Mountain unmanned rice and wheat combine harvester

Abstract

Disclosed in the present invention is a mountain unmanned rice and wheat combine harvester, comprising an autonomous traveling device, a harvesting device self-start / stop control unit, a threshing device self-start / stop control unit, a discharging device self-start / stop control unit, a Beidou satellite navigation system and a controller. The autonomous traveling device is mounted on a chassis. The harvesting device self-start / stop control unit is mounted on the outer side surface of a threshing chamber and is in transmission connection with a harvesting device. The threshing device self-start / stop control unit is mounted on a machine body and is in transmission connection with a threshing device. The discharging device self-start / stop control unit is mounted on a grain storage device and is in transmission connection with a discharging device. The autonomous traveling device, the harvesting device self-start / stop control unit, the threshing device self-start / stop control unit and the discharging device self-start / stop control unit are separately and electrically connected to the controller; and the Beidou satellite navigation system is electrically connected to the controller. The present invention achieves autonomous traveling and automatic harvesting, threshing, and discharging operations, thus reducing labor costs, and improving working efficiency.

Description

A type of unmanned rice and wheat combine harvester for mountainous terrain Technical Field

[0001] This invention relates to the field of agricultural machinery technology for rice harvesting, and more specifically to an unmanned rice and wheat combine harvester for mountainous terrain. Background Technology

[0002] Rice is a widely consumed crop. Currently, the harvesting of mature rice is mainly done by workers driving rice harvesters. However, threshing requires the harvester to transport the harvested rice to a threshing vehicle, which results in high labor costs, high rice harvesting costs, complex operation, and low harvesting efficiency.

[0003] Therefore, providing an efficient automatic harvesting and threshing device for unmanned rice and wheat combine harvesters is a problem that urgently needs to be solved by those skilled in the art.

[0004] Summary of the Invention

[0005] In view of this, the present invention provides an unmanned rice and wheat combine harvester for mountainous areas, which improves the level of automation, reduces labor costs, and increases work efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A mountain-mountain unmanned rice and wheat combine harvester includes a body and a harvesting device, a threshing device, and a grain storage device mounted on the body. It also includes an autonomous walking device, a harvesting device start-stop control device, a threshing device start-stop control device, a discharge device start-stop control device, a BeiDou satellite navigation system, and a controller. The autonomous walking device is mounted on the chassis; the harvesting device start-stop control device is mounted on the outer side of the threshing bin and is drivenly connected to the harvesting device; the threshing device start-stop control device is mounted on the body and is drivenly connected to the threshing device; the discharge device start-stop control device is mounted on the grain storage device and is drivenly connected to the discharge device of the grain storage device; the autonomous walking device, the harvesting device start-stop control device, the threshing device start-stop control device, and the discharge device start-stop control device are each electrically connected to the controller; the BeiDou satellite navigation system is electrically connected to the controller.

[0008] By adopting the above technical solutions, the beneficial effects of the present invention are as follows:

[0009] The system enables autonomous walking and automates harvesting, threshing, and discharging operations, thereby reducing labor costs and improving work efficiency.

[0010] Furthermore, it also includes a hydraulic station, with the controller electrically connected to the hydraulic station; the hydraulic station is connected to the autonomous walking device, the harvesting device's start-stop control device, the threshing device's start-stop control device, and the discharge device's start-stop control device, respectively.

[0011] Furthermore, the autonomous walking device includes a first hydraulic electric push rod, a clutch steering rod, and three first Hall sensors. The first hydraulic electric push rod is mounted on the chassis, and its extension end is connected to the clutch steering rod via a connecting ring. The three first Hall sensors are spaced apart on the chassis and are all aligned with the telescopic rod of the first hydraulic electric push rod. All three first Hall sensors are electrically connected to the controller.

[0012] Furthermore, the harvesting device's self-starting and stopping control device includes a second hydraulic electric push rod, a first connecting member, a first rotating shaft, a second rotating shaft, a first spring, a second spring, a first driving wheel, a first driven wheel, a first transmission belt, a first pressing wheel, and two second Hall effect sensors. The second hydraulic electric push rod is vertically mounted on the outer side of the threshing chamber; the first connecting member is located below the second hydraulic electric push rod, and its top end is mounted on the outer side of the threshing chamber via the first rotating shaft; one end of the first spring is hooked and connected to the extension end of the second hydraulic electric push rod, and the other end of the first spring is hooked and connected to the bottom end of the first connecting member via the second rotating shaft; one end of the second spring is connected to the threshing chamber, and the other end of the second spring is connected to the threshing chamber via a third rotating shaft. The bottom of the first connector is connected to the other end, and the first spring and the second spring are vertically distributed; the first driving wheel driven by the motor is mounted on the threshing chamber through the fourth rotating shaft; the first driven wheel is mounted on the threshing chamber through the fifth rotating shaft, and the harvesting device is connected to the fifth rotating shaft through belt drive; the first transmission belt is sleeved on the first driving wheel and the first driven wheel; the first pressing wheel is mounted in the middle of the first connector through the sixth rotating shaft to press the first transmission belt or disengage from the first transmission belt, so that the first driving wheel and the first driven wheel are connected or independent; two second Hall sensors are installed vertically at intervals on the outer side of the threshing chamber and are both aligned with the telescopic rod of the second hydraulic electric push rod; both second Hall sensors are electrically connected to the controller.

[0013] Furthermore, the self-starting and stopping control device of the threshing unit includes a third hydraulic electric push rod, a second connecting member, a seventh rotating shaft, a bent connecting rod, a second driving wheel, a second driven wheel, a second pressing wheel, a third spring, and two third Hall effect sensors. The third hydraulic electric push rod is obliquely mounted on the machine body; one end of the top of the second connecting member is mounted on the machine body via the seventh rotating shaft; one end of the bent connecting rod is connected to the telescopic rod of the third hydraulic electric push rod via a connector, and the other end of the bent connecting rod is rotatably connected to the other end of the top of the second connecting member; the second driving wheel, driven by a motor, is mounted on the machine body via an eighth rotating shaft; the second driven wheel is connected to the third driving wheel via the seventh rotating shaft. The ninth rotating shaft is mounted on the machine body, and the threshing device is connected to the ninth rotating shaft via a belt. The second transmission belt is sleeved on the second driving wheel and the second driven wheel. The second pressing wheel is mounted in the middle of the second connecting piece via the tenth rotating shaft to press the second transmission belt or to disengage from the second transmission belt, so that the second driving wheel is connected to the second driven wheel or is independent. One end of the inclined third spring is fixedly connected to the machine body, and the other end of the third spring is fixedly connected to the tenth rotating shaft. Two third Hall sensors are mounted on the machine body at an inclined interval and are both aligned with the telescopic rod of the third hydraulic electric push rod. Both third Hall sensors are electrically connected to the controller.

[0014] Furthermore, the automatic start-stop control device for the discharge device includes a fourth hydraulic electric push rod, an arc-shaped connecting rod, an eleventh rotating shaft, a third driving wheel, a third driven wheel, and two fourth Hall sensors. The fourth hydraulic electric push rod is vertically mounted on the grain storage device. One end of the arc-shaped connecting rod is connected to the extension end of the fourth hydraulic electric push rod via a connector, and the other end of the arc-shaped connecting rod is connected to the eleventh rotating shaft. The third driving wheel, driven by a motor, is mounted on the grain storage device via the twelfth rotating shaft. The third driven wheel is mounted on the eleventh rotating shaft to engage or disengage with the third driving wheel. The discharge device is connected to the third driven wheel via a transmission connection. The two fourth Hall sensors are mounted vertically at intervals on the grain storage device and are both aligned with the telescopic rod of the fourth hydraulic electric push rod. Both fourth Hall sensors are electrically connected to the controller.

[0015] Furthermore, the BeiDou satellite navigation system includes an electrically connected BeiDou positioning and navigation antenna and a navigation display and control panel, both of which are mounted on the aircraft body; the navigation display and control panel is electrically connected to the controller. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 is a three-dimensional structural schematic diagram of a mountain unmanned rice and wheat combine harvester provided by the present invention;

[0018] Figure 2 is a left view of an unmanned rice and wheat combine harvester for mountainous terrain provided by the present invention;

[0019] Figure 3 is a top view of an unmanned rice and wheat combine harvester for mountainous terrain provided by the present invention;

[0020] Figure 4 is a right view of an unmanned rice and wheat combine harvester for mountainous terrain provided by the present invention;

[0021] Figure 5 is a schematic diagram of the structure of the autonomous walking device provided by the present invention;

[0022] Figure 6 is a schematic diagram of the structure of the self-starting and stopping control device for the harvesting apparatus provided by the present invention.

[0023] Figure 7 is a three-dimensional structural schematic diagram of the self-starting and stopping control device of the threshing apparatus provided by the present invention.

[0024] Figure 8 is a side view of the self-starting and stopping control device of the threshing apparatus provided by the present invention.

[0025] Figure 9 is a schematic diagram of the structure of the automatic start-stop control device for the discharge device provided by the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] As shown in Figures 1-9, this embodiment of the invention discloses an unmanned rice and wheat combine harvester for mountainous terrain, comprising a body 1 and a harvesting device 2, a threshing device 3, and a grain storage device 4 mounted on the body 1. It also includes an autonomous walking device 5, a harvesting device self-start / stop control device 6, a threshing device self-start / stop control device 7, a discharge device self-start / stop control device 8, a BeiDou satellite navigation system 9, and a controller. The autonomous walking device 5 is mounted on the chassis; the harvesting device self-start / stop control device 6 is mounted on the outer side of the threshing chamber 10 and is drivenly connected to the harvesting device 2; the threshing device self-start / stop control device 7 is mounted on the body 1 and is drivenly connected to the threshing device 3; the discharge device self-start / stop control device 8 is mounted on the grain storage device 4 and is drivenly connected to the discharge device of the grain storage device 4; the autonomous walking device 5, the harvesting device self-start / stop control device 6, the threshing device self-start / stop control device 7, and the discharge device self-start / stop control device 8 are each electrically connected to the controller; the BeiDou satellite navigation system 9 is electrically connected to the controller. This invention enables autonomous walking and automates harvesting, threshing, and discharging operations, thereby reducing labor costs and improving work efficiency.

[0028] In one embodiment, a hydraulic station 11 is also included, and the controller is electrically connected to the hydraulic station 11; the hydraulic station 11 is connected to the autonomous walking device 5, the harvesting device start-stop control device 6, the threshing device start-stop control device 7, and the discharge device start-stop control device 8, respectively.

[0029] Specifically, the autonomous walking device 5 includes a first hydraulic electric push rod 51, a clutch steering lever 52, and three first Hall sensors 53. The first hydraulic electric push rod 51 is mounted on the chassis, and its extended end is connected to the clutch steering lever 52 via a connecting ring 54. The three first Hall sensors 53 are spaced apart on the chassis and are all aligned with the telescopic rod of the first hydraulic electric push rod 51. The three first Hall sensors 53 are all electrically connected to the controller. The three first Hall sensors 53 monitor three different positions of the telescopic rod of the first hydraulic electric push rod 51 and transmit the signals back to the controller. The first hydraulic electric push rod 51 drives the clutch steering lever 52 to move, and different extension lengths change the three different driving states of the implement: forward, backward, and neutral.

[0030] Specifically, the harvesting device's self-starting and stopping control device 6 includes a second hydraulic electric push rod 61, a first connecting piece 62, a first rotating shaft 63, a second rotating shaft 64, a first spring 65, a second spring 66, a first driving wheel 67, a first driven wheel 68, a first transmission belt 69, a first pressing wheel 610, and two second Hall effect sensors 611. The second hydraulic electric push rod 61 is vertically installed on the outer side of the threshing chamber 10; the first connecting piece 62 is located below the second hydraulic electric push rod 61, and the top end of the first connecting piece 62 is installed on the outer side of the threshing chamber 10 via the first rotating shaft 63; one end of the first spring 65 is hooked to the second hydraulic electric push rod 61. The extension end of push rod 61 is connected to the hook at the other end of the first spring 65, which is connected to the bottom end of the first connecting member 62 via the second rotating shaft 64; one end of the second spring 66 is connected to the threshing chamber 10, and the other end of the second spring 66 is connected to the bottom end of the first connecting member 62 via the third rotating shaft, with the first spring 65 and the second spring 66 being perpendicularly distributed; the first drive wheel 67, driven by a motor, is mounted on the threshing chamber 10 via the fourth rotating shaft; the first driven wheel 68 is mounted on the threshing chamber 10 via the fifth rotating shaft, and the harvesting device 2 is connected to the fifth rotating shaft via belt drive; the first transmission belt 69 is sleeved on the first drive wheel 67 and the first drive wheel 68. The first driven wheel 68 is mounted on the first driven wheel 68; the first pressing wheel 610 is mounted on the middle of the first connecting member 62 via the sixth rotating shaft to press the first transmission belt 69 or disengage from the first transmission belt 69, so that the first driving wheel 67 is connected to or independently of the first driven wheel 68; two second Hall sensors 611 are mounted vertically at intervals on the outer side of the threshing chamber 10 and are both aligned with the telescopic rod of the second hydraulic electric push rod 61; both second Hall sensors 611 are electrically connected to the controller, and during operation, the two telescopic states of the second hydraulic electric push rod 61 are used to realize the two different positions of the first pressing wheel 610, that is, the first transmission belt 69. The two different tension states are as follows: the first connecting member 62 is connected to the outer side of the threshing chamber 10 through the first rotating shaft 63, that is, the first connecting member 62 can rotate around the first rotating shaft 63. When the second hydraulic electric push rod 61 retracts, the first pressing wheel 610 is not tensioned on the first transmission belt 69, and the first driving wheel 67 and the first driven wheel 68 cannot form a belt drive to make the harvesting mechanism 2 run. When the second hydraulic electric push rod 61 extends, due to the pulling action of the second spring 66, the first pressing wheel 610 applies pressure on the first transmission belt 69, and the first transmission belt 69 is tensioned to achieve belt drive, so as to drive the harvesting mechanism 2 to start.

[0031] Specifically, the self-starting and stopping control device 7 of the threshing unit includes a third hydraulic electric push rod 71, a second connecting piece 72, a seventh rotating shaft 73, a bent connecting rod 74, a second driving wheel 75, a second driven wheel 76, a second pressing wheel 77, a third spring 78, and two third Hall sensors 79. The third hydraulic electric push rod 71 is obliquely mounted on the machine body 1; one end of the top of the second connecting piece 72 is mounted on the machine body 1 via the seventh rotating shaft 73. Above; one end of the bent connecting rod 74 is connected to the telescopic rod of the third hydraulic electric push rod 71 via a connector, and the other end of the bent connecting rod 74 is rotatably connected to the other end of the top of the second connecting piece 72; the second driving wheel 75 driven by the motor is mounted on the machine body 1 via the eighth rotating shaft; the second driven wheel 76 is mounted on the machine body 1 via the ninth rotating shaft, and the threshing device 3 is connected to the ninth rotating shaft via a belt; the second transmission belt 710 is sleeved on the second driving wheel 75 and the second driven wheel 76; the second pressing wheel 77 is mounted in the middle of the second connecting piece 72 via the tenth rotating shaft to press the second transmission belt 710 or to disengage from the second transmission belt 710, so that the second driving wheel 75 and the second driven wheel 76 are connected or independent; one end of the inclined third spring 78 is fixedly connected to the machine body 1, and the other end of the third spring 78 is fixedly connected to the tenth rotating shaft; two third Hall sensors 79 are installed at an inclined interval. The telescopic rods on the machine body 1 are aligned with the third hydraulic electric push rod 71. Two third Hall sensors 79 are electrically connected to the controller. During operation, the two third Hall sensors 79 can monitor two positions of the third hydraulic electric push rod 71. One end of the second connecting member 72 is mounted on the machine body 1 through the seventh rotating shaft, that is, the second connecting member 72 can rotate around the seventh rotating shaft. When the third hydraulic electric push rod 71 retracts, it will lift the connection between the second connecting member 72 and the bent connecting rod 74, and drive the second pressing wheel 77 to rise. Then the second transmission belt 710 is tensioned, and the second driving wheel 75 can transmit the motion to the second driven wheel 6, and the threshing device 3 starts to operate. When the third hydraulic electric push rod 71 extends, the third spring 78 will stretch the second pressing wheel 77 away from the second transmission belt 710, making the second transmission belt 710 loose and unable to complete belt transmission.

[0032] Specifically, the automatic start-stop control device 8 for the discharge device includes a fourth hydraulic electric push rod 81, an arc-shaped connecting rod 82, an eleventh rotating shaft, a third driving wheel 83, a third driven wheel 84, and two fourth Hall sensors 85. The fourth hydraulic electric push rod 81 is vertically mounted on the grain storage device 4; one end of the arc-shaped connecting rod 82 is connected to the extension end of the fourth hydraulic electric push rod 81 via a connector, and the other end of the arc-shaped connecting rod 82 is connected to the eleventh rotating shaft; the third driving wheel 83, driven by a motor, is mounted on the grain storage device 4 via a twelfth rotating shaft; the third driven wheel 84 is mounted on the eleventh rotating shaft to engage or disengage with the third driving wheel 83; the discharge device is connected to the third driven wheel 84 via a transmission; the two fourth Hall sensors 85 are mounted vertically at intervals on the grain storage device 4 and are both aligned with the telescopic rod of the fourth hydraulic electric push rod 81; the two fourth Hall sensors 85 All are electrically connected to the controller. When the fourth hydraulic electric push rod 81 is in the extended state, the third driven wheel 84 and the third driving wheel 83 are not in contact, and the two-wheel transmission cannot be realized. When the fourth hydraulic electric push rod 81 is in the retracted state, the arc-shaped connecting rod 82 drives the third driven wheel 84 to be pulled upward, so that the third driven wheel 84 and the third driving wheel 83 come into contact and mesh to complete the transmission.

[0033] Specifically, the BeiDou satellite navigation system 9 includes an electrically connected BeiDou positioning and navigation antenna 91 and a navigation display and control panel 92, both of which are mounted on the body 1. The navigation display and control panel 92 is electrically connected to the controller. The BeiDou positioning and navigation antenna 91 receives remotely transmitted operation commands and BeiDou satellite positioning signals, which are displayed on the navigation display and control panel 92. It can also be operated directly through the navigation display and control panel 92. It has high accuracy and can accurately reflect the implementation status of the operation. One person can operate multiple machines at the same time.

[0034] The working process of this invention:

[0035] Preliminary preparation: A paddy field model / boundary is established using a dot-matrix device. Information is transmitted to the software via a wireless device (mobile phone), and the field operation model / boundary is loaded through a human-computer interaction interface. Alternatively, the field model / boundary can be established manually by circling the ground, and the machine can autonomously analyze, plan its path, and determine the start and end points of the operation.

[0036] Start working: Press the controller button to start the machine (or start it remotely via the wireless communication system), start the autonomous driving through the wireless device, issue commands through the software, that is, transmit information, start the machine to start autonomous driving, the machine initializes, the system starts self-checking to check whether each sensor is working properly, if no problems are reported, then work begins.

[0037] After starting work, it autonomously determines the forward, backward, and turning modes according to the prescribed route. The central control device sends a signal to the hydraulic station 11, and the hydraulic station 11 sends a hydraulic signal to the first hydraulic electric push rod 51 to realize forward, backward, and neutral gear changes.

[0038] When the threshing device 3 reaches the area to be worked, it starts up first. The hydraulic station 11 sends a hydraulic signal to the third hydraulic electric push rod 71. When the third hydraulic electric push rod 71 retracts, the second transmission belt 710 is tensioned, the transmission is completed, and finally the power is transmitted to the threshing device 3 to start working.

[0039] Subsequently, the harvesting device 2 starts up. When the second hydraulic electric push rod 61 extends, the first transmission belt 69 is tensioned, the transmission is completed, and the power is transmitted to the harvesting device 2 to start up.

[0040] After completing the above preparations, the machine begins to move and harvest as it goes. The harvested rice and wheat are temporarily stored in the grain storage device 4, waiting for the grain storage device 4 to collect the set amount (the grain storage device 4 is equipped with a grain quantity monitoring sensor). Once the set amount is reached, the hydraulic station 11 sends a hydraulic signal to the fourth hydraulic electric push rod 82, which retracts. The third drive wheel 83 meshes with the third driven wheel 84 to achieve transmission. The grain storage device 4 then begins to discharge grain to the threshing device 3 to complete the final operation.

[0041] After the operation is completed, the machine drives out of the work area, autonomously plans its route to the parking position, the harvesting device 2 stops first to stop harvesting, then the grain discharge stops, and finally the threshing work stops and the machine is shut down.

[0042] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0043] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A mountain-mountain unmanned rice and wheat combine harvester, comprising a machine body and a harvesting device, a threshing device, and a grain storage device mounted on the machine body, characterized in that, It also includes an autonomous walking device, a harvesting device start-stop control device, a threshing device start-stop control device, a discharging device start-stop control device, a Beidou satellite navigation system, and a controller. The autonomous walking device is mounted on the chassis; the harvesting device start-stop control device is mounted on the outer side of the threshing bin and is drivenly connected to the harvesting device; the threshing device start-stop control device is mounted on the machine body and is drivenly connected to the threshing device; the discharging device start-stop control device is mounted on the grain storage device and is drivenly connected to the discharging device of the grain storage device; the autonomous walking device, the harvesting device start-stop control device, the threshing device start-stop control device, and the discharging device start-stop control device are each electrically connected to the controller; the Beidou satellite navigation system is electrically connected to the controller.

2. A mountain unmanned rice and wheat combine harvester according to claim 1, characterized in that, It also includes a hydraulic station, and the controller is electrically connected to the hydraulic station; the hydraulic station is connected to the autonomous walking device, the harvesting device's start-stop control device, the threshing device's start-stop control device, and the discharge device's start-stop control device, respectively.

3. A mountain unmanned rice and wheat combine harvester according to claim 2, characterized in that, The autonomous walking device includes a first hydraulic electric push rod, a clutch steering rod, and three first Hall sensors. The first hydraulic electric push rod is mounted on the chassis, and its extension end is connected to the clutch steering rod via a connecting ring. The three first Hall sensors are spaced apart on the chassis and are all aligned with the telescopic rod of the first hydraulic electric push rod. All three first Hall sensors are electrically connected to the controller.

4. A mountain unmanned rice and wheat combine harvester according to claim 3, characterized in that, The harvesting device's self-starting and stopping control unit includes a second hydraulic electric push rod, a first connecting member, a first rotating shaft, a second rotating shaft, a first spring, a second spring, a first driving wheel, a first driven wheel, a first transmission belt, a first pressing wheel, and two second Hall effect sensors. The second hydraulic electric push rod is vertically mounted on the outer side of the threshing chamber. The first connecting member is located below the second hydraulic electric push rod, and its top end is mounted on the outer side of the threshing chamber via the first rotating shaft. One end of the first spring is hooked and connected to the extension end of the second hydraulic electric push rod, and the other end of the first spring is hooked and connected to the bottom end of the first connecting member via the second rotating shaft. One end of the second spring is connected to the threshing chamber, and the other end of the second spring is connected to the first connecting member via a third rotating shaft. The bottom of the connector is connected to the other end, and the first spring and the second spring are vertically distributed; the first driving wheel driven by the motor is mounted on the threshing chamber through the fourth rotating shaft; the first driven wheel is mounted on the threshing chamber through the fifth rotating shaft, and the harvesting device is connected to the fifth rotating shaft through belt drive; the first transmission belt is sleeved on the first driving wheel and the first driven wheel; the first pressing wheel is mounted in the middle of the first connector through the sixth rotating shaft to press the first transmission belt or disengage from the first transmission belt, so that the first driving wheel and the first driven wheel are connected or independent; two second Hall sensors are installed vertically at intervals on the outer side of the threshing chamber and are both aligned with the telescopic rod of the second hydraulic electric push rod; both second Hall sensors are electrically connected to the controller.

5. A mountain unmanned rice and wheat combine harvester according to claim 4, characterized in that, The threshing unit's self-starting and stopping control device includes a third hydraulic electric push rod, a second connecting piece, a seventh rotating shaft, a bent connecting rod, a second driving wheel, a second driven wheel, a second pressing wheel, a third spring, and two third Hall effect sensors. The third hydraulic electric push rod is obliquely mounted on the machine body; one end of the top of the second connecting piece is mounted on the machine body via the seventh rotating shaft; one end of the bent connecting rod is connected to the telescopic rod of the third hydraulic electric push rod via a connector, and the other end of the bent connecting rod is rotatably connected to the other end of the top of the second connecting piece; the second driving wheel, driven by a motor, is mounted on the machine body via an eighth rotating shaft; the second driven wheel is mounted via a ninth rotating shaft. The threshing device is mounted on the machine body and is connected to the ninth rotating shaft via a belt. The second transmission belt is fitted onto the second driving wheel and the second driven wheel. The second pressing wheel is mounted in the middle of the second connecting piece via the tenth rotating shaft to press the second transmission belt or to disengage from the second transmission belt, so that the second driving wheel and the second driven wheel are connected or independent. One end of the inclined third spring is fixedly connected to the machine body, and the other end of the third spring is fixedly connected to the tenth rotating shaft. Two third Hall sensors are mounted on the machine body at an inclined interval and are both aligned with the telescopic rod of the third hydraulic electric push rod. Both third Hall sensors are electrically connected to the controller.

6. A mountain unmanned rice and wheat combine harvester according to claim 5, characterized in that, The automatic start / stop control device for the discharge device includes a fourth hydraulic electric push rod, an arc-shaped connecting rod, an eleventh rotating shaft, a third driving wheel, a third driven wheel, and two fourth Hall sensors. The fourth hydraulic electric push rod is vertically mounted on the grain storage device. One end of the arc-shaped connecting rod is connected to the extension end of the fourth hydraulic electric push rod via a connector, and the other end of the arc-shaped connecting rod is connected to the eleventh rotating shaft. The third driving wheel, driven by a motor, is mounted on the grain storage device via the twelfth rotating shaft. The third driven wheel is mounted on the eleventh rotating shaft to engage or disengage with the third driving wheel. The discharge device is connected to the third driven wheel via a transmission connection. The two fourth Hall sensors are mounted vertically at intervals on the grain storage device and are both aligned with the telescopic rod of the fourth hydraulic electric push rod. Both fourth Hall sensors are electrically connected to the controller.

7. A mountain unmanned rice and wheat combine harvester according to claim 6, characterized in that, The BeiDou Navigation Satellite System includes an electrically connected BeiDou positioning and navigation antenna and a navigation display and control panel, both of which are mounted on the main body; the navigation display and control panel is electrically connected to the controller.

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