Mechanical operation vehicle with flexible chassis for whole cycle of high-stem crops and operation method of mechanical operation vehicle

Abstract

The mechanical operation vehicle comprises a vehicle body, a cab and a power main vehicle are arranged on the vehicle body, the vehicle body comprises a vehicle frame and four vertical supporting parts connected to the vehicle frame, the bottom of each vertical supporting part is connected with a triangular track, and the bottom of each triangular track is connected with a flexible chassis. The power assembly provides power for the triangular crawler belt; the vertical supporting part comprises a vertical telescopic rod connected with the frame, the bottom end of the vertical telescopic rod is rotationally connected with a fixing frame, and the triangular crawler belt is fixed to the fixing frame. It can be guaranteed that the operation vehicle adapts to the height of high-stem crops, the stability of the operation vehicle in the operation process can also be guaranteed, the application range of the operation vehicle is widened, and the using effect of the operation vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-stalk crop operation, in particular to a high-stalk crop full-cycle mechanical operation vehicle with a flexible chassis and an operation method thereof. BACKGROUND

[0002] In the full-cycle planting of high-stalk crops such as tobacco, corn, and cotton, mechanized operation has become the core support for large-scale production. However, the current industry faces two key bottlenecks: First, the cost of changing vehicles in multiple stages is high. Different growth cycles of crops from transplanting (low-height operation) to harvesting (high-height operation) require changing operation vehicles of different height specifications, which not only increases equipment purchase and maintenance costs but also reduces operation continuity.

[0003] Second, it is difficult to adapt to mountainous terrain. The wheelbase and axlebase of the rigid chassis of traditional operation vehicles are fixed, making it difficult to cope with uneven terrains such as slopes, potholes, and gullies. The wheelset may be suspended, the vehicle body may be tilted, and the vehicle body may shake violently during high-stalk operation, which not only limits the operation range but also poses a risk of rollover.

[0004] For example, the patent number CN221634833U discloses a high-stalk crop pesticide spraying agricultural vehicle, which belongs to the category of traditional high-stalk crop pesticide spraying operation vehicles. The vehicle uses a fixed height adapted frame (1) combined with a pesticide spraying arm. Although the center of gravity is lowered by placing the liquid tank sideways, the chassis is a traditional fixed wheel structure without terrain self-adaptive adjustment function. It is only suitable for spraying specific height crops and cannot meet the full-cycle operation of crops or cope with complex terrains such as mountain slopes.

[0005] For another example, Luoyang Chenhan Agricultural Equipment Technology Co., Ltd. discloses a high-stalk crop top ear harvesting header, which focuses on high-stalk crop top ear harvesting. The header has a folding design to adapt to transportation, but the whole vehicle needs to be carried on a traditional operation vehicle chassis. The chassis does not involve a flexible adjustment structure, and the operation relies on smooth vehicle driving. In uneven terrain, the harvesting accuracy may decrease, and the header is only suitable for the harvesting stage and cannot be compatible with transplanting and field management processes.

[0006] As high-altitude operation scenarios extend to complex terrains, higher requirements are placed on the terrain adaptability, stability, and safety of operation vehicles. There is an urgent need for an operation vehicle that can match mountainous terrain to ensure good stability in different terrains. SUMMARY

[0007] Therefore, the present application aims to provide a high-stalk crop full-cycle mechanical operation vehicle with a flexible chassis and an operation method thereof.

[0008] The technical scheme adopted by the present application to solve the above technical problems is: a mechanical working vehicle for high-stalk crop whole cycle with a flexible chassis, comprising a vehicle body, a cab and a power assembly provided on the vehicle body, the vehicle body comprising a vehicle frame and four vertical support parts connected to the vehicle frame, each vertical support part is connected with a triangular track at the bottom, and the power assembly provides power for the triangular track; the vertical support part comprises a vertical telescopic rod connected with the vehicle frame, and a fixing frame is rotatably connected to the bottom end of the vertical telescopic rod, and the triangular track is fixed on the fixing frame.

[0009] Further, a cross shaft universal joint is arranged on the fixing frame, and the fixing frame and the telescopic end of the vertical telescopic rod are connected through the cross shaft universal joint.

[0010] Further, a vertical guide sleeve is further arranged on the fixing frame, and the vertical guide sleeve and the fixing frame are also connected through the cross shaft universal joint; an inclined telescopic rod is hingedly connected to the vertical guide sleeve, and the inclined telescopic rod is arranged to be inclined to the inside of the vehicle body along the width direction of the vehicle body; the end of the inclined telescopic rod is hingedly connected to the fixing frame, and the inclined telescopic rod drives the fixing frame to be inclined to the inside or outside of the vehicle body.

[0011] Further, the telescopic end of the inclined telescopic rod is connected to the position of the fixing frame away from the cross shaft universal joint; the inclined telescopic rod drives the fixing frame to be inclined to the inside or outside of the vehicle body along the cross shaft universal joint.

[0012] Further, the vertical telescopic rod and the inclined telescopic rod are both hydraulic cylinders; a processor is arranged on the vehicle body, and the processor outputs signals to control the working of the vertical telescopic rod and the inclined telescopic rod.

[0013] The present application also provides a working method based on the above-mentioned mechanical working vehicle for high-stalk crop whole cycle with a flexible chassis, comprising the following steps: S1, obtaining high-stalk crop height data; S2, transmitting the high-stalk crop height data to the processor, and driving the vertical telescopic rod to adapt to the height of the high-stalk crop; S3, the working vehicle enters the field; S4, during the driving process of the working vehicle, the processor collects the inclination data of the vehicle frame in real time; S5, the vertical telescopic rod is driven to make the vehicle frame keep horizontal; S6, judging whether the working vehicle is located on a horizontal slope or a vertical slope, if it is located on a horizontal slope, the inclined telescopic rod does not work, and if it is located on a vertical slope, the inclined telescopic rod works to make the triangular track adhere to the ground.

[0014] As a preferred scheme, the step S1 of obtaining high-stalk crop height data comprises: installing a binocular camera on the vehicle body, the binocular camera collects image information of the high-stalk crop, and generates high-stalk crop height data according to the image information.

[0015] As a preferred scheme, the working of the vertical telescopic rod in step S2 to adapt to the high stalk crop height comprises: when the vertical telescopic rod is in the original position, the height of the vehicle frame is compared with the height of the high stalk crop, if the height of the vehicle frame is higher than the height of the high stalk crop, the vertical telescopic rod does not need to be adjusted, and if the height of the vehicle frame is lower than the height of the high stalk crop, the processor outputs a signal to the vertical telescopic rod to make the vertical telescopic rod elongate until the height of the vehicle frame is higher than the height of the high stalk crop.

[0016] As a preferred scheme, the method for the vertical telescopic rod to work in step S5 to keep the vehicle frame horizontal is that an attitude sensor on the vehicle frame collects inclination data of the vehicle frame, and the vertical telescopic rod is telescoped to keep the vehicle frame horizontal.

[0017] As a preferred scheme, the judgment method in step S6 is that when two vertical telescopic rods located at the front and rear of the vehicle body work, the vehicle is located on a transverse slope, and the tilting telescopic rod does not need to act; when two vertical telescopic rods located at the front and rear of the vehicle body work, the vehicle is located on a longitudinal slope, and the tilting telescopic rod connected with the vertical telescopic rod that acts works to make the triangular track adhere to the ground.

[0018] The application has the following beneficial effects: 1. The application has high flexibility in use, can work in fields of various terrains, especially in mountainous areas where tobacco is planted, has high stability, and the triangular track can adhere to the ground to the maximum extent, and meanwhile, the horizontal of the vehicle frame itself is ensured, and the problem of tilting is less likely to occur.

[0019] 2. The tilting telescopic rod provided in the application can make the triangular track adhere to the ground, keep the contact area of the triangular track and the ground, and further ensure the stability in the driving process.

[0020] 3. The fixing frame provided in the application realizes the connection of the triangular track and the vertical telescopic rod, and facilitates the installation of the tilting telescopic rod.

[0021] 4. The application is based on the working method of the mechanical working vehicle for the whole cycle of the high stalk crop with a flexible chassis, the process is compact, the control of the working vehicle in the working process can be realized, the height of the working vehicle can be adapted to the height of the high stalk crop, and the stability of the working vehicle in the working process can be ensured, and the application range and use effect of the working vehicle are improved. BRIEF DESCRIPTION OF DRAWINGS

[0022] Fig. 1 It is a structural schematic diagram of the application.

[0023] Fig. 2 It is a structural schematic diagram of the application after removing the cab.

[0024] Fig. 3 It is a structural schematic diagram of the triangular track in the application.

[0025] Illustration mark: 1, frame, 2, cab, 3, power assembly, 4, vertical telescopic rod, 5, tilting telescopic rod, 6, vertical guide sleeve, 7, fixing frame, 8, triangular track, 9, binocular camera, 10, reinforcing plate, 11, cross shaft universal joint, 12, upper pin shaft, 13, lower pin shaft. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and examples. It should be understood that in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance.

[0027] Please refer to Figs. 1-3 , a mechanical working vehicle for the whole cycle of high-stalk crops with a flexible chassis, comprising a vehicle body, a cab 2 and a power assembly 3 are provided on the vehicle body, wherein the power assembly 3 comprises a diesel tank, and the working of the vehicle body is powered by diesel in the diesel tank. In this embodiment, the power assembly 3 is a mature prior art, and this embodiment does not involve improvements in this regard.

[0028] It should be noted that: the present application only includes the working vehicle, and subsequent corresponding modules can be installed on the working vehicle as needed, such as: if tobacco crops need to be transplanted, only a transplanting module needs to be installed on the working vehicle, and if tobacco crops need to be harvested, only a harvesting module needs to be installed on the working vehicle. The present application does not include specific working modules, but only includes the working vehicle itself. The working vehicle can move in the working area, and can be self-adapted according to the height of the high-stalk crops in the working area and the terrain conditions in the working area to ensure the stability of the whole working vehicle during movement, thereby improving the application range of the working vehicle and greatly reducing the probability of the working vehicle falling during operation, thereby improving the use effect of the working vehicle. Again, the working vehicle only includes the vehicle body itself and does not include specific working modules.

[0029] The present application realizes the whole process integrated operation from transplanting to harvesting, and solves the stability problem under mountainous terrain, which becomes the key path to promote the mechanization and large-scale popularization of high-stalk crop operation.

[0030] The vehicle body comprises a vehicle frame 1, a cab 2 and a power assembly 3, which are all mounted on the vehicle frame 1. Four vertical supporting parts are connected to the lower part of the vehicle frame 1, which make the vehicle frame 1 form a gantry shape, so that the vehicle frame 1 can shuttle in the working area. The vertical supporting parts can support the vehicle frame 1, and the height of the vehicle frame 1 can be adjusted according to the height of the high-stalk crops in the working area, so that the vehicle frame 1 is above the high-stalk crops, solving the problem that the high-stalk crops affect the movement of the vehicle frame 1.

[0031] In order to ensure the support of the vertical supporting part to the vehicle frame 1, the vertical supporting part in the embodiment comprises a vertical telescopic rod 4 connected with the vehicle frame 1, and a fixing frame 7 is rotatably connected to the bottom of the vertical telescopic rod 4. The distance between the fixing frame 7 and the vehicle frame 1 can be changed by extending or shortening the vertical telescopic rod 4.

[0032] In order to further improve the stability of the vertical telescopic rod 4 during the extension and retraction process, a vertical guide sleeve 6 is rotatably connected to the fixing frame 7, and the bottom end of the vertical telescopic rod 4 is slidably arranged in the vertical guide sleeve 6. In the embodiment, the fixing frame 7, the vertical guide sleeve 6 and the vertical telescopic rod 4 are all in a rotatable connection form, which ensures that the subsequent inclination of the fixing frame 7 does not affect the vertical state of the vertical guide sleeve 6 and the vertical telescopic rod 4.

[0033] The rotatable connection between the fixing frame 7 and the vertical telescopic rod 4 and the vertical guide sleeve 6 is achieved by providing a cross shaft universal joint 11 on the fixing frame 7, and the fixing frame 7 is connected with the vertical telescopic rod 4 and the vertical guide sleeve 6 through the cross shaft universal joint 11. In this way, the fixing frame 7 can rotate forward and backward relative to the vertical telescopic rod 4, and also rotate left and right relative to the vertical telescopic rod 4.

[0034] A triangular track 8 is connected to the fixing frame 7, and the power assembly 3 provides power for the triangular track 8. The triangular track 8 can move on the ground, and compared with the wheel form, it has a larger contact with the ground and is more easily adapted to rugged terrain. In the embodiment, the triangular track 8 itself is a mature existing technology, and the present application does not involve improvements in this part.

[0035] In the embodiment, the cross shaft universal joint 11 is provided, so that the triangular track 8 can rotate left and right to fit the ground when encountering a longitudinal slope, and can also rotate forward and backward to fit the ground when encountering a transverse slope. The longitudinal slope refers to a slope perpendicular to the moving direction of the vehicle body, and the transverse slope refers to a slope along the moving direction of the vehicle body.

[0036] The inclined telescopic rod 5 is connected to the vertical guide sleeve 6, and the end of the inclined telescopic rod 5 is connected to the fixed frame 7 and close to the inner side of the triangular track 8, and the cross shaft universal joint 11 is connected to the end of the fixed frame 7 away from the inclined telescopic rod 5. Specifically, the upper end of the inclined telescopic rod 5 is connected to the vertical guide sleeve 6 through the upper pin shaft 12, and the lower end of the inclined telescopic rod 5 is connected to the fixed frame 7 through the lower pin shaft 13. In this way, when the inclined telescopic rod 5 is extended or retracted, the fixed frame 7 is driven to rotate around the cross shaft universal joint 11, so that the triangular track 8 can be tilted left and right to adapt to the terrain.

[0037] The inclined telescopic rod 5 is extended, so that the fixed frame 7 and the triangular track 8 are tilted left and right together, and the inner side of the triangular track 8 is lowered; the inclined telescopic rod 5 is retracted, so that the fixed frame 7 and the triangular track 8 are tilted left and right together, and the inner side of the triangular track 8 is raised.

[0038] In this embodiment, the vertical telescopic rod 4 and the inclined telescopic rod 5 can adapt to the height of the high-stalk crops and the rugged terrain, so that the triangular track 8 can always be in contact with the ground, and the stability of the working vehicle during operation is improved. As an alternative of this embodiment, the vertical telescopic rod 4 and the inclined telescopic rod 5 are both hydraulic telescopic rods, and the above-mentioned power assembly 3 provides power for the hydraulic telescopic rods.

[0039] As an alternative of this embodiment, a processor is arranged on the vehicle body, a binocular camera 9 is arranged on the front part of the vehicle body, and a posture sensor is arranged on the vehicle frame 1; the binocular camera 9 collects image information of the high-stalk crops, the posture sensor collects posture information of the vehicle frame 1, and the collected image information and posture information are transmitted to the processor, and the processor outputs signals to control the operation of the vertical telescopic rod and the inclined telescopic rod. Therefore, the processor outputs signals according to the received height information of the high-stalk crops and the inclination information of the triangular track 8 to make the triangular track 8 in contact with the ground, and the vehicle frame 1 is located above the high-stalk crops.

[0040] In this embodiment, the posture sensor on the vehicle frame 1 collects inclination information of the vehicle frame 1, and transmits the information to the processor, and the processor outputs signals according to the received data to make the vertical telescopic rod 4 extend or retract, so that the vehicle frame 1 itself remains in a horizontal state.

[0041] In this embodiment, the specific installation position of the posture sensor on the vehicle frame 1 is subject to the condition that the inclination state of the vehicle frame 1 can be collected, and the specific installation position can be flexibly changed by the user according to the needs.

[0042] In this embodiment, the processor has two controls for the vertical telescopic rod 4, one is based on the height of the tall stem crops, so that the vehicle frame 1 is above the tall stem crops, the other is based on the inclination of the vehicle frame 1, so that the vehicle frame 1 remains horizontal; the control of the two does not contradict, the vertical telescopic rod 4 is controlled to be above the tall stem crops first; then the processor outputs a signal to make the vertical telescopic rod 4 on the low side of the vehicle frame 1 elongate, so that the vehicle frame 1 itself remains horizontal, so that after the height is adjusted, there is no situation of being lowered, and the tall stem crops will not be pressed.

[0043] In this embodiment, the processor used is a single-chip microcomputer of model STM32F103RET6; the attitude sensor used is an integrated three-axis accelerometer and three-axis gyroscope attitude sensor of model MPU6050, which can directly communicate with the single-chip microcomputer through a 12C interface.

[0044] The implementation method of the processor output signal control of the vertical telescopic rod 4 and the inclined telescopic rod 5 is a mature prior art, and the specific implementation mode can be: connecting a relay drive module at the signal output end of the processor, the relay drive module driving an electro-hydraulic execution element, the electro-hydraulic execution element controlling the reversing of the vertical telescopic rod 4 and the inclined telescopic rod 5, and then realizing the elongation or shortening of the vertical telescopic rod 4 and the inclined telescopic rod 5. The electro-hydraulic execution element in this embodiment can be realized using conventional technology, and this embodiment does not involve improvements in this aspect, so it will not be described again.

[0045] The high-stem crop full-cycle mechanical working vehicle with a flexible chassis described in this application has high flexibility in use, can work in fields of various terrains, especially when working in mountainous areas where tobacco is planted, has high stability, the triangular track 8 can be maximally attached to the ground, and at the same time, the horizontal state of the vehicle frame 1 itself is ensured, and the problem of tilting is not prone to occur.

[0046] This embodiment also discloses a working method based on the above-mentioned high-stem crop full-cycle mechanical working vehicle with a flexible chassis, comprising the following steps: 1) Obtain high-stem crop height data; wherein the implementation method of this step is: installing a binocular camera 9 on the vehicle frame 1, the binocular camera 9 collecting image information of the high-stem crops, and generating high-stem crop height data according to the image information. Here, generating high-stem crop height data according to the image information collected by the binocular camera 9 is a mature prior art, and this embodiment does not involve improvements in this aspect.

[0047] 2) high stalk crop height data is transmitted to the processor, the vertical telescopic rod 4 acts, adapts the height of the high stalk crop. The processor output signal controls the work of the vertical telescopic rod 4 to adapt the height of the high stalk crop: when the vertical telescopic rod 4 is in the original position, the height of the vehicle frame 1 is compared with the height of the high stalk crop, if the height of the vehicle frame 1 is higher than the height of the high stalk crop, the vertical telescopic rod 4 does not need to be adjusted, if the height of the vehicle frame 1 is lower than the height of the high stalk crop, the processor output signal to the vertical telescopic rod 4 makes the vertical telescopic rod 4 elongate until the height of the vehicle frame 1 is higher than the height of the high stalk crop.

[0048] 3) the working vehicle enters the field.

[0049] 4) during the driving process of the working vehicle, the processor real-time vehicle frame 1 inclination data; the method for generating the data of whether the vehicle frame 1 is inclined in step 4 is: installing a posture sensor on the vehicle frame 1, the posture sensor transmits the collected data to the processor, the processor judges whether it is inclined according to the received data. The processor judges whether the vehicle frame 1 is inclined according to the received posture sensor is a mature prior art.

[0050] 5) the vertical telescopic rod 4 acts, so that the vehicle frame 1 keeps horizontal. The processor judges whether the vehicle frame 1 is horizontal according to the signal of the received posture sensor, if the vehicle frame 1 is inclined, the processor outputs the signal to make the vertical telescopic rod 4 on the low side elongate, so that the vehicle frame 1 keeps horizontal.

[0051] 6) judge whether the position is a cross slope or a longitudinal slope, if it is a longitudinal slope, the inclined telescopic rod 5 acts, so that the triangular track 8 is in contact with the ground. The judgment method is: if two vertical telescopic rods 4 located at the front / rear of the vehicle body work, it is located on the cross slope, the inclined telescopic rod 5 does not need to act; when two vertical telescopic rods 4 located at the front and rear of the vehicle body work, it is located on the longitudinal slope, then the inclined telescopic rod 5 connected with the vertical telescopic rod 4 acts, so that the triangular track 8 is in contact with the ground.

[0052] In the control of the embodiment, first, the vertical telescopic rod 4 will raise the vehicle frame 1 according to the height of the high stalk crop, so that the vehicle frame 1 can shuttle on the high stalk crop; then, according to the inclination information of the posture sensor, the vertical telescopic rod 4 on the low side will act, so that the vehicle frame 1 keeps horizontal; then, if it is located on the cross slope, that is, the vehicle frame 1 is high in front and low in back, or the vehicle frame 1 is low in front and high in back, at this time, since the fixed frame and the vertical telescopic rod 4 are connected through the cross shaft universal joint 11, and there is no limit in the front and rear rotation direction, at this time, the triangular track 8 will rotate forward and backward, and is in contact with the ground.

[0053] When a longitudinal slope is encountered, that is, one side of the frame 1 is high and the other side is low, at this time, because the vertical telescopic rod 4 pushes one side of the frame 1 to be lifted, the frame 1 and the triangular track 8 are parallel in the original state, then at this time, when the vertical telescopic rod 4 on one side is elongated, an angle will be formed between the triangular track 8 and the ground, at this time, the inclined telescopic rod 5 acts to make the triangular track 8 rotate the angle, so that the triangular track 8 can be in close contact with the ground, and the ground contact area is increased.

[0054] The working method of the high-pole crop full-cycle mechanical working vehicle with a flexible chassis can realize control during the working process of the working vehicle, can ensure that the working vehicle is adapted to the height of the high-pole crop, and can ensure the stability of the working vehicle during the working process, thereby improving the application range and use effect of the working vehicle.

[0055] It should be noted that the above embodiments are only used to illustrate the present application, but the present application is not limited to the above embodiments, and any simple modification, equivalent change and modification made according to the technical essence of the present application to the above embodiments all fall within the protection scope of the present application.

Claims

1. A high-stalk crop full-cycle mechanical operation vehicle with a flexible chassis, comprising a vehicle body, a cab (2) and a power assembly (3) are arranged on the vehicle body, characterized in that, The vehicle body comprises a frame (1) and four vertical support parts connected to the frame (1), the bottom of each vertical support part is connected with a triangular track (8), and a power assembly (3) provides power for the triangular track (8); the vertical support part comprises a vertical telescopic rod (4) connected with the frame (1), the bottom end of the vertical telescopic rod (4) is rotatably connected with a fixing frame (7), and the triangular track (8) is fixed on the fixing frame (7).

2. The high stalked crop full cycle mechanical service vehicle with flexible chassis according to claim 1, characterized in that, The fixing frame (7) is provided with a cross shaft universal joint (11), and the fixing frame (7) and the telescopic end of the vertical telescopic rod (4) are connected through the cross shaft universal joint (11).

3. The high stalked crop full cycle mechanical service vehicle with flexible chassis according to claim 2, characterized in that, The fixing frame (7) is also provided with a vertical guide sleeve (6), and the vertical guide sleeve (6) and the fixing frame (7) are also connected through the cross shaft universal joint (11); the vertical guide sleeve (6) is hingedly provided with an inclined telescopic rod (5), and the inclined telescopic rod (5) is arranged to be inclined to the inside of the vehicle body along the width direction of the vehicle body; the end of the inclined telescopic rod (5) is hingedly connected to the fixing frame (7), and the inclined telescopic rod (5) drives the fixing frame (7) to be inclined to the inside or the outside of the vehicle body.

4. The high stalked crop full cycle mechanical service vehicle with flexible chassis according to claim 3, characterized in that, The telescopic end of the inclined telescopic rod (5) is connected to the position of the fixing frame (7) away from the cross shaft universal joint (11); the inclined telescopic rod (5) drives the fixing frame (7) to be inclined to the inside or the outside of the vehicle body along the cross shaft universal joint (11).

5. The high stalked crops full cycle mechanical service vehicle with flexible chassis according to claim 4, characterized in that, The vertical telescopic rod (4) and the inclined telescopic rod (5) are both hydraulic cylinders; a processor is arranged on the vehicle body, and the processor outputs signals to control the operation of the vertical telescopic rod (4) and the inclined telescopic rod (5).

6. The method of operating a high stalk crop full cycle machine for a flexible chassis according to claim 5, characterized in that, The method comprises the following steps: S1, obtaining high-stalk crop height data; S2, transmitting the high-stalk crop height data to the processor, and driving the vertical telescopic rod (4) to adapt to the height of the high-stalk crop; S3, driving the working vehicle into the field; S4, during the driving process of the working vehicle, the processor collects the inclination data of the frame (1) in real time; S5, driving the vertical telescopic rod (4) to keep the frame (1) horizontal; S6, judging whether the working vehicle is located on a horizontal slope or a vertical slope, if it is located on a horizontal slope, the inclined telescopic rod (5) does not work, and if it is located on a vertical slope, the inclined telescopic rod (5) works to make the triangular track (8) adhere to the ground.

7. The method of claim 6, wherein the method is characterized by: In step S1, the high-stalk crop height data is obtained by installing a binocular camera (9) on the vehicle body, the binocular camera (9) collects image information of the high-stalk crop, and the high-stalk crop height data is generated according to the image information.

8. The method of claim 6, wherein the method is characterized by: In step S2, the vertical telescopic rod (4) is driven to adapt to the height of the high-stalk crop, which comprises the following steps: when the vertical telescopic rod (4) is in the original position, the height of the frame (1) is compared with the height of the high-stalk crop, if the height of the frame (1) is higher than the height of the high-stalk crop, the vertical telescopic rod (4) does not need to be adjusted, and if the height of the frame (1) is lower than the height of the high-stalk crop, the processor outputs signals to the vertical telescopic rod (4) to make the vertical telescopic rod (4) elongate until the height of the frame (1) is higher than the height of the high-stalk crop.

9. The method of claim 6, wherein the method is characterized by: The method for keeping the vehicle frame (1) horizontal by the working of the vertical telescopic rods (4) in step S5 is that the posture sensor on the vehicle frame (1) collects the inclination data of the vehicle frame (1), and the vertical telescopic rods (4) are telescoped to keep the vehicle frame (1) horizontal.

10. The method of claim 6, wherein the method is characterized by: The judgment method of step S6 is that when the two vertical telescopic rods (4) at the front or rear of the vehicle body work, the vehicle is located on a transverse slope, and the inclined telescopic rod (5) does not need to act; when the two vertical telescopic rods (4) at the front and rear of the vehicle body work, the vehicle is located on a longitudinal slope, and the inclined telescopic rod (5) connected with the working vertical telescopic rod (4) works to make the triangular track (8) adhere to the ground.

Images