Method for contouring a header and harvester

Abstract

This invention belongs to the field of agricultural machinery technology and provides a contour control method for a header and a harvester. The contour control method for the header includes: acquiring a set of undulation height data of the contouring mechanism over a preset time period; predicting the expected undulation height of the contouring mechanism at a preset future time based on the data change trend of the undulation height data set; and adjusting the height of the header at the current time based on the expected undulation height. This method, by predicting the terrain at a preset distance in front of the contouring mechanism in advance, enables the header to adaptively adjust its height and attitude in advance based on the predicted terrain near the cutter blade, fundamentally solving the problem of header tracking delay caused by "detection lag" in traditional contouring mechanisms.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery technology, specifically relating to a contour control method for a header and a harvester. Background Technology

[0002] In agricultural harvesting operations, different crops such as wheat, rice, and soybeans require harvesting at their optimal height according to their specific agronomical requirements. To automatically maintain this set height in uneven field terrain, current technology generally installs a contour-following mechanism below the header. This mechanism works by using components such as a sliding plate and rollers to continuously contact the ground surface, detecting ground undulations. The control system then adjusts the header's height based on this detected ground undulation data, thus achieving adaptive tracking of the terrain.

[0003] However, existing contour-following mechanisms are typically installed behind the cutter blade, a position that inherently leads to a detection lag: as the header moves forward, the contour-following mechanism only detects the area the cutter has already passed. In other words, the header is currently responding to and adjusting based on past terrain information where the cutter has already harvested. This "time delay" caused by "spatial misalignment" means that the header cannot adjust its height promptly when encountering protruding field ridges or depressions, making it highly susceptible to problems such as unsuitable header height leading to missed harvests or the header colliding with the ground, especially in areas with significant terrain undulations. Summary of the Invention

[0004] To address the aforementioned deficiencies or shortcomings, this invention provides a contour control method for the header and a harvester, aiming to solve the technical problem of lag in the adaptive tracking of the ground by the header of existing agricultural machinery.

[0005] To achieve the above objectives, in one aspect, the present invention provides a contour control method for a cutting table, wherein the contour control method for the cutting table includes: S100: Acquire the set of undulation height data of the contouring mechanism over a preset time period; S200: Based on the data change trend of the undulation height data set, predict the expected undulation height of the contouring mechanism at a future preset time; S300: Adjust the height of the cutting platform at the current moment based on the expected fluctuation height.

[0006] In this embodiment, S200: Before predicting the expected undulation height of the contouring mechanism at a preset future time based on the data change trend of the undulation height data set, the contouring control method of the cutting table further includes: S110: The detection time delay calculated from the time the cutter passes the current harvested ground to the time the contouring mechanism detects the current harvested ground, based on the front-to-back distance between the contouring mechanism and the cutter in the header, and the forward speed of the header. S120: Determine the future preset time based on the detection time delay.

[0007] In this embodiment, S200: Based on the data change trend of the undulation height data group, predict the expected undulation height of the contouring mechanism at a preset time in the future, specifically including: S210: Based on preset weights, perform a weighted average calculation on the data within the fluctuation height data group to obtain the expected fluctuation height of the contouring mechanism at a preset future time.

[0008] In this embodiment, the contouring mechanism on the cutting table includes a left contouring mechanism and a right contouring mechanism located on the left and right sides of the cutting table, and the undulation height data set includes the left undulation height data set detected by the left contouring mechanism and the right undulation height data set detected by the right contouring mechanism. S210: Based on preset weights, perform a weighted average calculation on the data within the fluctuation height data group to obtain the expected fluctuation height of the contouring mechanism at a preset future time, specifically including: By performing weighted average calculations on the left and right undulation height data sets respectively, the expected left and right undulation heights of the left and right contouring mechanisms at a future preset time are obtained.

[0009] In this embodiment, S300: Based on the expected fluctuation height, the height of the cutting platform is adjusted at the current moment, specifically including: Based on the expected left and right undulation heights, the left and right heights and the overall height of the cutting platform are adjusted at the current moment.

[0010] In this embodiment, there are multiple left and right contouring mechanisms. Multiple left contouring mechanisms are arranged side by side along the width direction of the cutting table, and multiple right contouring mechanisms are arranged side by side along the width direction of the cutting table. Before performing weighted average calculations on the left and right undulation height data sets to obtain the expected left and right undulation heights of the left and right contouring mechanisms at a predetermined future time, the contouring control method for the cutting table also includes: S201: Calculate the mean of multiple sets of left undulation height data and multiple sets of right undulation height data respectively to obtain the fused left undulation height data and right undulation height data. S202: Use the merged left undulation height data group and right undulation height data group as the original data for weighted average calculation.

[0011] In this embodiment, S300: Before adjusting the height of the cutting platform at the current moment based on the expected fluctuation height, the contour control method for the cutting platform further includes: Set the working height of the cutting table above the ground.

[0012] To achieve the above objectives, the present invention also provides a harvester, wherein the harvester includes a header, a header hydraulic control system, and a controller. The bottom of the header is provided with a contouring mechanism and a cutter blade. The contouring mechanism is located behind the cutter blade. The header hydraulic control system is used to adjust the height of the header. The controller is connected to the header hydraulic control system and is used to execute the contouring control method of the header as described above.

[0013] In this embodiment, a left contouring mechanism and a right contouring mechanism are respectively provided on the left and right sides of the bottom of the cutting table, and there are multiple left contouring mechanisms and multiple right contouring mechanisms. Multiple left contouring mechanisms are arranged side by side along the width direction of the cutting table, and multiple right contouring mechanisms are arranged side by side along the width direction of the cutting table.

[0014] In this embodiment, the cutting platform is also equipped with a bridge height sensor and a cutting platform leveling sensor. The controller is electrically connected to the bridge height sensor and the cutting platform leveling sensor respectively. The controller is used to adjust the height of the cutting platform according to the detection data of the bridge height sensor and the cutting platform leveling sensor when the detection of the contouring mechanism fails.

[0015] Through the above technical solution, the contour control method for the cutting table provided in this embodiment of the invention has the following beneficial effects: Since the cutter is located in front of the directional mechanism, this method predicts the terrain at a preset distance in front of the contouring mechanism in advance, enabling the header to adaptively adjust its height and attitude based on the predicted terrain near the cutter. This fundamentally solves the problem of header tracking delay caused by "detection lag" in traditional contouring mechanisms, transforming the header's response mode from "post-event remediation" to "pre-event prediction." This proactive control ensures that the crop stubble height is as consistent as possible, effectively preventing missed harvests or collisions with the ground, and comprehensively improving the harvesting quality and reliability of the header in complex terrain.

[0016] Other features and advantages of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to illustrate the invention and form part of the specification. They are used together with the following detailed description to explain the invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating the method steps of the contour control method for the cutting platform according to an embodiment of the present invention; Figure 2 This is a diagram of the steps preceding step S200 in an embodiment of the present invention; Figure 3 This is a specific step diagram of step S200 in an embodiment of the present invention; Figure 4 This is a diagram of the steps preceding step S210 in an embodiment of the present invention; Figure 5 This is a control flowchart of the cutting table during operation according to an embodiment of the present invention. Detailed Implementation

[0018] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] The contour control method for the cutting table of the present invention is described below with reference to the accompanying drawings.

[0020] This invention provides a contour control method for a cutting table, such as... Figure 1 and Figure 5 As shown, the contour control method for the cutting table includes: S100: Acquire the set of undulation height data of the contouring mechanism over a preset time period; S200: Based on the data change trend of the undulation height data set, predict the expected undulation height of the contouring mechanism at a future preset time; S300: Adjust the height of the cutting platform at the current moment based on the expected fluctuation height.

[0021] During harvesting, the ground-contacting components (such as slides or rollers) of the cutting platform remain in close contact with the ground. When these components encounter bumps or potholes, they swing up and down around a hinge point under the influence of ground reaction forces. The up-and-down movement of these components is detected by linked sensors, thereby continuously generating undulation height data. The undulation height data generated continuously over a preset time period constitutes the undulation height data set.

[0022] The continuously generated undulation height data can reflect the changing trends of the terrain. Based on these trends, the expected undulation height of the contour-following mechanism at a preset future time can be predicted. Specifically, predicting the expected undulation height of the contour-following mechanism at a preset future time is essentially predicting the terrain at a preset distance in front of the contour-following mechanism.

[0023] Since the cutter is located in front of the directional mechanism, this method predicts the terrain at a preset distance in front of the contouring mechanism in advance, enabling the header to adaptively adjust its height and attitude based on the predicted terrain near the cutter. This fundamentally solves the problem of header tracking delay caused by "detection lag" in traditional contouring mechanisms, transforming the header's response mode from "post-event remediation" to "pre-event prediction." This proactive control ensures that the crop stubble height is as consistent as possible, effectively preventing missed harvests or collisions with the ground, and comprehensively improving the harvesting quality and reliability of the header in complex terrain.

[0024] Furthermore, such as Figure 2 As shown, in this embodiment, S200: Before predicting the expected undulation height of the contouring mechanism at a preset time based on the data change trend of the undulation height data set, the contouring control method of the cutting table further includes: S110: The detection time delay calculated from the time the cutter passes the current harvested ground to the time the contouring mechanism detects the current harvested ground, based on the front-to-back distance between the contouring mechanism and the cutter in the header, and the forward speed of the header. S120: Determine the future preset time based on the detection time delay.

[0025] In this method, the terrain at a preset distance in front of the contouring mechanism can be predicted, or more specifically, the terrain at the location of the cutter in front of the contouring mechanism. For example, assuming the distance between the contouring mechanism and the cutter in the header is 0.5 meters, and the header's forward speed is 3.6 km / h (1 m / s), the calculated detection time delay for the contouring mechanism is 0.5 seconds. This 0.5-second delay means that when the header moves at a constant speed of 1 m / s, the contouring mechanism will reach the current harvesting point of the cutter after 0.5 seconds.

[0026] This method moves the reference for header posture control from the detection point of the traditional contouring mechanism to the real-time cutting point of the cutter. By predicting the terrain at the cutting point and using this terrain as the adjustment parameter for the header to adaptively follow, it fundamentally overcomes the problem of detection lag and ensures accurate and consistent crop harvesting height.

[0027] like Figure 3 As shown, in this embodiment, S200: predicting the expected undulation height of the contouring mechanism at a preset future time based on the data change trend of the undulation height data set can be: S210: Based on preset weights, perform a weighted average calculation on the data within the fluctuation height data group to obtain the expected fluctuation height of the contouring mechanism at a preset future time.

[0028] Specifically, assuming the sensor in the contouring mechanism outputs detected data every 0.5 seconds, and the undulation height data set is the collection of undulation height data detected by the contouring mechanism within the past 2.5 seconds, then the number of undulation height data sets is six, namely ( X 1. X 2. X 3. X 4. X 5. X 6) X 1- X 6 corresponds to the fluctuation height data at the 2.5s, 2s, 1.5s, 1s, 0.5s, and the current time, respectively, with preset weights of ( ). w 1. w 2. w 3. w 4. w 5. w 6), then the expected fluctuation height Xpre = ( w 1 X 1+ w 2 X 2+··· w6 X6） / ( w 1+ w 2+ w 3···+ w 6). Among them, w 1+ w 2+ w 3···+ w 6 = 1.

[0029] By employing a weighted average method to predict the elevation changes of the contour-following mechanism at a predetermined future time, the influence of various factors on the prediction results can be comprehensively considered while preserving the characteristics of data fluctuations. For example, when allocating weights, the temporal relevance of the data can be considered: elevation changes closer to the current time generally reflect the upcoming terrain change trend better, and therefore should be given a higher weight (i.e., ...). w The larger the value, the better the weighting method based on this mechanism can make the prediction results closer to the actual dynamics.

[0030] In actual harvesting operations, the working width of the header is typically three to four meters, meaning that both sides may be on uneven terrain simultaneously. If only the overall height of the header is adjusted, when one side is lower than the other, forcibly raising or lowering it uniformly will result in one side of the stubble being cut too high and the blades on the other side digging into the soil, severely affecting harvesting quality and increasing losses. Therefore, header height adjustment not only includes overall raising and lowering, but more importantly, it involves independent adjustment of the height of the left and right sides.

[0031] Therefore, in this embodiment, the cutting table can be provided with a left contouring mechanism and a right contouring mechanism on the left and right sides respectively. Correspondingly, the undulation height data group includes the left undulation height data group detected by the left contouring mechanism and the right undulation height data group detected by the right contouring mechanism.

[0032] S210: The data within the fluctuation height data group are weighted and averaged according to preset weights to obtain the expected fluctuation height of the contouring mechanism at a preset future time, specifically including: Weighted averages were calculated for the left and right undulation height data sets to obtain the expected left and right undulation heights of the left and right contouring mechanisms at a predetermined future time.

[0033] S300: Adjust the height of the cutting platform at the current moment based on the expected fluctuation height, specifically including: Based on the expected left and right undulation heights, the left and right heights and the overall height of the cutting platform are adjusted at the current moment.

[0034] This method employs a strategy of independent prediction and adjustment on both the left and right sides. Based on real-time height data of the left and right sides, it independently predicts their subsequent trends. Based on this prediction, the controller can adjust the height of the left and right sides of the header independently and in advance, enabling the header to respond accurately to upcoming terrain undulations on the left and right sides respectively. Through separate adjustments, the header can maintain a consistent stubble height to the greatest extent possible when traversing irregular terrain such as field ridges and ditches. This not only significantly improves harvesting cleanliness and reduces grain loss but also protects the cutting blades, achieving high-quality, adaptive operation in complex terrain.

[0035] It should be noted that, in addition to adjusting the height of the left and right sides of the cutting table, this method can also adjust the overall height of the cutting table simultaneously or in stages. In other words, the overall height and the height of the left and right sides of the cutting table can be adjusted simultaneously or in stages based on a preset control strategy.

[0036] In this embodiment, there are multiple left and right contouring mechanisms. Multiple left contouring mechanisms are arranged side by side along the width direction of the cutting table, and multiple right contouring mechanisms are arranged side by side along the width direction of the cutting table.

[0037] like Figure 4 As shown, before performing weighted average calculations on the left and right undulation height data sets to obtain the expected left and right undulation heights of the left and right contouring mechanisms at a predetermined future time, the contouring control method for the cutting table further includes: S201: Calculate the mean of multiple sets of left undulation height data and multiple sets of right undulation height data respectively to obtain the fused left undulation height data and right undulation height data. S202: Use the merged left undulation height data group and right undulation height data group as the original data for weighted average calculation.

[0038] By setting up multiple left and right contouring mechanisms, the detection range can be expanded at the hardware level, ensuring that even the terrain undulations at the very edge of the cutter platform can be effectively captured. Simultaneously, by fusing measurement data from multiple contouring mechanisms working collaboratively, a more comprehensive and robust terrain profile can be constructed. This effectively overcomes the random errors or blind spots that may exist in single-point detection, providing a higher-quality data foundation for the subsequent weighted average prediction model, making the prediction of the expected undulation heights on both sides of the cutter platform more accurate and reliable.

[0039] like Figure 5 As shown, in this embodiment, S300: Before adjusting the height of the cutting platform at the current moment according to the expected fluctuation height, the contour control method for the cutting platform further includes: Set the working height of the cutting table above the ground.

[0040] Before the header starts working, the working height (actually the harvesting height) of the header needs to be set in advance according to the type of crop to be harvested. After the setting is completed, the difference between the real-time working height of the header and the initial working height can be kept within the preset range through the above-mentioned predictive adjustment strategy.

[0041] To achieve the above objectives, the present invention also provides a harvester, wherein the harvester includes a header, a header hydraulic control system, and a controller. The bottom of the header is provided with a contouring mechanism and a cutter blade. The contouring mechanism is located behind the cutter blade. The header hydraulic control system is used to adjust the height of the header. The controller is connected to the header hydraulic control system and is used to execute the contouring control method for the header as described above. Since the harvester adopts all the technical solutions of the above embodiments, it possesses at least the beneficial effects brought by the above embodiments, and will not be repeated here.

[0042] In this embodiment, a left contouring mechanism and a right contouring mechanism are respectively provided on the left and right sides of the bottom of the cutting table, and there are multiple left contouring mechanisms and multiple right contouring mechanisms. Multiple left contouring mechanisms are arranged side by side along the width direction of the cutting table, and multiple right contouring mechanisms are arranged side by side along the width direction of the cutting table.

[0043] The control logic of the controller will be explained below in conjunction with the specific working process of the harvester.

[0044] Imagine a combine harvester with a header width of 4 meters operating in a field that is higher on the left and lower on the right, with a continuous gentle slope in front.

[0045] Two contouring mechanisms (L1, L2, R1, R2 from left to right) are arranged on the left and right sides below the cutting platform. As the machine moves forward at a speed of 3.6 km / h, each sensor collects the undulation height data of its location in real time at a frequency of 3 times per second, forming the first left undulation height data group (corresponding to L1), the second left undulation height data group (corresponding to L2), the first right undulation height data group (corresponding to R1), and the second right undulation height data group (corresponding to R2). The preset time can be the past 1 second. The readings of the four contouring mechanisms (L1, L2, R1, R2) from furthest to nearest time within the past 1 second are: (14.5cm, 13.5cm, 15.5cm), (15.5cm, 14.5cm, 16.5cm), (8.5cm, 7.5cm, 6.5cm), and (7.5cm, 6.5cm, 5.5cm). During calculation, the data from the two left contouring mechanisms and the two right contouring mechanisms are first averaged and then fused. For example, (14.5cm + 15.5cm) / 2 = 15 cm, (13.5cm + 14.5cm) / 2 = 14 cm, and so on. After fusion, the left undulation height data set is (15 cm, 14 cm, 16cm), and the right undulation height data set is (8 cm, 7 cm, 6 cm).

[0046] After calculating the fused left and right undulation height data sets, the next step is to use a weighted average algorithm to predict the expected undulation height at a predetermined future time (e.g., 0.2 seconds in the future). The undulation height data closer to the current time better reflects the upcoming terrain change trend; therefore, its weight can be set higher. For example, if the weights of the three data sets are 20%, 30%, and 50% respectively, then the corresponding expected undulation height on the left side is: 16cm×50%+14cm×30%+15cm×20%=15.2cm; The expected fluctuation height on the right side is: 6cm×50%+7cm×30%+8cm×20%=6.5cm.

[0047] Based on the calculated expected height fluctuations, the controller determines the positions reached by the left and right contouring mechanisms after 0.2 seconds (which are essentially the current positions of the cutter). The expected height on the left side of the cutting table is 15.2 cm, and the expected height on the right side is 6.5 cm.

[0048] Assuming the working height of the header is set to 10cm before harvesting begins, at this moment, the height of the left side of the header needs to be raised to 25.2cm and the height of the right side needs to be raised to 16.5cm to ensure that the cutter maintains a stubble height of about 10cm at this moment.

[0049] By predicting the terrain at the cutting point of the cutter in front based on the data of the detection points of the contour mechanism, and using this terrain as the adjustment parameter for the header to adaptively follow, the problem of detection lag of the contour mechanism can be overcome to the greatest extent, ensuring the accurate and consistent crop harvesting height.

[0050] In this embodiment, the cutting platform is also equipped with a bridge height sensor and a cutting platform leveling sensor. The controller is electrically connected to both the bridge height sensor and the cutting platform leveling sensor. The controller is used to adjust the height of the cutting platform based on the detection data from the bridge height sensor and the cutting platform leveling sensor when the contouring mechanism malfunctions. By setting up the bridge height sensor and the cutting platform leveling sensor, the rising and leveling data of the cutting platform can be used as backup detection data when the contouring mechanism fails, enabling emergency control of the cutting platform.

[0051] In this embodiment, the hydraulic control system of the cutting platform also includes a left leveling cylinder, a right leveling cylinder, and a lifting cylinder. The left and right leveling cylinders are used to control the leveling of the left and right sides of the cutting platform, and the lifting cylinder is used to control the overall raising and lowering of the cutting platform.

[0052] In the description of this invention, it should be understood that 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 as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0053] 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 part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0055] Although embodiments of the present invention have been described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A contour control method for a cutting table, characterized in that, The contour control method for the cutting table includes: Acquire a set of elevation data of the contouring mechanism over a preset time period; Based on the data change trend of the undulation height data set, the expected undulation height of the contouring mechanism at a future preset time is predicted; The height of the cutting platform is adjusted at the current moment based on the expected fluctuation height.

2. The contour control method for the cutting table according to claim 1, characterized in that, Based on the data change trend of the undulation height data set, before predicting the expected undulation height of the contouring mechanism at a preset future time, the contouring control method of the cutting table further includes: The detection time delay from when the cutter passes the current harvested ground to when the contouring mechanism detects the current harvested ground is calculated based on the front-to-back distance between the contouring mechanism and the cutter in the cutting platform, as well as the forward speed of the cutting platform. The future preset time is determined based on the detection time delay.

3. The contour control method for the cutting table according to claim 1, characterized in that, Based on the data change trend of the undulation height data set, the expected undulation height of the contouring mechanism at a future preset time is predicted, specifically including: Based on preset weights, a weighted average is calculated on the data within the fluctuation height data group to obtain the expected fluctuation height of the contouring mechanism at the preset future time.

4. The contour control method for the cutting table according to claim 2, characterized in that, The contouring mechanism on the cutting platform includes a left contouring mechanism and a right contouring mechanism located on the left and right sides of the cutting platform. The undulation height data set includes the left undulation height data set detected by the left contouring mechanism and the right undulation height data set detected by the right contouring mechanism. According to preset weights, a weighted average is calculated on the data within the fluctuation height data group to obtain the expected fluctuation height of the contouring mechanism at the preset future time, specifically including: The left and right undulation height data groups are weighted and averaged respectively to obtain the expected left and right undulation heights of the left and right contouring mechanisms at the preset future time.

5. The contour control method for the cutting table according to claim 4, characterized in that, Based on the expected fluctuation height, the height of the cutting platform is adjusted at the current moment, specifically including: Based on the expected left undulation height and the expected right undulation height, the left and right heights and the overall height of the cutting platform are adjusted at the current moment.

6. The contour control method for the cutting table according to claim 4, characterized in that, The number of the left contouring mechanism and the right contouring mechanism is multiple, with the multiple left contouring mechanisms arranged side by side along the width direction of the cutting table, and the multiple right contouring mechanisms arranged side by side along the width direction of the cutting table; Before performing a weighted average calculation on the left undulation height data group and the right undulation height data group to obtain the expected left undulation height and expected right undulation height of the left contouring mechanism and the right contouring mechanism at the preset future time, the contouring control method of the cutting table further includes: The average values ​​of the multiple sets of left undulation height data and the multiple sets of right undulation height data are calculated to obtain the fused left undulation height data and right undulation height data. The merged left undulation height data group and the right undulation height data group are used as the original data for weighted average calculation.

7. The contour control method for the cutting table according to any one of claims 1 to 6, characterized in that, Based on the expected fluctuation height, before adjusting the height of the cutting platform at the current moment, the contour control method for the cutting platform further includes: The working height of the cutting platform above the ground is set.

8. A harvester, characterized in that, The harvester includes: A cutting table, the bottom of which is provided with a contouring mechanism and a cutting blade, the contouring mechanism being located behind the cutting blade; The cutting platform hydraulic control system is used to adjust the height of the cutting platform; The controller is connected to the hydraulic control system of the cutting table and is used to execute the contour control method of the cutting table according to any one of claims 1 to 7.

9. The harvester according to claim 8, characterized in that, The bottom of the cutting platform is provided with a left contouring mechanism and a right contouring mechanism on the left and right sides respectively, and there are multiple left contouring mechanisms and multiple right contouring mechanisms. The multiple left contouring mechanisms are arranged side by side along the width direction of the cutting platform, and the multiple right contouring mechanisms are arranged side by side along the width direction of the cutting platform.

10. The harvester according to claim 8, characterized in that, The cutting platform is also equipped with a bridge height sensor and a cutting platform leveling sensor. The controller is electrically connected to the bridge height sensor and the cutting platform leveling sensor respectively. The controller is used to adjust the height of the cutting platform according to the detection data of the bridge height sensor and the cutting platform leveling sensor when the detection of the contouring mechanism fails.

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