Combined harvester and multi-mechanism cooperative self-adaptive harvesting method

Abstract

The invention provides a combine harvester which comprises a header, a header rack, and a machine vision system, two seedling pulling mechanisms, two profiling mechanisms, two cutting mechanisms and two clamping and conveying mechanisms which are sequentially mounted at the front end part of the header rack, the longitudinal lifting and conveying mechanism is hinged to the rear end of the header rack, is in an inclined state and is located behind the clamping and conveying mechanism; the transverse conveying mechanism is horizontally mounted behind a top outlet of the longitudinal lifting conveying mechanism; the hydraulic crawler-type walking mechanism is fixedly connected with the rear end part of the header rack and is used for driving the header to move and adjusting the header to ascend and descend through a hydraulic system; the control device is electrically connected with the hydraulic crawler-type walking mechanism, the machine vision system, the seedling pulling mechanism, the profiling mechanism, the cutting mechanism, the clamping and conveying mechanism, the longitudinal lifting and conveying mechanism and the transverse conveying mechanism. The harvester effectively improves the harvesting qualification rate.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a combine harvester and a multi-mechanism cooperative adaptive harvesting method. Background Technology

[0002] Existing combine harvesting equipment is mostly designed with rigid structures and fixed operating parameters, which generally suffers from poor adaptability and low levels of intelligence. While it can achieve a certain degree of continuous operation when faced with different varieties, different cultivation techniques, and complex and changing field environments, it cannot adjust the operating parameters of key components in real time, resulting in poor operational results and significant limitations. Specifically, it may cause missed harvesting or severe damage to crops grown using non-standard cultivation techniques, inconsistent root cutting positions or high soil retention, and secondary damage such as squeezing and collisions to the harvested crops during clamping and conveying. Ultimately, the result is a low harvest qualification rate and a high loss rate, making it difficult to meet the requirements of modern agriculture for high-quality harvesting. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention proposes a combined harvester and a multi-mechanism collaborative adaptive harvesting method, which solves problems such as unstable root cutting quality, blockage and easy drop during clamping and conveying, and poor coordination among various mechanisms in transmission combined harvesting equipment, thereby effectively improving the harvest qualification rate.

[0004] This invention provides a combine harvester, comprising:

[0005] The header includes a header frame, and a machine vision system, two reaping mechanisms, two contouring mechanisms, two cutting mechanisms, and two clamping and conveying mechanisms sequentially installed on the front end of the header frame, wherein the two reaping mechanisms, two contouring mechanisms, two cutting mechanisms, and two clamping and conveying mechanisms are arranged symmetrically.

[0006] The longitudinal lifting conveyor mechanism is hinged to the rear end of the cutting table frame, is in an inclined state, and is located behind the clamping conveyor mechanism;

[0007] A transverse conveying mechanism is horizontally installed behind the top outlet of the longitudinal lifting conveying mechanism;

[0008] A hydraulic tracked walking mechanism is fixedly connected to the rear end of the cutting table frame, and is used to drive the cutting table to move and adjust the lifting of the cutting table through a hydraulic system;

[0009] The control device is electrically connected to the hydraulic tracked walking mechanism, the machine vision system, the reeling mechanism, the contouring mechanism, the cutting mechanism, the clamping and conveying mechanism, the longitudinal lifting and conveying mechanism, and the transverse conveying mechanism, respectively.

[0010] In one embodiment of the present invention, the rice-picking mechanism includes:

[0011] The reeling drive motor is fixedly installed on the top of the reeling mechanism connecting frame;

[0012] The second reeling mechanism connecting frame is connected to the front end of the header frame;

[0013] A rotating shaft is supported between two connecting frames of two reeling mechanisms by two bearing seats, and the upper end of the rotating shaft is keyed to the output shaft of the reeling drive motor.

[0014] Flexible reed blades are evenly distributed circumferentially along the rotation axis;

[0015] The connecting frame of the two-grass-pulling mechanism is fixedly connected to the two bearing seats, and the bearing seats contain bearings that support the rotation of the rotating shaft.

[0016] In one embodiment of the present invention, the contouring mechanism includes:

[0017] The profiling plate includes:

[0018] The main body plate has an inclined structure and a flanged connecting ear plate at the top.

[0019] A connecting bracket is connected to the vertical side of the main body plate or extends integrally with it, and the connecting bracket is provided with bolt holes for bolt connection to the front end of the cutting table frame;

[0020] The sensor mounting base is a bent plate welded to the lower end of the main body plate;

[0021] A pose sensor is fixed to the front end of the sensor mounting base to detect changes in the tilt angle of the profilometry plate in real time.

[0022] In one embodiment of the present invention, the cutting mechanism includes:

[0023] The hydraulic motor for the cutter is fixed to the top of the cutter shaft bracket;

[0024] The lower end of the cutter shaft bracket is fixedly connected to the front end of the cutting table frame;

[0025] The universal coupling is connected at both ends to the output shaft of the hydraulic motor of the cutter and the upper flange of the cutter shaft, respectively.

[0026] The cutter shaft passes through the guide hole in the middle of the cutter shaft bracket, and its lower end extends out of the cutter shaft bracket.

[0027] A disc cutter is fixed to the lower end of the cutter shaft.

[0028] In one embodiment of the present invention, the clamping and conveying mechanism includes:

[0029] A clamping and conveying drive hydraulic motor is fixed to the side of the front end of the cutting table frame;

[0030] The first drive wheel has its shaft end keyed to the output shaft of the clamping and conveying drive hydraulic motor.

[0031] First driven wheel,

[0032] The conveyor belt is clamped and wound around the outer periphery of the first drive wheel and the first driven wheel;

[0033] At least one tensioning pulley is disposed on the inner side of the clamping conveyor belt;

[0034] A tension spring, with one end hooked to the bracket of the tension wheel and the other end hooked to the cutting table frame, is used to tension the conveyor belt.

[0035] In one embodiment of the present invention, the longitudinal lifting and conveying mechanism includes:

[0036] The longitudinal lifting frame has an inclined frame structure and is hinged to the top crossbeam at the rear end of the cutting table frame.

[0037] A lifting drive hydraulic motor is fixed to the top side of the longitudinal lifting frame;

[0038] The second drive wheel has its shaft end keyed to the output shaft of the lifting hydraulic motor.

[0039] The second driven wheel is mounted on the lower end of the longitudinal lifting frame via a bearing seat and is parallel to the second drive wheel;

[0040] A longitudinal conveyor belt is installed on the inclined surface of the longitudinal lifting frame;

[0041] The array of partitions is arranged vertically and evenly on the surface of the longitudinal conveyor belt.

[0042] In one embodiment of the present invention, the longitudinal lifting and conveying mechanism further includes:

[0043] The tension spring has one end hooked to the top support frame at the rear end of the cutting table frame, and the other end hooked to the tail support frame at the front end of the cutting table frame;

[0044] The hydraulic push rod has its cylinder end hinged to the vertical column at the rear end of the cutting table frame, and its piston rod end hinged to the bottom inner side of the longitudinal lifting frame, used to adjust the tilt angle of the longitudinal lifting frame.

[0045] In one embodiment of the present invention, the rear end of the cutting table frame includes:

[0046] The top beam has an inclined structure.

[0047] A top support frame is installed on the upper surface of the top crossbeam;

[0048] A vertical column is fixed to the lower surface of the top beam.

[0049] In one embodiment of the present invention, the transverse conveying mechanism includes:

[0050] The horizontal lifting frame has a frame structure and is hinged to the vertical column at the rear end of the cutting table frame.

[0051] A horizontal conveying hydraulic motor is fixed to one side end of the horizontal lifting frame;

[0052] The third drive wheel has its shaft end keyed to the output shaft of the transverse conveying hydraulic motor.

[0053] The third driven wheel is mounted on the other side of the transverse lifting frame via a bearing housing;

[0054] A transverse conveyor belt is installed on the inner surface of the frame of the transverse lifting machine.

[0055] In one embodiment of the present invention, the machine vision system is located at the middle position at the frontmost end of the cutting table frame, and includes an RGB-D camera, which is fixed to the front end of the cutting table frame by a camera mounting bracket.

[0056] In another aspect, the present invention provides a multi-mechanism cooperative adaptive harvesting method, employing the aforementioned combine harvester, the method comprising:

[0057] The hydraulic tracked walking mechanism drives each working mechanism forward. The machine vision system collects image information of the target harvested object in real time and transmits it to the control device to obtain the actual size of the harvested object, the actual plant spacing information, and the ground undulation height information.

[0058] The reeling mechanism operates, and based on the actual plant spacing information, it adaptively adjusts the reeling speed and forward speed to guide the harvested material to the feed inlet of the header.

[0059] The cutting mechanism adjusts the cutting height synchronously to cut the harvested material;

[0060] The clamping and conveying mechanism adaptively adjusts its feed inlet distance in real time to flexibly clamp the cut harvested material and convey it to the longitudinal lifting and conveying mechanism.

[0061] The longitudinal lifting conveyor lifts the received harvested material to the target height and then uses the transverse conveyor to orient the harvested material to the collection device area.

[0062] In one embodiment of the present invention, the cutting mechanism synchronously adjusts the cutting height and, before cutting the harvested material, further includes:

[0063] The contouring mechanism adaptively adjusts the cutting table height based on the ground undulation height information, ensuring that the cutting mechanism is always in the optimal cutting position.

[0064] In one embodiment of the present invention, the feeding inlet distance of the clamping and conveying mechanism is expressed as:

[0065]

[0066] In the formula, This represents the target distance at the feed inlet of the clamping conveyor at time t; Indicates the actual dimensions of the harvested crop. Indicates the expected size of the harvested material; Indicates the minimum distance from the feed inlet of the clamping and conveying mechanism; K p K represents the proportional adjustment coefficient. i This represents the integral adjustment coefficient.

[0067] In one embodiment of the present invention, the formula for calculating the change in the height of the cutting platform is as follows:

[0068]

[0069] In the formula, This indicates the height of the cutting platform after adjustment. Indicates the target cutting height. Indicates information about the height of ground undulations. Indicates the current height of the cutting platform. This represents the adjustment coefficient.

[0070] In one embodiment of the present invention, the formula for calculating the forward speed of the machine is as follows:

[0071]

[0072] In the formula, V(t) represents the forward speed of the machine under coordinated control; This indicates the initial forward speed preset to represent the overall power and operating efficiency of the harvester; Indicates the gain coefficient based on visual feedforward control; S represents the actual plant spacing information; S y This indicates the preset desired plant spacing information. and This represents the proportional and integral control gain for speed control; k is the number of reel blades, N is the rotational speed of the reeling mechanism, and V1 represents the current forward speed of the implement.

[0073] In one embodiment of the present invention, the formula for calculating the rice-picking speed is as follows:

[0074]

[0075] In the formula, B(t) represents the rotational speed of the reeling mechanism; V1 represents the current forward speed of the implement; k is the number of reeling blades; and S represents the actual plant spacing information. and This represents the proportional and integral control gain for the reeling speed.

[0076] As can be seen from the above solutions, the advantages of the present invention are:

[0077] In the combine harvester disclosed in this invention, the header frame serves as the core support; a machine vision system monitors the harvested material and terrain in real time; a symmetrically arranged reeling mechanism guides the harvested material, a contour-following mechanism adapts to the terrain, a cutting mechanism precisely cuts the roots, and a clamping and conveying mechanism flexibly conveys the harvested material; a longitudinal lifting and conveying mechanism tilts to lift the harvested material, while a transverse conveying mechanism directionally delivers it to the collection area. A hydraulic tracked walking mechanism drives the movement and adjusts the header's lifting height; a control device acts as the central hub, electrically connecting all mechanisms, and based on visual feedback, collaboratively controls the adaptive operation of each mechanism to achieve efficient and low-loss harvesting. Attached Figure Description

[0078] Figure 1 This is a schematic diagram of the overall structure of a combine harvester;

[0079] Figure 2 This is an isometric drawing of the overall structure of a combine harvester.

[0080] Figure 3 This is a schematic diagram of the header structure;

[0081] Figure 4 Axonometric drawing of the cutter head structure;

[0082] Figure 5 This is a schematic diagram of the rear end of the cutting table frame;

[0083] Figure 6 This is an isometric view of the rear end of the cutting table frame.

[0084] Figure 7 This is a schematic diagram of the reeling mechanism.

[0085] Figure 8 Axonometric drawing of the reeling mechanism structure;

[0086] Figure 9 This is a schematic diagram of the contouring mechanism.

[0087] Figure 10 Axonometric drawing of the contouring mechanism structure;

[0088] Figure 11 This is a schematic diagram of the cutting mechanism.

[0089] Figure 12 Axonometric drawing of the cutting mechanism structure;

[0090] Figure 13 This is a schematic diagram of the clamping and conveying mechanism;

[0091] Figure 14 Isometric drawing of the clamping and conveying mechanism;

[0092] Figure 15 This is a schematic diagram of the vertical lifting mechanism;

[0093] Figure 16 Isometric drawing of the longitudinal lifting mechanism;

[0094] Figure 17 This is a schematic diagram of the lateral lifting mechanism;

[0095] Figure 18 This is an isometric drawing of the lateral lifting mechanism.

[0096] Figure 19 A schematic diagram showing the maximum adjustment of the feed inlet distance for the clamping and conveying mechanism;

[0097] Figure 20 Schematic diagram for minimum adjustment of the feed inlet distance of the clamping and conveying mechanism;

[0098] Figure 21 This is a schematic diagram of the overall process of a multi-agency collaborative adaptive harvesting method.

[0099] The attached figures are labeled as follows:

[0100] 1: Machine vision system;

[0101] 11: Camera mounting bracket;

[0102] 2: Harvesting mechanism;

[0103] 21: Reeling machine drive motor;

[0104] 22: Reeling mechanism connecting frame;

[0105] 23: Rotation axis;

[0106] 24: Flexible reed blades;

[0107] 25: Bearing housing;

[0108] 3: Copying mechanism;

[0109] 31: Profiling plate;

[0110] 311: Main body panel;

[0111] 312: Connecting ear plate;

[0112] 313: Connecting bracket;

[0113] 313A: Bolt hole;

[0114] 314: Sensor mounting bracket;

[0115] 32: Pose sensor;

[0116] 4: Cutting mechanism;

[0117] 41: Cutting blade hydraulic motor;

[0118] 42: Cutter shaft bracket;

[0119] 43: Universal coupling;

[0120] 44: Cutting shaft;

[0121] 45: Disc cutter;

[0122] 5: Clamping and conveying mechanism;

[0123] 51: Clamping and conveying drive hydraulic motor;

[0124] 52: Tension spring;

[0125] 53: Tensioner;

[0126] 531: Bracket;

[0127] 54: Clamping the conveyor belt;

[0128] 55: First driven wheel;

[0129] 56: First drive wheel;

[0130] 6: Longitudinal lifting and conveying mechanism;

[0131] 61: Lifting drive hydraulic motor;

[0132] 62: Second drive wheel;

[0133] 63: Longitudinal conveyor belt;

[0134] 64: Array partition;

[0135] 65: Longitudinal lifting frame;

[0136] 66: Tension spring;

[0137] 67: Hydraulic push rod;

[0138] 68: Second driven wheel;

[0139] 7: Lateral conveying mechanism;

[0140] 71: Lateral conveying hydraulic motor;

[0141] 72: Third drive wheel;

[0142] 73: Horizontal conveyor belt;

[0143] 74: Third driven wheel;

[0144] 75: Horizontal lifting frame;

[0145] 76: Supporting column;

[0146] 8: Cutting table frame;

[0147] 81: Front end of the header frame;

[0148] 82: Rear end of the cutting table frame;

[0149] 821: Top crossbeam;

[0150] 822: Top support frame;

[0151] 823: Vertical column;

[0152] 824: Support beam;

[0153] 9: Hydraulic tracked walking mechanism. Detailed Implementation

[0154] It should be noted that, in this invention, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0155] In the absence of further restrictions, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0156] Example 1

[0157] refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, Figure 1 , Figure 2 This diagram shows an overall structural schematic of a combine harvester according to an embodiment of the present invention. Figure 3 , Figure 4 This is a schematic diagram of the cutting platform structure according to an example of the present invention.

[0158] A combine harvester includes: a header, the header comprising a header frame 8, and a machine vision system 1, two reeling mechanisms 2, two contouring mechanisms 3, two cutting mechanisms 4, and two clamping and conveying mechanisms 5 sequentially mounted on the front end 81 of the header frame. Typically, the machine vision system 1 is located at the foremost center position of the front end 81 of the header frame, and the two reeling mechanisms 2, two contouring mechanisms 3, two cutting mechanisms 4, and two clamping and conveying mechanisms 5 are symmetrically arranged on both sides of the header frame at the front end 81.

[0159] The combine harvester also includes a longitudinal lifting conveyor mechanism 6, a transverse conveyor mechanism 7, a hydraulic tracked walking mechanism 9, and a control device (not shown in the figure). The longitudinal lifting conveyor mechanism 6 is hinged to the rear end 82 of the header frame, is inclined, and is located behind the clamping conveyor mechanism 5. The transverse conveyor mechanism 7 is horizontally installed behind the top outlet of the longitudinal lifting conveyor mechanism 6. The hydraulic tracked walking mechanism 9 is fixedly connected to the rear end 82 of the header frame and is used to move the header and adjust its lifting height via a hydraulic system. The control device is electrically connected to the hydraulic tracked walking mechanism 9, the machine vision system 1, the reeling mechanism 2, the contouring mechanism 3, the cutting mechanism 4, the clamping conveyor mechanism 5, the longitudinal lifting conveyor mechanism 6, and the transverse conveyor mechanism 7.

[0160] In this embodiment, the header frame serves as the core support in the combine harvester; a machine vision system monitors the harvested crop and terrain in real time; a symmetrically arranged reeling mechanism guides the harvested crop, a contour-following mechanism adapts to the terrain, a cutting mechanism precisely cuts the roots, and a clamping and conveying mechanism flexibly conveys the crop; a longitudinal lifting and conveying mechanism tilts to lift the harvested crop, while a lateral conveying mechanism directs it to the collection area. A hydraulic tracked walking mechanism drives the movement and adjusts the header's lifting height; a control device acts as the central hub, electrically connecting all mechanisms, and uses visual feedback to collaboratively control the adaptive operation of each mechanism, achieving efficient and low-loss harvesting.

[0161] In one specific implementation, a hydraulic tracked walking mechanism 9 is installed on the side and rear of the header frame 8, and is fixedly connected to the rear end 82 of the header frame. Its forward speed and direction are adjusted according to requirements to adapt to different terrains and operational needs. The machine vision system 1 is an RGB-D camera, which is fixed to the front end 81 of the header frame via a camera mounting bracket 11. The machine vision system acquires real-time image information of the target harvested material and transmits it to the control device. It analyzes the actual size of the harvested material, the actual plant spacing, and the ground undulation height to achieve adaptive adjustment of the picking speed, root cutting height, and the distance to the feed inlet of the clamping conveyor belt. The header is connected to the hydraulic tracked walking mechanism, and the hydraulic system provides power to adjust the height of the header. By combining hydraulic, mechanical, vision, and electronic control technologies, the header ensures height adjustment and coordinated operation of various key mechanisms, thereby effectively improving harvesting efficiency and quality.

[0162] In one specific implementation, the control device is installed at the front of the cab and is electrically connected to the hydraulic wheeled walking mechanism, machine vision system, reeling mechanism, contouring mechanism, cutting mechanism, and clamping and conveying mechanism. It is used to start or stop the operation of key components and can adjust the forward speed of the hydraulic tracked walking mechanism and the working parameters of each key component in real time.

[0163] It should be noted that in this invention, the aforementioned combine harvester can be used for harvesting vegetables, such as cabbage and radishes, but is not limited to vegetable harvesting. This combine harvester can also be applied to the harvesting of other crops. Taking the harvesting of vegetables (such as cabbage) as an example, the harvested product in this article refers to the vegetable cabbage.

[0164] See further Figure 5 , 6 , Figure 5 , 6 This is a schematic diagram of the rear end of the cutting table frame according to an embodiment of the present invention. The rear end 82 of the cutting table frame includes: a top crossbeam 821, which has an inclined structure; a top support frame 822, which consists of two support frames respectively installed on the two crossbeams on the upper surface of the top crossbeam, and the tops of the two support frames are fixed as one piece. Multiple vertical columns 823 are fixed to the lower surface of the top crossbeam 821, and support beams 824 are arranged between the multiple vertical columns 823. In this embodiment, the rear end of the cutting table frame adopts a low center of gravity welded frame structure with crossbeams, which is arranged on one side of the whole machine to provide space for the installation of mechanisms such as reeling, shaping, cutting, clamping and conveying.

[0165] See Figure 7 , 8 , Figure 7 , 8 This is a schematic diagram of a reeling mechanism according to an embodiment of the present invention. The reeling mechanism 2 includes: a reeling drive motor 21, a two-reeling mechanism connecting frame 22, a rotating shaft 23, and flexible reeling blades 24. The reeling drive motor 21 provides driving force; one reeling mechanism connecting frame 22 is fixedly installed below and connected to the reeling drive motor 21, and the two reeling mechanism connecting frames 22 are connected to the front end 81 of the header frame. The rotating shaft 23 is supported between the two reeling mechanism connecting frames 22 by two bearing seats 25, and the upper end of the rotating shaft 23 is keyed to the output shaft of the reeling drive motor 21. The flexible reeling blades 24 are evenly distributed circumferentially on the rotating shaft 23. The two reeling mechanism connecting frames 22 are fixedly connected to the two bearing seats 25, and the bearing seats contain bearings that support the rotation of the rotating shaft 23.

[0166] In this embodiment, the reeling drive motor, powered by an electronically controlled drive system, drives the blade rotation shaft of the reeling mechanism, thereby driving the circumferentially distributed flexible reeling blades to perform the reeling operation. Furthermore, the reeling drive motor works in conjunction with sensors and a machine vision system, using feedback adjustment to achieve adaptive adjustment of the reeling speed and the machine's forward speed, ensuring that the harvested material remains orderly guided and in flexible contact before cutting, guaranteeing a smooth cutting process. The reeling mechanism connecting frame stably connects and supports the various components of the reeling mechanism, such as the reeling drive motor, blade rotation shaft, and reeling blades, onto the header frame. It ensures that each component maintains the correct position and fixation during operation, providing necessary structural support and preventing displacement or loosening of components during operation. The rotation shaft transmits power from the reeling drive motor and drives the reeling blades to rotate. Through the rotation of the shaft, the reeling blades generate the necessary rotational motion, bending the upright harvested material and smoothly guiding the fallen harvested material into the header feed inlet. The rake blades, through their rotational motion, bend the upright harvested crop and smoothly guide it to the header feed inlet. In conjunction with the blade's rotating shaft, the rake blades effectively change the harvested crop from an upright to a lying position during rotation, and smoothly guide the lying crop to the header feed inlet, providing ideal working conditions for subsequent cutting operations. The bearing housing, fixed to the rake mechanism's connecting frame, effectively distributes the load and pressure generated during operation, ensuring the blade's rotating shaft maintains a stable rotational state during work, reducing friction and wear.

[0167] In this embodiment, the rake mechanism is installed behind the machine vision system. It rotates the rotating shaft to drive the circumferentially distributed flexible rake blades to sequentially bend the upright harvested material (such as cabbage) and smoothly guide the fallen harvested material to the feed inlet of the cutter. At the same time, through the coordinated control with the machine vision system, the rake rotation speed and the machine's forward speed are adaptively adjusted to ensure that orderly guidance and flexible contact are always maintained before cutting.

[0168] See Figure 9 , 10 , Figure 9 , 10This is a schematic diagram of a contouring mechanism according to an embodiment of the present invention. The contouring mechanism 3 includes: a contouring plate 31 and a posture sensor 32. Specifically, the contouring plate 31 includes: a main plate 311, a connecting bracket 313, and a sensor mounting base 314. The main plate 311 has an inclined structure and a flanged connecting lug 312 at its upper end. The connecting bracket 313 is connected to or integrally extended from the vertical side of the main plate 311, and has bolt holes 313A for bolting to the front end of the cutting table frame. The sensor mounting base 314 is a bent plate welded to the lower end of the main plate 311. The posture sensor 32 is fixed to the front end of the sensor mounting base 314 to detect changes in the tilt angle of the contouring plate in real time.

[0169] In this example, the contour-following mechanism, installed behind the harvesting mechanism, contacts the ground via a contour plate, adapting to terrain undulations in real time to ensure the header can cut close to the ground. It is equipped with a pose sensor to perceive ground undulation height information in real time and upload it to the control device. The control device adjusts the header's height above the ground based on this information, ensuring the crop is in the optimal cutting position, maintaining consistent cutting height, and ensuring stable cutting quality.

[0170] See Figure 11 , 12 , Figure 11 , 12 This is a schematic diagram of the cutting mechanism structure according to an embodiment of the present invention. The cutting mechanism 4 includes: a cutting blade hydraulic motor 41, a cutting blade shaft support 42, a universal coupling 43, a cutting blade shaft 44, and a disc cutter 45. The cutting blade hydraulic motor 41 is fixed to the top of the cutting blade shaft support 42; the lower end of the cutting blade shaft support 42 is fixedly connected to the front end 81 of the cutting table frame; the universal coupling 43 is connected at both ends to the output shaft of the cutting blade hydraulic motor 41 and the upper flange of the cutting blade shaft 44, respectively; the cutting blade shaft 44 passes through a guide hole in the middle of the cutting blade shaft support 42, and its lower end extends out of the cutting blade shaft support 42; the disc cutter 45 is fixed to the lower end of the cutting blade shaft 44.

[0171] The hydraulic motor powers the cutting mechanism, driving the cutter shaft to rotate and thus the disc cutter to complete the cutting operation. The cutter shaft transmits power from the hydraulic motor, driving the disc cutter to rotate and cut the root of the crop. The cutter shaft bracket supports and fixes the cutter shaft, maintaining its stable position and correct working angle, ensuring that the cutter shaft does not shift or deform during cutting, thereby guaranteeing stable and precise cutting by the disc cutter. The universal coupling connects the cutter shaft and the hydraulic motor, transmitting power and allowing for a certain angular offset, effectively compensating for angle changes caused by variations in header height or uneven ground, ensuring that the cutter shaft can smoothly transmit power under different working conditions, maintaining smooth cutting operations. The disc cutter rotates at high speed under the coordinated drive of the cutter shaft and the hydraulic system, efficiently and accurately cutting the root of the harvested crop.

[0172] In this embodiment, the cutting mechanism 4 is installed on the bottom side behind the contouring mechanism 3 and connected to the front end of the cutting table frame. After the contouring positioning is completed, the height of the cutting table will change accordingly, and the cutting height will also be adjusted accordingly to ensure that the disc cutter can accurately complete the root cutting operation.

[0173] See Figure 13 , 14 , Figure 13 , 14 This is a schematic diagram of a clamping and conveying mechanism according to an embodiment of the present invention. The clamping and conveying mechanism 5 includes: a clamping and conveying drive hydraulic motor 51, a first drive wheel 56, a first driven wheel 55, a clamping conveyor belt 54, at least one tensioning wheel 53, and a tensioning spring 52. The clamping and conveying drive hydraulic motor 51 is fixed to the side of the front end 81 of the cutting table frame; the first drive wheel 56 has its shaft keyed to the output shaft of the clamping and conveying drive hydraulic motor 51; the first driven wheel 55 cooperates with the first drive wheel 56 and is located at the other end; the clamping conveyor belt 54 is wound around the outer periphery of the first drive wheel 56 and the first driven wheel 55; at least one tensioning wheel 53 is disposed on the inner side of the clamping conveyor belt 54, and each tensioning wheel 53 is connected to a bracket 531. One end of the tensioning spring 52 is hooked onto the bracket 531 of the tensioning wheel 53, and the other end is hooked onto the cutting table frame 8, for tensioning the conveyor belt.

[0174] The hydraulic motor driving the clamping conveyor drive wheel provides power to the clamping conveyor mechanism. Through the hydraulic system, it drives the drive wheel of the clamping conveyor belt, thus rotating the conveyor belt. Working in conjunction with a machine vision system, it can adaptively adjust the distance of the feed inlet based on the real-time identified dimensions, achieving flexible clamping of harvested materials of different sizes and ensuring smooth and unobstructed conveying after cutting. The first drive wheel, receiving power from the clamping conveyor drive hydraulic motor, drives the movement of the conveyor belt. The first drive wheel, in cooperation with the first driven wheel, receives power from the first drive wheel to help the clamping conveyor belt 54 run stably along the set path, while also bearing the tension of the clamping conveyor belt 54 during operation. The tensioning wheel adjusts the tension of the clamping conveyor belt, ensuring the conveyor belt maintains appropriate tension during operation. By adjusting the rebound position of the tensioning wheel, a certain tension can be applied to the clamping conveyor belt 54 to prevent slackness, slippage, or deviation of the conveyor belt. Simultaneously, the tensioning wheel and tensioning spring work together to maintain the stability and clamping force of the conveyor belt 54, ensuring that the harvested material can pass smoothly through the conveyor belt during transportation, avoiding jamming or uneven clamping. The tensioning spring, working in conjunction with the tensioning wheel, provides continuous elastic force to maintain the appropriate tension of the conveyor belt. It can automatically adjust the tension of the conveyor belt according to its operating conditions, ensuring that the conveyor belt is neither too loose nor too tense during operation, thereby guaranteeing stable operation of the conveyor belt.

[0175] In this embodiment, the clamping and conveying mechanism 5 is installed behind the cutting mechanism 4. The clamping conveyor belt is driven by both the drive wheel and the driven wheel, and the tension is adjusted by the tension wheel and tension spring to ensure the clamping force. This clamping and conveying mechanism, in collaboration with a machine vision system, identifies the actual size of the harvested material (e.g., the diameter of a vegetable ball) in real time and adaptively adjusts the feeding inlet distance accordingly. This allows for flexible clamping of harvested materials of different sizes after the cutting operation is completed, ensuring a smooth and unobstructed conveying process.

[0176] See Figure 15 , 16 , Figure 15 , 16This is a schematic diagram of a longitudinal lifting and conveying mechanism according to an embodiment of the present invention. The longitudinal lifting and conveying mechanism 6 includes a longitudinal lifting frame 65, a lifting drive hydraulic motor 61, a second drive wheel 62, a second driven wheel 68, a longitudinal conveyor belt 63, and array partitions 64. The longitudinal lifting frame 65 has an inclined frame structure, with its upper end hinged to the top crossbeam of the rear end 82 of the cutting table frame via a hinge shaft. The lifting drive hydraulic motor 61 is fixed to the top side of the longitudinal lifting frame 65; the second drive wheel 62 has its shaft end keyed to the output shaft of the lifting hydraulic motor 61; the second driven wheel 68, corresponding to the second drive wheel 62, is mounted on the lower end of the longitudinal lifting frame 65 via a bearing seat, parallel to the second drive wheel 62; the longitudinal conveyor belt 63 is mounted on the inclined surface of the longitudinal lifting frame 65; and the array partitions 64 are vertically arranged on the surface of the longitudinal conveyor belt 63 and are evenly distributed.

[0177] In addition, further reference Figure 1 As shown, the longitudinal lifting and conveying mechanism 6 further includes: a tension spring 66, one end of which is hooked onto the top support frame 822 at the rear end 82 of the cutting table frame, and the other end of which is hooked onto the tail support frame at the front end 81 of the cutting table frame; and a hydraulic push rod 67, with its cylinder end hinged to the vertical column 823 at the rear end 82 of the cutting table frame and its piston rod end hinged to the inner bottom of the longitudinal lifting frame 65, for adjusting the tilt angle of the longitudinal lifting frame 62.

[0178] A lifting hydraulic motor provides power to the longitudinal lifting conveyor mechanism, driving the second drive wheel to move the longitudinal conveyor belt and ensure the harvested material is lifted to the designated height at a constant speed. The second drive wheel, receiving power from the lifting hydraulic motor, moves the conveyor belt, ensuring the harvested material is lifted to the designated height at a constant speed. The second drive wheel, in cooperation with the second driven wheel, propels the longitudinal conveyor belt smoothly, ensuring no deviation or jamming occurs during lifting. An array of partitions divides and arranges the harvested material on the longitudinal conveyor belt, preventing them from being squeezed or piled up during transport, ensuring each piece can pass smoothly and stably through the conveyor channel. Simultaneously, the array of partitions effectively guides the harvested material along the predetermined path of the conveyor belt, ensuring no tilting or slippage occurs during lifting, maintaining its shape and quality. The tension spring provides cushioning and tension adjustment for the longitudinal lifting and conveying mechanism. Working in conjunction with other components of the lifting system, it absorbs and mitigates impact forces during conveying, preventing adverse effects on the longitudinal conveyor belt and harvested material due to vibration or height changes. The tension spring also ensures a stable connection between the header frame and the conveying mechanism, maintaining appropriate tension to prevent the conveyor belt from becoming too loose or too tight, thus guaranteeing the smooth operation of the entire lifting system. The hydraulic push rod, powered by a hydraulic system, actively adjusts the height of the longitudinal lifting and conveying mechanism. Furthermore, when used in conjunction with a contouring mechanism, it adaptively adjusts the header height according to different terrains and operational requirements, thereby changing the cutting height and ensuring consistent cut height.

[0179] In this embodiment, the longitudinal conveying mechanism 6 is installed behind the clamping conveying mechanism 5 and is connected to the header frame via a tension spring, lifting the harvested material to a designated height at a constant speed. The tension spring buffers the impact force during conveying and ensures a stable connection between the header frame and the longitudinal conveying mechanism. The hydraulic push rod, in conjunction with the longitudinal lifting conveying mechanism, can adaptively adjust the height of the header to meet the cutting needs of different terrains. By combining the buffering effect of the tension spring, the lifting system can operate smoothly, avoiding the impact of height changes or vibrations during transportation on the quality of the harvested material, thereby improving production efficiency and transportation stability.

[0180] See Figure 17 , 18 , Figure 17 , 18This is a schematic diagram of the transverse conveying mechanism structure according to an embodiment of the present invention. The transverse conveying mechanism 7 includes: a transverse lifting frame 75, a transverse conveying hydraulic motor 71, a third drive wheel 72, a transverse conveyor belt 73, a third driven wheel 74, and a support column 76. The transverse lifting frame 75 has a frame structure and is hinged to the vertical column at the rear end 82 of the cutting table frame; the transverse conveying hydraulic motor 71 is fixed to one side of the transverse lifting frame 75; the third drive wheel 72 has its shaft keyed to the output shaft of the transverse conveying hydraulic motor 71; the third driven wheel 74 is mounted on the other side of the transverse lifting frame 75 via a bearing seat; and the transverse conveyor belt 73 is mounted on the inner surface of the frame of the transverse lifting frame. A support column 76 is also provided at the bottom of the transverse lifting frame 75, and the support column can be height-adjustable.

[0181] A lateral conveying hydraulic motor powers the lateral conveying mechanism, driving the third drive wheel to rotate and thus moving the lateral conveyor belt horizontally. The lateral conveying hydraulic motor provides stable power output, enabling the lateral conveyor belt to smoothly and directionally transport the harvested material from the longitudinal lifting conveyor to the collection area. The third drive wheel receives power from the lateral conveying hydraulic motor and drives the lateral conveyor belt horizontally. The third drive wheel, in conjunction with the third driven wheel, ensures the conveyor belt runs stably in the predetermined direction, transporting the harvested material from the longitudinal lifting conveyor to the collection area. The lateral conveyor belt transfers the harvested material from the longitudinal lifting conveyor to the lateral conveying mechanism and further to the collection area, ensuring consistent transport efficiency throughout the harvesting process, depending on the conveying speed.

[0182] In this embodiment, the transverse conveying mechanism 7 is installed behind the longitudinal lifting conveying mechanism 6. It receives the harvested material from the longitudinal lifting conveying mechanism and directionally transports it to the collection area via horizontal conveying motion. Specifically, the transverse conveying hydraulic motor 7 drives the third drive wheel to rotate, thereby driving the transverse conveyor belt for horizontal transport. During transverse conveying, the harvested material moves stably along the transverse conveyor belt and is directionally transported to the collection area in a predetermined direction. The conveyor belt design effectively ensures that the harvested material is not damaged, while maintaining constant transport efficiency at different conveying speeds, improving the stability and smoothness of the overall operation.

[0183] Example 2

[0184] This embodiment corresponds to the method embodiment described above, and adopts the method disclosed in Embodiment 1 above.

[0185] In addition to the combined harvester, this embodiment also provides a multi-mechanism cooperative adaptive harvesting method, for details please refer to... Figure 19 , 20 As shown in Figure 21.

[0186] A multi-agency collaborative adaptive harvesting method, comprising the following steps:

[0187] Step S1: The hydraulic tracked walking mechanism drives each working mechanism forward. The machine vision system collects image information of the target harvested object in real time and transmits it to the control device to obtain the actual size of the harvested object, the actual plant spacing information, and the ground undulation height information.

[0188] Step S2: The reeling mechanism operates, and based on the actual plant spacing information, it adaptively adjusts the reeling speed and forward speed to guide the harvested material to the feed inlet of the header.

[0189] The reeling mechanism works in conjunction with the machine vision system to adaptively adjust the reeling speed and forward speed based on real-time feedback of the actual plant spacing, ensuring that the harvested material is always guided in an orderly manner and in flexible contact before being cut.

[0190] The formula for calculating the rotation speed of the rice harvester is as follows:

[0191]

[0192] In the formula, B(t) represents the rotational speed of the reeling mechanism; V1 represents the current forward speed of the implement; k is the number of reeling blades; and S represents the actual plant spacing information. and This represents the proportional and integral control gain for the reeling speed.

[0193] The formula for calculating the forward speed of the machine is:

[0194]

[0195] In the formula, V(t) represents the forward speed of the machine under coordinated control; This indicates the initial forward speed preset to represent the overall power and operating efficiency of the harvester; Indicates the gain coefficient based on visual feedforward control; S represents the actual plant spacing information; S y This indicates the preset desired plant spacing information. and This represents the proportional and integral control gain for speed control; k is the number of reel blades, N is the rotational speed of the reeling mechanism, and V1 represents the current forward speed of the implement.

[0196] Step S3: The contouring mechanism adaptively adjusts the cutting table height based on the ground undulation height information, so that the cutting mechanism is always in the optimal cutting position.

[0197] The formula for calculating the change in the height of the cutting platform is as follows:

[0198]

[0199] In the formula, This indicates the height of the cutting platform after adjustment. Indicates the target cutting height. Indicates information about the height of ground undulations. Indicates the current height of the cutting platform. This represents the adjustment coefficient.

[0200] Step S4: The cutting mechanism synchronously adjusts the cutting height to cut the harvested material.

[0201] Step S5: The clamping and conveying mechanism adaptively adjusts its feeding inlet distance in real time to flexibly clamp the cut harvested material and convey it to the longitudinal lifting and conveying mechanism.

[0202] The feeding inlet distance of the clamping and conveying mechanism is expressed as:

[0203]

[0204] In the formula, This represents the target distance at the feed inlet of the clamping conveyor at time t; Indicates the actual dimensions of the harvested crop. Indicates the expected size of the harvested material; Indicates the minimum distance from the feed inlet of the clamping and conveying mechanism; K p K represents the proportional adjustment coefficient. i This represents the integral adjustment coefficient.

[0205] Step S6: The longitudinal lifting conveyor lifts the received harvested material to the target height and then uses the transverse conveyor to transport the harvested material to the collection device area.

[0206] Furthermore, in this embodiment, prior to step S1, the height and position of the combine harvester's header are adjusted according to the planting pattern, crop variety, and cultivation agronomic requirements of the crop to be harvested. This ensures that the header's contour plate contacts the soil and applies a certain pressure, thereby achieving adaptive adjustment of the contouring mechanism and header to the soil height. Then, the initial values ​​of the working parameters for the reeling mechanism, cutting mechanism, clamping and conveying mechanism, longitudinal lifting and conveying mechanism, and transverse conveying mechanism are set via the control device.

[0207] The combine harvester and multi-mechanism collaborative adaptive harvesting method provided by this invention, through the introduction of a machine vision system for real-time detection and feedback, achieve adaptive adjustment of key operational parameters such as reeling, cutting, and conveying. This fundamentally overcomes the problems of poor adaptability, high damage rate, and low operational efficiency caused by fixed operating parameters in traditional combine harvesters. This combine harvester can match the specific requirements of different crop varieties and cultivation techniques, significantly improving the harvest qualification rate and operational efficiency, while also effectively reducing the labor intensity of operators, ultimately achieving efficient and low-damage combined harvesting operations.

[0208] Furthermore, this method embodiment can be implemented in conjunction with the implementation methods of the above-described apparatus embodiments. The relevant technical details mentioned in the implementation methods of the above embodiments remain valid in the implementation methods of this method embodiment, and will not be repeated here to avoid repetition. It should be noted that the scope of the method in the embodiments of the present invention is not limited to performing functions in the order shown or discussed. For example, the described method may be performed in a different order than described, and various steps may be applied, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0209] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A combine harvester, characterized in that, include: The header includes a header frame, and a machine vision system, two reaping mechanisms, two contouring mechanisms, two cutting mechanisms, and two clamping and conveying mechanisms sequentially installed on the front end of the header frame, wherein the two reaping mechanisms, two contouring mechanisms, two cutting mechanisms, and two clamping and conveying mechanisms are arranged symmetrically. The longitudinal lifting conveyor mechanism is hinged to the rear end of the cutting table frame, is in an inclined state, and is located behind the clamping conveyor mechanism; A transverse conveying mechanism is horizontally installed behind the top outlet of the longitudinal lifting conveying mechanism; A hydraulic tracked walking mechanism is fixedly connected to the rear end of the cutting table frame, and is used to drive the cutting table to move and adjust the lifting of the cutting table through a hydraulic system; The control device is electrically connected to the hydraulic tracked walking mechanism, the machine vision system, the reeling mechanism, the contouring mechanism, the cutting mechanism, the clamping and conveying mechanism, the longitudinal lifting and conveying mechanism, and the transverse conveying mechanism, respectively.

2. The combine harvester according to claim 1, characterized in that, The rice-picking mechanism includes: The reeling drive motor is fixedly installed on the top of the reeling mechanism connecting frame; The second reeling mechanism connecting frame is connected to the front end of the header frame; A rotating shaft is supported between two connecting frames of two reeling mechanisms by two bearing seats, and the upper end of the rotating shaft is keyed to the output shaft of the reeling drive motor. Flexible reed blades are evenly distributed circumferentially along the rotation axis; The connecting frame of the two-grass-pulling mechanism is fixedly connected to the two bearing seats, and the bearing seats contain bearings that support the rotation of the rotating shaft.

3. The combine harvester according to claim 1, characterized in that, The contouring mechanism includes: The profiling plate includes: The main body plate has an inclined structure and a flanged connecting ear plate at the top. A connecting bracket is connected to the vertical side of the main body plate or extends integrally with it, and the connecting bracket is provided with bolt holes for bolt connection to the front end of the cutting table frame; The sensor mounting base is a bent plate fixed to the lower end of the main body plate; A pose sensor is fixed to the front end of the sensor mounting base to detect changes in the tilt angle of the profilometry plate in real time.

4. The combine harvester according to claim 1, characterized in that, The cutting mechanism includes: The hydraulic motor for the cutter is fixed to the top of the cutter shaft bracket; The lower end of the cutter shaft bracket is connected to the front end of the cutting table frame; The universal coupling is connected at both ends to the output shaft of the hydraulic motor of the cutter and the upper flange of the cutter shaft, respectively. The cutter shaft passes through the guide hole in the middle of the cutter shaft bracket, and its lower end extends out of the cutter shaft bracket. A disc cutter is fixed to the lower end of the cutter shaft.

5. The combine harvester according to claim 1, characterized in that, The clamping and conveying mechanism includes: A clamping and conveying drive hydraulic motor is fixed to the side of the front end of the cutting table frame; The first drive wheel has its shaft end keyed to the output shaft of the clamping and conveying drive hydraulic motor. First driven wheel, The conveyor belt is clamped and wound around the outer periphery of the first drive wheel and the first driven wheel; At least one tensioning pulley is disposed on the inner side of the clamping conveyor belt; A tension spring, with one end hooked to the bracket of the tension wheel and the other end hooked to the cutting table frame, is used to tension the conveyor belt.

6. The combine harvester according to claim 1, characterized in that, The longitudinal lifting and conveying mechanism includes: The longitudinal lifting frame has an inclined frame structure and is hinged to the top crossbeam at the rear end of the cutting table frame; A lifting drive hydraulic motor is fixed to the top side of the longitudinal lifting frame; The second drive wheel has its shaft end keyed to the output shaft of the lifting hydraulic motor. The second driven wheel is mounted on the lower end of the longitudinal lifting frame via a bearing seat and is parallel to the second drive wheel; A longitudinal conveyor belt is installed on the inclined surface of the longitudinal lifting frame; The array of partitions is arranged vertically and evenly on the surface of the longitudinal conveyor belt.

7. The combine harvester according to claim 6, characterized in that, The longitudinal lifting and conveying mechanism also includes: The tension spring has one end hooked to the top support frame at the rear end of the cutting table frame, and the other end hooked to the tail support frame at the front end of the cutting table frame; The hydraulic push rod has its cylinder end hinged to the vertical column at the rear end of the cutting table frame, and its piston rod end hinged to the bottom inner side of the longitudinal lifting frame, used to adjust the tilt angle of the longitudinal lifting frame.

8. The combine harvester according to claim 7, characterized in that, The rear end of the cutting table frame is wrapped Includes: The top beam has an inclined structure. A top support frame is installed on the upper surface of the top crossbeam; A vertical column is fixed to the lower surface of the top beam.

9. The combine harvester according to claim 1, characterized in that, The transverse conveying mechanism includes: The horizontal lifting frame has a frame structure and is hinged to the vertical column at the rear end of the cutting table frame. A transverse conveying hydraulic motor is fixed to one side end of the transverse lifting frame; The third drive wheel has its shaft end keyed to the output shaft of the transverse conveying hydraulic motor. The third driven wheel is mounted on the other side of the transverse lifting frame via a bearing housing; A transverse conveyor belt is installed on the inner surface of the frame of the transverse lifting machine.

10. The combine harvester according to claim 1, characterized in that, The machine vision system is located at the frontmost middle position of the front end of the cutting table frame, and includes an RGB-D camera, which is fixed to the front end of the cutting table frame by a camera mounting bracket.

11. A multi-agency cooperative adaptive harvesting method, characterized in that, Using the combine harvester according to any one of claims 1-10, the method comprises: The hydraulic tracked walking mechanism drives each working mechanism forward. The machine vision system collects image information of the target harvested object in real time and transmits it to the control device to obtain the actual size of the harvested object, the actual plant spacing information, and the ground undulation height information. The reeling mechanism operates, and based on the actual plant spacing information, it adaptively adjusts the reeling speed and forward speed to guide the harvested material to the feed inlet of the header. The cutting mechanism adjusts the cutting height synchronously to cut the harvested material; The clamping and conveying mechanism adaptively adjusts its feed inlet distance in real time to flexibly clamp the cut harvested material and convey it to the longitudinal lifting and conveying mechanism. The longitudinal lifting conveyor lifts the received harvested material to the target height and then uses the transverse conveyor to orient the harvested material to the collection device area.

12. The method according to claim 11, characterized in that, The cutting mechanism synchronously adjusts the cutting height and includes the following components before cutting the harvested material: The contouring mechanism adaptively adjusts the cutting table height based on the ground undulation height information, ensuring that the cutting mechanism is always in the optimal cutting position.

13. The method according to claim 11, characterized in that, The feeding inlet distance of the clamping and conveying mechanism is expressed as: In the formula, This represents the target distance at the feed inlet of the clamping conveyor at time t; Indicates the actual dimensions of the harvested crop. Indicates the expected size of the harvested material; Indicates the minimum distance from the feed inlet of the clamping and conveying mechanism; K p K represents the proportional adjustment coefficient. i This represents the integral adjustment coefficient.

14. The method according to claim 12, characterized in that, The formula for calculating the change in the height of the cutting platform is: In the formula, This indicates the height of the cutting platform after adjustment. Indicates the target cutting height. Indicates information about the height of ground undulations. Indicates the current height of the cutting platform. This represents the adjustment coefficient.

15. The method according to claim 11, characterized in that, Formula for calculating the forward speed of machinery The formula is: In the formula, V(t) represents the forward speed of the machine under coordinated control; This indicates the initial forward speed preset to represent the overall power and operating efficiency of the harvester; This represents the gain coefficient based on visual feedforward control; S represents the actual plant spacing information. S y This indicates the preset desired plant spacing information. and This represents the proportional and integral control gain for speed control; k is the number of reel blades, N is the rotational speed of the reeling mechanism, and V1 represents the current forward speed of the implement.

16. The method according to claim 11, characterized in that, The formula for calculating the rotation speed of reeling rice is: In the formula, B(t) represents the rotational speed of the reeling mechanism; V1 represents the current forward speed of the implement; k is the number of reeling blades; and S represents the actual plant spacing information. and This represents the proportional and integral control gain for the reeling speed.

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