Reed whole stalk harvesting upright clamping-longitudinal conveying system, method, and harvester

Abstract

A reed whole stalk harvesting upright clamping-longitudinal conveying system, comprising an upright clamping-longitudinal conveying device (101), a clamping-conveying chain height adjusting mechanism (105) and a control unit (7). A pre-cutting measurement unit is used for measuring height information of reeds in a region before cutting and transmitting the height information to the control unit (7); a position sensor is used for measuring a current height of the upright clamping-longitudinal conveying device (101) and transmitting the current height to the control unit (7); a height-adjustment device is connected to the upright clamping-longitudinal conveying device (101); and the control unit (7) calculates an average height of the reeds in the region before cutting and a height of the center of gravity of the reeds, calculates a height difference between the height of the center of gravity of the reeds and the current height of the upright clamping-longitudinal conveying device (101), and adjusts the position of the upright clamping-longitudinal conveying device (101) to correspond to the center of gravity of the reeds in the region before cutting. Thus, the conveying device can be adapted to different reed heights by means of height adjustment, and the reeds can be reliably and neatly clamped and conveyed, thereby improving the neatness of the reeds during reed conveying, and facilitating subsequent bundling and knotting. Also provided are a harvester comprising the conveying system and a control method for the conveying system.

Description

A system and method for harvesting whole reed stalks by holding and conveying them vertically, and a harvester Technical Field

[0001] The present invention belongs to the technical field of intelligent agricultural machinery, and in particular relates to an upright clamping and longitudinal conveying system for harvesting whole reed stalks, a control method, and a harvester. Background Art

[0002] A reed harvester is a device that mechanizedally harvests mature reeds growing in reed fields. Reed harvesters generally use two different harvesting methods: one in which the reeds are immediately crushed and compressed into square or round bundles; the other in which the whole stalks are harvested and bundled. For harvesters that harvest and bundle whole reeds, after the reeds are cut at the base by the cutter blades, the horizontal conveyor chains on the cutting table gather the reeds to the center of the cutting table. The vertical conveyor chains on the cutting table then clamp the reeds upright, holding them securely and transferring them to the baler.

[0003] Existing reed harvesters typically use a fixed-height clamping and conveying system to longitudinally clamp and convey the reeds, or rely on manual estimation of reed height and adjustment of the height of the upright clamping and conveying chain using tools when the machine is idle. This method of manually estimating the reed height and adjusting the height of the upright clamping and conveying chain accordingly suffers from poor accuracy and low efficiency, and does not fundamentally solve the problem of real-time adjustment of the clamping and conveying chain during the harvesting process. Furthermore, given the trend toward automated harvesting in reed harvesters, there is an urgent need for a height adjustment device that can detect reed height in real time and adjust the clamping and conveying chain accordingly.

[0004] Currently, there are no relevant patents or literature reports on a system that utilizes a reed harvester's pre-cutting reed height detection device and adjusts the height of the reed harvester's upright clamping longitudinal conveying device in real time based on the device.

[0005] Summary of the Invention

[0006] In response to the above technical problems, the present invention provides an upright clamping and longitudinal conveying system for harvesting whole reed stalks, a control method, and a harvester. By obtaining the height information of the reeds in the area before harvesting and adjusting the relative height of the conveying device in real time to correspond to the center of gravity of the reeds, the conveying device can adapt to different reed heights through height adjustment, so that the reeds can be clamped and conveyed reliably and neatly, greatly improving the neatness of the reeds during the reed transportation process and making the reeds more convenient for subsequent bundling and knotting.

[0007] Note that the inclusion of these objectives does not preclude the existence of other objectives. One embodiment of the present invention does not necessarily achieve all of the above objectives. Objectives other than the above objectives may be extracted from the description, drawings, and claims.

[0008] The present invention achieves the above technical objectives through the following technical means.

[0009] A vertical clamping and longitudinal conveying system for harvesting whole reed stalks, comprising a vertical clamping and longitudinal conveying device, a clamping and conveying chain height adjustment mechanism, and a control unit;

[0010] The clamping conveyor chain height adjustment mechanism includes a pre-cutting detection unit, a position sensor, and a lifting device; the pre-cutting detection unit is used to detect the height information of the reeds in the pre-cutting area and transmit it to the control unit; the position sensor is used to detect the current height of the upright clamping longitudinal conveying device and transmit it to the control unit; the lifting device is connected to the upright clamping longitudinal conveying device;

[0011] The control unit is connected to the pre-cutting detection unit and the lifting device respectively; the control unit calculates the average height of the reeds in the pre-cutting area based on the reed height information in the pre-cutting area detected by the pre-cutting detection unit, calculates the center of gravity height of the reeds, and calculates the height difference between the center of gravity height of the reeds and the current height of the upright clamping longitudinal conveying device, and controls the lifting device according to the height difference to adjust the position of the upright clamping longitudinal conveying device to correspond to the center of gravity of the reeds in the pre-cutting area.

[0012] In the above solution, the pre-cutting detection unit includes a laser radar;

[0013] The laser radar is used to scan the reeds to be harvested in front of the harvesting platform at a certain sampling interval T and obtain the point cloud data of the reed reflection point in the laser radar's own polar coordinates, and transmit it to the control unit. The control unit processes the point cloud data to obtain the point cloud in the specified square area in front of the harvesting platform, divides the square area into multiple equally divided sub-areas, calculates the maximum value of the y coordinate in the point cloud coordinate value in the sub-area, and calculates the maximum value y ijmax The average height of the reeds in the sub-area is regarded as the average height of the reeds in the sub-area, and the y ijmax Find the average value y over the entire region avg ,This average value represents the average height of reeds in the area before mowing.

[0014] In the above solution, the lifting device includes a reduction motor, a double winch, a first pulley set, a second pulley set, a bracket and a sleeve;

[0015] The brackets are arranged on both sides of the upright clamping longitudinal conveying device, the brackets are connected to the main beam of the cutting platform, and the upright clamping longitudinal conveying device is connected to the bracket vertical beam through a sleeve;

[0016] The reduction motor and the double capstan are respectively arranged on the top of the bracket, and the first pulley set is arranged on both sides of the upper part of the bracket and connected to the upper part of the upright clamping longitudinal conveying device;

[0017] The second pulley group is arranged on both sides of the lower part of the bracket and is connected to the lower part of the upright clamping longitudinal conveying device; the steel wire ropes of the first pulley group and the second pulley group are both connected to the double winch, and the double winch drives the steel wire rope under the drive of the reduction motor to realize the retraction and release of the steel wire rope, thereby driving the upright clamping longitudinal conveying device to rise and fall along the vertical beam of the bracket.

[0018] Furthermore, the upright clamping longitudinal conveying device includes two symmetrically arranged upright longitudinal conveying mechanisms, which form a clamping effect on the upright reeds during the process of longitudinally conveying the reeds;

[0019] Each upright longitudinal conveying mechanism includes an upright conveying unit and a sleeve;

[0020] The upright conveying unit includes a traction roller, a driven roller, a clamping conveying chain, an upper crossbeam and a lower crossbeam;

[0021] The upper crossbeam and the lower crossbeam are arranged vertically, one end of the traction roller is connected to one end of the upper crossbeam, and the other end of the traction roller is connected to one end of the lower crossbeam; one end of the driven roller is connected to the other end of the upper crossbeam, and the other end of the driven roller is connected to the other end of the lower crossbeam; the clamping conveyor chain is wrapped around the traction roller and the driven roller;

[0022] The upper crossbeam and the lower crossbeam are respectively connected to the sleeve, and the sleeve is installed on the vertical beam of the bracket. The sleeve can slide up and down along the vertical beam of the bracket, thereby driving the vertical conveying unit to rise and fall.

[0023] In the above solution, the reduction motor is provided with an electromagnetic brake system.

[0024] A harvester comprises the upright clamping and longitudinal conveying system for harvesting whole reed stalks.

[0025] A control method for the upright clamping and longitudinal conveying system for harvesting whole reed stalks comprises the following steps:

[0026] Setting the laser radar coordinates of the pre-harvesting detection unit, the laser radar scans the reeds to be harvested in front of the harvesting platform and obtains point cloud data of the reed reflection points on the laser radar, and transmits the data to the control unit;

[0027] The control unit performs point cloud data coordinate conversion, filters the point cloud data, and evenly divides the point cloud data in the pre-cut area into multiple sub-areas, obtains the maximum value y of the point cloud y coordinate in each area, and ijmax , and calculate the average height y of reeds in the area before cutting avg, calculate the center of gravity height of the reed, obtain the current height value of the upright clamping longitudinal conveying device through the position sensor, the control unit calculates the height difference between the center of gravity height of the reed and the current height of the upright clamping longitudinal conveying device, and controls the lifting device to adjust the position of the upright clamping longitudinal conveying device according to the height difference to correspond to the center of gravity of the reed in the pre-cutting area.

[0028] In the above solution, the steps of setting the laser radar coordinates of the pre-cut detection unit are specifically as follows:

[0029] A laser radar base with an adjustable inclination angle is installed at a height h from the ground on the top surface of the header. The inclination angle of the laser radar base is set to θ. The laser radar is installed on the laser radar base. The polar coordinate origin O′ of the laser radar itself is at a height h from the ground.

[0030] A geodetic coordinate system OX, Y, and Z is established on the ground directly below the laser radar polar coordinate origin O'. The vertical distance between the origin O of the coordinate system and the laser radar coordinate origin O' is the height h.

[0031] With the laser radar polar coordinate origin O' as the origin, a rectangular coordinate system O'X', Y', and Z' is established along the direction of the set inclination angle θ, wherein the X' axis of the rectangular coordinate system is in the same direction as the X axis of the geodetic coordinate system, the Y' axis forms an angle θ with the Y axis of the geodetic coordinate system, and the Z' axis forms an angle θ with the Z axis of the geodetic coordinate system;

[0032] The laser radar scans the reeds to be harvested in front of the harvesting platform at a certain sampling interval T and obtains point cloud data of the reed reflection points in the laser radar's own polar coordinates, and transmits it to the control unit. The point cloud data includes the radial distance radius, elevation angle, azimuth angle and reflection intensity of each reflection point;

[0033] The control unit performs point cloud data coordinate conversion specifically as follows:

[0034] The control unit converts the radial distance radius, elevation angle, and azimuth angle of each point in the point cloud into rectangular coordinate values ​​in the rectangular coordinate system O′X′, Y′, and Z′. The conversion formula is:

[0035] Among them, X′, Y′, and Z′ are the three coordinate axes in the rectangular coordinate system O′;

[0036] The control unit converts the rectangular coordinate values ​​of the point cloud in the coordinate system O′X′, Y′, Z′ into coordinate values ​​in the geodetic coordinate system OX, Y, Z. The conversion formula is:

[0037] Among them, X, Y, and Z are the three coordinate axes in the geodetic coordinate system O.

[0038] In the above solution, the control unit processes the point cloud data and calculates the height of the reeds in the area before mowing as follows:

[0039] The control unit processes the point cloud data, uses a filter to filter out noise points in the point cloud, uses a straight-through filter to filter out point clouds outside a specified square area in front of the cutting platform, and retains point clouds within the square area, which reflects the height information of the reed canopy in front of the cutting platform;

[0040] The square area is evenly divided into multiple equally divided sub-areas, and the maximum value of the y coordinate of the point cloud coordinate value in the sub-area is calculated, and the maximum value y ijmax The average height of the reeds in the sub-area is regarded as the average height of the reeds in the sub-area, and the y ijmax Find the average value y over the entire region avg ,This average value represents the average height of reeds in the area before mowing.

[0041] In the above solution, the lifting device adjusts the position of the upright clamping longitudinal conveying device to correspond to the center of gravity of the reeds in the pre-cutting area:

[0042] The reduction motor of the lifting device drives the double winch to rotate clockwise. The double winch includes a driving pulley A and a driving pulley B. The driving pulley A and the driving pulley B are fixedly connected and rotate simultaneously. The driving pulley A in the double winch drives the first pulley group. The first pulley group drives the upright clamping longitudinal conveying device to rise under the drive of the double winch driving pulley A. At this time, the driving pulley B in the double winch is connected to the second pulley group. At this time, the driving pulley B is in a line-releasing state to ensure the rise of the upright clamping longitudinal conveying device.

[0043] The reduction motor drives the double capstan to rotate counterclockwise, and the driving pulley B in the double capstan drives the second pulley group. The second pulley group drives the upright clamping longitudinal conveying device to descend under the drive of the double capstan driving pulley B. At this time, the driving pulley A in the double capstan is connected to the first pulley group, and the driving pulley A is in the line-releasing state to ensure the descent of the upright clamping longitudinal conveying device.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. Using laser radar to scan and measure the reeds before harvesting, we can achieve non-contact and accurate measurement of the reed height, solving the problem of poor accuracy and low efficiency of human eye estimation.

[0046] 2. The use of laser radar to obtain reed height information and adjust the relative height of the conveying device in real time greatly improves the neatness of the reeds during transportation, making it easier to bundle and tie the reeds.

[0047] 3. The movable design of the upright clamping longitudinal conveying device is adopted, so that the conveying device can adapt to different reed heights through height adjustment, so that the reeds can be clamped and conveyed reliably and neatly.

[0048] 4. The use of a pulley block to drive the height adjustment of the entire conveying device, on the one hand, greatly simplifies the height adjustment mechanism and saves costs; on the other hand, the pulley block and the supporting wire rope drive the upright clamping longitudinal conveying device to move, making the upright clamping longitudinal conveying device more balanced in force and more reliable in movement.

[0049] 5. Use a reduction motor with an electromagnetic brake system to drive the pulley block. On the one hand, the motor control is more reliable and convenient; on the other hand, the position control is more precise. The electromagnetic brake system can stabilize the clamping conveyor chain at the set position.

[0050] Note that the description of these effects does not preclude the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] FIG1 is a schematic diagram of a reed harvester according to an embodiment of the present invention.

[0052] FIG2 is a coordinate diagram of an embodiment of the present invention.

[0053] FIG3 is a schematic diagram of point cloud data processing according to an embodiment of the present invention.

[0054] FIG4 is a schematic diagram showing the average height of reeds according to an embodiment of the present invention.

[0055] FIG5 is a schematic diagram of a process for detecting the average height of reeds before cutting according to an embodiment of the present invention.

[0056] FIG6 is a schematic diagram of an upright clamping longitudinal conveying device according to an embodiment of the present invention.

[0057] FIG7 is a schematic structural diagram of an upright conveying unit according to an embodiment of the present invention.

[0058] FIG8 is a schematic diagram of the rising of the clamping conveyor chain according to one embodiment of the present invention.

[0059] FIG9 is a schematic diagram of the descent of the clamping conveyor chain according to an embodiment of the present invention.

[0060] In the figure: 1. Cutting platform; 101. Vertical clamping longitudinal conveying device; 102. Transverse conveying device; 103. Cutting knife; 104. Laser radar; 105. Clamping conveyor chain height adjustment mechanism; 105-1. Reducer motor; 105-2. Winch; 105-3. First pulley group; 105-4. Second pulley group; 105-5. Bracket; 105-6 Sleeve; 105-7. Wire rope; 105-8. Pull rope position sensor; 105-9. Traction roller; 105-10. Driven roller; 105-11. Clamping conveyor chain; 105-12. Upper crossbeam; 105-13. Lower crossbeam; 2. Knotter; 3. Material box; 4. Stacking mechanism; 5. Cab; 6. Chassis; 7. Control unit. DETAILED DESCRIPTION

[0061] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0062] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0063] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0064] Example 1:

[0065] Figures 1-9 show a preferred embodiment of the upright clamping and longitudinal conveying system for harvesting whole reed stalks, which includes an upright clamping and longitudinal conveying device 101, a clamping and conveying chain height adjustment mechanism, and a control unit 7;

[0066] The clamping conveyor chain height adjustment mechanism includes a pre-cutting detection unit, a position sensor, and a lifting device 105; the pre-cutting detection unit is used to detect the height information of the reeds in the pre-cutting area and transmit it to the control unit; the position sensor is used to detect the current height of the upright clamping longitudinal conveying device 101 and transmit it to the control unit; the lifting device is connected to the upright clamping longitudinal conveying device 101;

[0067] The control unit 7 is connected to the pre-cutting detection unit and the lifting device. Based on the reed height information detected by the pre-cutting detection unit, the control unit 7 calculates the average height of the reeds in the pre-cutting area, calculates the center of gravity of the reeds, and finds the height difference between the center of gravity of the reeds and the current height of the upright clamping and longitudinal conveying device 101. Based on the height difference, the lifting device is controlled to adjust the position of the upright clamping and longitudinal conveying device 101 to correspond to the center of gravity of the reeds in the pre-cutting area. This allows the clamping and conveying chain 105-11 to adapt to different reed heights through height adjustment, ensuring reliable and orderly clamping and conveying of the reeds. This significantly improves the uniformity of the reeds during transport and makes it easier to bundle and tie the reeds.

[0068] The pre-cut detection unit includes a laser radar 104; the laser radar 104 is used to perform scanning measurement on the reeds before cutting, thereby achieving non-contact and accurate measurement of the reed height, solving the problem of poor accuracy and low efficiency of human eye estimation.

[0069] The laser radar 104 is used to scan the reeds to be harvested in front of the cutting platform 1 at a certain sampling interval T and obtain the point cloud data of the reed reflection point in the laser radar 104 itself in the polar coordinates, and transmit it to the control unit 7. The control unit 7 processes the point cloud data to obtain the point cloud in the specified square area in front of the cutting platform 1, divides the square area into multiple equally divided sub-areas, calculates the maximum value of the y coordinate in the point cloud coordinate value in the sub-area, and calculates the maximum value y ijmax The average height of the reeds in the sub-area is regarded as the average height of the reeds in the sub-area, and the y ijmax Find the average value y over the entire region avg ,This average value represents the average height of reeds in the area before mowing.

[0070] The lifting device includes a reduction motor 105-1, a double winch 105-2, a first pulley set 105-3, a second pulley set 105-4, a bracket 105-5 and a sleeve 105-6;

[0071] The bracket 105-5 is arranged on both sides of the upright clamping longitudinal conveying device 101, and the bracket 105-5 is connected to the main beam of the cutting platform 1. The upright clamping longitudinal conveying device 101 is connected to the vertical beam of the bracket 105-5 through the sleeve 105-6, so the upright clamping longitudinal conveying device 101 can move up and down along the vertical beam of the bracket 105-5 to achieve position adjustment;

[0072] The reduction motor 105-1 and the double winch 105-2 are respectively arranged on the top of the bracket 105-5, and the first pulley group 105-3 is arranged on both sides of the upper part of the bracket 105-5 and connected to the upper part of the upright clamping longitudinal conveying device 101, so as to realize the lifting of the upright clamping longitudinal conveying device 101;

[0073] The second pulley group 105-4 is arranged on both sides of the lower part of the bracket 105-5 and is connected to the lower part of the upright clamping longitudinal conveying device 101, so as to realize the descent of the upright clamping longitudinal conveying device 101; the steel wire rope 105-7 of the first pulley group 105-3 and the second pulley group 105-4 are both connected to the double winch 105-2, and the double winch 105-2 drives the steel wire rope under the drive of the reduction motor 105-1 to realize the retraction and release of the steel wire rope, thereby driving the upright clamping longitudinal conveying device 101 to rise and fall along the vertical beam of the bracket 105-5.

[0074] Preferably, the double winch 105-2 includes two winches, which rotate together with the motor shaft. The double winch drives the wire rope 105-7 under the drive of the single shaft to achieve the retraction and extension of the wire rope 105-7, thereby driving the vertical longitudinal conveying unit to rise and fall.

[0075] As shown in FIG6 , the upright clamping longitudinal conveying device 101 includes two symmetrically arranged upright longitudinal conveying mechanisms, which clamp the upright reeds during the longitudinal conveying process.

[0076] Each upright longitudinal conveying mechanism includes an upright conveying unit and a sleeve 105-6;

[0077] As shown in FIG7 , the upright conveying unit includes a traction roller 105 - 9 , a driven roller 105 - 10 , a clamping conveying chain 105 - 11 , an upper crossbeam 105 - 12 and a lower crossbeam 105 - 13 ;

[0078] The upper crossbeam 105-12 and the lower crossbeam 105-13 are arranged up and down, one end of the traction roller 105-9 is connected to one end of the upper crossbeam 105-12, and the other end of the traction roller 105-9 is connected to one end of the lower crossbeam 105-13; one end of the driven roller 105-10 is connected to the other end of the upper crossbeam 105-12, and the other end of the driven roller 105-10 is connected to the other end of the lower crossbeam 105-13; the clamping conveyor chain 105-11 is wrapped around the traction roller 105-9 and the driven roller 105-10;

[0079] The upper crossbeam 105-12 and the lower crossbeam 105-13 are respectively connected to the sleeve 105-6, and the sleeve 105-6 is installed on the vertical beam of the bracket 105-5. The sleeve 105-6 can slide up and down along the vertical beam of the bracket 105-5, thereby driving the vertical conveying unit to rise and fall.

[0080] The first pulley group 105-3 includes at least four pulleys, two of which are respectively installed on both sides of the upper part of the bracket 105-5, and the remaining two pulleys are respectively located on both sides of the upper part of the bracket 105-5 and connected to the upper crossbeam 105-12 of the upright clamping longitudinal conveying device 101, for realizing the rising of the upright clamping longitudinal conveying device 101; the second pulley group 105-4 includes at least four pulleys, two of which are respectively installed on both sides of the lower part of the bracket 105-5, and the remaining two pulleys are respectively located on both sides of the lower part of the bracket 105-5, and connected to the lower crossbeam 105-13 of the upright clamping longitudinal conveying device 101, for realizing the descending of the upright clamping longitudinal conveying device 101.

[0081] The use of a pulley block to drive the height adjustment of the entire conveying device greatly simplifies the height adjustment mechanism and saves costs. On the other hand, the pulley block and the matching wire rope 105-7 drive the upright clamping longitudinal conveying device 101 to move, making the upright clamping longitudinal conveying device 101 more balanced in force and more reliable in movement.

[0082] Preferably, the position sensor is a pull rope position sensor 105-8.

[0083] The reduction motor 105-1 is provided with an electromagnetic brake system. When the rope position sensor 105-8 obtains that the height of the upright clamping longitudinal conveying device 101 corresponds to the center height of the reeds in the pre-cutting area, the control unit 7 controls the reduction motor 105-1 to cut off power, and the electromagnetic brake system works, thereby stabilizing the upright clamping longitudinal conveying device 101 at the set height, completing the height adjustment process.

[0084] As shown in Figures 2-5, a control method for the upright clamping and longitudinal conveying system for harvesting whole reed stalks includes the following steps:

[0085] The laser radar 104 coordinates of the pre-harvesting detection unit are set. The laser radar 104 scans the reeds to be harvested in front of the harvesting platform 1 and obtains point cloud data of the reed reflection points on the laser radar 104 and transmits the data to the control unit 7.

[0086] The control unit 7 performs point cloud data coordinate conversion, filters the point cloud data, and evenly divides the point cloud data in the pre-cut area into multiple sub-areas, obtains the maximum value y of the point cloud y coordinate in each area, and ijmax , and calculate the average height y of reeds in the area before cutting avg , calculate the center of gravity height of the reeds, obtain the current height value of the upright clamping longitudinal conveying device 101 through the position sensor, the control unit 7 calculates the height difference between the center of gravity height of the reeds and the current height of the upright clamping longitudinal conveying device 101, and controls the lifting device to adjust the position of the upright clamping longitudinal conveying device 101 to correspond to the center of gravity of the reeds in the pre-cutting area according to the height difference.

[0087] Due to the differences in reed varieties and growing areas, there are large differences in the height or center of gravity of the reeds. In order to ensure that the reeds are reliably and neatly clamped and transported during the upright clamping and longitudinal transportation process, the upright clamping and longitudinal transportation device 101 of the present invention adjusts the clamping position in real time according to the height of the center of gravity of the reeds, so that the clamping and conveying chain always remains near the height of the center of gravity of the reeds.

[0088] Specifically, the present invention uses a laser radar to scan the reeds in front of a reed harvester's header in real time, obtaining three-dimensional point cloud data containing reed growth height and density. After filtering and mathematical processing, point cloud data reflecting the reed canopy height is obtained. This data is then averaged to obtain reed canopy height data for a fixed area in front of the reed harvester's header. Based on this data, the lifting device 105 adjusts the height of the upright clamping and longitudinal conveying device 101 of the reed harvester's header in real time, ensuring that the clamping height of the upright clamping and longitudinal conveying device 101 is always maintained near the center of gravity of the reeds.

[0089] The steps for setting the coordinates of the laser radar 104 of the pre-cutting detection unit are specifically as follows:

[0090] As shown in FIG2-5 , a laser radar base with an adjustable inclination angle is installed on the top surface of the header 1 at a height h from the ground. The inclination angle of the laser radar base is set to θ. The laser radar 104 is installed on the laser radar base. The polar coordinate origin O′ of the laser radar 104 is at a height h from the ground.

[0091] A geodetic coordinate system O (X, Y, Z) is established on the ground directly below the laser radar polar coordinate origin O′. The vertical distance between the coordinate system origin O and the laser radar coordinate origin O′ is the height h.

[0092] With the laser radar polar coordinate origin O' as the origin, a rectangular coordinate system O'(X', Y', Z') is established along the direction of the set inclination angle θ, wherein the X' axis of the rectangular coordinate system is in the same direction as the X axis of the geodetic coordinate system, the Y' axis forms an angle θ with the Y axis of the geodetic coordinate system, and the Z' axis forms an angle θ with the Z axis of the geodetic coordinate system;

[0093] The laser radar 104 scans the reeds to be harvested in front of the harvesting platform 1 at a certain sampling interval T and obtains point cloud data of the reed reflection points in the laser radar 104's own polar coordinates, and transmits it to the control unit 7. The point cloud data includes the radial distance radius, elevation angle, azimuth angle and reflection intensity of each reflection point;

[0094] The control unit 7 performs point cloud data coordinate conversion specifically as follows:

[0095] The control unit 7 converts the radial distance radius, elevation angle, and azimuth angle of each point in the point cloud into rectangular coordinate values ​​in the rectangular coordinate system O' (X', Y', Z'). The conversion formula is:

[0096] Among them, X′, Y′, and Z′ are the three coordinate axes in the rectangular coordinate system O′;

[0097] Convert the rectangular coordinate values ​​of the point cloud in the coordinate system O'(X', Y', Z') to the coordinate values ​​in the geodetic coordinate system O(X, Y, Z). The conversion formula is:

[0098] Among them, X, Y, and Z are the three coordinate axes in the geodetic coordinate system O.

[0099] As shown in FIG3 , the control unit 7 processes the point cloud data and calculates the height of the reeds in the area before mowing to be:

[0100] The control unit 7 processes the point cloud data, uses a Statistical Outlier Removal filter to filter out noise points (outliers) in the point cloud, and uses a straight-through filter to filter out point clouds outside the designated square area abcd in front of the cutting platform 1, while retaining the point cloud within the square area abcd. The point cloud within this area reflects the biological parameter plant height of the reed in front of the cutting platform;

[0101] Divide the square area abcd into m×n equally divided sub-areas, calculate the maximum value of the y coordinate of the point cloud coordinate value in the sub-area, and use the maximum value y ijmax As the average height of the reeds in the sub-area, when m×n is divided into enough equal parts, y ijmaxThe error caused by the average height of reeds in the representative sub-area will be within an acceptable range.

[0102] The average height y of the representative reeds in each sub-area is obtained ijmax Find the average value y over the entire region avg , the average value represents the average height of the reeds in the pre-cutting area, as shown in Figure 4. The workflow of the entire reed height detection before cutting is shown in Figure 5: the laser radar 104 obtains the point cloud data at the current time t = T (n) and transmits it to the control unit 7, which performs point cloud data coordinate conversion, point cloud data filtering (noise point removal + straight-through filtering), evenly divides the point cloud data in the pre-cutting area into multiple sub-areas, and obtains the maximum value y of the point cloud y coordinate in each area. ijmax , and based on this, we can get the average height y of reeds in the area before cutting avg , calculate the height y of the center of gravity of the reed grav The current height value of the vertical clamping longitudinal conveying device 101 is obtained by the position sensor, and the control unit 7 calculates the average height y of the reeds avg The height difference between the upright clamping longitudinal conveying device 101 and the upright clamping longitudinal conveying device 101 is adjusted according to the height difference to the position in the current cycle corresponding to the center of gravity of the reeds in the pre-cutting area. When t=T(n+1), the next cycle adjustment is started (t=T(n+1)), n represents the current cycle, and n+1 represents the next cycle.

[0103] Preferably, the height of the center of gravity of the reed is the actual length of the reed h2=h avg -h1, that is h1 is the height of the cutting knife from the ground detected by the cutting knife height sensor (103-1).

[0104] As shown in Figures 7-9, the lifting device adjusts the position of the upright clamping longitudinal conveying device 101 to correspond to the center of gravity of the reeds in the pre-cutting area:

[0105] The reduction motor 105-1 of the lifting device drives the double winch 105-2 to rotate clockwise. The double winch 105-2 includes a driving pulley A and a driving pulley B. The driving pulley A and the driving pulley B are fixedly connected and rotate simultaneously. The driving pulley A in the double winch 105-2 drives the first pulley group 105-3, as shown by the solid line in Figure 7. The first pulley group 105-3 drives the upright clamping longitudinal conveying device 101 to rise under the drive of the double winch driving pulley A; at this time, the driving pulley B in the double winch 105-2 is connected to the second pulley group 105-4, as shown by the dotted line in Figure 7. At this time, the driving pulley B is in a line-releasing state to ensure the rise of the upright clamping longitudinal conveying device 101;

[0106] The reduction motor 105-1 drives the double winch 105-2 to rotate counterclockwise, and the driving pulley B in the double winch 105-2 drives the second pulley group 105-4, as shown by the dotted line in Figure 8. The second pulley group 105-4 drives the upright clamping longitudinal conveying device 101 to descend under the drive of the double winch driving pulley B; at this time, the driving pulley A in the double winch 105-2 is connected to the first pulley group 105-3, as shown by the solid line in Figure 8. At this time, the driving pulley A is in the pay-out state to ensure the descent of the upright clamping longitudinal conveying device 101.

[0107] Example 2

[0108] A harvester includes a knotter 2, a feed box 3, a mating mechanism 4, a cab 5, a chassis 6, and the upright clamping and longitudinal conveying system for harvesting whole reed stalks described in Example 1. Therefore, the harvester has the beneficial effects of Example 1 and will not be described in detail here. The harvester 1, knotter 2, feed box 3, mating mechanism 4, and cab 5 are all mounted on the chassis 6.

[0109] The cutting platform 1 includes an upright clamping longitudinal conveying device 101, a transverse conveying device 102, and a cutting knife 103; the transverse conveying device 102 is arranged in front of the upright clamping longitudinal conveying device 101, and the cutting knife 103 is installed below the transverse conveying device 102. The upright clamping longitudinal conveying device 101 is connected to the clamping conveying chain height adjustment mechanism; the knotter 2 is located behind the upright clamping longitudinal conveying device 101, and the stacking mechanism 4 is located behind the knotter 2. The knotter 2 is used to knot the reeds transported by the upright clamping longitudinal conveying device 101 into small bundles, and the stacking mechanism 4 is used to stack the small bundles of reeds into the material box 3.

[0110] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0111] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vertical clamping and longitudinal conveying system for harvesting whole reed stalks, characterized in that: It comprises an upright clamping longitudinal conveying device (101), a clamping conveying chain height adjustment mechanism (105) and a control unit (7); The clamping conveying chain height adjustment mechanism (105) comprises a pre-cutting detection unit, a position sensor and a lifting device; the pre-cutting detection unit is used to detect the height information of the reeds in the pre-cutting area and transmit it to the control unit; the position sensor is used to detect the current height of the upright clamping longitudinal conveying device (101) and transmit it to the control unit; the lifting device is connected to the upright clamping longitudinal conveying device (101); The control unit (7) is connected to the pre-cutting detection unit and the lifting device respectively; the control unit (7) calculates the average height of the reeds in the pre-cutting area based on the reed height information in the pre-cutting area detected by the pre-cutting detection unit, calculates the height of the center of gravity of the reeds, and calculates the height difference between the center of gravity height of the reeds and the current height of the upright clamping longitudinal conveying device (101), and controls the lifting device to adjust the position of the upright clamping longitudinal conveying device (101) to correspond to the center of gravity of the reeds in the pre-cutting area based on the height difference.

2. The upright clamping and longitudinal conveying system for harvesting whole reed stalks according to claim 1 is characterized in that: The pre-cutting detection unit includes a laser radar (104); The laser radar (104) is used to scan the reeds to be harvested in front of the harvesting platform (1) at a certain sampling interval T and obtain point cloud data of the reed reflection points in the laser radar (104) itself in polar coordinates, and transmit the point cloud data to the control unit (7). The control unit (7) processes the point cloud data to obtain a point cloud in a designated square area in front of the harvesting platform (1), evenly divides the square area into a plurality of equally divided sub-areas, calculates the maximum value of the y coordinate in the point cloud coordinate values ​​in the sub-areas, and calculates the maximum value y ijmax The average height of the reeds in the sub-area is regarded as the average height of the reeds in the sub-area, and the y value representing the average height of the reeds in each sub-area is obtained. ijmax Find the average value y over the whole area avg ,This average value represents the average height of reeds in the area before mowing.

3. The upright clamping and longitudinal conveying system for harvesting whole reed stalks according to claim 1 is characterized in that: The lifting device comprises a reduction motor (105-1), a double winch (105-2), a first pulley block (105-3), a second pulley block (105-4), a bracket (105-5) and a sleeve (105-6); The support (105-5) is arranged on both sides of the upright clamping longitudinal conveying device (101), the support (105-5) is connected to the main beam of the cutting platform (1), and the upright clamping longitudinal conveying device (101) is connected to the vertical beam of the support (105-5) through a sleeve (105-6); The reduction motor (105-1) and the double winch (105-2) are respectively arranged on the top of the bracket (105-5), and the first pulley group (105-3) is arranged on both sides of the upper part of the bracket (105-5) and connected to the upper part of the upright clamping longitudinal conveying device (101); The second pulley block (105-4) is arranged on both sides of the lower part of the bracket (105-5) and is connected to the lower part of the upright clamping longitudinal conveying device (101); the steel wire ropes (105-7) of the first pulley block (105-3) and the second pulley block (105-4) are both connected to the double winch (105-2), and the double winch (105-2) drives the steel wire rope under the drive of the reduction motor (105-1) to realize the retraction and release of the steel wire rope, thereby driving the upright clamping longitudinal conveying device (101) to rise and fall along the vertical beam of the bracket (105-5).

4. The upright clamping and longitudinal conveying system for harvesting whole reed stalks according to claim 3 is characterized in that: The upright clamping longitudinal conveying device (101) comprises two symmetrically arranged upright longitudinal conveying mechanisms, which clamp the upright reeds during the longitudinal conveying of the reeds. Each upright longitudinal conveying mechanism comprises an upright conveying unit and a sleeve (105-6); The upright conveying unit comprises a traction roller (105-9), a driven roller (105-10), a clamping conveying chain (105-11), an upper crossbeam (105-12) and a lower crossbeam (105-13); The upper crossbeam (105-12) and the lower crossbeam (105-13) are arranged up and down; one end of the traction roller (105-9) is connected to one end of the upper crossbeam (105-12), and the other end of the traction roller (105-9) is connected to one end of the lower crossbeam (105-13); one end of the driven roller (105-10) is connected to the other end of the upper crossbeam (105-12), and the other end of the driven roller (105-10) is connected to the other end of the lower crossbeam (105-13); the clamping conveyor chain (105-11) is wrapped around the traction roller (105-9) and the driven roller (105-10); The upper crossbeam (105-12) and the lower crossbeam (105-13) are respectively connected to the sleeve (105-6), and the sleeve (105-6) is installed on the vertical beam of the bracket (105-5). The sleeve (105-6) can slide up and down along the vertical beam of the bracket (105-5), thereby driving the vertical conveying unit to rise and fall.

5. The upright clamping and longitudinal conveying system for harvesting whole reed stalks according to claim 1 is characterized in that: The reduction motor (105-1) is provided with an electromagnetic brake system.

6. A harvester, characterized in that: It comprises the upright clamping and longitudinal conveying system for harvesting whole reed stalks as described in any one of claims 1-5.

7. A control method for the upright clamping and longitudinal conveying system for harvesting whole reed stalks according to any one of claims 1 to 5, characterized in that: The following steps are involved: The laser radar (104) coordinates of the pre-harvesting detection unit are set, and the laser radar (104) scans the reeds to be harvested in front of the harvesting platform (1) and obtains point cloud data of the reed reflection points on the laser radar (104), and transmits the data to the control unit (7); The control unit (7) performs point cloud data coordinate conversion, filters the point cloud data, evenly divides the point cloud data in the pre-cut area into multiple sub-areas, and obtains the maximum value y of the point cloud y coordinate in each area. ijmax , and calculate the average height y of the reeds in the area before cutting avg , calculate the height of the center of gravity of the reeds, obtain the current height value of the upright clamping longitudinal conveying device (101) through a position sensor, the control unit (7) calculates the height difference between the center of gravity of the reeds and the current height of the upright clamping longitudinal conveying device (101), and controls the lifting device to adjust the position of the upright clamping longitudinal conveying device (101) to correspond to the center of gravity of the reeds in the pre-cutting area according to the height difference.

8. The control method of the upright clamping and longitudinal conveying system for harvesting whole reed stalks according to claim 7, characterized in that: The step of setting the laser radar (104) coordinates of the pre-cutting detection unit is specifically as follows: A laser radar base with adjustable inclination angle is installed at a height h from the ground on the top surface of the header (1), and the inclination angle of the laser radar base is set to θ. The laser radar (104) is installed on the laser radar base, and the laser radar (104) itself has a polar coordinate system. The height of the origin O′ from the ground is h; A geodetic coordinate system O (X, Y, Z) is established on the ground directly below the laser radar polar coordinate origin O′. The vertical distance between the origin O of the coordinate system and the laser radar coordinate origin O′ is the height h. Taking the laser radar polar coordinate origin O′ as the origin, a rectangular coordinate system O′ (X′, Y′, Z′) is established along the direction of the set inclination angle θ, wherein the X′ axis of the rectangular coordinate system is in the same direction as the X axis of the geodetic coordinate system, the Y′ axis forms an angle θ with the Y axis of the geodetic coordinate system, and the Z′ axis forms an angle θ with the Z axis of the geodetic coordinate system; The laser radar (104) scans the reeds to be harvested in front of the harvesting platform (1) at a certain sampling interval T and obtains point cloud data of the reed reflection points in the laser radar (104)'s own polar coordinates, and transmits the data to the control unit (7), wherein the point cloud data includes the radial distance radius, the elevation angle elevation, the azimuth angle azimuth and the reflection intensity intensity of each reflection point; The control unit (7) performs point cloud data coordinate conversion specifically as follows: The control unit (7) converts the radial distance radius, elevation angle elevation, and azimuth angle of each point in the point cloud into rectangular coordinate values ​​in the rectangular coordinate system O′ (X′, Y′, Z′), and the conversion formula is: Among them, X′, Y′, and Z′ are the three coordinate axes in the rectangular coordinate system O′; The control unit (7) converts the rectangular coordinate values ​​of the point cloud in the coordinate system O'(X', Y', Z') into coordinate values ​​in the geodetic coordinate system O(X, Y, Z), and the conversion formula is: Among them, X, Y, and Z are three coordinate axes in the geodetic coordinate system O.

9. The control method of the upright clamping and longitudinal conveying system for harvesting whole reed stalks according to claim 7, characterized in that: The control unit (7) processes the point cloud data and calculates the height of the reeds in the area before cutting to be: The control unit (7) processes the point cloud data, uses a filter to filter out noise points in the point cloud, uses a straight-through filter to filter out point clouds outside a designated square area in front of the cutting platform (1), and retains point clouds within the square area, wherein the point clouds within the area reflect the height information of the reed canopy in front of the cutting platform; The square area is evenly divided into multiple equally divided sub-areas, the maximum value of the y coordinate of the point cloud coordinate value in the sub-area is calculated, and the maximum value y ijmax The average height of the reeds in the sub-area is regarded as the average height of the reeds in the sub-area, and the y value representing the average height of the reeds in each sub-area is obtained. ijmax Find the average value y over the whole area avg ,This average value represents the average height of reeds in the area before mowing.

10. The control method of the upright clamping and longitudinal conveying system for harvesting whole reed stalks according to claim 7, characterized in that: The lifting device adjusts the position of the upright clamping longitudinal conveying device (101) to correspond to the center of gravity of the reeds in the pre-cutting area: The reduction motor (105-1) of the lifting device drives the double winch (105-2) to rotate clockwise, and the double winch (105-2) The driving pulley A in the double winch drives the first pulley group (105-3), and the first pulley group (105-3) drives the upright clamping longitudinal conveying device (101) to rise under the drive of the double winch driving pulley A; at this time, the driving pulley B in the double winch (105-2) is connected to the second pulley group (105-4), and the driving pulley B is in a line-releasing state to ensure the upright clamping longitudinal conveying device (101) to rise; The reduction motor (105-1) drives the double capstan (105-2) to rotate counterclockwise, and the driving pulley B in the double capstan (105-2) drives the second pulley group (105-4). The second pulley group (105-4) drives the upright clamping longitudinal conveying device (101) to descend under the drive of the double capstan driving pulley B; at this time, the driving pulley A in the double capstan (105-2) is connected to the first pulley group (105-3), and the driving pulley A is in a line-releasing state to ensure the descent of the upright clamping longitudinal conveying device (101).

Images