CN110036759B - Front-mounted seedling dividing profiling acquisition control system and harvesting control method for leaf vegetable harvester - Google Patents
Front-mounted seedling dividing profiling acquisition control system and harvesting control method for leaf vegetable harvester Download PDFInfo
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- CN110036759B CN110036759B CN201910322313.1A CN201910322313A CN110036759B CN 110036759 B CN110036759 B CN 110036759B CN 201910322313 A CN201910322313 A CN 201910322313A CN 110036759 B CN110036759 B CN 110036759B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0426—Programming the control sequence
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/26—Harvesting of standing crops of cabbage or lettuce
- A01D45/263—Harvesting of standing crops of cabbage or lettuce of lettuce
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/28—Harvesting of standing crops of spinach
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D57/00—Delivering mechanisms for harvesters or mowers
- A01D57/01—Devices for leading crops to the mowing apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D63/00—Outside dividers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45003—Harvester
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Harvesting Machines For Root Crops (AREA)
- Agricultural Machines (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention provides a front-mounted seedling dividing profiling acquisition control system and a harvesting control method of a leaf vegetable harvester. The front-mounted grain-dividing profiling collection control system of the leaf vegetable harvester comprises a mounting frame, a grain-dividing profiling device, a profiling wheel and a header electric cylinder, wherein the grain-dividing profiling device is connected with the mounting frame and can float up and down; the profiling wheel is positioned behind the grain-dividing profiling device, is connected with the mounting frame and can float up and down; the mounting frame is also rotationally connected with a first angle sensor for measuring the floating amplitude of the profiling wheel and a second angle sensor for measuring the floating amplitude of the grain dividing profiling device; the first angle sensor, the second angle sensor and the cutting table electric cylinder are electrically connected with the controller.
Description
Technical Field
The invention relates to a front-mounted seedling dividing profiling acquisition control system and a harvesting control method of a leaf vegetable harvester, which are suitable for harvesting operation of densely planted leaf vegetables, and belong to the field of agricultural machinery.
Background
The vegetable industry is the agricultural economic support industry in China, is also the leading industry for increasing income of farmers, and is about 40% of vegetable production by taking leaf vegetables as an important component of the vegetable industry in relation to farmers Qian Daizi and urban residents vegetable baskets. The leaf vegetables represented by the rape, the spinach, the lettuce and the like have strong growth adaptability and large market demand, and are most suitable for large-scale planting in leaf vegetables. However, due to the influence of the non-ideal operation quality of related equipment and the lack of key equipment, the current mechanized production overall level of domestic leaf vegetables is less than 20 percent. Along with the gradual development of vegetable production to scale, intensification and standardization, the problem of low mechanization and intelligent level of leaf vegetable production is highlighted. At present, the leaf vegetables harvesting key equipment has low automation operation degree, and especially when vegetables such as rape, spinach, lettuce and the like are harvested, the distance between the cutting table and the ground is required to be about 1cm, so that the cutting position is reduced to ensure the harvest quality, and the cutter is prevented from being brought into soil too low to increase the later sorting treatment difficulty. The sinking effect is not ideal because the traditional mechanical hard limiting device for the soft soil of the vegetable field is easy to occur. The vegetable leaves can block the sight and the height of the cutting table is controlled manually, so that the reaction speed is low, the control difficulty is high, and the harvesting operation efficiency and quality are low. Therefore, the front-mounted grain-dividing profiling collection control system is studied, the front terrain of the harvester is accurately detected on the premise of eliminating vegetable leaves and preventing vegetable damage, and the actions of the cutting table are pre-controlled, so that the front-mounted grain-dividing profiling collection control system has very important significance for improving profiling control precision and working efficiency.
Disclosure of Invention
The invention aims to solve the technical problem of providing a front-mounted seedling dividing profiling acquisition control system and a harvesting control method of a leaf vegetable harvester.
The invention aims to achieve the aim, and the aim is achieved by the following technical scheme:
a front-mounted seedling dividing and profiling acquisition control system of a leaf vegetable harvester comprises a mounting frame, a seedling dividing profiling device, a profiling wheel and a cutting table electric cylinder, wherein the seedling dividing profiling device is connected with the mounting frame and can float up and down; the profiling wheel is positioned behind the grain-dividing profiling device, is connected with the mounting frame and can float up and down; the mounting frame is also rotationally connected with a first angle sensor for measuring the floating amplitude of the profiling wheel and a second angle sensor for measuring the floating amplitude of the grain dividing profiling device; the first angle sensor, the second angle sensor and the cutting table electric cylinder are electrically connected with the controller.
The front-mounted grain-dividing profiling collection control system of the leaf vegetable harvester is characterized in that the upper part of the grain-dividing profiling device is connected with a mounting frame through a connecting arm, the lower part of the grain-dividing profiling device is connected with one end of a supporting arm, the middle end of the supporting arm is connected with the mounting frame, the other end of the supporting arm is connected with one end of a grain-dividing profiling device connecting rod, the other end of the grain-dividing profiling device connecting rod is connected with a lower rocker arm, the lower rocker arm is connected with the mounting frame through a first rotating shaft, and a grain divider adjusting spring is arranged on the grain-dividing profiling device connecting rod.
The cross section of the supporting arm is U-shaped.
The optimized scheme of the front-mounted grain-dividing profiling collection control system of the leaf vegetable harvester is that a profiling wheel is connected with one end of a profiling wheel connecting rod, the other end of the profiling wheel connecting rod is rotationally connected with one end of an upper rocker arm, the other end of the upper rocker arm is connected with a mounting frame through a second rotating shaft with a first angle sensor, and a profiling wheel adjusting spring is arranged on the profiling wheel connecting rod.
The front end of the grain dividing profiling device is in an acute angle shape, and the bottom of the grain dividing profiling device is an arc surface.
A harvesting control method utilizing the front-mounted seedling dividing and profiling acquisition control system of the leaf vegetable harvester comprises the following steps of
(1) Before operation, a driver can set the distance between the cutter and the ground through the controller, the grain dividing profiling device moves up and down, a time-varying voltage signal is generated by the second angle sensor 7 according to different swing amplitudes, and the time-varying voltage signal is transmitted to the controller, so that the terrain change of the front end position of the cutter is detected;
(2) When the harvester advances, the profiling wheel moves up and down under the influence of ground fluctuation, and generates time-varying voltage signals according to the first angle sensors with different swing amplitudes and transmits the time-varying voltage signals to the controller;
(3) The controller calculates the height difference delta h of the ground between fixed distances and the corresponding pre-action distance delta c of the electric cylinder through the acquired two paths of signals, and the formula is as follows:
c2＝c1+Δc；
the distance from the rotary connection point of the L-cutting table to the cutting knife;
angle between vertical ground side and L side of rotation connection point of theta-cutting table
Distance from rotary connection point of a-header to connection point of header and header electric cylinder
b-distance from rotary connection point of header to rotary connection point of header electric cylinder
c 1-initial distance from header electric cylinder connection point to header electric cylinder rotation connection point
c2-distance after pre-action from cutting table and cutting table electric cylinder connecting point to cutting table electric cylinder rotating connecting point
According to the advancing speed v obtained from the harvester, the time required for the cutter to move to the position of the grain-dividing profiling device is calculated
(d-mounting distance of the grain-dividing profiler to the cutter);
(4) Through prediction calculation, real-time verification of a first angle sensor signal and a cutting table electric cylinder feedback signal, the controller controls the speed and the distance of the action of the cutting table electric cylinder (13), and when the cutting knife part advances to the current detection position of the grain dividing profiling device, the distance between the cutting knife part and the ground is always within a set range value.
The invention has the advantages that:
the controller controls the speed and the distance of the action of the electric cylinder of the cutting table through the real-time verification of the feedback signals of the first angle sensor, the second angle sensor and the electric cylinder of the cutting table, so that the height between the cutting knife and the ground is always within a set range value when the cutting knife part advances to the current detection position of the grain dividing profiling device; the grain-dividing profiling device and the profiling wheel are independent relative to the cutting table, so that inaccurate detection is avoided due to the fact that the action of the cutting table is not influenced; the front topography of the harvester is accurately detected on the premise of eliminating the vegetable leaves and preventing vegetable damage, the cutting table is controlled to act in advance, and the profiling control precision and the operation efficiency are improved.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention.
Fig. 1 is a schematic front view of a selected embodiment of the present invention.
FIG. 2 is a schematic top view of a selected embodiment of the present invention.
Fig. 3 is a schematic front view of a mounting bracket according to a selected embodiment of the present invention.
Fig. 4 is a schematic side view of a mounting bracket according to a selected embodiment of the present invention.
As shown in the figure:
the device comprises a 1-grain-dividing profiling device, a 2-profiling wheel, a 3-connecting arm, a 4-profiling wheel connecting rod, a 5-upper rocker arm, a 6-first angle sensor, a 7-second angle sensor, an 8-lower rocker arm, a 9-mounting frame, a 10-grain-dividing profiling device connecting rod, a 11-supporting arm, a 12-controller, a 13-cutting table electric cylinder, a 14-grain-dividing device adjusting spring, a 15-second rotating shaft, a 16-first rotating shaft, a 17-shaft body and a 18-profiling wheel adjusting spring.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
The front-mounted seedling dividing and profiling acquisition control system of the leaf vegetable harvester comprises a mounting frame 9, a seedling dividing profiling device 1, a profiling wheel 2 and a cutting table electric cylinder 13, wherein the seedling dividing profiling device 1 is connected with the mounting frame 9 and can float up and down; the profiling wheel 2 is positioned behind the grain dividing profiling device 1, is connected with the mounting frame 9 and can float up and down; the mounting frame 9 is also rotatably connected with a first angle sensor 6 for measuring the floating amplitude of the profiling wheel 2 and a second angle sensor 7 for measuring the floating amplitude of the grain splitting profiling device 1; the first angle sensor 6, the second angle sensor 7 and the header electric cylinder 13 are all electrically connected with the controller 12.
The upper part of the grain dividing profiling device 1 is connected with one end of a connecting arm 3, the other end of the connecting arm 3 is rotationally connected with a mounting frame 9 through a shaft body 17, the lower part of the grain dividing profiling device 1 is connected with one end of a supporting arm 11, the middle end of the supporting arm 11 is connected with the mounting frame 9, the other end of the supporting arm 11 is connected with one end of a grain dividing profiling device connecting rod 10, the other end of the grain dividing profiling device connecting rod 10 is connected with a lower rocker arm 8, the lower rocker arm 8 is connected with the mounting frame 9 through a first rotating shaft 16 with a second angle sensor 7, and a grain divider adjusting spring 14 is arranged on the grain dividing profiling device connecting rod 10. The support arm 11 is U-shaped in cross section.
The profiling wheel 2 is connected with one end of a profiling wheel connecting rod 4, the other end of the profiling wheel connecting rod 4 is rotatably connected with one end of an upper rocker arm 5, the other end of the upper rocker arm 5 and the first angle sensor 6 are connected with a mounting frame 9 through a second rotating shaft 15, and a profiling wheel adjusting spring 18 is arranged on the profiling wheel connecting rod 4.
The front end of the seedling dividing profiling device 1 is in an acute angle shape, so that vegetable leaves which are blocked in a staggered manner can be separated conveniently, and the bottom of the seedling dividing profiling device is an arc surface which can be in smooth contact with the ground.
A harvesting control method utilizing a front-mounted seedling dividing and profiling acquisition control system of a leaf vegetable harvester comprises the following steps:
(1) Before operation, a driver can set the distance between the cutter and the ground through the controller, the grain dividing profiling device moves up and down, a time-varying voltage signal is generated by the second angle sensor 7 according to different swing amplitudes, and the time-varying voltage signal is transmitted to the controller, so that the terrain change of the front end position of the cutter is detected;
(2) When the harvester advances, the profiling wheel 2 moves up and down under the influence of ground fluctuation, the profiling wheel 2 moves, and a time-varying voltage signal is generated by the first angle sensor 6 according to different swing amplitudes and is transmitted to the controller;
(3) The controller calculates the height difference delta h of the ground between fixed distances and the corresponding pre-action distance delta c of the electric cylinder through the acquired two paths of signals, and the formula is as follows:
c2＝c1+Δc；
the distance from the rotary connection point of the L-cutting table to the cutting knife;
angle between vertical ground side and L side of rotation connection point of theta-cutting table
Distance from rotary connection point of a-header to connection point of header and header electric cylinder
b-distance from rotary connection point of header to rotary connection point of header electric cylinder
c 1-initial distance from header electric cylinder connection point to header electric cylinder rotation connection point
c2-distance after pre-action from cutting table and cutting table electric cylinder connecting point to cutting table electric cylinder rotating connecting point
According to the advancing speed v obtained from the harvester, the time required for the cutter to move to the position of the grain-dividing profiling device is calculated
(d-mounting distance of the grain-dividing profiler to the cutter);
(4) Through prediction calculation, real-time verification of a first angle sensor signal and a feedback signal of the cutting table electric cylinder (13), the controller controls the speed and the distance of the action of the cutting table electric cylinder (13), and when the cutting knife part advances to the current detection position of the grain dividing profiling device, the distance between the cutting knife part and the ground is always within a set range value.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a leading seedling-dividing profile modeling collection control system of leaf vegetables harvester, includes mounting bracket (9), seedling-dividing profile tracer (1), profile pulley (2) and header electricity jar (13), its characterized in that: the seedling dividing profiling device (1) is connected with the mounting frame (9) and can float up and down; the profiling wheel (2) is positioned behind the grain dividing profiling device (1), is connected with the mounting frame (9) and can float up and down; the mounting frame (9) is also rotationally connected with a first angle sensor (6) for measuring the floating amplitude of the profiling wheel (2) and a second angle sensor (7) for measuring the floating amplitude of the grain dividing profiling device (1); the first angle sensor (6), the second angle sensor (7) and the cutting table electric cylinder (13) are electrically connected with the controller (12);
the upper part of the grain dividing profiling device (1) is connected with a mounting frame (9) through a connecting arm (3), the lower part of the grain dividing profiling device (1) is connected with one end of a supporting arm (11), the middle end of the supporting arm (11) is connected with the mounting frame (9), the other end of the supporting arm (11) is connected with one end of a grain dividing profiling device connecting rod (10), the other end of the grain dividing profiling device connecting rod (10) is connected with a lower rocker arm (8), the lower rocker arm (8) and a second angle sensor (7) are connected with the mounting frame (9) through a first rotating shaft, and a grain dividing regulating spring (14) is arranged on the grain dividing profiling device connecting rod (10);
the cross section of the supporting arm (11) is U-shaped.
2. The front-end grain-dividing profiling collection control system of the leaf vegetable harvester according to claim 1, wherein the front-end grain-dividing profiling collection control system is characterized in that:
one end of a profiling wheel connecting rod (4) is connected with the profiling wheel (2), one end of an upper rocker arm (5) is rotatably connected with the other end of the profiling wheel connecting rod (4), the other end of the upper rocker arm (5) is connected with a mounting frame (9) through a second rotating shaft with a first angle sensor (6), and a profiling wheel adjusting spring (18) is arranged on the profiling wheel connecting rod (4).
3. The front-end grain-dividing profiling collection control system of the leaf vegetable harvester according to claim 1, wherein the front-end grain-dividing profiling collection control system is characterized in that: the front end of the grain dividing profiling device (1) is in an acute angle shape, and the bottom is an arc surface.
4. A harvest control method using the front-end grain splitting profiling acquisition control system of the leaf vegetable harvester according to any one of claims 1 to 3, characterized in that: comprises the following steps
(1) Before operation, a driver can set the distance between the cutter and the ground through the controller, the grain dividing profiling device moves up and down, a time-varying voltage signal is generated by the second angle sensor 7 according to different swing amplitudes, and the time-varying voltage signal is transmitted to the controller, so that the terrain change of the front end position of the cutter is detected;
(2) When the harvester advances, the profiling wheel 2 moves up and down under the influence of ground fluctuation, the profiling wheel 2 moves, and a time-varying voltage signal is generated by the first angle sensor 6 according to different swing amplitudes and is transmitted to the controller;
(3) The controller calculates the height difference delta h of the ground between fixed distances and the corresponding pre-action distance delta c of the electric cylinder through the acquired two paths of signals, and the formula is as follows:
c2＝c1+Δc；
the distance from the rotary connection point of the L-cutting table to the cutting knife;
Ɵ the rotation connection point of the header is perpendicular to the included angle between the ground edge and the L edge
Distance from rotary connection point of a-header to connection point of header and header electric cylinder
b-distance from rotary connection point of header to rotary connection point of header electric cylinder
c 1-initial distance from header electric cylinder connection point to header electric cylinder rotation connection point
c2-distance after pre-action from cutting table and cutting table electric cylinder connecting point to cutting table electric cylinder rotating connecting point
According to the advancing speed v obtained from the harvester, the time required for the cutter to move to the position of the grain-dividing profiling device is calculated
(d-mounting distance of the grain-dividing profiler to the cutter); />
(4) Through prediction calculation, real-time verification of a first angle sensor signal and a feedback signal of the cutting table electric cylinder (13), the controller controls the speed and the distance of the action of the cutting table electric cylinder (13), and when the cutting knife part advances to the current detection position of the grain dividing profiling device, the distance between the cutting knife part and the ground is always within a set range value.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910322313.1A CN110036759B (en) | 2019-04-22 | 2019-04-22 | Front-mounted seedling dividing profiling acquisition control system and harvesting control method for leaf vegetable harvester |
| LU101908A LU101908B1 (en) | 2019-04-22 | 2020-04-03 | Front-end dividing contour-following collection and control system for a leafy vegetable harvester and a harvesting control method |
| PCT/CN2020/083095 WO2020216036A1 (en) | 2019-04-22 | 2020-04-03 | Front-mounted crop dividing and profiling collection control system for leaf vegetable harvester and harvest control method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910322313.1A CN110036759B (en) | 2019-04-22 | 2019-04-22 | Front-mounted seedling dividing profiling acquisition control system and harvesting control method for leaf vegetable harvester |
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| CN110036759A CN110036759A (en) | 2019-07-23 |
| CN110036759B true CN110036759B (en) | 2023-05-16 |
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| CN201910322313.1A Active CN110036759B (en) | 2019-04-22 | 2019-04-22 | Front-mounted seedling dividing profiling acquisition control system and harvesting control method for leaf vegetable harvester |
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| Country | Link |
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| CN (1) | CN110036759B (en) |
| LU (1) | LU101908B1 (en) |
| WO (1) | WO2020216036A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112243682B (en) * | 2020-09-23 | 2021-11-23 | 江苏大学 | Header profiling device, control system and method thereof and harvester |
| CN113678634B (en) * | 2021-08-05 | 2022-07-01 | 星光正工（江苏）采棉机有限公司 | Controllable copying device of angle for cotton picker |
| CN116326340B (en) * | 2023-03-07 | 2023-12-12 | 湖北工业大学 | Cutter head height detection device of sugarcane harvester |
| CN117280938B (en) * | 2023-10-07 | 2024-04-30 | 无锡悦田农业机械科技有限公司 | Ridge surface height sensing device of harvester and harvesting height adjusting method |
| CN117716880B (en) * | 2024-02-07 | 2024-04-19 | 襄垣县仁达机电设备有限公司 | Automatic copying device for corn harvester header |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000279016A (en) * | 1999-03-31 | 2000-10-10 | Seirei Ind Co Ltd | Apparatus for supporting rolling of vegetable harvester |
| JP2001251927A (en) * | 2000-03-14 | 2001-09-18 | Suzutec Co Ltd | Apparatus for harvesting leaf vegetable such as leek |
| US20170112061A1 (en) * | 2015-10-27 | 2017-04-27 | Cnh Industrial America Llc | Graphical yield monitor static (previous) data display on in-cab display |
| US9980431B2 (en) * | 2016-09-12 | 2018-05-29 | Cnh Industrial America Llc | Header height control system with multiple height sensors |
| CN106612931A (en) * | 2016-11-30 | 2017-05-10 | 山东省农业机械科学研究院 | High copying system and method for harvesting table of maize harvesting machine |
| CN107172967A (en) * | 2017-06-05 | 2017-09-19 | 中联重机股份有限公司 | A kind of cane harvesting machine and its monitoring system |
| CN107278478A (en) * | 2017-06-30 | 2017-10-24 | 山东省农业机械科学研究院 | Picker for tuber crops digs deep regulation device |
| CN207040239U (en) * | 2017-08-01 | 2018-02-27 | 上海市农业机械研究所 | The ground feeler mechanism of vegetable harvester |
| CN107295855B (en) * | 2017-08-01 | 2022-09-16 | 上海市农业机械研究所 | Ground profiling mechanism of vegetable harvester |
| CN207040233U (en) * | 2017-08-09 | 2018-02-27 | 中国科学院沈阳自动化研究所 | Ceding of Taiwan height sensor |
| CN107787664A (en) * | 2017-12-08 | 2018-03-13 | 山东五征集团有限公司 | Harvester for peanut ground-contour-following device |
| CN208095194U (en) * | 2018-04-23 | 2018-11-16 | 中国科学院沈阳自动化研究所 | Beet harvester ceding of Taiwan height copying device |
| CN210016985U (en) * | 2019-04-22 | 2020-02-07 | 山东省农业机械科学研究院 | Front-mounted seedling dividing profiling acquisition control system of leaf vegetable harvester |
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2019
- 2019-04-22 CN CN201910322313.1A patent/CN110036759B/en active Active
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2020
- 2020-04-03 LU LU101908A patent/LU101908B1/en active IP Right Grant
- 2020-04-03 WO PCT/CN2020/083095 patent/WO2020216036A1/en active Application Filing
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| Publication number | Publication date |
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| LU101908B1 (en) | 2021-01-11 |
| CN110036759A (en) | 2019-07-23 |
| WO2020216036A1 (en) | 2020-10-29 |
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