deviation of the beet row through the kinematic model, controls the alignment of the beet row through the alignment controller, and finally obtains the expected rotating speed of the electric steering wheel of the tractor, so as to control the electric steering wheel of the tractor to make the traveling route of the tractor consistent with the route of the beet row.

[0055] The above embodiments are the preferred embodiments of the present application, but the embodiments of the present application are not limited by the above embodiments, and any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present application are equivalent replacement methods and are included in the protection scope of the present application.

Claims

1. A method of aligning rows in an automatic row alignment driving detection device of a beet top removal and seedling lifting machine, characterized by The method comprises the following steps: The installation frame is assembled on the tractor, and the installation frame is adjusted to the working height. Before the beet top cutting and seedling raising machine starts work, the leaf separator baffle is aligned with a row of crop rows in advance. During the advancing process, the crop stems will always contact the stem contact plate. When the crop stems do not deviate or the force exerted by the crop stems on the stem contact plate is less than or equal to the pre-tightening force of the return tension spring, the rotating member does not rotate. When the force exerted by the crop stems on the stem contact plate exceeds the pre-tightening force of the return tension spring, the crop stems push the stem contact plate to make the rotating member rotate. When the rotating member rotates, the rotating shaft of the encoder is synchronously driven to rotate, and the rotating angle of the rotating shaft is converted into an angle electric signal and transmitted to the row following controller. A kinematic model is established. The rotating angle received by the row following controller is input into the kinematic model for calculation to obtain the deviation of the beet top cutting and seedling raising machine from the row. The kinematic model is as follows: ， wherein L is the length of the stalk contact plate, A is the center point of rotation of the stalk contact plate, P is the position of the end of the stalk contact plate when there is no deviation from the crop row, Pd is the position of the end of the stalk contact plate when there is a deviation d from the crop row, Lr is the fitted beet row line, Lr is the offset beet row line, D is the lateral deviation, and Dmax is the maximum lateral deflection angle of the stalk contact plate, V is the direction of forward speed, and Pmax is the foot point of the line when the stalk contact plate is rotated to the maximum angle Pmax is the foot point of the line when the stalk contact plate is rotated to the maximum angle Pmax is the foot point of the line when the stalk contact plate is rotated to the maximum angle Pmax is the foot point of the line when the stalk contact plate is rotated to the maximum angle The automatic row following driving detection device of the beet top cutting and seedling raising machine comprises: An installation frame, which is used for adjustable connection with a tractor; A leaf separating mechanism, which is connected with the installation frame and can separate the stems and leaves of the perceived crop row; A stem sensing mechanism, which comprises a stem contact plate holder, a stem contact plate and an angle locking member, and is sequentially connected with the stem contact plate, the stem contact plate holder and the angle locking member. The angle locking member is connected with a rotating member, and the rotating member is rotationally connected with the installation frame; An encoder, which is connected with the rotating member and used for measuring the rotating angle of the rotating member; A row following controller, which is connected with the encoder through an electric signal.

2. A method of aligning rows in accordance with claim 1, characterized in that: The number of stem sensing mechanisms is two. The two stem sensing mechanisms are rotationally connected with the installation frame through two rotating members. The two rotating members are connected through a linkage assembly, so that the rotating angles of the two stem sensing mechanisms are the same.

3. A method of aligning rows according to the automatic row alignment driving detection device of the beet top removal and seedling lifting machine as defined in claim 2, characterized in that: The linkage assembly comprises two follower plates and a linkage rod. The two follower plates are fixedly connected with the two rotating members, respectively. A return tension spring is connected between each follower plate and the installation frame. The linkage rod is hingedly connected with the two follower plates at two ends, respectively.

4. A method of aligning rows according to the automatic row alignment driving detection device of the beet top removal and seedling lifting machine according to claim 1, characterized in that: The number of stem contact plates of each stem sensing mechanism is two. The two stem contact plates are fixedly connected with two movable ends of the stem contact plate holder, respectively.

5. A method of aligning rows in accordance with claim 1, characterized in that: The leaf separating mechanism comprises two leaf separator baffles. The two leaf separator baffles are fixed on the installation frame and are spaced and parallel on the installation frame.

6. A method of aligning rows according to claim 5, characterized in that: The bottom of each leaf separator baffle is provided with a ground metal plate.

7. A method of aligning rows according to the automatic row alignment driving detection device of the beet top removal and seedling lifting machine as defined in claim 1, characterized in that: The installation frame comprises a front frame, a parallelogram profiling frame, a rear mounting plate, a guide block and a counterweight connecting frame. The leaf separating mechanism is fixedly connected with the front frame. The rotating member is rotationally connected with the front frame. The encoder is installed on the front frame. The front frame is hingedly connected with the parallelogram profiling frame. The parallelogram profiling frame is hingedly connected with the rear mounting plate. The rear mounting plate is connected with the guide block. The guide block is connected with the counterweight connecting frame. The counterweight connecting frame is used for adjustable connection with the tractor.

8. A method of aligning rows according to the automatic row alignment driving detection device of the beet top removal and seedling lifting machine as defined in claim 7, characterized in that: The installation frame further comprises an elastic rubber assembly, which is arranged between the rear mounting plate and the parallelogram profiling frame and between the front frame and the parallelogram profiling frame.

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