Self-adaptive height and roller distance of ridge with track presser green soybean harvester

Abstract

The application discloses a height and roller distance self-adaptive green soybean harvester with a track ridge pressing device. The invention collects field green soybean images through a depth camera, locates and obtains the lowest podding height through an identification model, and controls the driving device according to the plant state to realize the self-adaptive adjustment of the height and the roller distance of the podding roller assembly, effectively reduces the pod residue, and avoids the stalk jamming. The harvester comprises a rack, a podding roller assembly, a pod conveying belt, a winnowing device, a transfer box, a driving device, a control system, a depth camera, a guide frame and a track ridge pressing walking mechanism. The track ridge pressing walking mechanism is arranged at the front end below the rack, adopts a flexible continuous surface contact, compacts the working ridge surface in the field in real time, gently supports and holds the lodged plants, and stably feeds. The invention can adaptively match the field harvesting conditions, significantly improves the problems of missed picking and jamming, and improves the green soybean podding picking efficiency and the adaptability of the whole machine.

Description

Technical Field

[0001] This application relates to the field of agricultural machinery technology, specifically to a tracked soybean harvester with adaptive height and roller spacing for pressing ridges. Background Technology

[0002] As an important legume economic crop in my country, green soybeans have both edible and economic value, leading to a year-on-year expansion in planting area and a continuous increase in market demand. With the development of large-scale and intensive agriculture, the demand for mechanized harvesting of green soybeans is becoming increasingly urgent. While current green soybean harvesters have initially achieved integrated operations of pod removal, conveying, and cleaning, significant technical shortcomings remain: most models use a fixed-height, fixed-spacing pod-removing roller structure, relying on manually preset parameters. This cannot adapt to the differences in pod height in the field, nor can it automatically adjust the spacing of the pod-removing rollers according to the thickness and density of the plant stems, easily resulting in problems such as missed harvesting, stalk jamming, pod damage, or uprooting of plants. Furthermore, traditional models have poor maneuverability and stability in soft, muddy terrain, exhibiting poor soil adaptability. Traditional ridge-pressing pads cannot provide real-time ridge pressing, have delayed terrain perception, and rely on manual adjustment. Lodging crops also require manual assistance, making it difficult to meet the needs of complex field operations. Some intelligent harvesting equipment only achieves basic crop row recognition and autonomous walking, without integrated design for dynamic changes in pod height, adaptive pod removal spacing, and ridge compaction and row stability. It cannot adapt to different plants and different harvesting conditions in real time, making it difficult to guarantee operating efficiency and harvesting quality. Summary of the Invention

[0003] In order to solve the above-mentioned technical problems, this application proposes the following technical solution:

[0004] This application provides a green soybean harvester with adaptive height and roller spacing for tracked ridge pressing, including: a frame, a tracked ridge pressing walking mechanism, drive support wheels, a guide frame, a pod-removing roller assembly, a pod conveyor belt, an air separator, a transfer box, a drive device, a control system, and a depth camera.

[0005] The tracked ridge compaction mechanism is located at the front end below the frame, and the drive support wheel is located at the rear end below the frame. The two work together to provide the machine with the power to move and compact the ridge surface. The guide frame, pod-removing roller assembly, pod conveyor belt, and air separator are arranged sequentially along the length of the frame, and the transfer box is located behind the air separator. The depth camera is installed at the front of the frame and above the guide frame. The control system is communicatively connected to the depth camera and the drive device.

[0006] The rocker-type lifting structure has a fixed high-end hinge to the pod-removing roller assembly, with only the low end driven by an electric push rod to swing up and down. The driving device uses only an electric push rod, with its bottom end hinged to the frame and its top end hinged to the low end of the pod-removing roller assembly. The extension and retraction of the electric push rod causes the pod-removing roller assembly to swing up and down around the high-end hinge point, so that the lowest working position of the pod-removing roller is adapted to the lowest pod height.

[0007] The pod-removing roller assembly includes a pair of pod-removing rollers with parallel axes, each with a left-handed spiral pod-removing ridge on its surface. The assembly is mounted in a rocker-type configuration, with the upper end hinged to the frame and remaining stationary, while the lower end is hinged to an electric push rod, which drives the rollers to swing and achieve height self-adaptation. One pod-removing roller is fixed, while the front end of the other roller can move horizontally, and the rear end transmits power through a universal coupling. The control system adaptively adjusts the distance between the front ends of the pod-removing rollers according to the thickness and density of the plant stems, reducing the distance when the stems are thin and the pods are dense, and increasing the distance when the stems are thick and forked, to prevent jamming, stem breakage, and pod damage.

[0008] The rocker-type lifting structure, combined with the adjustable roller spacing structure at the front end, achieves dual self-adaptation of height and roller spacing, solving the problems of poor pod height adaptation, missed harvesting, and jamming in existing harvesters, thereby improving harvesting efficiency and quality.

[0009] The tracked ridge-pressing walking mechanism includes a ridge-pressing track and a transmission wheel set that cooperates with the ridge-pressing track. The outer circumferential surface of the ridge-pressing track is integrally formed with ridge-pressing protrusions evenly distributed along the circumference. This mechanism, together with the rear drive support wheel, provides walking power. During movement, the ridge-pressing protrusions compact the planting ridge surface in real time, solving the problem of insufficient passage in muddy plots. At the same time, during movement, it supports the fallen plants, so that the plants enter the pod-removing roller assembly in a neat and stable manner, reducing the problems of missed harvesting and jamming, ensuring uniform feeding, and improving the passage and operational stability of soft and muddy plots.

[0010] The guide frame has a "trumpet mouth" shaped structure, with the front opening being wider than the rear opening. The rear opening is adapted to the feed end of the pod-removing roller assembly, ensuring that the green soybean plants enter the pod-removing roller assembly smoothly and reducing mechanical damage to the green soybean plants.

[0011] The pod conveyor belt, located below the pod-removing roller assembly, is made of non-slip and wear-resistant material and is used to receive the pods after pod removal and transport them to the air separation device. The air separation device includes a fan and an air guide pipe, with the air outlet of the air guide pipe facing the end of the conveyor belt between the cleaning roller and the air separation device, for separating pods from impurities. The transfer box is placed on a support behind the air separation device, below the cleaning roller, and is used to hold the screened clean pods.

[0012] The depth camera acquires images and depth information at a fixed downward angle of 30°. The control system has a built-in recognition model and positioning algorithm to identify the lowest pod height and synchronously control the spacing and swing height of the front end of the pod-removing rollers according to the plant status.

[0013] The control system is also connected to a data storage module, which is used to store data such as original images, recognition results, and operation parameters, to facilitate subsequent model optimization and operation analysis.

[0014] The drive support wheel works in conjunction with the tracked ridge compaction mechanism to assist the machine in steering and smooth movement, adapting to different terrain operation requirements and improving the machine's passability and operational stability in muddy areas.

[0015] The machine operates as follows: During operation, the tracked ridge-pressing mechanism at the front of the frame and the drive support wheel at the rear work together to drive the machine along the field path. The tracked ridge-pressing mechanism simultaneously compacts the planting ridge surface in real time and supports the lodged plants. The depth camera collects plant images and depth information in real time. The control system identifies and calculates the minimum pod height and controls the electric push rod to swing the pod-removing roller assembly to the appropriate height based on the plant stem condition. At the same time, the ball screw at the front of the pod-removing roller is adjusted to the appropriate spacing. The guide frame smoothly guides the green soybean plants into the pod-removing roller assembly. A pair of pod-removing rollers with left-handed spiral pod-removing ridges rotate in opposite directions to remove the pods. The pods fall onto the pod conveyor belt and are transported to the air separation device. After the fan separates impurities, the clean pods fall into the transfer box, completing the harvesting operation. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a tracked ridge pressing machine that adapts to the height and roller spacing of green soybeans, provided by the present invention.

[0017] Figure 2 A side view of a tracked soybean harvester with adaptive height and roller spacing for pressing ridges, provided by the present invention;

[0018] Figure 3 This invention provides a front view of a tracked soybean harvester with adaptive height and roller spacing for pressing ridges.

[0019] Figure 4 This is a schematic diagram of the structure of the pod-removing roller assembly provided by the present invention;

[0020] Figure 5 A schematic diagram of the ball screw structure at the front end of the pod-removing roller assembly provided by the present invention;

[0021] Figure 6 This is a schematic diagram of the operating state of the soybean harvester provided by the present invention;

[0022] Figure 7 The control system principle block diagram provided by the present invention;

[0023] Figure 8 A flowchart provided for this invention;

[0024] As shown in the figure: 1-Frame; 2-Control box; 3-Depth camera; 4-Control panel; 5-Observation port; 6-Guide frame; 7-Front baffle; 8-Rear baffle; 9-Picking roller assembly; 91-Spiral picking ridge; 10-Pod conveyor belt; 11-Conveyor belt drive motor; 12-Conveyor belt support frame; 13-Centrifugal fan; 131-Air duct; 14-Transfer box; 15-Crawler ridge pressing mechanism; 151-Ridging track; 152-Ridging ridge; 16-Front wheel; 17-Rear wheel; 18-Cleaning roller; 19-Cleaning roller support frame; 20-Electric push rod; 21-Ball screw; 211-Screw support seat; 212-Nut seat; 213-Motor drive seat; 22-Spare transfer box. Detailed Implementation

[0025] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings:

[0026] Unless otherwise defined, the technical terms used in this embodiment are consistent with the conventional understanding of those skilled in the art. In this document, "first" and "second" are used only to distinguish structures and do not indicate quantity or importance; "including" and "comprising" are open-ended expressions; "connection" includes direct and indirect connections; "upper, lower, front, back, left, and right" are only descriptions of relative positions.

[0027] Combination Figures 1-7 As shown, this embodiment provides a green soybean harvester with adaptive height and roller spacing for tracked ridge pressing. The machine includes a frame 1, a control box 2, a depth camera 3, a control panel 4, an observation port 5, a guide frame 6, a front baffle 7, a rear baffle 8, a pod-removing roller assembly 9, a spiral pod-removing ridge 91, a pod conveyor belt 10, a conveyor belt drive motor 11, a conveyor belt support frame 12, a centrifugal fan 13, an air duct 131, a transfer box 14, a tracked ridge pressing walking mechanism 15, ridge pressing tracks 151, ridge pressing ridges 152, a front wheel 16, a rear wheel 17, a cleaning roller 18, a cleaning roller support frame 19, an electric push rod 20, a ball screw 21, and a spare transfer box 22.

[0028] like Figure 1 , Figure 2 , Figure 3 As shown, the frame 1 serves as the load-bearing frame for the entire machine. The guide frame 6 is fixedly mounted on the pod-removing roller assembly 9 and extends forward. The guide frame 6 has a flared, inward-curving trumpet-shaped structure, with the front opening larger than the rear opening. This is used to smoothly guide the soybean plants from the field into the pod-removing roller assembly 9, preventing the plants from tilting, tipping over, or being mechanically damaged. The frame 1 has a front baffle 7 at the front end and a rear baffle 8 at the rear end. Observation ports 5 are opened at corresponding positions on both sides, allowing operators to monitor the internal pod-removing and conveying status in real time and promptly detect abnormalities such as blockages or stalk jamming.

[0029] A control box 2 and a control panel 4 are mounted on top of the frame 1. The control box 2 contains a built-in control system, drive circuit, and data storage module. The control panel 4 is used for human-machine interaction operations such as power-on, power-off, mode switching, and parameter viewing. A depth camera 3 is fixedly installed at the front of the frame 1 and above the guide frame 6, with a fixed downward angle of 30°. It is used to collect image and depth information of the green soybean plants in real time, providing data input for height adaptation and roller spacing adaptation.

[0030] like Figure 1 , Figure 2 , Figure 4 , Figure 5 As shown, the pod-removing roller assembly 9 is installed in the middle of the frame 1, behind the guide frame 6. The pod-removing roller assembly 9 includes a pair of parallel pod-removing rollers, each with a spiral pod-removing ridge 91 on its surface. The two pod-removing rollers rotate in opposite directions, using the kneading, squeezing, and guiding action of the spiral ridges to remove the green soybean pods. The pod-removing roller assembly 9 is connected to the electric push rod 20 and the ball screw 21. The electric push rod 20 drives the overall height adjustment, and the ball screw 21 ensures smooth lifting and accurate positioning, so that the pod-removing working height is precisely matched with the minimum pod height of the green soybeans, thereby reducing problems such as missed harvesting, plant uprooting, and jamming from the source.

[0031] The pod-removing roller assembly 9 can achieve adaptive adjustment of the roller spacing under the control of the control system. It automatically reduces the spacing for plants with thin stems and dense pods to improve the pod removal rate; and automatically increases the spacing for plants with thick stems, forked stems, and multiple intertwined plants to avoid stem breakage and pod crushing damage, thus achieving flexible adaptive pod removal for plants with different growth conditions.

[0032] like Figure 1 , Figure 2 , Figure 3 As shown, a pod conveyor belt 10 is installed below the pod-removing roller assembly 9. The pod conveyor belt 10 is driven by a conveyor belt drive motor 11, and a conveyor belt support frame 12 is provided below to ensure that the belt does not collapse or deviate. After being removed from the pods, they fall into the pod conveyor belt 10 under the action of gravity and are conveyed backward to the air separation area.

[0033] A cleaning roller 18 is installed below the end of the pod conveyor belt 10. The cleaning roller 18 is mounted on a cleaning roller support frame 19 and is used to further break up adhered pods and filter out impurities from longer branches. Below the cleaning roller 18 is an air separation device, which includes a centrifugal fan 13 and an air guide duct 131. The centrifugal fan 13 generates a directional airflow, which is guided by the air guide duct 131 and blown towards the pod falling area, separating and removing light impurities such as leaves, broken stalks, and pod skins. The clean pods fall into a transfer box 14 for temporary storage under gravity. A spare transfer box 22 is also provided on the frame 1 for quick replacement when the transfer box 14 is full, improving continuous operation efficiency.

[0034] like Figure 1 , Figure 2 , Figure 3 As shown, a walking device is located below the frame 1, including a tracked ridge-pressing walking mechanism 15, a front wheel 16, and a rear wheel 17. The tracked ridge-pressing walking mechanism 15 is located at the front of the frame 1 and includes a ridge-pressing track 151 and ridge-pressing ridges 152. The ridge-pressing track 151 adopts a surface contact grounding structure, and multiple ridge-pressing ridges 152 are integrally formed on the outer circumference. During operation, the tracked ridge-pressing walking mechanism 15 moves along the ridge direction under drive, and the ridge-pressing ridges 152 simultaneously and in real time compact the soybean planting ridge surface, increasing the ground contact area and reducing the ground contact pressure. This significantly improves the machine's passability, grip, and operational stability in muddy and soft terrain, preventing slippage, sinking, and deviation from the path, which would affect the harvesting effect. At the same time, it supports fallen plants during movement, allowing them to naturally enter the pod-removing device, ensuring stable feeding, reducing missed harvesting and jamming problems, and providing uniform feeding. The front wheel 16 and the rear wheel 17 work with the track to support the entire machine and ensure smooth movement.

[0035] like Figure 6 The diagram shows the operating states of the soybean harvester of the present invention under different working conditions, illustrating the adaptive operation process of the whole machine in different field environments such as flat ridges and sloping land. Specifically, in the standard flat ridge operation state, the whole machine moves at a constant speed along the soybean planting ridge, and the pod-removing roller assembly 9 precisely matches the optimal roller entry position, aligning with the lowest pod height of the soybeans, achieving efficient and low-damage pod removal. For conditions where the ridge surface is raised and the pod position is too high, the control system drives the pod-removing roller assembly 9 to raise the operating height to avoid missed harvesting, plant damage, or soil contact; this is the high-position roller entry harvesting state. For conditions where the ridge surface is sunken and the pod position is too low, the control system drives the pod-removing roller assembly 9 to lower the operating height, ensuring precise adaptation between the pod removal position and the pod position; this is the low-position roller entry harvesting state. Throughout the operation, the tracked ridge compaction mechanism 15 flexibly fits the ridge surface through the ridge compaction track 151 and the ridge compaction ridge protrusion 152, completing the ridge surface compaction in real time and supporting the lodged plants. After being guided by the guide frame 6, the plants smoothly enter the pod-removing roller assembly 9 to complete the pod removal. The pods after pod removal are transported to the air separation area by the pod conveyor belt 10. After being cleaned by the centrifugal fan 13 and the air guide pipe 131, the clean pods fall into the transfer box 14 for collection. The whole machine realizes the integrated continuous adaptive operation of ridge surface compaction, plant feeding, pod removal, conveying, and cleaning, which can adapt to complex field terrain and different plant growth states.

[0036] like Figure 7The diagram shown is a block diagram of the control system in this embodiment. The control system is centered on the control box 2 and is communicatively connected to the depth camera 3, electric push rod 20, pod-removing roller drive, conveyor belt drive motor 11, centrifugal fan 13, and walking drive mechanism. The operation process is as follows: The depth camera 3 collects and uploads plant images and depth data in real time; the control system locates the pods using a recognition model, calculates the minimum pod height and plant stem condition; it outputs a height adjustment signal to control the electric push rod 20 to swing the lower end of the pod-removing roller assembly 9 up and down to the appropriate height; it outputs a roller gap adjustment signal to control the pod-removing rollers to adaptively adjust the gap; the control system synchronously drives the walking, pod-removing, conveying, and air-separating mechanisms to work together; after pod removal, conveying, and air separation, the pods fall into the transfer box 14, completing automated adaptive harvesting.

[0037] like Figure 8 The diagram shows the plant identification and adaptive adjustment workflow of this invention. The overall workflow proceeds in an orderly manner under the coordination of the control system, with each functional module working in close collaboration. This achieves intelligent closed-loop control of the entire process, from green soybean plant identification and parameter calculation to actuator adjustment and harvesting. The workflow is as follows:

[0038] Power on and initialize the entire machine. Place the tracked soybean harvester with adaptive height and roller spacing between the pressing ridges between the working ridges. The power module supplies power to all systems of the machine, completes the initialization and self-test of the control system, depth camera, actuator, and data storage module, and enters standby mode after confirming that all modules are operating normally.

[0039] Depth image acquisition and preprocessing. A depth camera 3, installed 30° above and below the guide frame, acquires two-dimensional images and depth information of soybean plants in real time at a fixed acquisition frequency. Simultaneously, the acquired images are preprocessed, including noise reduction, illumination enhancement, size normalization, and region of interest cropping, to eliminate interference from uneven field lighting, weed obstruction, image distortion, etc., and improve the accuracy of subsequent recognition.

[0040] Plant target state recognition. The preprocessed image is input into the trained deep learning recognition model, which is trained on a labeled dataset. The model can accurately identify the core state parameters of the green soybean plant, such as the minimum pod height, stem thickness, plant density, and lodging posture, and complete the localization and feature extraction of the plant target.

[0041] Confidence assessment and false positive detection. The recognition result is assessed using a confidence threshold: if the recognition confidence is greater than or equal to a preset threshold, the recognition is considered valid, and the process proceeds to parameter output; if the recognition confidence is less than the preset threshold, the recognition is considered false, triggering a feedback re-recognition mechanism.

[0042] Feedback-based re-identification closed-loop error correction. When a misidentification is detected, the control system sends a re-acquisition command to the depth camera to re-acquire the current frame of the plant image and perform secondary preprocessing and secondary identification until the identification confidence level meets the standard. This effectively avoids misjudgments caused by sudden changes in light, plant lodging and shading, and weed interference, ensuring the reliability of the identification results.

[0043] The system identifies the output parameters and calculates the optimal operating parameters. After valid identification, it outputs core parameters such as the minimum pod height, stem thickness, and plant density of green soybeans. Based on these parameters and a preset working condition matching model, the control system calculates the optimal operating parameters, including the lifting height of the pod-removing roller assembly 9, the opening of the front roller gap, and the overall machine speed, to ensure that the operating parameters are accurately matched with the current plant conditions.

[0044] The actuator is driven and provides feedback on its position. The control system outputs adjustment commands to drive the lifting electric push rod 20 and the roller gap adjusting ball screw 21 to move: the electric push rod 20 extends and retracts, causing the pod-removing roller assembly 9 to swing around the high-end hinge point, achieving height self-adaptation; the ball screw 21 drives the front end of the movable pod-removing roller to translate, achieving roller gap self-adaptation; during the operation of the actuator, the position status is fed back in real time through the position sensor, and if it is not in position, the adjustment is continuously driven until the mechanism is fully in position.

[0045] Formal operation commences. Once the actuators are in place, the entire machine performs harvesting operations according to optimal parameters: the tracked ridge-pressing mechanism 15 compacts the ridge surface in real time with flexible continuous surface contact, while simultaneously supporting the fallen plants to ensure stable feeding; the guide frame guides the plants into the pod-removing roller assembly 9, and the spiral pod-removing ridges rotate in opposite directions to complete pod removal; after pod removal, the pods are conveyed by the pod conveyor belt 10, cleaned by the centrifugal fan 13, and then fall into the transfer box 14 for temporary storage, completing a single harvesting operation.

[0046] Operation Cycle and Termination Judgment. After a single operation is completed, the control system determines whether the current operation area is finished: if not, it returns to the depth image acquisition step and cycles through image acquisition, recognition, adjustment, and operation processes to achieve real-time adaptive control throughout the entire process; if the operation area is finished, the entire machine stops, completing all harvesting operations.

[0047] This invention achieves intelligent adaptive control of the entire process of harvesting soybeans in complex field environments through the complete closed-loop control of "collection-identification-misjudgment detection-feedback re-identification-parameter calculation-mechanism drive-position feedback-cyclic operation". It effectively solves problems such as missed harvesting, jamming, pod damage, and inability to feed lodged plants in traditional harvesters, and significantly improves harvesting efficiency and operational adaptability.

[0048] Therefore, this invention employs a tracked ridge-pressing machine with adaptive height and roller spacing for harvesting soybeans, achieving seamless integration of the entire process from plant feeding, pod removal, and cleaning. Through the coordinated operation of a rocker-type lifting structure and a single-end adjustable roller spacing structure, the crop is processed simultaneously with the pod-removing roller height and gap adapted to the working conditions, eliminating the need for real-time manual adjustment. This synchronous adaptive processing method avoids pod breakage or plant uprooting caused by improper pod-removing gaps in traditional harvesters, avoids the lag of manual adjustment, simplifies the mechanical control system, and improves the continuity and automation of the harvesting process. Simultaneously, the flexible support and compaction functions of the tracked ridge-pressing mechanism ensure the stable feeding of lodged plants.

[0049] During machine operation, the depth camera continuously captures images of soybean plants in the field at a fixed frame rate. After preprocessing, the images are transmitted to the control system. The control system uses a built-in trained recognition model to analyze the images in real time, accurately locating the lowest pod-bearing position, plant thickness, density, and lodging status of the soybean plants. The recognition results are converted into electrical signals and transmitted to the actuator. Based on the image recognition results, the control system drives the electric push rod to extend and retract, realizing the overall tilting and lifting of the pod-removing roller assembly. This ensures that the lowest working position of the pod-removing roller is precisely matched with the lowest pod-bearing position of the soybeans, avoiding missed harvesting due to the working position being too high or plant damage due to the working position being too low. At the same time, based on the plant thickness and density, the control system drives the roller gap adjustment component to adaptively open and close the pod-removing roller. The roller gap is automatically reduced for thin-stemmed and sparse plants, and appropriately increased for thick-stemmed and dense plants, ensuring that plants in different conditions can smoothly enter the pod-removing position. The tracked ridge-pressing mechanism simultaneously compacts the ridge surface with a flexible contact surface, providing flexible support and guidance for lodged plants, ensuring that the plants remain upright and orderly as they enter the pod-removing area. This avoids problems such as scrambling, blockage, and incomplete pod removal caused by messy or lodged plants, achieving fully adaptive, continuous, and efficient operation, and significantly improving the adaptability and stability of soybean harvesting in complex field environments.

[0050] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Technical features not described in this application can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solutions of this application and are not intended to limit the present application. If any substitution is required, this application has only been described in detail with reference to the preferred embodiments. Those skilled in the art should understand that any modifications, equivalent substitutions, improvements, etc., made by those skilled in the art within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A green soybean harvester with adaptive height and roller spacing for tracked ridge pressing, characterized in that, It includes a frame, pod-removing roller assembly, pod conveyor belt, air separator, transfer box, drive unit, control system, depth camera, guide frame, and tracked ridge-pressing walking mechanism. The tracked ridge-pressing mechanism is located at the lower front end of the frame, including a ridge-pressing track and a transmission wheel set that cooperates with the ridge-pressing track. The outer circumferential surface of the ridge-pressing track is integrally formed with ridge-pressing protrusions. The tracked ridge-pressing mechanism is used to drive the whole machine to move in the field and to compact the working ridge surface in real time through the ridge-pressing protrusions. The flexible continuous contact surface of the ridge-pressing track gently supports the lodged plants and stably feeds them in. The guide frame is fixedly installed on the pod-removing roller assembly and extends forward to guide the green soybean plants to the pod-removing roller assembly. The pod-removing roller assembly, the pod conveyor belt, and the air separator are arranged sequentially along the length of the frame. The pod conveyor belt is located below the pod-removing roller assembly and is used to receive the pods after pod removal and transport them to the air separator. The air separator is used to screen bean pods and impurities. The transfer box is located behind the air separator and is used to hold the screened bean pods. The depth camera is installed at the front of the frame and above the guide frame. The acquisition angle is fixed at 30° downward. The control system is communicatively connected to the depth camera and the drive device. The pod-removing roller assembly adopts a rocker-type installation structure. Its high end is hinged to the frame and remains stationary, while its low end is hinged to the electric push rod of the drive device. The extension and retraction of the electric push rod causes the low end of the pod-removing roller assembly to swing up and down, thereby realizing adaptive adjustment of the working height of the pod-removing roller. The pod-removing roller assembly includes two parallel pod-removing rollers, one of which is a fixed pod-removing roller and the other is a movable pod-removing roller. The front end of the fixed pod-removing roller is mounted on a fixed bearing seat, and the front end of the movable pod-removing roller is mounted on a movable bearing seat. The movable bearing seat is slidably engaged with a horizontal guide ball screw. The pod-removing roller assembly is also equipped with a roller gap adjustment ball screw, which is used to adjust the front end of the movable pod-removing roller to move closer to or further away from the fixed pod-removing roller, so as to realize adaptive adjustment of the front end spacing of the pod-removing rollers. The rear end of the movable pod-removing roller is connected to the drive source through a compensable transmission structure to maintain power transmission when the front end moves, so as to adapt to the pod-removing conditions of green soybean plants of different thicknesses and densities.

2. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 1, characterized in that, The control system has a built-in recognition model, which is trained using a dataset of green soybean pods labeled with center coordinates. The process of constructing the dataset includes: acquiring images of green soybeans in the field using the depth camera, extracting individual pod images through image processing, labeling the center coordinates and category labels of each pod image, and dividing the labeled images into training set, validation set and test set.

3. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 2, characterized in that, The training process of the recognition model includes: preprocessing the pod images in the training set, including dataset expansion, image enhancement, size normalization and noise removal, and pod label bounding; inputting the preprocessed training set into the initial model, adjusting the model hyperparameters through the validation set, verifying the model recognition effect using the test set, completing the model training, and embedding it into the control system.

4. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 1, characterized in that, The depth camera is used to collect two-dimensional images and depth information of green soybeans in the field. After receiving the two-dimensional images and depth information, the control system identifies the pods in the images through the recognition model, and converts the pixel coordinates of the pods into three-dimensional spatial coordinates by combining the intrinsic and extrinsic parameters of the depth camera. It then traverses the three-dimensional spatial coordinates of all pods and filters out the pods corresponding to the minimum Z-axis coordinate. The height of the pod is the minimum pod height of the green soybean.

5. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 4, characterized in that, The control system also includes a built-in calculation module and a positioning module. The calculation module is used to synchronously process image data and coordinate transformation data acquired by the depth camera, and the positioning module is used to quickly lock the spatial position corresponding to the lowest pod height and provide feedback to ensure that the adjustment response of the pod-removing roller assembly is timely.

6. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 1, characterized in that, The drive device consists of only an electric push rod. The bottom end of the electric push rod is hinged to the frame, and the top end is hinged to the lower end of the pod-removing roller assembly. The extension and retraction of the electric push rod drives the pod-removing roller to swing around the high-end hinge point, thereby achieving adaptive height adjustment.

7. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 1, characterized in that, The compensable transmission structure is a universal coupling.

8. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 1, characterized in that, The pod-removing roller assembly is arranged along the width of the frame, and the axes of the two are parallel; the surface of the pod-removing roller is provided with spiral pod-removing ridges, and the pod-removing rollers rotate in opposite directions with a consistent linear velocity.

9. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 1, characterized in that, The air separation device includes a centrifugal fan and an air guide hood. The air guide hood is fixed below the output end of the bean pod conveyor belt. The centrifugal fan is connected to the air guide hood. The airflow generated by the centrifugal fan blows out along the air guide hood to separate the light impurities in the bean pods. After air separation, the bean pods fall into the transfer box.

10. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 1, characterized in that, It also includes a data storage module, which is connected to the control system and is used to store the original images acquired by the depth camera, the recognition results of the recognition model, the minimum pod height data, and the adjustment parameters of the pod-removing roller assembly. The stored data can be used for subsequent model optimization and operation data analysis.

11. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 1, characterized in that, A walking device is provided below the frame. The walking device includes a tracked ridge-pressing walking mechanism and a drive support wheel. The drive support wheel is located at the rear end below the frame and drives the whole machine to move together with the tracked ridge-pressing walking mechanism.

12. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 10, characterized in that, The depth camera operates at a fixed downward 30° acquisition angle and a fixed acquisition frequency, enabling it to stably acquire images of green soybeans in the field.

13. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 1, characterized in that, The guide frame has an "eight" shaped structure, with the front opening width being wider than the rear opening width. The guide frame guides the plant into the pod-removing roller, reducing mechanical damage to the soybean plant.

14. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 1, characterized in that, The tracked ridge compaction walking mechanism includes ridge compaction tracks and transmission wheel sets. The outer circumference of the ridge compaction tracks is integrally formed with ridge compaction protrusions, which compact the ridge surface in real time during movement, increasing the ground contact area, reducing the ground contact specific pressure, and improving the passability and stability of soft and muddy plots.

15. The adaptive green soybean harvester with tracked ridge pressing height and roller spacing according to claim 1, characterized in that, When the tracked ridge-pressing walking mechanism moves forward, it supports the fallen plants with the tracks, allowing the plants to enter the pod-removing roller assembly naturally and smoothly, achieving stable feeding, reducing missed harvesting and jamming, and ensuring uniform feeding.

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