Cotton field residual film recycling machine row control navigator and method and cotton field residual film recycling machine

Abstract

The invention discloses a row-aligning navigator and method for a cotton field residual film recycling machine and the cotton field residual film recycling machine. The row-aligning navigator comprises a cross feeler lever type cotton stalk detection device, a steering wheel angle detection device, an inertial navigation unit, an electric steering wheel and a vehicle-mounted controller all-in-one machine. The vehicle-mounted controller all-in-one machine is respectively in signal connection with the crossed feeler lever type cotton stalk detection device, the steering wheel angle detection device, the inertial navigation unit and the electric steering wheel; according to the invention, the row control intensity of a driver is obviously reduced in a dust raising environment, so that the driver has more energy to pay attention to the operation conditions of other working parts, the quality of the residual film recovery operation is obviously improved, and the operation efficiency is improved. According to the invention, the problem that a satellite positioning module cannot sense crop rows and does not carry out row-controlled auxiliary driving is solved, and path tracking does not need to be carried out depending on position data of automatic navigation operation of a previous unit. The method is also suitable for detection of hard stalk crop rows such as cotton stalks and agricultural machinery auxiliary driving under the linear operation working condition.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery automatic driving technology, specifically to a row navigation device for a cotton field residual film recycling machine, a row navigation control method using the row navigation device, and a cotton field residual film recycling machine including the row navigation device. Background Technology

[0002] Assisted driving and automatic navigation systems are important components of intelligent agricultural machinery. They are typically pre-installed or retrofitted onto self-propelled agricultural machinery (such as tractors, combine harvesters, and rice transplanters) for high-precision geolocation control during field operations. This enables the machinery to have a certain degree of automatic driving capability, suitable for field operations such as tillage, management, and harvesting, and helps improve the controllability and operational quality of the agricultural machinery. Currently, commercially available automatic navigation systems generally use satellite positioning systems. Representative examples include Trimble's Autopilot series and John Deere's AutoTracR series ATU products, primarily used in straight-line operations. With the recent surge in popularity of unmanned agricultural machinery based on BeiDou navigation, the accuracy and intelligence of domestically produced unmanned agricultural machinery's automatic navigation systems have continuously improved. Influential products include Fengjiang Intelligent's Jiangyu AT2 series automatic driving system, Shanghai Huace's Nongzhihang X series automatic navigation system, and Shanghai Lianshi's AF series automatic driving system. A common feature of these systems is the need for high-precision satellite positioning system support. When using commercially available automatic navigation systems for field operations, subsequent automatic navigation operations theoretically require path tracking data consistent with those of the preceding operations. However, in practice, this is difficult to achieve precisely due to factors such as signal drift and initial position deviation of the unit. Therefore, this invention proposes an auxiliary driving technology for detecting cotton stubble rows and operating in straight lines. This technology utilizes a fusion of mechanical touch detection of the cotton stubble's position relative to the residual film recycling machine, and inertial navigation unit detection of heading angle and vehicle speed. Summary of the Invention

[0003] To address the difficulties in detecting cotton stalk rows in dusty environments and the challenges of consistently and accurately aligning cotton film recycling machines in straight-line operations, this invention provides a row alignment navigator and method for cotton film recycling machines, as well as the cotton film recycling machine itself. This reduces the driver's workload in dusty environments, allowing the driver to focus more on the operation of other components, improving the quality and efficiency of film recycling operations. It also helps solve the problem of navigation systems based on satellite positioning modules failing to detect crop rows, thus avoiding misalignment during assisted driving, and overcomes the shortcomings of relying on location data from preceding automatic navigation operations for path tracking.

[0004] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0005] A row navigation system for a cotton field residual film recycling machine includes a cross-link cotton stalk detection device, a steering wheel angle detection device, an inertial navigation unit, an electric steering wheel, and an integrated vehicle controller. The integrated vehicle controller is connected to the cross-link cotton stalk detection device, the steering wheel angle detection device, the inertial navigation unit, and the electric steering wheel. The integrated vehicle controller is configured to receive and analyze the angle signals of the left and right touch bars of the cross-link cotton stalk detection device and the heading angle signal sensed by the inertial navigation unit, calculate the relative positional relationship and lateral deviation between the cotton stalk and the cross-link cotton stalk detection device, calculate the desired steering angle of the residual film recycling machine's steering wheel based on the lateral deviation, control the electric steering wheel, and guide the residual film recycling machine to automatically travel along the ridges through real-time angle feedback from the steering wheel angle detection device.

[0006] In the above scheme, the cross-touch rod type cotton stalk detection device includes a mounting base plate, a drive assembly, and left and right finger mechanisms symmetrically arranged on both sides of the drive assembly; the drive assembly includes a miniature electric cylinder fixed to the mounting base plate, a push rod fixed to the piston rod of the miniature electric cylinder, and two short connecting rods respectively hinged to both ends of the push rod; the left and right finger mechanisms are respectively hinged to both sides of the mounting base plate through a first finger rotation support tube; the left finger mechanism includes a first left finger assembly and a second left finger assembly, the first left finger assembly is hinged to the short connecting rod on the left side, the second left finger assembly is hinged to the first left finger assembly through a left pin, and a left touch rod is provided at the outer end of the second left finger assembly; the right finger mechanism includes a first right finger assembly and a second right finger assembly, the first right finger assembly is hinged to the short connecting rod on the right side, the second right finger assembly is hinged to the first right finger assembly through a right pin, and a right touch rod is provided at the outer end of the second right finger assembly; the miniature electric cylinder drive... The push rod extends and retracts, driving the first left finger assembly and the first right finger assembly to rotate via two short connecting rods, thereby driving the second left finger assembly and the second right finger assembly, as well as their left and right contact rods, to perform inward swinging or outward swinging movements. Each of the first left and first right finger assemblies includes a hollow sleeve, a long rod, and a short crank. The long rod is connected to the hollow sleeve, and the short crank is hinged to the corresponding short connecting rod. Each of the second left and second right finger assemblies includes a swing rod, with the left and right contact rods fixed to the outer ends of their respective swing rods. The swing rod also has a hinge point for the long connecting rod. The cross-contact type cotton stalk detection device also includes a return spring, one end of which is connected to the long connecting rod, and the other end is connected to the long rod of the first finger assembly, providing a return force to the contact rod. Each of the second left and second right finger assemblies has a limiting pin, which contacts the long rod of the corresponding first finger assembly to limit the swing angle of the second finger assembly and its contact rod.

[0007] Furthermore, the cross-touch rod type cotton stalk detection device also includes an angle sensing unit, which includes a long connecting rod, a long crank, a rotating shaft, and a hollow angle sensor; one end of the long connecting rod is hinged to the swing arm of the second finger assembly, and the other end is hinged to one end of the long crank; the other end of the long crank is fixed to the lower end of the rotating shaft, which is hollowly fitted inside the hollow sleeve; the upper end of the rotating shaft is fixed to the rotor of the hollow angle sensor, and the stator of the hollow angle sensor is fixed to the flange at the end of the hollow sleeve; the hollow angle sensor is signal-connected to the vehicle-mounted controller integrated unit and is used to send the detected touch rod deflection angle signal to the vehicle-mounted controller integrated unit.

[0008] Furthermore, the cross-touch rod type cotton stalk detection device has an operating state and a transfer state; in the operating state, the cross-touch rod type cotton stalk detection device swings downward around the pendulum shaft on the mounting base plate, and the left touch rod swings inward around the left pin shaft and the right touch rod swings inward around the right pin shaft, crossing each other, and is in the detection position; in the transfer state, the cross-touch rod type cotton stalk detection device swings upward around the pendulum shaft, and the left touch rod swings outward around the left pin shaft and the right touch rod swings outward around the right pin shaft, and is in the avoidance position.

[0009] The above solution also includes a dual-antenna positioning module; the dual-antenna positioning module is signal-connected to the vehicle-mounted controller integrated unit, and is used to acquire differential positioning data of the residual film recycling machine and send it to the vehicle-mounted controller integrated unit; the vehicle-mounted controller integrated unit is configured to: when the left and right touch rods of the cross-touch rod type cotton stalk detection device contact a single row of cotton stubble, determine the direction of false detection based on the differential positioning data acquired by the dual-antenna positioning module, and perform fault-tolerant correction control based on the judgment result.

[0010] In the above scheme, the steering wheel angle detection device includes an angle sensor; the angle sensor is signal-connected to the vehicle controller integrated unit, and is used to detect the actual steering angle of the right rear steering wheel and feed the steering angle signal back to the vehicle controller integrated unit; the extended shaft of the angle sensor is connected to the column shaft of the rear steering axle through a flexible coupling to compensate for the eccentricity between the two.

[0011] A cotton field residual film recycling machine includes a row navigation device for the cotton field residual film recycling machine.

[0012] A row navigation control method based on the row navigator of the cotton field residual film recycling machine includes the following steps: Step S1: Calculate the lateral deviation: in each signal sampling period T The vehicle-mounted controller unit obtains the deflection angle of the left touch lever. θ 1. Deflection angle of the right contact rod θ 2. Yaw angle of the inertial navigation unit δ and the actual deflection angle of the right rear steering wheel φ The data was used to calculate the signal sampling period. T lateral deviation within ; Step S2: Calculate the desired steering wheel angle: Calculate the lateral deviation obtained in step S1. Yaw angle δ Based on the vehicle speed, a pure tracking algorithm is used to calculate the expected steering angle of the hypothetical middle rear steering wheel. φ m Then convert to the expected steering angle of the right rear steering wheel. φ r ; Step S3: Execute steering correction control: Set the electric steering wheel to constant speed mode and use PID closed-loop control to continuously compare the current steering angle of the right rear steering wheel. φ The desired rotation angle calculated in step S2 φ r The vehicle-mounted controller sends a turning command to the electric steering wheel. Through real-time angle feedback from the steering wheel angle detection device, the longitudinal centerline of the residual film recycling machine is positioned within the lateral deviation zone of the cotton row center.

[0013] In the above scheme, when the absence of cotton stubble on both sides prevents the cross-touch rod type cotton stubble detection device from acquiring effective position data, the direction of the right rear steering wheel is taken in the opposite direction to the direction of the right rear steering wheel during the last correction action. This is to prevent the unit from continuously deviating in a single direction during the signal loss period. Multiple sets of historical data on the left or right turns of the right rear steering wheel recorded by the vehicle controller are read, and a Kalman filter algorithm is used to predict and obtain the desired turning angle of the current right rear steering wheel. φ r Then, execute the corrective control in step S3.

[0014] In the above scheme, when the left and right contact rods of the cross-contact type cotton stalk detection device come into contact with a single row of cotton stubble stalks, fault-tolerant correction control is executed: Using the center line of the left and right cotton rows as the baseline, the differential position data obtained by the dual-antenna positioning module is read, and the lateral coordinates of the vehicle body are obtained through coordinate transformation. The lateral offset Dd is compared with the lateral coordinates of the baseline. If Dd is greater than a preset positive threshold, it is determined that the two contact rods detect the right cotton stubble; if Dd is less than a preset negative threshold, it is determined that the two contact rods detect the left cotton stubble. The desired steering angle of the right steering wheel is calculated by taking the current lateral offset Dd, and then the correction control in step S3 is executed.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This invention significantly reduces the driver's workload in dusty environments, allowing them to focus more on the operation of other components. It noticeably improves the quality of residual film recycling and increases operational efficiency, making it particularly suitable for scenarios where drivers have limited visibility in dusty conditions. This invention solves the problem of navigation systems based on satellite positioning modules failing to detect crop rows, thus avoiding misaligned assisted driving. It also overcomes the drawback of relying on location data from preceding automatic navigation operations for path tracking. Before using the automatic ridge-following function, this invention only requires the driver to perform initial row alignment operations on the residual film recycling machine, reducing the initial positioning accuracy requirements compared to satellite positioning-based linear navigation products. This invention is also applicable to the detection of hard-stalked crops such as cotton stalks and assisted driving of agricultural machinery in linear operation conditions. Attached Figure Description

[0016] Figure 1 An isometric view of a line navigation system according to one embodiment; Figure 2 A front view of a row navigator mounted on a cotton field residual film recycling machine according to one embodiment; Figure 3 Right view of a row navigator mounted on a cotton field residual film recycling machine according to one embodiment; Figure 4 Left view of a row navigator mounted on a cotton field residual film recycling machine according to one embodiment; Figure 5 Main view of a cotton field residual film recycling machine configured with a row navigator in operation; Figure 6 Top view of a cotton field residual film recycling machine with a row navigator configured in operation; Figure 7 Axonometric view of the cross-touch bar type cotton stalk detection device in high position and with the touch bar swinging outward; Figure 8 Axonometric view of the cross-touch bar type cotton stalk detection device in low position and with the touch bar swinging outward; Figure 9 Axonometric view of the cross-touch bar type cotton stalk detection device in a low position, with the touch bars swinging inwards in a cross-shaped state. Figure 10 This is a front view of the main structure of the cross-touch bar type cotton stalk detection device; Figure 11 for Figure 10 AA section view; Figure 12 for Figure 11 BB cross-sectional view; Figure 13 Axonometric drawing of the main structure of the cross-touch bar type cotton stalk detection device; Figure 14 Assemble the main view for the first left finger component and the second left finger component; Figure 15 for Figure 14 The upper left axonometric drawing; Figure 16 for Figure 14 The lower right axonometric drawing; Figure 17 A top view of the main mechanism of the cross-touch bar type cotton stalk detection device when detecting the state of cotton stalks; Figure 18 This is a front view of the steering wheel angle detection device; Figure 19 for Figure 18 AA section view; Figure 20 A schematic diagram illustrating the principle of the main mechanism of the cross-touch bar type cotton stalk detection device for detecting the position of the relative cotton stubble stalk; Figure 21 A schematic diagram of the correction motion of a cotton field residual film recycling machine; Figure 22 A schematic diagram of the return motion of a cotton field residual film recycling machine; Figure 23 for Figure 22 The left view; Figure 24 for Figure 22 Top view; Figure 25 This is a control flowchart for the automatic movement of a cotton field residual film recycling machine along the ridges.

[0017] In the diagram: 1-Cross-touch rod type cotton stalk detection device; 1-1-Left touch rod; 1-2-Right touch rod; 1-3-Protective top plate; 1-4-Lifting electric cylinder; 1-5-Camera; 1-6-Upright support; 1-7-Side clamp; 1-8-Protective base plate; 1-9-Mounting base plate; 1-10-Swing shaft; 1-11-Short connecting rod; 1-12-Push rod; 1-13-Miniature electric cylinder; 1-14-Slider; 1-15-Guide rail; 1-16-Lifting support; 1-17 - Hollow angle sensor; 1-18 Rotating shaft; 1-19 Stop block; 1-20 Hollow sleeve; 1-21 First finger rotation support tube; 1-22 Long connecting rod; 1-23 Long crank; 1-24 Reset spring; 1-25 Swing rod; 1-26 Long rod; 1-27 Protective shell; 1-28 Support; 1-29 Short crank; 1-30 Left pin; 1-31 Limiting pin; 1-32 Right pin; 1-L Left finger mechanism; 1-L1-First left finger assembly; 1-L2-Second left finger assembly; 1-R-Right finger mechanism; 1-R1-First right finger assembly; 1-R2-Second right finger assembly; 2-Steering wheel angle detection device; 2-1-Guard; 2-2-Connecting plate; 2-3-Spacer; 2-4-Fixed connecting plate; 2-5-Slotted pin; 2-6-Shaft connector; 2-7-Flexible coupling; 2-8-Angle sensor; 3-Inertial navigation unit; 4-Electric steering wheel; 5- 6-Vehicle-mounted controller integrated unit; 7-Dual antenna positioning module; 8-Straw beater; 9-Front suspension assembly; 10-Horizontal tube; 11-Front drive axle; 12-Left front drive wheel; 13-Right front drive wheel; 14-Film lifting and picking device; 15-Chassis; 16-Rear steering axle; 17-Left rear steering wheel; 18-Right rear steering wheel; 19-Middle rear steering wheel; 10-Packaging device; 10-Pickup device lifting mechanism; 11-Chassis; 12-Rear steering axle; 13-Left rear steering wheel; 14-Right rear steering wheel; 15-Radiator; 16-Cabin. Detailed Implementation

[0018] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto. In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the invention, "a plurality of" means two or more, unless otherwise explicitly specified. In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. In this invention, unless otherwise explicitly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or it can include contact between the first and second features not being in direct contact but through another feature between them. Moreover, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0019] Figure 1 This is an isometric view of the row navigation device of a cotton field residual film recycling machine according to one embodiment. Figures 2-25 This is a preferred embodiment of the present invention for a cotton field residual film recycling machine, as detailed below: The cotton field residual film recycling machine's row navigation system includes a cross-link cotton stalk detection device 1, a steering wheel angle detection device 2, an inertial navigation unit 3, an electric steering wheel 4, and an integrated vehicle controller 5. The integrated vehicle controller 5 is connected to the cross-link cotton stalk detection device 1, the steering wheel angle detection device 2, the inertial navigation unit 3, and the electric steering wheel 4 via signals. The integrated vehicle controller 5 is configured to: receive and analyze the angle signals of the left contact bar 1-1 and the right contact bar 1-2 of the cross-link cotton stalk detection device 1, as well as the heading angle signal sensed by the inertial navigation unit 3; calculate the relative positional relationship and lateral deviation between the cotton stalk and the cross-link cotton stalk detection device 1; calculate the desired steering angle of the residual film recycling machine's steering wheel based on the lateral deviation; control the electric steering wheel 4 to move; and guide the residual film recycling machine to automatically travel along the ridges through real-time angle feedback from the steering wheel angle detection device 2.

[0020] like Figure 2 and 3 As shown, the inertial navigation unit 3, electric steering wheel 4, and integrated vehicle controller 5 are installed inside the cab 16, with the inertial navigation unit 3 installed in a location away from magnetic field interference. The outer shell of the electric steering wheel 4 is fixed to the steering column of the steering system, and the hollow inner spline shaft of the electric steering wheel 4 is connected to the outer spline shaft of the steering system. The cotton field residual film recycling machine's navigation system also includes a dual-antenna positioning module 6; the dual-antenna positioning module 6 is installed longitudinally and centrally on the top of the cab 16 at a certain distance from the front and rear.

[0021] like Figure 10-17As shown, the cross-touch rod type cotton stalk detection device 1 includes a mounting base plate 1-9, a drive assembly, and a left finger mechanism 1-L and a right finger mechanism 1-R symmetrically arranged on both sides of the drive assembly; the drive assembly includes a miniature electric cylinder 1-13 fixed to the mounting base plate 1-9, a push rod 1-12 fixed to the piston rod of the miniature electric cylinder 1-13, and two short connecting rods 1-11 respectively hinged to both ends of the push rod 1-12; the left finger mechanism 1-L and the right finger mechanism 1-R are respectively hinged to both sides of the mounting base plate 1-9 through a first finger rotation support tube 1-21; the left finger mechanism 1-L includes a first left finger assembly 1-L1 and a second left finger assembly 1-L2. The first left finger assembly 1-L1 is hinged to the short connecting rod 1-11 on the left side, and the second left finger assembly 1-L2 is hinged to the first left finger assembly 1-L1 via a left pin 1-30. A left contact rod 1-1 is provided at the outer end of the second left finger assembly 1-L2. The right finger mechanism 1-R includes a first right finger assembly 1-R1 and a second right finger assembly 1-R2. The first right finger assembly 1-R1 is hinged to the short connecting rod 1-11 on the right side, and the second right finger assembly 1-R2 is hinged to the first right finger assembly 1-R1 via a right pin 1-32. A right contact rod 1-2 is provided at the outer end of the second right finger assembly 1-R2. The miniature electric cylinder 1-13 drives the... The push rod 1-12 extends and retracts, driving the first left finger assembly 1-L1 and the first right finger assembly 1-R1 to rotate via the two short connecting rods 1-11, thereby driving the second left finger assembly 1-L2 and the second right finger assembly 1-R2, as well as their left and right contact rods 1-1 and 1-2, to perform inward swinging or outward swinging movements. The first left finger assembly 1-L1 and the first right finger assembly 1-R1 each include a hollow sleeve 1-20, a long rod 1-26, and a short crank 1-29. The long rod 1-26 is connected to the hollow sleeve 1-20, and the short crank 1-29 is hinged to the corresponding short connecting rod 1-11. The second left finger assembly 1-L2 and the second right finger assembly 1-R2... Each device includes a swing arm 1-25, with the left contact rod 1-1 and the right contact rod 1-2 respectively fixed to the outer ends of the corresponding swing arm 1-25; the swing arm 1-25 is also provided with a hinge point for a long connecting rod 1-22; the cross-contact type cotton stalk detection device 1 is also provided with a reset spring 1-24, one end of which is connected to the long connecting rod 1-22, and the other end is connected to the long rod 1-26 of the first finger assembly, for providing a reset force for the contact rod; the second left finger assembly 1-L2 and the second right finger assembly 1-R2 are both provided with a limiting pin 1-31, for contacting the long rod 1-26 of the corresponding first finger assembly, so as to limit the swing angle of the second finger assembly and its contact rod.

[0022] The cross-touch rod type cotton stalk detection device 1 further includes an angle sensing unit, which includes a long connecting rod 1-22, a long crank 1-23, a rotating shaft 1-18, and a hollow angle sensor 1-17. One end of the long connecting rod 1-22 is hinged to the swing arm 1-25 of the second finger assembly, and the other end is hinged to one end of the long crank 1-23. The other end of the long crank 1-23 is fixed to the lower end of the rotating shaft 1-18, which is hollowly fitted inside the hollow sleeve 1-20. The upper end of the rotating shaft 1-18 is fixed to the rotor of the hollow angle sensor 1-17. The stator of the degree sensor 1-17 is fixed to the flange at the end of the hollow sleeve 1-20; when the left contact rod 1-1 or the right contact rod 1-2 contacts the cotton stubble 18 and deflects, its yaw motion is transmitted to the rotating shaft 1-18 through the corresponding long connecting rod 1-22 and long crank 1-23, and the deflection angle is detected by the hollow angle sensor 1-17; the hollow angle sensor 1-17 is signal-connected to the vehicle controller integrated machine 5, and is used to send the contact rod deflection angle signal it detects to the vehicle controller integrated machine 5 for calculating the lateral deviation of the vehicle body relative to the cotton row.

[0023] Specifically, the cross-touch rod type cotton stalk detection device 1 includes a mounting base plate 1-9, two first finger rotation support tubes 1-21 fixed to both sides of the mounting base plate 1-9, a miniature electric cylinder 1-13, a push rod 1-12 fixed to the piston rod of the miniature electric cylinder 1-13, two short connecting rods 1-11, a left finger mechanism 1-L, and a right finger mechanism 1-R. The left finger mechanism 1-L includes a first left finger assembly 1-L1, a second left finger assembly 1-L2, a long connecting rod 1-22, a long crank 1-23, a rotating shaft 1-18, a hollow angle sensor 1-17, and a reset spring 1-24. The hollow sleeve 1-20 of the first left finger assembly 1-L1 is hinged to the left first finger rotation support tube 1-21, and the long rod 1-26 of the first left finger assembly 1-L1 is hinged to the swing rod 1-25 of the second left finger assembly 1-L2 via a left pin 1-30. One end of the long connecting rod 1-22 is hinged to the long crank 1-23, and the other end is hinged to the end hole of the swing rod 1-25 of the second left finger assembly 1-L2. The lower end of the rotating shaft 1-18, which is loosely fitted inside the hollow sleeve 1-20 of the first left finger assembly 1-L1, is fixed to the other end of the long crank 1-23, and the upper end of the rotating shaft 1-18 is fixed to the hollow angle sensor 1-17. The hollow angle sensor 1-17 is fixed to the flange at the end of the hollow sleeve 1-20 of the first left finger assembly 1-L1. One end of the short crank 1-29 of the first left finger assembly 1-L1 is hinged to the short connecting rod 1-11, and the other end is hinged to the push rod 1-12. The reset spring 1-24 is hooked between the long connecting rod 1-22 and the long rod 1-26 of the first left finger assembly 1-L1. The second left finger assembly 1-L2 is provided with a limiting pin 1-31, which is used to contact the long rod 1-26 of the first left finger assembly 1-L1. The right finger mechanism 1-R and the left finger mechanism 1-L are mirror-mounted along the longitudinal center plane of the micro electric cylinder 1-13. The piston rod of the micro electric cylinder 1-13 drives the push rod 1-12 to extend and retract, and the short cranks 1-29 of the first left finger assembly 1-L1 and the first right finger assembly 1-R1 rotate through two symmetrically arranged short connecting rods 1-11. When the left contact rod 1-1 of the second left finger assembly 1-L2 and the right contact rod 1-2 of the second right finger assembly 1-R2 contact the cotton stubble 18, the yaw motion of the left contact rod 1-1 and the right contact rod 1-2 is transmitted to the rotating shaft 1-18 through the long connecting rod 1-22 and the long crank 1-23, and the corresponding angle change is detected by the hollow angle sensor 1-17. Because a limiting pin 1-31 is provided on the swing arm 1-25, under the action of the reset spring 1-24, the left contact rod 1-1 of the second left finger assembly 1-L2 and the right contact rod 1-2 of the second right finger assembly 1-R2 reciprocate within a limited angle.

[0024] The cross-touch rod type cotton stalk detection device 1 has an operating state and a transfer state. In the operating state, the cross-touch rod type cotton stalk detection device 1 swings downward around the swing shaft 1-10 on the mounting base plate 1-9, and the left touch rod 1-1 swings inward around the left pin shaft 1-30 and the right touch rod 1-2 swings inward around the right pin shaft 1-32, crossing each other, and is in the detection position. In the transfer state, the cross-touch rod type cotton stalk detection device 1 swings upward around the swing shaft 1-10, and the left touch rod 1-1 swings outward around the left pin shaft 1-30 and the right touch rod 1-2 swings outward around the right pin shaft 1-32, and is in the avoidance position.

[0025] The dual-antenna positioning module 6 is signal-connected to the vehicle-mounted controller 5 and is used to acquire differential positioning data of the residual film recycling machine and send it to the vehicle-mounted controller 5. The vehicle-mounted controller 5 is configured to: when the left contact bar 1-1 and the right contact bar 1-2 of the cross-contact cotton stalk detection device 1 contact the single row of cotton stubble stalks 18, determine the direction of false detection based on the differential positioning data acquired by the dual-antenna positioning module 6, and perform fault-tolerant correction control based on the judgment result.

[0026] like Figure 18 and 19 As shown, and in combination Figure 4 The steering wheel angle detection device 2 includes a protective cover 2-1, a connecting plate 2-2, a spacer 2-3, a fixed connecting plate 2-4, a grooved pin 2-5, a shaft connector 2-6, a flexible coupling 2-7, and an angle sensor 2-8. The end face of the angle sensor 2-8 extending outward from the shaft is fixed to the connecting plate 2-2. The flange of the protective cover 2-1, the connecting plate 2-2, the spacer 2-3, and the fixed connecting plate 2-4 are concentrically connected by bolts. The fixed connecting plate 2-4 is concentrically assembled with the shaft connector 2-6. The shaft connector 2-6 of the steering wheel angle detection device 2 is fixed to the column shaft of the right rear steering wheel 12-2 of the rear steering axle 12 by the grooved pin 2-5. The fixed connecting plate 2-4 of the steering wheel angle detection device 2 is fixed to the crossbeam of the rear steering axle 12. Thus, when the right rear steering wheel 12-2 deflects, the column shaft drives the shaft connector 2-6 to transmit rotation to the angle sensor 2-8. Considering the installation eccentricity between the center of the column shaft and the center of the shaft connector 2-6, an elastic coupling is used between the shaft connector 2-6 and the extended shaft of the angle sensor 2-8 to compensate for this eccentricity error. A protective cover 2-1 is installed on the outside of the angle sensor 2-8 to make it waterproof, mudproof, and impact-resistant.

[0027] The angle sensor 2-8 is connected to the vehicle controller 5 for detecting the actual turning angle of the right rear steering wheel 12-2 and feeding back the turning angle signal to the vehicle controller 5. The extended shaft of the angle sensor 2-8 is connected to the column shaft of the rear steering axle 12 through the flexible coupling 2-7 to compensate for the eccentricity between the two.

[0028] A cotton field residual film recycling machine includes a row navigation device. The stalk threshing machine 7 of the cotton field residual film recycling machine is connected to the front suspension assembly 8. The vertical support 1-6 and the side clamp 1-7 of the cross contact rod type cotton stalk detection device 1 are respectively fixed to the horizontal pipe 8-1 and installed in the center along the longitudinal direction of the residual film recycling machine. It can swing up or down together with the front suspension assembly 8.

[0029] like Figure 2 As shown, the cotton field residual film recycling machine is in transit mode. The stalk threshing machine 7 is lifted by the front suspension assembly 8, and the cross-link cotton stalk detection device 1 is also lifted along with the front suspension assembly 8, maintaining a certain height off the ground. At this time, the cross-link cotton stalk detection device 1 is in a high position with the contact rods outward, and the piston rods of the lifting electric cylinder 1-4 and the micro electric cylinder 1-13 are both retracted to their shortest length. Figure 7 As shown. At the same time, the film-lifting device 10 is also lifted by the picking device lifting mechanism 14.

[0030] Before using the row navigation function, the driver is required to operate the electric steering wheel 4 to align the cotton field residual film recycling machine with the upper crop row, with the left contact lever 1-1 and right contact lever 1-2 roughly positioned on either side of the cotton stalks in the middle crop row. For example... Figure 5 As shown, the cotton field residual film recycling machine is in operation. The stalk threshing machine 7 is placed on the ridge by the front suspension assembly 8, and the cross-link cotton stalk detection device 1 swings down along with the front suspension assembly 8. The film-lifting and picking device 10 is also lowered by the picking device lifting mechanism 14 until the film-lifting nail teeth are in the soil. When the driver activates the row navigation function, the piston rod of the lifting electric cylinder 1-4 first extends to its longest length, and the cross-link cotton stalk detection device 1 swings down around the swing shaft 1-10 on the mounting base plate 1-9, as... Figure 8 As shown. Then, the piston rod of the miniature electric cylinder 1-13 extends to its longest length, and the left contact rod 1-1 and the right contact rod 1-2 swing inward and cross around the left pin 1-30 and the right pin 1-32, as shown. Figure 9 As shown. At this time, due to the presence of cotton stubble 18, the left contact rod 1-1 and the right contact rod 1-2 will be externally tangential to the surface of the cotton stubble 18, as... Figure 17 As shown.

[0031] Before row navigation begins, the cross-touch rod type cotton stalk detection device 1 swings downward around the swing shaft 1-10 on the mounting base plate 1-9, and the left touch rod 1-1 and the right touch rod 1-2 swing inward around the left pin shaft 1-30 and the right pin shaft 1-32 until they contact the cotton stalk; after row navigation ends, the cross-touch rod type cotton stalk detection device 1 swings upward around the swing shaft 1-10 on the mounting base plate 1-9, and the left touch rod 1-1 and the right touch rod 1-2 swing outward around the left pin shaft 1-30 and the right pin shaft 1-32 in an open posture.

[0032] The method for calculating the relative positional relationship between cotton stubble 18 and the cross-touch rod type cotton stubble detection device 1 at any given time is as follows: taking the center of the cotton stubble contacted by the left touch rod 1-1 as the origin of the coordinate system, the line connecting the center of the cotton stubble in the same row on the right as the X-axis of the coordinate system, and the line connecting the center of the cotton stubble directly above the left as the Y-axis of the coordinate system. The longitudinal axis of the vehicle body is sensed by the inertial navigation unit 3. Through the geometric condition that the left touch rod 1-1 and the right touch rod 1-2 are tangent to the cotton stubble on both sides, the real-time position coordinates of the center of the left pin shaft 1-30 and the right pin shaft 1-32 relative to the center of the cotton stubble 18 can be obtained. The distance between the midpoint of the line connecting the centers of the left pin shaft 1-30 and the right pin shaft 1-32 and the middle line of the left and right cotton rows is obtained, which is the lateral deviation of the vehicle body from the cotton rows.

[0033] A row navigation control method based on the row navigator of the cotton field residual film recycling machine includes the following steps: Step S1: Calculate the lateral deviation: in each signal sampling period T The vehicle controller integrated unit 5 obtains the deflection angle of the left touch lever 1-1. θ Deflection angles of 1 and right contact rod 1-2 θ 2. Yaw angle of inertial navigation unit 3 δ And the actual deflection angle of the right rear steering wheel 12-2 φ The data was used to calculate the signal sampling period. T lateral deviation within ; Step S2: Calculate the desired steering wheel angle: Calculate the lateral deviation obtained in step S1. Yaw angle δ Based on the vehicle speed, a pure tracking algorithm is used to calculate the expected steering angle of the hypothetical middle rear steering wheel (12-3). φ m Then convert to the expected steering angle of the right rear steering wheel 12-2. φ r ; Step S3: Execute correction control: Set the electric steering wheel 4 to constant speed mode and adopt PID (proportional-integral-derivative) closed-loop control to eliminate steady-state error of the steering actuator, ensuring that the actual steering wheel angle can quickly and smoothly track the desired steering angle, and continuously compare the current steering angle of the right rear steering wheel 12-2. φ The desired rotation angle calculated in step S2 φ r The vehicle-mounted controller 5 sends a turning angle command to the electric steering wheel 4. Through the real-time angle feedback of the steering wheel angle detection device 2, the longitudinal centerline of the residual film recycling machine is placed within the lateral deviation zone of the cotton row center.

[0034] When the absence of cotton stubble 18 on both sides prevents the cross-touch rod type cotton stubble detection device 1 from acquiring effective position data, the device takes a turn opposite to that of the right rear steering wheel 12-2 during the last correction action. It then reads multiple sets of historical left or right turn data of the right rear steering wheel 12-2 recorded by the vehicle controller integrated unit 5, and uses a Kalman filter algorithm to predict and obtain the desired turning angle of the current right rear steering wheel 12-2. φ r Then, execute the corrective control in step S3.

[0035] When the left contact rod 1-1 and the right contact rod 1-2 of the cross-contact cotton stalk detection device 1 come into contact with the single-row cotton stubble stalk 18, fault-tolerant correction control is executed: Using the center line of the left and right cotton rows as the baseline, the differential position data obtained by the dual-antenna positioning module 6 is read, and the lateral coordinates of the vehicle body are obtained through coordinate transformation. The lateral offset Dd is compared with the lateral coordinates of the baseline. If Dd is greater than a preset positive threshold, for example, Dd>3.5cm, it is determined that the two contact rods detect the right cotton stubble. If Dd is less than a preset negative threshold, for example, Dd<-3.5cm, it is determined that the two contact rods detect the left cotton stubble. The desired steering angle of the right steering wheel is calculated by taking the current lateral offset Dd, and then the correction control in step S3 is executed.

[0036] Specifically, when the driver operates the cotton field residual film recycling machine to move forward, the on-board controller integrated unit 5 receives signals from the cross-link cotton stalk detection device 1, the steering wheel angle detection device 2, and the inertial navigation unit 3. It analyzes the angles of the left contact rod 1-1 and the right contact rod 1-2 of the cross-link cotton stalk detection device 1, the heading angle sensed by the inertial navigation unit 3, and calculates the relative positional relationship and lateral deviation between the cotton stalk and the cross-link cotton stalk detection device 1. The calculation principle is as follows: like Figure 20 As shown, a plane rectangular coordinate system is established with the center of the cotton stubble contacted by the left touch rod 1-1 as the origin O, the direction of the cotton row where this point is located (i.e., the direction of the line connecting the center of the cotton stubble in the same row) as the x-axis, and the direction perpendicular to the cotton row and pointing towards the direction of operation as the y-axis. x o y Coordinate system. The center of the left pivot 1-30 is set to O1 ( x 1, y 1) The center of point 1-32 of the right pin shaft is set to O2 ( x 2, y2) Point A1 is the connection point between the left contact rod 1-1 and the swing rod 1-25, and point A2 is the connection point between the right contact rod 1-2 and the swing rod 1-25. Due to the presence of the stop block 1-19, when the piston rod of the miniature electric cylinder 1-13 extends to its longest position, the stop block 1-19 keeps the first left finger assembly 1-L1 and the first right finger assembly 1-R1 unchanged in shape, and the relative positional relationship between points O1 and O2 remains unchanged during operation. The longitudinal axis direction of the vehicle body is sensed by the inertial navigation unit 3 to obtain the yaw angle. δ When the vehicle is set to veer to the right δ When positive, deviating to the left δ Negative. Defines the lateral deviation of the vehicle body from the cotton line. This is the distance from the midpoint of the line connecting O1 and O2 to the midpoint of the left and right cotton rows. As long as O1(…) can be obtained in real time… x 1, y 1) Point and O2 ( x 2, y 2) By using the point position coordinates, the position of the residual film recycling machine relative to the cotton stubble can be sensed, thereby determining the lateral deviation of the machine from the cotton row at the current moment. .

[0037] exist Figure 20 In the diagram, the cross-link cotton stalk detection device 1, shown by the dashed line, is in its initial cross-linked state where the left contact rod 1-1 and the right contact rod 1-2 are not in contact with the cotton stalk. The centerline of the miniature electric cylinder 1-13 coincides with the center line of the left and right cotton rows. Assume that the cross-link cotton stalk detection device 1 deflects around point O1 by a yaw angle. δ As shown by the solid line in the figure, the angle between the center line of the dashed line and the center line of the solid line of the miniature electric cylinder 1-13 is the yaw angle of the entire machine. δ The angle between the dashed line and the solid line O1A1 is the deflection angle of the left touch rod 1-1, which is the angle detected by the hollow angle sensor 1-17 on the left. θ 1. Similarly, the angle by which O2A2 deflects around point O2 is the deflection angle of the right touch rod 1-2, which is the angle detected by the hollow angle sensor 1-17 on the right side. θ 2. The angles between the extension line of O1A1 and the center line of the left contact rod 1-1, and the angles between the extension line of O2A2 and the center line of the right contact rod 1-2, are equal; both are fixed installation angles. γ In the cross-touch type cotton stalk detection device 1 shown by the dashed line, the angles between O1A1 and O1O2 and between O2A2 and O1O2 are equal, with the angle... β The angle between O1O2 and the center line of the left contact rod 1-1 can be determined based on the geometric relationship of the figure. α 1= θ 1+ γ-β The angle between O1O2 and the center line of the right contact rod 1-2 α 2= θ 2+ γ-β.

[0038] exist Figure 20 coordinate system x o y In the middle, the equation of the straight line of the left contact rod 1-1 is: The equation of the straight line for the right contact rod 1-2 is: ,in , ,only and Unknown. Based on the geometric conditions of the left contact rod 1-1 and the right contact rod 1-2 being tangent to the cotton stubble on both sides, x The distance between the axial direction and the cotton stubble at the origin c The coordinates are ( c ,0), using the formula for the distance from a point to a line, we get and Next, determine the coordinates of points A1 and A2, and then obtain the equations of the lines passing through the left contact rod 1-1 and the right contact rod 1-2, respectively, to get two... x 1. y 1. x 2 and y Equation 2. Then combine equations 2 and 2. To obtain two more containing x 1. y 1. x 2 and y The equation is 2. Thus, Given four unknowns, by solving four simultaneous equations, O1 can be obtained at any time. x 1, y 1) Point and O2 ( x 2, y 2) Point position coordinates, thereby calculating the lateral deviation. .

[0039] like Figure 21 As shown, imagine a drive wheel 9-3 (shown by a dashed line) in the middle of the drive axle, and a middle rear steering wheel 12-3 (shown by a dashed line) in the middle of the steering axle. The lines connecting the axles of the two wheels intersect at the instantaneous center point O. P The wheelbase L between the drive axle and the steering axle can be used to obtain the hypothetical center rear steering wheel 12-3 around the instantaneous center point O. P Desired steering angle φ m Its calculation formula is

[0040] in, Pre-aiming distance, , The minimum aiming distance is determined by testing; For real-time vehicle speed, This is the lower limit of vehicle speed.

[0041] Based on the geometric relationship between left and right turns, the desired turning angle is determined. φ m Calculated to the expected steering angle of the right steering wheel φ r This serves as a reference for real-time feedback control. Therefore, the control method for the navigation system is as follows: 1. Calculate the lateral deviation: in each signal sampling period... T The vehicle controller integrated unit 5 obtains the deflection angle of the left touch lever 1-1. θ Deflection angles of 1 and right contact rod 1-2 θ 2. Yaw angle of inertial navigation unit 3 δ And the actual deflection angle of the right rear steering wheel 12-2 φ The data was used to calculate the signal sampling period. T lateral deviation within 2. Calculate the desired steering angle of the right rear steering wheel: Calculate the lateral deviation obtained in step 1. Yaw angle The desired steering angle of the right rear steering wheel 12-2 is obtained by applying the above method for calculating the desired steering angle based on the vehicle speed. φ r 3. Correction control rules: Set the electric steering wheel 4 to constant speed mode and use PID closed-loop control to continuously compare the current steering angle of the right rear steering wheel 12-2. φ The desired steering angle of the right rear steering wheel 12-2 calculated in step 2 is obtained. φ r The vehicle-mounted controller 5 sends a steering angle command to the electric steering wheel 4. Through real-time angle feedback from the steering wheel angle detection device 2, the longitudinal centerline of the residual film recycling machine is positioned within the lateral deviation zone of the cotton row center. The control process for the row navigator is as follows: Figure 25 As shown. By continuously executing the above steps, the electric steering wheel 4 repeatedly rotates back and forth at a constant speed, guiding the residual film recycling machine to automatically travel along the ridge. The state of the residual film recycling machine after correction is as follows. Figures 21 to 24 As shown.

[0042] Considering issues such as missed sowing and seedling death during cotton planting, the distribution of cotton stalks in cotton rows is uneven. Therefore, the control method for when the row navigator encounters obstacles in acquiring cotton stalk position data in two consecutive attempts is as follows: When cotton stalks 18 are absent on both sides, the left contact rod 1-1 and right contact rod 1-2 are in their initial installation state. The steering direction is taken in the opposite direction to the right rear steering wheel 12-2 during the previous correction action. Multiple sets of historical data on left or right turns of the right rear steering wheel 12-2 recorded by the vehicle controller integrated unit 5 are read. The desired turning angle of the current right rear steering wheel 12-2 is obtained using a Kalman filter algorithm, and correction is performed according to step 3 of claim 5. When cotton stalks 18 are absent on one side, the left contact rod 1-1 and right contact rod 1-2 are in contact with the longitudinally adjacent cotton stalks, which can be approximated as a normal situation where cotton stalks are present on both sides.

[0043] The control method for fault-tolerant correction of the navigation system is as follows: When the left contact rod 1-1 and the right contact rod 1-2 come into contact with the single row of cotton stubble 18, the middle line of the left and right cotton rows is used as the baseline. The differential position data obtained by the dual-antenna positioning module 6 is read, and the lateral coordinates of the vehicle body are obtained through coordinate transformation. The lateral offset Dd is compared with the lateral coordinates of the baseline. If Dd > 3.5cm, it is determined that the two contact rods detect the right row of cotton stubble 18; if Dd < -3.5cm, it is determined that the two contact rods detect the left row of cotton stubble 18. The desired steering angle of the right steering wheel is calculated based on the current lateral offset Dd, and then the correction is performed according to step 3 of claim 5.

[0044] After the navigation function ends, the piston rod of the miniature electric cylinder 1-13 retracts to its shortest position. Simultaneously, the left contact rod 1-1 and right contact rod 1-2 swing outwards around the left pin 1-30 and right pin 1-32, while the piston rod of the lifting electric cylinder 1-4 retracts to its shortest position. The cross-contact type cotton stalk detection device 1 swings upwards around the swing shaft 1-10 on the mounting base plate 1-9. The cross-contact type cotton stalk detection device 1 is in a high position with the contact rods swinging outwards. Figure 7 As shown. When the baling device 13 of the cotton field residual film recycling machine is full and the film roll needs to be unloaded, the stalk threshing machine 7 is lifted by the front suspension assembly 8, and the cross-link cotton stalk detection device 1 rises together with the front suspension assembly 8. At this time, the cross-link cotton stalk detection device 1 has a higher height off the ground, which helps to avoid damage from collisions with foreign objects.

[0045] Because the stalk shredder 7 uses a horizontally positioned hammer-type cutter roller to shred cotton stalks, the high-speed cutter roller generates a very strong airflow to the ground, producing dust. This invention significantly reduces the driver's workload in dusty environments, allowing the driver to focus more on the operation of other components, significantly improving the quality of residual film recycling and increasing work efficiency. It is particularly suitable for scenarios where drivers have difficulty seeing ahead in dusty environments.

[0046] By using the cross-touch bar type cotton stalk detection device 1 to sense the position of cotton stubble, this invention solves the problem that navigation systems based on satellite positioning modules cannot sense crop rows and thus fail to assist driving in the correct row, and overcomes the shortcomings of relying on the position data of the preceding automatic navigation operation for path tracking.

[0047] This invention requires the driver to roughly align the residual film recycling machine with the rows before using the automatic ridge-following function. Compared to linear navigation products based on satellite positioning systems, this reduces the initial state requirements for the unit. This invention is also applicable to the detection of rows of hard-stalk crops such as cotton stalks and to assisted driving of agricultural machinery in linear operation conditions.

[0048] The row-aligned navigator and its control method provided by this invention overcome the problem of misaligned assisted driving caused by the satellite positioning module's inability to sense crop rows, and also eliminate the need to rely on the position data of preceding automatic navigation operations for path tracking. This invention is also applicable to the detection of hard-stalked crop rows such as cotton stalks and to assisted driving of agricultural machinery in straight-line operation conditions.

[0049] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0050] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A row navigation device for a cotton field residual film recycling machine, characterized in that, It includes a cross-touch bar cotton stalk detection device (1), a steering wheel angle detection device (2), an inertial navigation unit (3), an electric steering wheel (4), and an integrated vehicle controller (5); The vehicle controller integrated unit (5) is connected to the cross-touch bar cotton stalk detection device (1), the steering wheel angle detection device (2), the inertial navigation unit (3) and the electric steering wheel (4) respectively; The vehicle-mounted controller (5) is configured to: receive and analyze the angle signals of the left contact bar (1-1) and right contact bar (1-2) of the cross-contact cotton stalk detection device (1) and the heading angle signal sensed by the inertial navigation unit (3), calculate the relative positional relationship and lateral deviation between the cotton stalk and the cross-contact cotton stalk detection device (1), calculate the desired turning angle of the residual film recycling machine steering wheel according to the lateral deviation, and control the electric steering wheel (4) to move. Through the real-time angle feedback of the steering wheel angle detection device (2), the residual film recycling machine is guided to drive automatically along the ridge.

2. The row navigation device for the cotton field residual film recycling machine according to claim 1, characterized in that, The cross-touch bar type cotton stalk detection device (1) includes a mounting base plate (1-9), a drive assembly, and a left finger mechanism (1-L) and a right finger mechanism (1-R) ​​symmetrically arranged on both sides of the drive assembly. The drive assembly includes a miniature electric cylinder (1-13) fixed to the mounting base plate (1-9), a push rod (1-12) fixed to the piston rod of the miniature electric cylinder (1-13), and two short connecting rods (1-11) respectively hinged to both ends of the push rod (1-12). The left finger mechanism (1-L) and the right finger mechanism (1-R) ​​are respectively hinged to both sides of the mounting base plate (1-9) through the first finger rotation support tube (1-21); The left finger mechanism (1-L) includes a first left finger assembly (1-L1) and a second left finger assembly (1-L2). The first left finger assembly (1-L1) is hinged to the short connecting rod (1-11) on the left side. The second left finger assembly (1-L2) is hinged to the first left finger assembly (1-L1) through a left pin (1-30). The outer end of the second left finger assembly (1-L2) is provided with a left contact rod (1-1). The right finger mechanism (1-R) ​​includes a first right finger assembly (1-R1) and a second right finger assembly (1-R2). The first right finger assembly (1-R1) is hinged to the short connecting rod (1-11) on the right side. The second right finger assembly (1-R2) is hinged to the first right finger assembly (1-R1) via a right pin (1-32). The outer end of the second right finger assembly (1-R2) is provided with a right contact rod (1-2). The miniature electric cylinder (1-13) drives the push rod (1-12) to extend and retract, and through the two short connecting rods (1-11), drives the first left finger assembly (1-L1) and the first right finger assembly (1-R1) to rotate, thereby driving the second left finger assembly (1-L2) and the second right finger assembly (1-R2) and their left touch rods (1-1) and right touch rods (1-2) to perform inward swinging cross or outward swinging open actions; The first left finger assembly (1-L1) and the first right finger assembly (1-R1) each include a hollow sleeve (1-20), a long rod (1-26) and a short crank (1-29). The long rod (1-26) is connected to the hollow sleeve (1-20), and the short crank (1-29) is hinged to the corresponding short connecting rod (1-11). The second left finger assembly (1-L2) and the second right finger assembly (1-R2) both include a swing arm (1-25), and the left touch rod (1-1) and the right touch rod (1-2) are respectively fixed to the outer ends of the corresponding swing arm (1-25); the swing arm (1-25) is also provided with a hinge point of a long connecting rod (1-22); The cross-touch rod type cotton stalk detection device (1) is also provided with a reset spring (1-24), one end of which is connected to the long connecting rod (1-22) and the other end is connected to the long rod (1-26) of the first finger assembly, for providing a reset force for the touch rod; The second left finger assembly (1-L2) and the second right finger assembly (1-R2) are each provided with a limiting pin (1-31) for contacting the long rod (1-26) of the corresponding first finger assembly to limit the swing angle of the second finger assembly and its contact rod.

3. The row navigation device for the cotton field residual film recycling machine according to claim 2, characterized in that, The cross-touch rod type cotton stalk detection device (1) further includes an angle sensing unit, which includes a long connecting rod (1-22), a long crank (1-23), a rotating shaft (1-18), and a hollow angle sensor (1-17). One end of the long connecting rod (1-22) is hinged to the swing rod (1-25) of the second finger assembly, and the other end is hinged to one end of the long crank (1-23). ​​The other end of the long crank (1-23) is fixed to the lower end of the rotating shaft (1-18) which is hollowly fitted inside the hollow sleeve (1-20). The upper end of the rotating shaft (1-18) is fixed to the rotor of the hollow angle sensor (1-17), and the stator of the hollow angle sensor (1-17) is fixed to the flange at the end of the hollow sleeve (1-20). The hollow angle sensor (1-17) is connected to the vehicle controller integrated unit (5) for transmitting the detected touch rod deflection angle signal to the vehicle controller integrated unit (5).

4. The row navigation device for the cotton field residual film recycling machine according to claim 3, characterized in that, The cross-touch bar type cotton stalk detection device (1) has an operating state and a transfer state; In the operating state, the cross-touch rod type cotton stalk detection device (1) swings down around the swing shaft (1-10) on the mounting base plate (1-9), and the left touch rod (1-1) swings inward around the left pin shaft (1-30) and the right touch rod (1-2) swings inward around the right pin shaft (1-32) to be in the detection position; In the transport state, the cross-touch rod type cotton stalk detection device (1) swings upward around the swing shaft (1-10), and the left touch rod (1-1) swings outward around the left pin shaft (1-30) and the right touch rod (1-2) swings outward around the right pin shaft (1-32), and is in an avoidance position.

5. The row navigation device for the cotton field residual film recycling machine according to claim 1, characterized in that, It also includes a dual-antenna positioning module (6); The dual-antenna positioning module (6) is connected to the vehicle-mounted controller (5) for obtaining differential positioning data of the residual film recycling machine and sending it to the vehicle-mounted controller (5). The vehicle-mounted controller integrated unit (5) is configured as follows: When the left contact rod (1-1) and right contact rod (1-2) of the cross-contact cotton stalk detection device (1) come into contact with a single row of cotton stubble (18), the direction of false detection is determined according to the differential positioning data obtained by the dual-antenna positioning module (6), and fault-tolerant correction control is performed based on the judgment result.

6. The row navigation device for the cotton field residual film recycling machine according to claim 1, characterized in that, The steering wheel angle detection device (2) includes angle sensors (2-8); The angle sensor (2-8) is connected to the vehicle controller integrated unit (5) for detecting the actual turning angle of the right rear steering wheel (12-2) and feeding back the turning angle signal to the vehicle controller integrated unit (5). The extended shaft of the angle sensor (2-8) is connected to the column shaft of the rear steering axle (12) via an elastic coupling (2-7) to compensate for the eccentricity between the two.

7. A cotton field residual film recycling machine, characterized in that, The cotton field residual film recycling machine row navigator as described in any one of claims 1-6.

8. A row navigation control method for a row navigation device of a cotton field residual film recycling machine according to any one of claims 1-6, characterized in that, Includes the following steps: Step S1: Calculate the lateral deviation: in each signal sampling period T The vehicle controller integrated unit (5) obtains the deflection angle of the left touch bar (1-1). θ Deflection angle of 1 and right contact rod (1-2) θ 2. Yaw angle of inertial navigation unit (3) δ Actual deflection angle of the right rear steering wheel (12-2) φ The data was used to calculate the signal sampling period. T lateral deviation within ∆ d ; Step S2: Calculate the desired steering wheel angle: Calculate the lateral deviation ∆ obtained in step S1. d Yaw angle δ Based on the vehicle speed, the expected steering angle of the hypothetical middle rear steering wheel (12-3) is calculated using a pure tracking algorithm. φ m Then convert to the expected steering angle of the right rear steering wheel (12-2). φ r ; Step S3: Perform correction control: Set the electric steering wheel (4) to constant speed mode and use PID closed-loop control to continuously compare the current steering angle of the right rear steering wheel (12-2). φ The desired rotation angle calculated in step S2 φ r The vehicle controller integrated machine (5) sends a turning angle command to the electric steering wheel (4). Through the real-time angle feedback of the steering wheel turning angle detection device (2), the longitudinal center line of the residual film recycling machine is placed within the transverse deviation zone of the cotton row center.

9. The row navigation control method for the row navigator of the cotton field residual film recycling machine according to claim 8, characterized in that, When the absence of cotton stubble (18) on both sides causes the cross-touch rod type cotton stubble detection device (1) to be unable to obtain effective position data, the direction of the right rear steering wheel (12-2) is taken opposite to the direction of the right rear steering wheel (12-2) during the last correction action. Multiple sets of left or right turning historical data of the right rear steering wheel (12-2) recorded by the vehicle controller integrated machine (5) are read, and the Kalman filter algorithm is used to predict and obtain the expected turning angle of the current right rear steering wheel (12-2). φ r Then, execute the corrective control in step S3.

10. The row navigation control method for the row navigation device of the cotton field residual film recycling machine according to claim 8, characterized in that, When the left contact rod (1-1) and right contact rod (1-2) of the cross-contact cotton stalk detection device (1) come into contact with a single row of cotton stubble stalks (18), fault-tolerant correction control is executed: Using the middle line of the left and right cotton rows as the baseline, the differential position data obtained by the dual-antenna positioning module (6) is read, and the lateral coordinates of the vehicle body are obtained through coordinate transformation. The lateral offset Dd is obtained by comparing it with the lateral coordinates of the baseline. If Dd is greater than a preset positive threshold, it is determined that the two touch rods detect the right cotton stubble. If Dd is less than a preset negative threshold, it is determined that the two touch rods detect the left cotton stubble. The expected turning angle of the right steering wheel is calculated and the current lateral offset Dd is obtained. Then, the correction control in step S3 is executed.

Images