Crawler walking device suitable for ratooning rice planting mode, control method and harvester

Abstract

The invention provides a crawler walking device suitable for a ratooning rice planting mode, a control method and a harvester. The crawler walking device comprises a crawler rack, a chassis frame, a crawler device, a laser radar and a control unit. The crawler devices are arranged on the two sides of the crawler rack respectively, the chassis frame is installed on the crawler rack, and the laser radar is installed at the front end of the chassis frame. The track device comprises a plurality of track long plates and track short plates; the long track plates and the short track plates are arranged at intervals, so that discontinuous supporting surfaces are formed between the two sides of the adjacent long track plates; the laser radar is installed at the front end of the chassis frame, and the control unit is installed in the control box and connected with the laser radar. The laser radar is used for detecting topographic feature data and transmitting the data to the control unit. The control unit calculates a steering angle according to topographic feature data collected by the laser radar and corrects the driving direction of the crawler device. The rolling damage rate of the ratooning rice stubble is effectively reduced, and then the yield of secondary production of ratooning rice is increased.

Description

Technical Field

[0001] The present invention belongs to the technical field of crawler chassis, and in particular relates to a crawler walking device and a control method and a harvester suitable for a regenerated rice planting mode. Background Art

[0002] Ratooning rice is an innovative planting method. The agronomic model generally employs a row spacing of 25-30 cm and a plant spacing of 15-20 cm. After the primary rice crop is harvested, the rice stubble is retained, allowing the regeneration of axillary buds to form ears for the second crop. Its advantages include efficient "one crop, two harvests" production, resource conservation, and cost savings. The rice boasts high quality and economic benefits, with yields reaching 50%-80% of the primary crop. Ratooning rice also increases the multiple cropping index and reduces the use of pesticides and chemical fertilizers, achieving both ecological and economic benefits. It is a key technological path to ensuring food security. In today's agricultural landscape, the harvesting of ratooning rice has entered the mechanized era, replacing traditional manual harvesting. However, traditional harvesters crush the rice stubble during the primary rice harvest, resulting in a high rate of ratooning bud damage, typically ranging from 40% to 50%, and exceeding 80% in winding areas. Damage to the axillary buds of ratooning rice can severely impact the yield of the secondary harvest. Therefore, it is necessary to design a new type of track chassis to significantly reduce the crushing rate of regenerated rice piles, thereby increasing the yield of the secondary harvest and bringing higher efficiency and sustainability to agricultural production.

[0003] The current designs for regenerated rice tracks mainly include: the Chinese utility model patent with authorization announcement number CN215379979U and name "A track wheel for a regenerated rice harvester" discloses a track wheel for a regenerated rice harvester, including a chassis, drive shafts are installed at both ends of both sides of the chassis, and a drive wheel is fixedly installed on the outer wall of each drive shaft. A plurality of first floating wheels are fixedly installed on the surfaces of both sides of the chassis, and a second floating wheel is fixedly installed in the middle of both sides of the chassis, and connecting blocks are fixedly provided on both sides of the top of the chassis. The utility model is connected to the second connecting flange on the connecting shaft through the first connecting flange on the drive shaft, and a connecting sleeve is provided on the connecting ring connected to the rotating bearing. The connecting angle plate is connected to the measuring rod through a connecting rod, and a walking wheel is installed on the mounting plate. When the harvester is driving, the measuring rod can first measure the potholes and give an early warning to avoid the harvester from sinking into the potholes due to being too deep, thereby ensuring the normal operation of the harvester, while avoiding damage to the harvester and protecting personnel and property. Authorization announcement number CN209241197U discloses a regenerated rice harvester damage reduction crawler, comprising a rubber track strip, the surface of which is fixedly connected to a second crawler protrusion, the surface of which is fixedly connected to a first crawler protrusion, one side of the inner cavity of the rubber track strip is fixedly connected to an inner crawler protrusion, the rubber track strip comprising a track strip body, the interior of the track strip body is inlaid with a first rectangular block, the left side of the front side of the first rectangular block is fixedly connected to a first fixed shaft, and the center of the front side of the first rectangular block is fixedly connected to a second fixed shaft. This utility model reduces the width of the harvester track and improves the strength of the harvester track. Therefore, during the movement of the harvester track, the contact area with the regenerated rice bud piles in the paddy field is effectively reduced, the crushing rate of the first-season rice regenerated rice bud piles is reduced, and the germination rate and seedling survival rate of the regenerated rice seedlings are improved, thereby increasing the yield of regenerated rice.

[0004] The above invention patents have optimized and improved the structure of the crawler chassis, which to a certain extent improves the crawler chassis to reduce the crushing damage rate during the harvesting of regenerated rice, but cannot effectively reduce the crushing damage rate of the regenerated rice piles, affecting the yield of the secondary harvest. Summary of the Invention

[0005] In response to the above technical problems, the present invention provides a crawler walking device and control method suitable for the regenerated rice planting mode, which effectively reduces the crushing damage rate of the regenerated rice piles and thereby increases the yield of the secondary production of regenerated rice.

[0006] The present invention also provides a harvester, which includes the crawler walking device suitable for the regenerated rice planting mode.

[0007] Note that the inclusion of these objectives does not preclude the existence of other objectives. One embodiment of the present invention does not necessarily achieve all of the above objectives. Objectives other than the above objectives may be extracted from the description of the specification, drawings, and claims.

[0008] The present invention achieves the above technical objectives through the following technical means.

[0009] A crawler walking device suitable for a regenerated rice planting mode, comprising a crawler frame, a chassis frame, a crawler device, a laser radar and a control unit;

[0010] Crawler devices are respectively provided on both sides of the crawler frame, the chassis frame is installed on the crawler frame, and the laser radar is installed at the front end of the chassis frame;

[0011] The crawler device includes a plurality of long crawler plates and short crawler plates; the long crawler plates and short crawler plates are arranged in an alternating pattern, with a spacing of L1 between adjacent long crawler plates, where L1 is the center distance between adjacent long crawler plates, so that a non-continuous support surface is formed between the two sides of the adjacent long crawler plates;

[0012] The laser radar is installed at the front end of the chassis frame, and the control unit is installed in the control box, and the control unit is connected to the laser radar; the laser radar is used to detect terrain feature data and transmit it to the control unit;

[0013] The control unit calculates the steering angle δ based on the terrain feature data collected by the laser radar and corrects the driving direction of the crawler device.

[0014] In the above solution, the crawler device further includes a guide wheel, a tensioning device, a supporting wheel, a drag chain wheel, a driving wheel, a motor, a beam plate and a crawler support frame;

[0015] Guide wheels and driving wheels are respectively installed at both ends of the track support frame, a tensioning device is installed on the right side of the guide wheel, a plurality of supporting wheels are installed at the bottom of the track support frame, a drag chain wheel is installed on the top of the track support frame, beam plates are respectively provided on both sides of the track support frame, a motor is connected to the driving wheel, and the bottoms of the long track plate and the short track plate are respectively engaged with the gear teeth of the guide wheel and the driving wheel.

[0016] In the above solution, the distance between adjacent long track plates is L1 and is calculated by the following formula:

[0017] L1=L2±ΔL

[0018] Where L2 is the rice stake spacing; ΔL is the tolerance correction value, which is 2 to 3 cm.

[0019] L2 is 15-20cm; the distance between adjacent long track plates L1 is 17-23cm;

[0020] Furthermore, the width w of a single track plate is b The following conditions must be met:

[0021] Limit the width of the long track plate to avoid lateral crushing of the rice pile row area;

[0022] Where w d is the lateral width of the rice pile, w d 3 to 4 cm;

[0023] The width w of the long track plate b 6 to 8 cm.

[0024] In the above solution, the track long plate is longer than the track short plate on one side by a length L v 7 to 10 cm.

[0025] In the above solution, the width w between the beams on both sides of the crawler support frame is V The track height is 26 cm, so that the crawler device falls on the rice pile row L3 to avoid crushing the rice pile.

[0026] In the above solution, the vertical height h of the crawler device is v Designed to be 45-50cm;

[0027] The vertical height of the crawler device h v Subtracting the height h of the regenerated rice pile, the vertical safety margin at the top of the rice pile is 20 to 25 cm;

[0028] The motion trajectory of the crawler plate is a cycloid, and its vertical height y (t) The calculation formula is:

[0029]

[0030] Where r is the radius of the driving wheel, V is the vehicle speed, and t is the driving time.

[0031] In the above solution, the control unit includes a single chip microcomputer, a data acquisition card, a DC power supply and a protection resistor;

[0032] The DC power supply and the circuit protection resistor are connected in series in the circuit, the laser radar is connected to the data acquisition card, and the data acquisition card is connected to the single-chip microcomputer; the laser radar outputs real-time data to the data acquisition card, and the data acquisition card transmits the data to the single-chip microcomputer; the single-chip microcomputer is connected to the crawler device, and the single-chip microcomputer calculates the steering angle δ based on the terrain feature data collected by the laser radar, and corrects the driving direction of the crawler device.

[0033] A harvester comprises the crawler walking device suitable for the regenerated rice planting mode.

[0034] A control method for a crawler walking device suitable for a regenerated rice planting mode includes the following steps:

[0035] The laser radar transmits the terrain feature data collected in real time to the control unit; the single chip performs lateral deviation Δ according to the terrain feature data collected by the laser radar. y The calculation of the heading deviation Δθ is combined with the PID control algorithm to calculate the steering angle δ, and the driving direction of the crawler device is corrected, which is conducive to the crawler walking device to maintain straight driving;

[0036] Lateral deviation: Δ y =k·(s m -s r ), where Δ y is the vertical distance that the vehicle centerline deviates from the target straight line, k is the calibration coefficient, s m is the position measured by the lidar in real time, s r is the theoretical reference value corresponding to the target straight line;

[0037] Course deviation: Where Δθ is the angle between the vehicle’s current direction of travel and the target line, and L is the vehicle’s wheelbase or predicted distance;

[0038] PID control algorithm: Among them, δ is the steering angle correction, k P is the proportionality coefficient, k i is the integration coefficient, k d is the differential coefficient.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] 1. During the regenerated rice harvesting process of the present invention, the long track plates and the short track plates are arranged in an alternating arrangement, and the spacing between adjacent long track plates is L1, where L1 is the center distance between adjacent long track plates. This forms a discontinuous support surface between the two sides of the adjacent long track plates, effectively avoiding areas with dense rice piles and reducing the crushing of dormant buds of regenerated rice, thereby facilitating the secondary harvesting. In addition, the discontinuous support surface can increase the mud discharge effect and reduce the risk of the vehicle sinking in paddy field environments.

[0041] 2. The present invention detects terrain feature data through the laser radar and transmits it to the control unit; the control unit calculates the steering angle δ based on the terrain feature data collected by the laser radar, corrects the driving direction of the crawler device, and effectively reduces the crushing damage rate of the regenerated rice piles during the operation of the harvester, protects the germination growth environment of the regenerated rice, and thus increases the yield of the secondary production of regenerated rice. It can widely replace the existing crawler chassis devices on the market.

[0042] 3. The present invention is based on the agronomic model of regenerated rice planting. The crawler structure is improved on the traditional one. When the crawler device moves forward, the discontinuous position of the adjacent crawler plates at the front end of the guide wheel corresponds to the position of the rice pile, thereby avoiding the crushing of the rice pile, facilitating the normal growth of regenerated rice and achieving effective protection of the rice pile; the crawler plate at the rear end of the driving wheel moves forward according to the vertical height y of the crawler plate. (t) The design ensures that the vertical distance between the bottom of the track plate and the middle of the rice pile is appropriate when the track plate slides over the rice pile. This not only avoids direct crushing of the rice pile, but also supports the rice pile by sliding over the middle of the rice pile to prevent it from falling, protecting the dormant buds on the rice pile and providing a strong guarantee for the secondary harvest of ratoon rice. It can be widely used in ratoon rice planting areas of different terrains and planting scales, greatly improving the production efficiency and economic benefits of ratoon rice planting.

[0043] Note that the description of these effects does not preclude the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic diagram of the axial side of the crawler walking device structure suitable for regenerated rice planting mode according to one embodiment of the present invention. Figure 1 .

[0045] Figure 2 This is a schematic structural diagram of a crawler walking device suitable for regenerated rice planting mode according to one embodiment of the present invention, with the chassis frame hidden.

[0046] Figure 3 It is a schematic structural diagram of a crawler device according to one embodiment of the present invention.

[0047] Figure 4 It is a schematic top view of a crawler walking device suitable for a regenerated rice planting mode according to one embodiment of the present invention.

[0048] Figure 5 yes Figure 4 Enlarged schematic diagram of point I in the middle.

[0049] Figure 6 This is a schematic diagram of the axle side of a crawler walking device suitable for regenerated rice planting mode according to one embodiment of the present invention. Figure 2 .

[0050] Figure 7 Schematic diagram of the motion trajectory of the crawler long plate and the rice pile in one embodiment of the present invention, wherein: Figure 7 (a) is a schematic diagram of the movement trajectory of the long track plate at the guide wheel end and the rice pile. Figure 7 (b) is a schematic diagram of the movement trajectory of the long track plate at the driving wheel end and the rice pile.

[0051] Figure 8 It is a schematic structural diagram of a control unit according to one embodiment of the present invention.

[0052] Figure 9 It is a control flow diagram of a control unit according to one embodiment of the present invention.

[0053] Figure 10 Schematic diagram of a regenerated rice planting agronomic model according to an embodiment of the present invention, wherein: Figure 10 (a) is a schematic diagram of the agronomic model of regenerated rice with a plant spacing of 15 cm. Figure 10 (b) Schematic diagram of the agronomic model for regenerated rice planting with a plant spacing of 20 cm.

[0054] In the figure, 1. chassis bracket, 2. chassis frame, 3. crawler device, 301. long track plate, 302. guide wheel, 303. tensioning device, 304. supporting wheel, 305. drag chain wheel, 306. driving wheel, 307. motor, 308. beam plate, 309. crawler support frame, 310. short track plate, 401. laser radar, 402. control box, 5. control unit, 501. single chip microcomputer, 502. data acquisition card, 503. DC power supply, 504. protection resistor. DETAILED DESCRIPTION

[0055] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0056] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0057] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0058] Figure 1-6 The figure shows a preferred embodiment of the crawler walking device suitable for the regenerated rice planting mode of the present invention, which includes a crawler frame 1, a chassis frame 2, a crawler device 3, a laser radar 401 and a control unit 5;

[0059] Crawler devices 3 are respectively provided on both sides of the crawler frame 1, the chassis frame 2 is installed on the crawler frame 1, and the laser radar 401 is installed at the front end of the chassis frame 2;

[0060] The crawler device 3 includes a plurality of long track plates 301 and short track plates 310; the long track plates 301 and short track plates 310 are arranged in an interlaced manner based on the agronomic model of regenerated rice planting, and the spacing between adjacent long track plates is L1, which is the center distance between adjacent long track plates 301, so that a discontinuous support surface is formed between the two sides of adjacent long track plates 301, effectively avoiding areas with dense rice piles, and the discontinuous support surface can increase the mud discharge effect and reduce the situation of the vehicle sinking in paddy field environment.

[0061] The laser radar 401 is installed at the front end of the chassis 2, and the control unit 5 is installed in the control box 402. The control unit 5 is connected to the laser radar 401; the laser radar 401 is used to detect terrain feature data and transmit it to the control unit 5;

[0062] The control unit 5 calculates the steering angle δ based on the terrain feature data collected by the laser radar 401 and corrects the driving direction of the crawler device 3, which is conducive to the crawler walking device maintaining straight driving and making the long track plate 301 fall between the rice piles to avoid crushing the rice piles.

[0063] like Figure 2 and 3 As shown, the crawler device 3 further includes a guide wheel 302, a tensioning device 303, a supporting wheel 304, a drag chain wheel 305, a driving wheel 306, a motor 307, a beam plate 308 and a crawler support frame 309;

[0064] The two ends of the track support frame 309 are respectively installed with a guide wheel 302 and a drive wheel 306, the tensioning device 303 is installed on the right side of the guide wheel 302, a plurality of supporting wheels 304 are installed at the bottom of the track support frame 309, and the drag chain wheel 305 is installed on the top of the track support frame 309. Beam plates 308 are respectively provided on both sides of the track support frame 309, the motor 307 is connected to the drive wheel 306, and the bottoms of the long track plate 301 and the short track plate 310 are respectively engaged with the gear teeth of the guide wheel 302 and the drive wheel 306.

[0065] like Figure 4 and 5 As shown, the distance between adjacent long track plates is L1 and is calculated by the following formula:

[0066] L1=L2±ΔL

[0067] Where L2 is the rice stake spacing; ΔL is the tolerance correction value, which is 2 to 3 cm.

[0068] L2 is 15 to 20 cm; the distance between adjacent long track plates L1 is 17 to 23 cm; the distance between adjacent long track plates L1 matches the rice pile spacing L2, so that the long track plates 301 fall between the rice pile rows.

[0069] The width w of a single track long plate 301 b The following conditions must be met:

[0070] Limit the width of the long track plate to avoid lateral crushing of the rice pile row area;

[0071] Where w d is the lateral width of the rice pile, w d 3 to 4 cm;

[0072] The width w of the long track plate 301 b 6 to 8 cm.

[0073] The track long plate 301 is longer than the track short plate 310 on one side by a length L v 7 to 10 cm.

[0074] The width w between the beams 308 on both sides of the track support frame 309 V The track height is 26 cm, so that the crawler device 3 falls between the rice piles L3 to avoid crushing the rice piles.

[0075] like Figure 6 As shown, the height h of the regenerated rice pile is usually 20 to 30 cm. In order to retain the dormant buds on the rice pile and avoid mechanical damage to ensure secondary harvest, the vertical height h of the crawler device 3 is 20 to 30 cm. v Designed to be 45-50cm;

[0076] When the crawler walking device suitable for the regenerated rice planting mode of the present invention works in the field, the middle of the crawler device 3 falls between the rice piles to reduce the crushing of the rice piles, and the long crawler plates 301 extending on both sides fall between the rice piles to avoid crushing the rice piles.

[0077] The vertical height h of the crawler device 3 v -The height h of the regenerated rice pile is the vertical safety margin of the top of the rice pile, which is 20 to 25 cm;

[0078] like Figure 7 As shown, the motion trajectory of the crawler plate 301 is a cycloid, as shown in Figure 7 (a) and Figure 7 As shown in (b), its vertical height y (t) That is, the maximum vertical trajectory of the crawler long plate 301 is 40 cm without collision risk, and its vertical height y (t) The formula is:

[0079]

[0080] Wherein, r is the radius of the driving wheel 306, V is the vehicle speed, and t is the driving time.

[0081] like Figure 7 As shown in (a), when the crawler device 3 moves forward, the discontinuous position of the adjacent crawler long plate 301 at the front end of the guide wheel 302 corresponds to the position of the rice pile, thereby avoiding the crushing of the rice pile, facilitating the normal growth of regenerated rice and achieving effective protection of the rice pile.

[0082] As shown in FIG. (b), the crawler plate 301 at the rear end of the driving wheel 306 moves forward according to the vertical height y of the crawler plate 301. (t) , ensuring that when the long track plate 301 slides over the rice pile, the vertical distance between its bottom and the middle of the rice pile is moderate, which not only avoids direct crushing of the rice pile, but also supports the rice pile when the long track plate 301 slides over the height above the middle of the rice pile to prevent it from falling over.

[0083] like Figure 8 As shown, the control unit 5 includes a single chip microcomputer 501, a data acquisition card 502, a DC power supply 503 and a protection resistor 504;

[0084] The DC power supply 503 and the circuit protection resistor 504 are connected in series in the circuit, the laser radar 401 is connected to the data acquisition card 502, and the data acquisition card 502 is connected to the single-chip microcomputer 501; the laser radar 401 outputs real-time data to the data acquisition card 502, and the data acquisition card 502 transmits the data to the single-chip microcomputer 501; the single-chip microcomputer 501 is connected to the crawler device 3, and the single-chip microcomputer 501 calculates the steering angle δ based on the terrain feature data collected by the laser radar 401, and corrects the driving direction of the crawler device 3, which is conducive to the crawler walking device to maintain straight driving, so that the long track plate 301 falls between the rice piles to avoid crushing the rice piles.

[0085] A harvester comprises the crawler walking device suitable for the regenerated rice planting mode.

[0086] like Figure 9 As shown, a control method for a crawler walking device suitable for a regenerated rice planting mode includes the following steps:

[0087] First, data acquisition is performed to calibrate the straight path. The laser radar 401 transmits the terrain feature data collected in real time to the control unit 5. The single chip microcomputer 501 performs lateral deviation Δ according to the terrain feature data collected by the laser radar 401. y The calculation of the heading deviation Δθ is combined with the PID control algorithm to calculate the steering angle δ, and the driving direction of the crawler device 3 is corrected, which is conducive to the crawler walking device to maintain straight driving;

[0088] Lateral deviation: Δ y =k·(s m -s r ), where Δ y is the vertical distance that the vehicle centerline deviates from the target straight line, k is the calibration coefficient, s m is the position measured in real time by the laser radar 401, s r is the theoretical reference value corresponding to the target straight line;

[0089] Course deviation: Where Δθ is the angle between the vehicle’s current direction of travel and the target line, and L is the vehicle’s wheelbase or predicted distance;

[0090] PID control algorithm: Among them, δ is the steering angle correction, k P is the proportionality coefficient, k i is the integration coefficient, k d is the differential coefficient.

[0091] like Figure 10 As shown, the gray rectangle represents the area that the long track plate 301 may actually cover during driving.

[0092] like Figure 10 As shown in (a), when the plant spacing is 15 cm, the coverage area of the crawler long plate 301 is:

[0093] [0,7cm],[22cm,29cm],[44cm,51cm],...

[0094] Rice pile position: 15cm, 30cm, 45cm,...

[0095] 15cm rice piles are placed at a gap of 7cm→22cm, without overlap.

[0096] The 30cm rice piles were located at a gap of 29cm→44cm without overlapping.

[0097] like Figure 10 As shown in (b), when the plant spacing is 20 cm, the track long plate 301 covers the following area:

[0098] [0,7cm],[22cm,29cm],[44cm,51cm],...

[0099] Rice pile position: 20cm, 40cm, 60cm,...

[0100] 20cm rice piles are located at a gap of 7cm→22cm, without overlap.

[0101] The 40cm rice piles were located at a gap of 29cm→44cm without overlapping.

[0102] This embodiment is suitable for a ratoon rice planting pattern with a plant spacing of 15 cm to 20 cm.

[0103] Based on the characteristics of the agronomic model of regenerated rice planting, the present invention overcomes the problem that the crawler chassis often crushes the regenerated rice piles during the harvesting process, causing the rice piles to be mechanically crushed and damaged, and the secondary harvest cannot achieve the goal. It effectively reduces the crushing damage rate of the regenerated rice piles, thereby increasing the yield of the secondary production of regenerated rice.

[0104] The present invention is based on the special needs of the regenerated rice planting agronomic model, and adopts an alternate arrangement of the long track plates 301 and the short track plates 310, so that a non-continuous support surface is formed between the two sides of the adjacent long track plates 301, effectively avoiding the area with dense rice piles. At the same time, the terrain feature data is detected by the laser radar 401 and transmitted to the control unit 5; the control unit 5 calculates the steering angle δ based on the terrain feature data collected by the laser radar 401, and corrects the driving direction of the crawler device 3, which can significantly reduce the rice pile crushing rate, protect the regenerated rice sprout growth environment, and provide guarantees for achieving stable production and increased income during the secondary harvest period. During the operation of the harvester, the crushing damage rate of the regenerated rice piles is effectively reduced, thereby increasing the yield of the secondary production of regenerated rice, and can widely replace the existing crawler chassis devices on the market.

[0105] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0106] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A crawler walking device suitable for regenerated rice planting mode, characterized in that: It comprises a crawler frame (1), a chassis frame (2), a crawler device (3), a laser radar (401) and a control unit (5); Crawler devices (3) are respectively provided on both sides of the crawler frame (1), the chassis frame (2) is mounted on the crawler frame (1), and the laser radar (401) is mounted at the front end of the chassis frame (2); The crawler device (3) comprises a plurality of long crawler plates (301) and short crawler plates (310); the long crawler plates (301) and short crawler plates (310) are arranged in an alternating arrangement, with a spacing of L1 between adjacent long crawler plates, where L1 is the center distance between adjacent long crawler plates (301), so that a non-continuous support surface is formed between the two sides of the adjacent long crawler plates (301); The laser radar (401) is installed at the front end of the chassis frame (2), the control unit (5) is installed in the control box (402), and the control unit (5) is connected to the laser radar (401); the laser radar (401) is used to detect terrain feature data and transmit it to the control unit (5); The control unit (5) calculates the steering angle δ based on the terrain feature data collected by the laser radar (401) and corrects the driving direction of the crawler device (3).

2. The crawler walking device suitable for the regenerated rice planting mode according to claim 1, characterized in that: The crawler device (3) further includes a guide wheel (302), a tensioning device (303), a supporting wheel (304), a drag chain wheel (305), a driving wheel (306), a motor (307), a beam plate (308) and a crawler support frame (309); A guide wheel (302) and a driving wheel (306) are respectively installed at both ends of the track support frame (309), a tensioning device (303) is installed on the right side of the guide wheel (302), a plurality of supporting rollers (304) are installed at the bottom of the track support frame (309), a drag chain wheel (305) is installed at the top of the track support frame (309), beam plates (308) are respectively provided on both sides of the track support frame (309), a motor (307) is connected to the driving wheel (306), and the bottoms of the long track plate (301) and the short track plate (310) are respectively engaged with the gear teeth of the guide wheel (302) and the driving wheel (306).

3. The crawler walking device suitable for the regenerated rice planting mode according to claim 1, characterized in that: The distance between adjacent long track plates is L1 and is calculated using the following formula: L1=L2±ΔL Where L2 is the rice stake spacing; ΔL is the tolerance correction value, which is 2 to 3 cm. L2 is 15 to 20 cm; the distance L1 between adjacent track long plates is 17 to 23 cm.

4. The crawler walking device suitable for the regenerated rice planting mode according to claim 3, characterized in that: The width w of a single track long plate (301) b The following conditions must be met: Where w d is the lateral width of the rice pile, w d 3 to 4 cm; The width w of the long track plate (301) b 6 to 8 cm.

5. The crawler walking device suitable for regenerated rice planting mode according to claim 1, characterized in that: The long track plate (301) is longer than the short track plate (310) on one side by a length L v 7 to 10 cm.

6. The crawler walking device suitable for regenerated rice planting mode according to claim 1, characterized in that: The width w between the beam plates (308) on both sides of the crawler support frame (309) V is 26cm.

7. The crawler walking device suitable for regenerated rice planting mode according to claim 1, characterized in that: The vertical height h of the crawler device (3) v Designed to be 45-50cm; The vertical height h of the crawler device (3) v -The height h of the regenerated rice pile is the vertical safety margin of the top of the rice pile, which is 20 to 25 cm; The motion trajectory of the crawler long plate (301) is a cycloid, and its vertical height y (t) The calculation formula is: Wherein, r is the radius of the driving wheel (306), V is the vehicle speed, and t is the driving time.

8. The crawler walking device suitable for regenerated rice planting mode according to claim 1, characterized in that: The control unit (5) comprises a single chip microcomputer (501), a data acquisition card (502), a DC power supply (503) and a protective resistor (504); The DC power supply (503) and the circuit protection resistor (504) are connected in series in the circuit; the laser radar (401) is connected to the data acquisition card (502); the data acquisition card (502) is connected to the single-chip microcomputer (501); the laser radar (401) outputs real-time data to the data acquisition card (502); the data acquisition card (502) transmits the data to the single-chip microcomputer (501); the single-chip microcomputer (501) is connected to the crawler device (3); the single-chip microcomputer (501) calculates the steering angle δ according to the terrain feature data collected by the laser radar (401), and corrects the driving direction of the crawler device (3).

9. A harvester, characterized in that: It comprises a crawler walking device suitable for a regenerated rice planting mode according to any one of claims 1 to 8.

10. A control method for a crawler walking device suitable for a regenerated rice planting mode according to any one of claims 1 to 8, characterized in that: The following steps are involved: The laser radar (401) transmits the terrain feature data collected in real time to the control unit (5); the single chip computer (501) performs lateral deviation Δ according to the terrain feature data collected by the laser radar (401). y and the calculation of the heading deviation Δθ, and the calculation of the steering angle δ in combination with the PID control algorithm to correct the driving direction of the crawler device (3); Lateral deviation: Δ y =k·(s m -s r ), where Δ y is the vertical distance that the vehicle centerline deviates from the target straight line, k is the calibration coefficient, s m is the position measured in real time by the laser radar (401), s r is the theoretical reference value corresponding to the target straight line; Course deviation: Where Δθ is the angle between the vehicle’s current direction of travel and the target line, and L is the vehicle’s wheelbase or predicted distance; PID control algorithm: Among them, δ is the steering angle correction, k P is the proportionality coefficient, k i is the integration coefficient, k d is the differential coefficient.

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