Orchard profiling mower header based on multi-sensor fusion

Abstract

The invention discloses an orchard profiling mower header based on multi-sensor fusion, and the header comprises a ground information collection mechanism which is used for sensing and measuring the topographic change of the front side of the header, the angle variation and the height variation of the cutting plane at the next cutting moment relative to the cutting plane at the current cutting moment are obtained and transmitted to a control system; the transverse profiling adjusting mechanism is used for receiving a transverse profiling instruction sent by the control system and adjusting the transverse inclination angle and the transverse lifting height of the cutting plane of the cutting knife assembly. The longitudinal profiling adjusting mechanism is used for receiving a longitudinal profiling instruction sent by the control system and adjusting the longitudinal inclination angle and the longitudinal lifting height of the cutting plane of the cutter assembly. The cutting knife assembly receives a control instruction of the control system to cut grass. The header is based on multi-sensor fusion, the complex ground fluctuation condition of an orchard is accurately collected to conduct transverse and longitudinal profiling adjustment to achieve accurate profiling of the cutter, and the adaptability of the header to the complex terrain and the orchard mowing efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of agricultural machinery, in particular to the technical field of orchard mowing equipment, and more particularly to an orchard profiling mower cutting table based on multi-sensor fusion for complex terrain orchard weeding. BACKGROUND

[0002] China is a big country of fruit products, with the rapid development of science and technology and productivity, intelligent agricultural equipment technology is also constantly progressing, and we have greatly improved the standard of removing weeds on the ground of orchard. Due to the complex and diverse terrain of orchard, the traditional mower has problems such as poor terrain adaptability, low operation efficiency, and gradually cannot meet the needs of fruit farmers for mowing.

[0003] The emergence of profiling mowing technology has become a key research direction to improve the intelligent management of orchard. Profiling technology plays an important role in the stability, accuracy and operation effect of agricultural machinery during operation. Therefore, it is necessary to design a mower with high profiling effect. SUMMARY

[0004] The purpose of the present application is to solve the problems of low profiling precision and low mowing efficiency of the existing orchard mower in mowing operation, and to provide an orchard profiling mower cutting table based on multi-sensor fusion.

[0005] The purpose of the present application is solved by the following technical solutions: An orchard profiling mower cutting table based on multi-sensor fusion, characterized in that: the cutting table comprises a cutting table frame, a ground information acquisition mechanism, a transverse profiling adjustment mechanism, a longitudinal profiling adjustment mechanism, and a cutter assembly, wherein the ground information acquisition mechanism is arranged at the bottom of the front side of the cutting table frame, used to sense and measure the terrain change of the front side of the cutting table, obtain the angle change and height change of the cutting plane at the next cutting moment relative to the cutting plane at the current cutting moment, and transmit them to the control system; The transverse profiling adjustment mechanism is installed at the top of the cutting table frame, used to receive the transverse profiling instruction issued by the control system, and based on the transverse profiling instruction, drive the cutter assembly to rotate transversely from the lateral side of the drive motor of the cutter assembly to adjust the transverse inclination angle and transverse lifting height of the cutting plane of the cutter assembly; The longitudinal profiling adjustment mechanism is installed at the lower part of the cutting table frame, used to receive the longitudinal profiling instruction issued by the control system, and based on the longitudinal profiling instruction, drive the cutter assembly to advance and retreat longitudinally from the longitudinal side of the cutter shaft sleeve at the lower part of the cutter assembly to adjust the longitudinal inclination angle and longitudinal lifting height of the cutting plane of the cutter assembly; The driving motor on the top of the cutting knife assembly is installed on the output end of the transverse profiling adjustment mechanism, and the cutting knife shaft sleeve on the bottom is installed on the output end of the longitudinal profiling adjustment mechanism. The transverse profiling adjustment mechanism and the longitudinal profiling adjustment mechanism can adjust the cutting plane at the current cutting moment of the cutting knife assembly to the cutting plane at the next cutting moment. The driving motor receives the control instruction of the control system to drive the cutting knife on the cutting knife disc to rotate to cut the grass.

[0006] Any cutting knife assembly is provided with a set of transverse profiling adjustment mechanisms, a set of longitudinal profiling adjustment mechanisms, and a pair of ground information acquisition mechanisms, which are respectively located on the left and right sides in front of the corresponding cutting knife assembly.

[0007] The cutting knife assembly comprises a driving motor, an upper coupling, an inclined shaft universal shaft set, a lower coupling, a cutting knife shaft, a cutting knife connecting piece, a cutting knife disc, and a cutting knife. The driving motor is fixed on the output end of the transverse profiling adjustment mechanism by bolts. The output shaft of the driving motor is connected to the upper end of the inclined shaft universal shaft set through the upper coupling. The lower end of the inclined shaft universal shaft set is connected to the upper end of the cutting knife shaft through the lower coupling. The inclined shaft universal shaft set enables the cutting knife shaft and the output shaft of the driving motor to realize non-coaxial rotary transmission. The lower end of the cutting knife shaft is fixedly connected to the cutting knife disc through the cutting knife connecting piece. The cutting knife is hinged to the cutting knife disc.

[0008] The upper part of the cutting knife connecting piece is provided with external threads matched with the internal threads on the bottom of the cutting knife shaft. The cutting knife connecting piece connects the cutting knife shaft and the cutting knife disc. Four threaded holes are uniformly distributed on the cutting knife connecting piece and the cutting knife disc. The cutting knife disc is connected to the cutting knife connecting piece by bolts.

[0009] The cutting knife shaft sleeve is sleeved on the cutting knife shaft to protect the cutting knife shaft. The cutting knife shaft sleeve connected to the output end of the longitudinal profiling adjustment mechanism is internally provided with an angular contact ball bearing. The angular contact ball bearing is fixed by adjusting shims and the stepped surface on the peripheral surface of the cutting knife shaft. The bottom of the cutting knife shaft sleeve is provided with a shaft sleeve end cover. An elastic retainer is arranged between the cutting knife shaft sleeve and the shaft sleeve end cover. The cutting knife shaft sleeve, the elastic retainer, and the shaft sleeve end cover are fixed by bolts.

[0010] The aforementioned slanted-axis universal joint assembly includes a universal joint spindle disk, a splined shaft, a splined shaft end cap, and a universal joint connecting shaft disk. The universal joint spindle disks are arranged at both ends of the slanted-axis universal joint assembly, and at least one universal joint connecting shaft disk is arranged between the two universal joint spindle disks. The universal joint spindle disk has multiple splined grooves evenly distributed on it. The splined shaft has a limiting baffle at one end and a splined shaft end cap at the other end. The splined shaft is placed in the splined groove of the universal joint spindle disk and can move within the splined groove. The splined shaft end cap has an eccentric hinge hole. The spline shaft end caps of adjacent shafts are connected by hinges. When the drive motor drives the slanted shaft universal joint assembly to rotate, the spline shaft can move up and down in the spline groove to transmit rotational motion and realize angular changes in a fixed plane. The universal joint connecting shaft plate is used to install the spline shaft in the same way as the universal joint main shaft plate. The spline shaft end cap on the end of the universal joint connecting shaft plate is hinged to the spline shaft end cap on the end of the adjacent universal joint connecting shaft plate, or the spline shaft end cap on the end of the universal joint connecting shaft plate is hinged to the spline shaft end cap on the adjacent universal joint main shaft plate.

[0011] The longitudinal contouring adjustment mechanism includes a longitudinal adjusting hydraulic cylinder, a transverse and longitudinal adjusting plate, a deep groove ball bearing, and a cutter shaft guide connector. The tail end of the longitudinal adjusting hydraulic cylinder is mounted on the rear crossbeam of the cutting table frame, and the telescopic end is hinged to the tail end of the transverse and longitudinal adjusting plate. The transverse and longitudinal adjusting plate is provided with an arc-shaped guide groove for accommodating the movement of the deep groove ball bearing. The front and rear baffles of the arc-shaped guide groove can limit the movement of the deep groove ball bearing. The front end of the deep groove ball bearing is connected to the tail end of the cutter shaft guide connector, and the front end of the cutter shaft guide connector is hinged to the cutter shaft sleeve at the bottom of the cutter assembly.

[0012] The lateral contouring adjustment mechanism includes a lateral adjustment hydraulic cylinder and a rotating support frame. The tail end of the lateral adjustment hydraulic cylinder is installed on the top crossbeam of the cutting table frame, and the telescopic end is connected to the arched structure on the rotating support frame. The rotating support frame with openings on both sides is hinged to the top of the cutting table frame. The rotating support frame can rotate around the hinge point under the drive of the lateral adjustment hydraulic cylinder.

[0013] The ground information acquisition mechanism includes a contour plate, a contour link, a rotating connecting plate, a contour shock absorber, an angle sensor, and an infrared sensor. The front end of the contour plate is hinged to the bottom of the cutting table frame, and the end is hinged to one end of the contour link. The other end of the contour link is connected to the bottom of the rotating connecting plate. The middle of the rotating connecting plate is hinged to the bottom crossbeam of the cutting table frame, and the rotating connecting plate can rotate around this hinge point. The top of the rotating connecting plate is connected to the telescopic end of the contour shock absorber. The tail end of the contour shock absorber is hinged to the front column of the cutting table frame, and the contour shock absorber can passively perform telescopic movements. The angle sensor is installed at the hinge point of the rotating connecting plate, and the infrared sensor is installed below the bottom crossbeam of the cutting table frame. The angle sensor is used to sense the angle change of the rotating connecting plate and transmit it to the control system, and the infrared sensor is used to sense the height change at a fixed position on the contour plate and transmit it to the control system.

[0014] The infrared sensor is located directly above the contour plate.

[0015] The bottom rear side of the cutting table frame is also equipped with a liftable rear wheel assembly, which includes a rear wheel rod, a rear wheel fixing plate, a caster mounting plate, casters, and a telescopic hydraulic cylinder. The tail end of the telescopic hydraulic cylinder is hinged to the cutting table frame, and the telescopic end is hinged to the middle of the rear wheel rod. The tail end of the rear wheel rod is hinged to the cutting table frame, and the front end is bolted to the rear wheel fixing plate. A caster mounting plate is installed at the bottom of the rear wheel fixing plate, and a caster is installed at the lower part of the caster mounting plate.

[0016] The present invention has the following advantages over the prior art: The cutting platform provided by this invention has a transverse contouring mechanism and a longitudinal contouring mechanism, and is equipped with an angle sensor and an infrared sensor accordingly. When the lawnmower encounters terrain undulations, the angle sensor senses the rotation angle of the contouring plate, and the infrared sensor detects the change in ground clearance. The digital signal is converted into an electrical signal to control the corresponding contouring adjustment hydraulic cylinder to complete the contouring action. This cutting platform adopts an active contouring method, and through the cooperation of multiple sensors, a higher precision contouring effect can be achieved, which improves the adaptability of the lawnmower to complex terrain, improves the mechanization level of orchard machinery, and improves the efficiency of orchard mowing.

[0017] The cutting table provided by this invention adopts a cutting blade structure with a slanted universal joint assembly, which facilitates the control system to control the longitudinal contouring adjustment mechanism to contour the longitudinal height of the cutting blade. While ensuring contouring accuracy, it can effectively prevent the cutting blade from entering the ground.

[0018] When the cutting platform provided by this invention is not in operation, the casters of the liftable rear wheel assembly can be lowered to the ground, which can effectively protect the profile plate from wear and protect the road surface. Attached Figure Description

[0019] Appendix Figure 1 A three-dimensional structural diagram of the cutting platform of an orchard contour mower based on multi-sensor fusion is provided for the present invention. Appendix Figure 2 A schematic diagram of the structure of the ground information acquisition mechanism provided by the present invention; Appendix Figure 3 This is a schematic diagram of the lateral contour adjustment mechanism provided by the present invention; Appendix Figure 4 This is a schematic diagram of the longitudinal contouring adjustment mechanism provided by the present invention; Appendix Figure 5 This is a schematic diagram of the structure of the horizontal and vertical adjustment plate provided by the present invention; Appendix Figure 6 This is an isometric schematic diagram of the combined state of the transverse contouring adjustment mechanism, the longitudinal contouring adjustment mechanism, and the cutting tool assembly provided by the present invention. Appendix Figure 7 A schematic diagram of the structure of the cutting tool assembly provided by the present invention; Appendix Figure 8 A schematic diagram of the internal structure of the cutter bushing provided by the present invention; Appendix Figure 9 This is a schematic diagram of the oblique shaft universal joint assembly provided by the present invention; Appendix Figure 10 This is a schematic diagram of the structure of the spline shaft provided by the present invention; Appendix Figure 11 This is a schematic diagram of the structure of the liftable rear wheel assembly provided by the present invention.

[0020] Wherein: 1—Cutter frame; 2—Ground information acquisition mechanism; 201—Following plate; 202—Following connecting rod; 203—Rotating connecting plate; 204—Following shock absorber; 205—Angle sensor; 206—Infrared sensor; 3—Horizontal follow-up adjustment mechanism; 301—Horizontal adjustment hydraulic cylinder; 302—Rotating support frame; 4—Longitudinal follow-up adjustment mechanism; 401—Longitudinal adjustment hydraulic cylinder; 402—Horizontal and longitudinal adjustment plate; 403—Deep groove ball bearing; 404—Cutter shaft guide connector; 5—Cutter assembly; 501—Drive motor; 5021—Upper coupling; 5022 —Lower coupling; 503—Slanted shaft universal joint assembly; 5031—Universal joint spindle disc; 5032—Splined shaft; 5033—Splined shaft end cover; 5034—Universal joint connecting shaft disc; 504—Cutter shaft; 505—Cutter shaft sleeve; 506—Adjusting shim; 507—Angular contact ball bearing; 508—Elastic retaining ring; 509—Sleeve end cover; 510—Cutter connector; 511—Cutter disc; 512—Cutter; 6—Liftable rear wheel assembly; 601—Rear wheel rod; 602—Rear wheel fixing plate; 603—Caser mounting plate; 604—Caser; 605—Telescopic hydraulic cylinder. Detailed Implementation

[0021] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that the invention will be thorough and complete, and the concept of the exemplary embodiments will be fully conveyed to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore their detailed description will be omitted.

[0022] The terms “a,” “one,” “the,” and “the” are used to indicate the existence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended meaning of inclusion and that other elements / components / etc. may exist in addition to the listed elements / components / etc.

[0023] like Figures 1-11 The image shows a multi-sensor fusion-based orchard contour mower cutter head, comprising a cutter frame 1, a ground information acquisition mechanism 2, a lateral contour adjustment mechanism 3, a longitudinal contour adjustment mechanism 4, a cutter assembly 5, and a liftable rear wheel assembly 6. The ground information acquisition mechanism 2 is located at the bottom front of the cutter frame 1, used to sense and measure terrain changes in front of the cutter, obtaining the angle and height changes of the cutting plane at the next cutting moment relative to the current cutting moment, and transmitting this information to the control system. The lateral contour adjustment mechanism 3 is installed on the top of the cutter frame 1, used to receive lateral contour commands from the control system, and based on these commands, drive the cutter assembly 5 laterally from the drive motor 501 of the cutter assembly 5 to adjust the lateral tilt angle and lateral lifting height of the cutting plane of the cutter assembly 5. The longitudinal contour adjustment mechanism 4 is installed on the top of the cutter frame 1. Mounted at the lower part of the header frame 1, it is used to receive longitudinal contouring commands from the control system and drive the cutter assembly 5 longitudinally forward and backward from the cutter bushing 505 at the lower part of the cutter assembly 5 based on the longitudinal contouring commands to adjust the longitudinal tilt angle and longitudinal lifting height of the cutting plane of the cutter assembly 5. The drive motor 501 at the top of the cutter assembly 5 is installed at the output end of the transverse contouring adjustment mechanism 3 and the cutter bushing 505 at the lower part is installed at the output end of the longitudinal contouring adjustment mechanism 4. The transverse contouring adjustment mechanism 3 and the longitudinal contouring adjustment mechanism 4 can adjust the cutting plane of the cutter assembly 5 at the current cutting moment to the cutting plane at the next cutting moment. The drive motor 501 receives control commands from the control system to drive the cutter 512 on the cutter disc 511 to rotate and cut grass. The liftable rear wheel assembly 6 is used to prevent the cutter 512 from touching the ground when it is not working and to protect the contouring plate 201 from wear. Each cutter assembly 5 is equipped with a set of transverse contour adjustment mechanism 3, a set of longitudinal contour adjustment mechanism 4, and a pair of ground information acquisition mechanisms 2, with the pair of ground information acquisition mechanisms 2 located on the left and right sides in front of the corresponding cutter assembly 5, respectively.

[0024] Furthermore, the ground information acquisition mechanism 2 includes a contour plate 201, a contour link 202, a rotating connecting plate 203, a contour shock absorber 204, an angle sensor 205, and an infrared sensor 206. The front end of the contour plate 201 is hinged to the bottom of the cutter frame 1, and the end is hinged to one end of the contour link 202. The other end of the contour link 202 is connected to the lower part of the rotating connecting plate 203. The middle part of the rotating connecting plate 203 is hinged to the bottom crossbeam of the cutter frame 1, and the rotating connecting plate 203 can rotate around the hinge point. The upper part of the rotating connecting plate 203... The square is connected to the telescopic end of the contouring shock absorber 204. The tail end of the contouring shock absorber 204 is hinged to the front column of the cutting table frame 1 and the contouring shock absorber 204 can passively perform telescopic movements. Angle sensor 205 is installed at the hinge point of the rotating connecting plate 203 and infrared sensor 206 is installed below the bottom crossbeam of the cutting table frame 1. Angle sensor 205 is used to sense the angle change of the rotating connecting plate 203 and transmit it to the control system, and infrared sensor 206 is used to sense the height change at a fixed position on the contouring plate 201 and transmit it to the control system.

[0025] Furthermore, the transverse contouring adjustment mechanism 3 includes a transverse adjustment hydraulic cylinder 301 and a rotating support frame 302 arranged transversely. The tail end of the transverse adjustment hydraulic cylinder 301 is mounted on the top crossbeam of the cutting table frame 1, and the telescopic end is connected to the arched structure on the rotating support frame 302. The rotating support frame 302 with openings on both sides is hinged to the top of the cutting table frame 1. The rotating support frame 302 can rotate around the hinge point under the drive of the transverse adjustment hydraulic cylinder 301.

[0026] Furthermore, the longitudinal contouring adjustment mechanism 4 includes a longitudinal adjusting hydraulic cylinder 401, a transverse and longitudinal adjusting plate 402, a deep groove ball bearing 403, and a cutter shaft guide connector 404. The tail end of the longitudinal adjusting hydraulic cylinder 401 is mounted on the rear crossbeam of the cutting table frame 1, and the telescopic end is hinged to the tail end of the transverse and longitudinal adjusting plate 402. The transverse and longitudinal adjusting plate 402 is provided with an arc-shaped guide groove for accommodating the movement of the deep groove ball bearing 403. The front and rear baffles of the arc-shaped guide groove can limit the movement of the deep groove ball bearing 403. The front end of the deep groove ball bearing 403 is connected to the tail end of the cutter shaft guide connector 404, and the front end of the cutter shaft guide connector 404 is hinged to the cutter shaft sleeve 505 at the bottom of the cutter assembly 5.

[0027] Furthermore, the cutter assembly 5 includes a drive motor 501, an upper coupling 5021, a slanted universal joint 503, a lower coupling 5022, a cutter shaft 504, a cutter connector 510, a cutter disc 511, and a cutter 512. The drive motor 501 is bolted to the output end of the transverse contouring adjustment mechanism 3. The output shaft of the drive motor 501 is connected to the upper end of the slanted universal joint 503 via the upper coupling 5021, and the lower end of the slanted universal joint 503 is connected to the upper end of the cutter shaft 504 via the lower coupling 5022. The slanted universal joint 503 enables the cutter shaft 504 and the output shaft of the drive motor 501 to achieve non-coaxial rotational transmission. The lower end of the cutter shaft 504 is fixedly connected to the cutter disc 511 via the cutter connector 510, and the cutter 512 is hinged to the cutter disc 511. Additionally, a cutter shaft sleeve 505 is fitted onto the cutter shaft 504 to protect the cutter shaft 504 and connect the output end of the longitudinal contouring adjustment mechanism 4. The cutter shaft sleeve 505 contains an angular contact ball bearing 507, which is limited and fixed by the adjusting shim 506 and the stepped surface on the circumference of the cutter shaft 504. A shaft sleeve end cap 509 is provided at the bottom of the cutter shaft sleeve 505, and an elastic retaining ring 508 is provided between the cutter shaft sleeve 505 and the shaft sleeve end cap 509. The cutter shaft sleeve 505, the elastic retaining ring 508, and the shaft sleeve end cap 509 are fastened together by bolts.

[0028] Furthermore, the slanted universal joint assembly 503 includes a universal joint spindle disk 5031, a splined shaft 5032, a splined shaft end cap 5033, and a universal joint connecting shaft disk 5034. The universal joint spindle disks 5031 are arranged at both ends of the slanted universal joint assembly 503, and at least one universal joint connecting shaft disk 5034 is arranged between the two universal joint spindle disks 5031. The universal joint spindle disk 5031 is evenly provided with multiple spline grooves. The splined shaft 5032 has a limiting baffle at one end and a splined shaft end cap 5033 at the other end. The splined shaft 5032 is placed in the spline groove of the universal joint spindle disk 5031 and can move in the spline groove. The splined shaft end cap 5033 is provided with an eccentric hinge hole. Adjacent spline shaft end caps 5033 are connected by hinges. When the drive motor 501 drives the slanted shaft universal joint assembly 503 to rotate, the spline shaft 5032 can move up and down in the spline groove to transmit rotational motion and realize angle changes in a fixed plane. The universal joint connecting shaft disc 5034 is used to install the spline shaft 5032 in the same way as the universal joint main shaft disc 5031. The spline shaft end cap 5033 on the end of the universal joint connecting shaft disc 5034 is hinged to the spline shaft end cap 5033 on the end of the adjacent universal joint connecting shaft disc 5034, or the spline shaft end cap 5033 on the end of the universal joint connecting shaft disc 5034 is hinged to the spline shaft end cap 5033 on the adjacent universal joint main shaft disc 5031.

[0029] Furthermore, a liftable rear wheel assembly 6 is also provided on the bottom rear side of the cutting table frame 1. The liftable rear wheel assembly 6 includes a rear wheel rod 601, a rear wheel fixing plate 602, a caster mounting plate 603, casters 604, and a telescopic hydraulic cylinder 605. The tail end of the telescopic hydraulic cylinder 605 is hinged to the cutting table frame 1, and the telescopic end is hinged to the middle of the rear wheel rod 601. The tail end of the rear wheel rod 601 is hinged to the cutting table frame 1, and the front end is bolted to the rear wheel fixing plate 602. A caster mounting plate 603 is installed at the bottom of the rear wheel fixing plate 602, and a caster 604 is installed at the lower part of the caster mounting plate 603. When the cutting table is not in operation, the telescopic hydraulic cylinder 605 can lower the casters 604 to the ground, which can effectively protect the profile plate 201 from wear and protect the road surface.

[0030] The process of the control system processing the angle and height changes collected by the ground information acquisition mechanism (2) and the distribution of lateral contouring commands and longitudinal direction commands based on the processing results are solved based on existing technologies. Example

[0031] Reference Appendix Figure 1 The image shows a cutting platform for an orchard contour mower based on multi-sensor fusion. The cutting platform includes a cutting platform frame 1, a ground information acquisition mechanism 2, a lateral contour adjustment mechanism 3, a longitudinal contour adjustment mechanism 4, a cutter assembly 5, and a liftable rear wheel assembly 6.

[0032] For reference Figure 2The ground information acquisition mechanism 2 shown has an arc-shaped contour plate 201 hinged at one end to the cutting table frame 1 and capable of rotating around a certain angle. During operation, the contour plate 201 always remains in contact with the ground to sense ground undulations. When a ground protrusion (or depression) is detected, the lower end of the rotating connecting plate 203 is driven to rotate counterclockwise (or clockwise) via the contour connecting rod 202, forming a four-bar linkage. The rotating connecting plate 203 rotates around the central hinge point, causing the contour shock absorber 204 to rotate clockwise (or counterclockwise), while simultaneously compressing the contour shock absorber 204. The contour shock absorber 204 acts as a reset function and can also reduce some of the system's vibration. At this time, the angle sensor 205 detects the angle that has been rotated and transmits the angle information to the control system. The control system calculates and converts the angle change of the contour plate 201 relative to the current state through a certain formula. Three sets of ground information acquisition mechanisms 2 are respectively installed on the left, middle, and right sides of the bottom front side of the header frame 1. Angle sensors 205 on the left and middle sides are designated as one group, and angle sensors 205 on the middle and right sides as another group. Initially, the cutting plane of the cutter 512 is parallel to the horizontal ground. Data from two angle sensors 205 within a group are processed through a series of calculations to determine the angle of rotation of the cutting plane relative to the initial plane after undulations, providing a prerequisite for lateral contour adjustment. Infrared sensors 206 are installed on the left, middle, and right sides of the lower front of the header frame 1, respectively. Their function is to detect the distance between them and fixed points on the contour plate 201. Similar to angle sensors 205, infrared sensors 206 on the left and middle sides are designated as one group, and infrared sensors 206 on the middle and right sides as another group. The midpoint of the data detected by two infrared sensors 206 within a group is taken as the height contour adjustment amount of the cutter 512, providing a prerequisite for longitudinal contour adjustment.

[0033] Reference Appendix Figure 3 Appendix Figure 6The lateral contouring adjustment mechanism 3 shown has a lateral adjustment hydraulic cylinder 301, one end of which is mounted on the middle crossbeam at the top of the cutting table frame 1, and the other end connected to the arched structure on the rotating support frame 302. The rotating support frame 302 has openings on both sides, allowing it to be hinged to the cutting table frame 1 and rotate around the hinge point. The rotation angle signal collected by the angle sensor 205 in the ground information acquisition mechanism 2 is mainly used to control the extension and retraction of the lateral adjustment hydraulic cylinder 301 to drive the rotating support frame 302 to rotate, thereby realizing the follow-up movement of the cutting plane of the cutter 512 and completing the lateral contouring adjustment. During the lateral contouring adjustment, the cutter bushing 505 is connected to the cutter shaft guide connector 404. The cutter bushing 505 moves due to the lateral contouring angle adjustment. The other end of the cutter shaft guide connector 404 is connected to the deep groove ball bearing 403 placed in the horizontal and vertical adjustment plate 402. The horizontal and vertical adjustment plate 402 has a guide groove inside to facilitate the movement of the deep groove ball bearing 403, and front and rear baffles to limit its movement during the contouring adjustment. This structure reflects the angular rotation of the cutter assembly 5 caused by lateral contouring as the movement of the deep groove ball bearing 403 in the guide groove of the horizontal and vertical adjustment plate 402.

[0034] Reference Appendix Figure 4 Appendix Figure 5 The longitudinal contouring adjustment mechanism 4 shown converts the height adjustment amount collected by the infrared sensor 206 in the ground information acquisition mechanism 2 into an electrical signal. It is mainly used to control the extension and retraction of the longitudinal adjustment hydraulic cylinder 401 to drive the horizontal and vertical adjustment plate 402 and the cutter shaft guide connector 404 to move. The cutter shaft guide connector 404 transmits the movement to the cutter shaft sleeve 505, thereby driving the cutter assembly 5 to be raised or lowered. Under the action of the inclined shaft universal joint 503, the cutter shaft 504 can rotate and transmit at a position that is not coaxial with the motor drive shaft when performing longitudinal contouring, so as to realize longitudinal contouring adjustment.

[0035] Reference Appendix Figure 7 Appendix Figure 8 The cutter assembly 5 shown includes a drive motor 501 bolted to a rotating support frame 302. The motor output shaft of the drive motor 501 is connected to the main shaft at one end of a slanted universal joint 503 via an upper coupling 5021. The end of the slanted universal joint 503 is also connected to the cutter shaft 504 via a lower coupling 5021. The cutter bushing 505 is connected to the cutter shaft 504 via two sets of angular contact ball bearings 507. The cutter bushing 505 is hinged to the cutter shaft guide connector 404 and can float up and down to adjust its height as the longitudinal adjustment hydraulic cylinder 401 extends and retracts.

[0036] Reference Appendix Figure 9 Appendix Figure 10The oblique-axis universal joint assembly 503 shown includes a universal joint spindle disk 5031 with three evenly spaced splined grooves, in which splined shafts 5032 are placed. The three splined shafts 5032 are considered a group, and they can float up and down within the splined grooves. Two groups of splined shafts 5032 are mounted opposite each other in the universal joint connecting shaft disk 5034. Initially, the assembly is placed vertically with the two universal joint spindle disks 5031 facing each other, connected by the universal joint connecting shaft disk 5034. The upper universal joint spindle disk 5031 is coaxial with the motor output shaft, while the lower universal joint spindle disk 5031 is coaxial with the cutter shaft 504. The two spindle disks always maintain a parallel position. The middle universal joint connecting shaft disk 5034 serves as a connector and also changes the off-axis distance of the universal joint spindle disks 5031. Adjacent splined shafts 5032 are connected by hinges, forming the oblique-axis universal joint assembly 503. Because the spline shaft end cap 5033 is designed with an eccentric hinge hole, this connection method can transmit rotational motion and realize angle changes in the longitudinal contour adjustment plane.

[0037] Reference Appendix Figure 11 The adjustable rear wheel assembly 6 shown retracts the telescopic hydraulic cylinder 605 when the lawnmower is in operation, retracting the caster 604 to avoid interfering with the ground contouring accuracy. When the lawnmower is not in operation, the telescopic hydraulic cylinder 605 extends, lowering the caster 604 to keep it in contact with the ground. At this time, the contouring plate 201 is raised away from the ground and moved using the caster 604. This effectively protects the contouring plate 201 from wear and can also protect the road surface.

[0038] The orchard contour mower platform provided by this invention, based on multi-sensor fusion, operates as follows: before the mower starts working, the telescopic hydraulic cylinder 605 retracts, pulling back the casters 604 to adjust the platform height and control the ground clearance of the cutter blade 512, thus determining the stubble height. When the mower starts working, the drive motor 501 transmits power to the cutter shaft 504 via the upper coupling 5021, the slanted universal joint 503, and the coupling 5022, driving the cutter blade 512 to rotate and perform weeding. The following will describe in detail its working principle and operation process, taking the case where the contour plate 201 in the middle of the platform encounters a ground depression and the contour plate 201 on the right side encounters a ground protrusion. When the central contour plate 201 encounters a ground depression and the right contour plate 201 encounters a ground protrusion, the central contour plate 201 first senses the terrain undulation. Due to the spring thrust of the contour shock absorber 204, the central contour plate 201 descends, causing the rotating connecting plate 203 to rotate clockwise around its central hinge point via the contour connecting rod 202. At this time, the central angle sensor 205 measures the change in the rotation angle of the central rotating connecting plate 203, reflecting the lateral tilt trend of the cutting platform, and the central infrared sensor 206 measures the change in height above the ground, reflecting the longitudinal height deviation of the cutting platform. Similarly, when the ground support force causes the right contour plate 201 to rise, the corresponding right rotating connecting plate 203 rotates counterclockwise. The right angle sensor 205 measures the change in the rotation angle of the right rotating connecting plate 203, and the right infrared sensor 206 measures the change in height above the ground. Assuming the cutting plane of the cutter 512 is initially parallel to the horizontal ground, the control system then fuses the angle change data from two angle sensors 205 and the height change data from two infrared sensors 206. The angle change data from angle sensors 205 corrects the tilt interference in the height change data from infrared sensors 206, and the height change data fills in the height information gaps in the angle change data, forming a combined lateral and longitudinal contouring process. The data fusion between angle sensors 205 and infrared sensors 206 is not an isolated algorithm process, but a complete process handled by the control system. From receiving and processing sensor data to executing the fusion algorithm and generating control signals, the control system dominates the entire process. The control system ultimately determines the angular change and height change of the cutting plane after the undulations relative to the initial plane, and then converts these angular and height changes into electrical signals to control the corresponding contouring adjustment hydraulic cylinders to achieve lateral and longitudinal contouring functions.

[0039] The following describes the lateral contouring adjustment action. When the middle contouring plate 201 encounters a ground depression and the right contouring plate 201 encounters a ground protrusion, the data measured by the angle sensor 205 is processed by the control system and converted into an electrical signal to control the lateral adjustment hydraulic cylinder 301. At this time, the lateral adjustment hydraulic cylinder 301 retracts, causing the rotating support plate 203 to rotate counterclockwise. The entire cutter assembly 5 moves together, so that the cutting plane of the cutter 512 forms a certain angle with the initial plane. At this moment, the cutting plane of the cutter 512 is parallel to the bottom surface of the two contouring plates 201 in the middle and right, achieving the lateral contouring effect. Since the longitudinal adjusting hydraulic cylinder 401 and the transverse and longitudinal adjusting plate 402 cannot generate lateral displacement, when performing transverse contouring action, the cutter shaft guide connector 404 connected to the cutter shaft sleeve 505 and its end deep groove ball bearing 403 rotate at an angle in the guide groove of the transverse and longitudinal adjusting plate 402. This is a guiding function, and the angular rotation of the cutter assembly 5 is reflected as the movement of the deep groove ball bearing 403 in the guide groove of the transverse and longitudinal adjusting plate 402. For the longitudinal contouring action, the data measured by the infrared sensor 206 is processed by the control system and converted into an electrical signal to control the longitudinal adjustment hydraulic cylinder 401. If lifting is required, the longitudinal adjustment hydraulic cylinder 401 extends, driving the horizontal and vertical adjustment plate 402 to extend forward. Due to the limitation of the front and rear baffles of the guide groove of the horizontal and vertical adjustment plate 402 and the restriction of the lateral degree of freedom, the deep groove ball bearing 403 in the guide groove and the cutter shaft guide connector 404 connected to it move accordingly, causing the lower half of the cutter assembly 5 to lift. Since the universal spindle disk 5031 in the upper part of the inclined shaft universal joint group 503 is coaxial with the motor output shaft of the drive motor 501, it remains stationary. The lifting of the lower half of the cutter assembly 5 causes the universal spindle disk 5031 in the lower part of the inclined shaft universal joint group 503 to lift. Under the action of the universal joint connecting shaft disk 5034, the transmission is guaranteed, achieving the longitudinal contouring effect. This contour-following cutter uses multi-sensor fusion to simultaneously process ground undulation information, ensuring the accuracy of contour adjustment, improving the adaptability of the lawnmower cutter to complex terrain, and increasing mowing efficiency.

[0040] The orchard contour mower cutting platform provided by this invention adopts a multi-sensor fusion method. When the mower cutting platform encounters complex terrain, the angle sensor 205 and infrared sensor 206 installed on it can accurately sense the terrain changes and feed the data back to the control system. After receiving and processing the collected information, the control system sends a contouring command to the contouring adjustment hydraulic cylinder, which then makes adjustments to perform lateral and longitudinal contouring. This allows for flexible contouring of the road surface, enabling high-precision contouring actions, improving terrain adaptability, and increasing mowing efficiency.

[0041] This invention mainly embodies the specific structure of the actuator of the orchard contour mower cutter based on multi-sensor fusion, without involving the processing of angle change data and height change data or the instruction transmission process, and the data processing of the control system can be solved based on existing technology.

[0042] In this embodiment of the invention, the term "multiple" refers to two or more, unless otherwise explicitly defined. The terms "install," "connect," and "fix" should be interpreted broadly. For example, "connect" can mean a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention based on the specific circumstances.

[0043] In the description of the embodiments of the present invention, it should be understood that the terms "upper" and "lower" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0044] In the description of this specification, the terms "an embodiment," "a preferred embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0045] The above embodiments are merely illustrative of the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solutions based on the technical concept proposed in this invention shall fall within the scope of protection of this invention. Technologies not covered in this invention can be implemented using existing technologies.

Claims

1. A cutting platform for an orchard contour mower based on multi-sensor fusion, characterized in that: The cutting platform includes a cutting platform frame (1), a ground information acquisition mechanism (2), a lateral contour adjustment mechanism (3), a longitudinal contour adjustment mechanism (4), and a cutting blade assembly (5). The ground information acquisition mechanism (2) is located at the bottom front of the cutting platform frame (1) and is used to sense and measure the terrain changes in front of the cutting platform, obtain the angle change and height change of the cutting plane at the next cutting moment relative to the cutting plane at the current cutting moment, and transmit them to the control system. The lateral contouring adjustment mechanism (3) is installed on the top of the cutting table frame (1) to receive the lateral contouring command issued by the control system and drive the cutting assembly (5) to rotate laterally from the side of the drive motor (501) of the cutting assembly (5) based on the lateral contouring command, so as to adjust the lateral tilt angle and lateral lifting height of the cutting plane of the cutting assembly (5). The longitudinal contouring adjustment mechanism (4) is installed at the lower part of the cutting table frame (1) to receive the longitudinal contouring command issued by the control system and drive the cutting assembly (5) longitudinally forward and backward from the cutting shaft sleeve (505) at the lower part of the cutting assembly (5) based on the longitudinal contouring command to adjust the longitudinal tilt angle and longitudinal lifting height of the cutting plane of the cutting assembly (5). The drive motor (501) at the top of the cutter assembly (5) is installed at the output end of the transverse contour adjustment mechanism (3), and the cutter bushing (505) at the bottom is installed at the output end of the longitudinal contour adjustment mechanism (4). The transverse contour adjustment mechanism (3) and the longitudinal contour adjustment mechanism (4) can adjust the cutting plane of the cutter assembly (5) at the current cutting moment to the cutting plane at the next cutting moment. The drive motor (501) receives the control command of the control system to drive the cutter (512) on the cutter disc (511) to rotate and cut grass.

2. The orchard contour mower cutter head based on multi-sensor fusion according to claim 1, characterized in that: Each cutter assembly (5) is equipped with a set of transverse contour adjustment mechanism (3), a set of longitudinal contour adjustment mechanism (4), and a pair of ground information acquisition mechanisms (2). The pair of ground information acquisition mechanisms (2) are located on the left and right sides in front of the corresponding cutter assembly (5).

3. The orchard contour mower cutter head based on multi-sensor fusion according to claim 1, characterized in that: The cutter assembly (5) includes a drive motor (501), an upper coupling (5021), a slant-shaft universal joint (503), a lower coupling (5022), a cutter shaft (504), a cutter connector (510), a cutter disc (511), and a cutter (512). The drive motor (501) is bolted to the output end of the transverse contouring adjustment mechanism (3). The output shaft of the drive motor (501) is connected to the slant-shaft universal joint via the upper coupling (5021). The upper end of the shaft assembly (503) is connected to the upper end of the cutter shaft (504) through the lower coupling (5022). The slanted shaft universal joint assembly (503) enables the cutter shaft (504) and the output shaft of the drive motor (501) to achieve non-coaxial rotational transmission. The lower end of the cutter shaft (504) is fixedly connected to the cutter disc (511) through the cutter connector (510). The cutter (512) is hinged to the cutter disc (511).

4. The orchard contour mower cutter head based on multi-sensor fusion according to claim 3, characterized in that: A cutter shaft sleeve (505) is fitted on the cutter shaft (504) to protect the cutter shaft (504) and connect the output end of the longitudinal contour adjustment mechanism (4). The cutter shaft sleeve (505) has an angular contact ball bearing (507) built in it. The angular contact ball bearing (507) is limited and fixed by the adjusting shim (506) and the stepped surface on the circumference of the cutter shaft (504). The bottom of the cutter shaft sleeve (505) is equipped with a shaft sleeve end cap (509), and an elastic retaining ring (508) is arranged between the cutter shaft sleeve (505) and the shaft sleeve end cap (509). The cutter shaft sleeve (505), the elastic retaining ring (508), and the shaft sleeve end cap (509) are fixed together by bolts.

5. The orchard contour mower cutter head based on multi-sensor fusion according to claim 3, characterized in that: The oblique-axis universal joint assembly (503) includes a universal joint spindle disk (5031), a splined shaft (5032), a splined shaft end cap (5033), and a universal joint connecting shaft disk (5034). The universal joint spindle disk (5031) is arranged at both ends of the oblique-axis universal joint assembly (503), and at least one universal joint connecting shaft disk (5034) is arranged between the two universal joint spindle disks (5031). The universal joint spindle disk (5031) is evenly provided with multiple spline grooves. The splined shaft (5032) has a limiting baffle at one end and a splined shaft end cap (5033) at the other end. The splined shaft (5032) is placed in the spline groove of the universal joint spindle disk (5031) and can move within the spline groove. The splined shaft end cap (5033) is provided with an eccentric hinge hole. The adjacent spline shaft end caps (5033) are connected by hinges. When the drive motor (501) drives the slanted shaft universal joint assembly (503) to rotate, the spline shaft (5032) can move up and down in the spline groove to transmit rotational motion and realize angle changes in a fixed plane. The universal joint connecting shaft disc (5034) is installed with the spline shaft (5032) in the same way as the universal joint main shaft disc (5031). The spline shaft end cap (5033) on the end of the universal joint connecting shaft disc (5034) is hinged to the spline shaft end cap (5033) on the end of the adjacent universal joint connecting shaft disc (5034) or the spline shaft end cap (5033) on the end of the universal joint connecting shaft disc (5034) is hinged to the spline shaft end cap (5033) on the adjacent universal joint main shaft disc (5031).

6. The orchard contour mower cutter head based on multi-sensor fusion according to any one of claims 1-5, characterized in that: The longitudinal contouring adjustment mechanism (4) includes a longitudinal adjustment hydraulic cylinder (401), a transverse and longitudinal adjustment plate (402), a deep groove ball bearing (403), and a cutter shaft guide connector (404). The tail end of the longitudinal adjustment hydraulic cylinder (401) is mounted on the rear crossbeam of the cutting table frame (1), and the telescopic end is hinged to the tail end of the transverse and longitudinal adjustment plate (402). The transverse and longitudinal adjustment plate (402) is provided with an arc-shaped guide groove for accommodating the movement of the deep groove ball bearing (403). The front and rear baffles of the arc-shaped guide groove can limit the movement of the deep groove ball bearing (403). The front end of the deep groove ball bearing (403) is connected to the tail end of the cutter shaft guide connector (404), and the front end of the cutter shaft guide connector (404) is hinged to the cutter shaft sleeve (505) at the bottom of the cutter assembly (5).

7. The orchard contour mower cutter head based on multi-sensor fusion according to any one of claims 1-5, characterized in that: The lateral contouring adjustment mechanism (3) includes a lateral adjustment hydraulic cylinder (301) and a rotating support frame (302) arranged laterally. The tail end of the lateral adjustment hydraulic cylinder (301) is installed on the top crossbeam of the cutting table frame (1), and the telescopic end is connected to the arch structure on the rotating support frame (302). The rotating support frame (302) with openings on both sides is hinged to the top of the cutting table frame (1). The rotating support frame (302) can rotate around the hinge point under the drive of the lateral adjustment hydraulic cylinder (301).

8. The orchard contour mower cutter head based on multi-sensor fusion according to any one of claims 1-5, characterized in that: The ground information acquisition mechanism (2) includes a contour plate (201), a contour link (202), a rotating connecting plate (203), a contour shock absorber (204), an angle sensor (205), and an infrared sensor (206). The front end of the contour plate (201) is hinged to the bottom of the cutting table frame (1), and the end is hinged to one end of the contour link (202). The other end of the contour link (202) is connected to the bottom of the rotating connecting plate (203). The middle part of the rotating connecting plate (203) is hinged to the bottom crossbeam of the cutting table frame (1), and the rotating connecting plate (203) can rotate around the hinge point. The upper part of 03 is connected to the telescopic end of the contouring shock absorber (204). The tail end of the contouring shock absorber (204) is hinged to the front column of the cutting table frame (1) and the contouring shock absorber (204) can passively perform telescopic movements. Angle sensor (205) is installed at the hinge point of the rotating connecting plate (203) and infrared sensor (206) is installed below the bottom crossbeam of the cutting table frame (1). Angle sensor (205) is used to sense the angle change of the rotating connecting plate (203) and transmit it to the control system. Infrared sensor (206) is used to sense the height change at a certain fixed position on the contouring plate (201) and transmit it to the control system.

9. The orchard contour mower cutter head based on multi-sensor fusion according to claim 8, characterized in that: The infrared sensor (206) is located directly above the contour plate (201).

10. The orchard contour mower cutter head based on multi-sensor fusion according to any one of claims 1-5, characterized in that: The bottom rear side of the cutting table frame (1) is also provided with a liftable rear wheel assembly (6). The liftable rear wheel assembly (6) includes a rear wheel rod (601), a rear wheel fixing plate (602), a caster mounting plate (603), a caster (604), and a telescopic hydraulic cylinder (605). The tail end of the telescopic hydraulic cylinder (605) is hinged to the cutting table frame (1), and the telescopic end is hinged to the middle of the rear wheel rod (601). The tail end of the rear wheel rod (601) is hinged to the cutting table frame (1), and the front end is bolted to the rear wheel fixing plate (602). The bottom of the rear wheel fixing plate (602) is equipped with a caster mounting plate (603), and the lower part of the caster mounting plate (603) is equipped with a caster (604).

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