CN110567409A - header height monitoring method for agricultural machine and header height sensor for agricultural machine - Google Patents
header height monitoring method for agricultural machine and header height sensor for agricultural machine Download PDFInfo
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- CN110567409A CN110567409A CN201910736412.4A CN201910736412A CN110567409A CN 110567409 A CN110567409 A CN 110567409A CN 201910736412 A CN201910736412 A CN 201910736412A CN 110567409 A CN110567409 A CN 110567409A
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- inclination angle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
Abstract
the embodiment of the invention provides a header height monitoring method for an agricultural machine and a header height sensor for the agricultural machine. In the embodiment of the invention, the quantitative relation is determined by means of the basic data of the header at the initial position, so that the real-time height is obtained, the obtained header height is not influenced by the operation environment, and the accurate monitoring of the header height is realized. And once the basic data of the initial position is determined, the real-time height of the header at any position to be measured can be determined, and the defect that the height of the header cannot be determined after a stay wire sensor or a push rod sensor in the prior art is damaged is overcome.
Description
Technical Field
The invention relates to the technical field of header height monitoring, in particular to a header height monitoring method for an agricultural machine and a header height sensor for the agricultural machine.
Background
at present, the height of a header for agricultural machinery is an important index in the operation monitoring of the agricultural machinery.
Common ways may be: and a stay wire sensor or a push rod sensor is arranged near the hydraulic cylinder for controlling the header to lift, and the telescopic length of the hydraulic cylinder is measured through the stay wire sensor or the push rod sensor, so that the header height is calculated.
The mode of confirming the height of the header is easily influenced by the operation environment, and the stay wire sensor or the push rod sensor is easily damaged when being arranged near the hydraulic cylinder, so that the height of the header cannot be confirmed subsequently. Therefore, it is urgently needed to provide a header height monitoring method for agricultural machinery and a header height sensor for agricultural machinery.
Disclosure of Invention
In order to overcome the problems or at least partially solve the problems, embodiments of the present invention provide a method for monitoring the height of a header for an agricultural machine and a header height sensor for an agricultural machine.
In a first aspect, an embodiment of the present invention provides a method for monitoring a height of a header for an agricultural machine, including:
acquiring a real-time inclination angle of the gap bridge structure when the header is at a position to be measured;
determining a real-time height of the header based on the real-time inclination angle and a quantitative relationship between the inclination angle of the gap bridge structure and the height of the header;
Wherein the quantitative relationship is determined based on an initial tilt angle of the bridge structure when the header is in an initial position, a horizontal distance between a lowest point of the header and a hinge axis, and an initial height of the header; the gap bridge structure is fixedly connected with the header, and the articulated shaft is a connecting shaft of the gap bridge structure and the agricultural machine body.
Preferably, the quantitative relationship is determined by a method specifically comprising:
characterizing a difference in height of a lowest point of the header in a vertical direction based on the initial tilt angle, the horizontal distance, and a target tilt angle of the bridge structure when the header is at the target position when the header is raised or lowered from the initial position to the target position;
Determining the quantitative relationship based on the height difference and the initial height.
Preferably, the height difference is characterized by the following formula:
ΔH＝La×|tanα-cosα×sinβ|；
wherein Δ H is the height difference, LaAnd alpha is the initial inclination angle and beta is the target inclination angle.
Preferably, the lowest point of the header is located on the ground when the header is in the initial position.
Preferably, the real-time inclination angle of the gap bridge structure when the header is at the position to be measured specifically includes:
And measuring the real-time inclination angle through an angle sensor, wherein the angle sensor is arranged on the upper surface of the gap bridge structure.
in a second aspect, an embodiment of the present invention provides a header height sensor for an agricultural machine, including: the device comprises an acquisition module and a height determination module; wherein the content of the first and second substances,
the acquisition module is used for acquiring the real-time inclination angle of the gap bridge structure when the header is positioned at the position to be measured;
The height determination module is used for determining the real-time height of the header based on the real-time inclination angle and the quantitative relation between the real-time inclination angle and the real-time height of the header;
further comprising: a quantitative relationship determination module;
the quantitative relationship determination module is configured to determine the quantitative relationship based on an initial tilt angle of the bridge structure, a horizontal distance between a lowest point of the header and the hinge axis, and an initial height of the header when the header is at an initial position.
Preferably, the acquiring module specifically includes: an angle sensor;
The angle sensor is specifically used for acquiring a real-time inclination angle of the gap bridge structure when the header is located at a position to be measured.
preferably, the agricultural header height sensor is provided on an upper surface of the bridge structure.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor, at least one memory, a communication interface, and a bus; wherein the content of the first and second substances,
The processor, the memory and the communication interface complete mutual communication through the bus;
The memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method for monitoring the height of the agricultural header provided by the first aspect.
In a fourth aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the method for agricultural header height monitoring provided in the first aspect.
according to the method for monitoring the height of the header for the agricultural machine and the height sensor of the header for the agricultural machine, provided by the embodiment of the invention, the real-time inclination angle of the gap bridge structure when the header is at the position to be measured is firstly obtained, and the real-time height of the header at the position to be measured is determined based on the quantitative relation between the real-time inclination angle and the real-time height of the header. In the embodiment of the invention, the quantitative relation is determined by means of the basic data of the header at the initial position, so that the real-time height is obtained, the obtained header height is not influenced by the operation environment, and the accurate monitoring of the header height is realized. And once the basic data of the initial position is determined, the real-time height of the header at any position to be measured can be determined, and the defect that the height of the header cannot be determined after a stay wire sensor or a push rod sensor in the prior art is damaged is overcome.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
fig. 1 is a schematic flow chart of a method for monitoring the height of a header for an agricultural machine according to an embodiment of the present invention;
Fig. 2 is a schematic view of a connection structure of a header in the header height monitoring method for an agricultural machine according to an embodiment of the present invention;
fig. 3 is a schematic view of a connection structure of a header in the header height monitoring method for an agricultural machine according to an embodiment of the present invention;
Fig. 4 is a schematic structural diagram of a header height sensor for an agricultural machine according to another embodiment of the present invention;
Fig. 5 is a schematic structural diagram of an electronic device according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
in the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
As shown in fig. 1, an embodiment of the present invention provides a method for monitoring a height of a header for an agricultural machine, including:
s1, acquiring a real-time inclination angle of the gap bridge structure when the header is at a position to be measured;
S2, determining the real-time height of the header based on the real-time inclination angle and the quantitative relationship between the real-time inclination angle and the real-time height of the header;
wherein the quantitative relationship is determined based on an initial tilt angle of the bridge structure when the header is in an initial position, a horizontal distance between a lowest point of the header and a hinge axis, and an initial height of the header; the gap bridge structure is fixedly connected with the header, and the articulated shaft is a connecting shaft of the gap bridge structure and the agricultural machine body
specifically, in the method for monitoring the height of the header for an agricultural machine provided in the embodiment of the present invention, the agricultural machine is an agricultural machine having a header, and specifically, the agricultural machine may be a harvester, a beet harvester, or the like, which is not specifically limited in the embodiment of the present invention.
the connection structure of the header can be specifically as shown in fig. 2, the header 1 is fixedly connected with the gap bridge structure 2, and the gap bridge structure 2 is connected with the agricultural machine body 4 through the hinge shaft 3, wherein the actual structure of the agricultural machine body 4 is not shown in fig. 2, and is replaced by a square frame. Agricultural machinery body 4 is connected with header 1 or gap bridge structure 2 through support 5, and agricultural machinery body 4 rises or descends through support 5 control header 1 and gap bridge structure 2. The distance between the articulated shaft 3 and the ground is a fixed value no matter in the movement process of the agricultural machine body 4 or in the ascending or descending process of the header 1 and the bridge structure 2.
When the header height monitoring method for the agricultural machine provided by the embodiment of the invention is used for determining the height of the header 1, the height of the header 1 may refer to the distance between the lowest point of the header 1 and the ground. First, step S1 is executed to obtain a real-time tilt angle of the bridge structure when the header is at the position to be measured. The inclination angle of the gap bridge structure in the embodiment of the present invention may refer to an angle between the upper surface of the gap bridge structure and the horizontal direction, or may refer to an angle between the upper surface of the gap bridge structure and the vertical direction. Then, step S2 is performed, i.e. determining the real-time height of the header based on the real-time tilt angle and the quantitative relationship between the real-time tilt angle and the real-time height of the header.
When the quantitative relation is determined, the initial inclination angle of the gap bridge structure when the header is at the initial position, the horizontal distance between the lowest point of the header and the hinge shaft and the initial height of the header need to be obtained. In the embodiment of the invention, any position where the header is located can be selected as an initial position, for example, any position where the header is in the air can be used as the initial position, and the lowest point of the header is in the air at the moment; the initial position may also be the position at which the header rests on the ground, with the lowest point of the header being on the ground. The initial position may be characterized by the position of the lowest point of the header, and the specific position of the initial position is not particularly limited in embodiments of the present invention.
the horizontal distance between the lowest point of the header and the articulated shaft is the shortest distance between the lowest point of the header and the vertical line of the articulated shaft, and when the quantitative relation is determined, the horizontal distance between the lowest point of the header and the articulated shaft when the header is at the initial position is only required to be determined. The initial height of the header refers to the height from the lowest point of the header to the ground when the header is at the initial position, and the initial height may be measured manually, may be measured by a height sensor, and may also be measured by a distance sensor, which is not specifically limited in the embodiment of the present invention.
Because header and gap bridge structure fixed connection, and the distance between articulated shaft and the ground is the definite value, therefore when the header rises or descends to the position of awaiting measuring by initial position, there is not the relative change in position between header and the gap bridge structure. Therefore, the initial inclination angle of the gap bridge structure, the horizontal distance between the lowest point of the header and the articulated shaft and the initial height of the header, which are obtained when the header is at the initial position, can be used as basic data for determining the height of the header at the position to be measured, and the quantitative relation can be determined only by determining once.
the method for monitoring the height of the header for the agricultural machine, provided by the embodiment of the invention, comprises the steps of firstly obtaining the real-time inclination angle of the gap bridge structure when the header is positioned at the position to be measured, and determining the real-time height of the header when the header is positioned at the position to be measured based on the quantitative relation between the real-time inclination angle and the real-time height of the header. In the embodiment of the invention, the quantitative relation is determined by means of the basic data of the header at the initial position, so that the real-time height is obtained, the obtained header height is not influenced by the operation environment, and the accurate monitoring of the header height is realized. And once the basic data of the initial position is determined, the real-time height of the header at any position to be measured can be determined, and the defect that the height of the header cannot be determined after a stay wire sensor or a push rod sensor in the prior art is damaged is overcome.
on the basis of the above embodiment, in the method for monitoring the height of the header for agricultural machinery provided in the embodiment of the present invention, the quantitative relationship is specifically determined by the following method:
Characterizing a difference in height of a lowest point of the header in a vertical direction based on the initial tilt angle, the horizontal distance, and a target tilt angle of the bridge structure when the header is at the target position when the header is raised or lowered from the initial position to the target position;
determining the quantitative relationship based on the height difference and the initial height.
Specifically, in the embodiment of the present invention, a target position is selected first, and the target position selected in the embodiment of the present invention has an arbitrary property. The relationship between the target inclination angle of the bridge structure at the target position and the height of the header is then characterized by the base data of the header when in the initial position. Because the header is fixedly connected with the gap bridge structure, and the distance between the articulated shaft and the ground is a fixed value, when the header ascends or descends, the position between the header and the gap bridge structure does not change relatively, and therefore the obtained relation between the target inclination angle of the gap bridge structure at the target position and the height of the header can be used as the quantitative relation between the inclination angle of the gap bridge structure and the height of the header.
When the relation between the target inclination angle of the gap bridge structure at the target position and the height of the header is represented through basic data when the header is at the initial position, the initial inclination angle and the horizontal distance of the gap bridge structure when the header is at the initial position and the target inclination angle of the gap bridge structure when the header is at the target position are firstly adopted to represent the height difference of the lowest point of the header in the vertical direction. This difference in height is the difference between the height of the lowest point of the header from the ground when the header is in the initial position and the height of the lowest point of the header from the ground when the header is in the target position.
And then, determining the relation between the target inclination angle of the gap bridge structure at the target position and the height of the header based on the height difference obtained by characterization and the initial height of the header when the header is at the position to be measured. The height of the header can be obtained by adding the height difference and the initial height of the header, so that the relationship between the target inclination angle of the gap bridge structure at the target position and the height of the header can be obtained by adding the height difference obtained by characterization and the initial height of the header.
On the basis of the above embodiment, the method for monitoring the height of the header for agricultural machinery provided in the embodiment of the present invention can measure the initial inclination angle, the real-time inclination angle and the target inclination angle by using the angle sensor, and at this time, the angle sensor can be disposed on the upper surface of the gap bridge structure.
On the basis of the above embodiment, the header height monitoring method for agricultural machinery provided in the embodiment of the present invention characterizes the height difference of the lowest point of the header in the vertical direction by the following formula:
ΔH＝La×|tanα-cosα×sinβ|； (1)
Wherein Δ H is the height difference, LaAnd alpha is the initial inclination angle and beta is the target inclination angle.
Specifically, when the header 1 is at the initial position, the lowest point of the header 1 is point a, and the initial inclination angle of the gap bridge structure is α. As shown in fig. 3, taking an example that the lowest point of the header 1 is located on the ground when the header 1 is at the initial position, the central point of the hinge shaft is taken as the point O and connected to the OA; the O-crossing point is taken as a parallel line of the upper surface of the bridge-crossing structure and is intersected with a horizontal line (namely the ground) of the A-crossing point at a point B, and at the moment, the & lt OBA & gt is & lt alpha & gt; a vertical line (namely the vertical line of the articulated shaft) is made through the point O and is intersected with the ground (the extension line of the BA line) at a point D; the header is lifted or lowered to an arbitrary position, and the target position is the position where the header is lifted in fig. 3. The target on the upper surface of the bridge structurethe inclination angle is beta; setting the lowest point of the header at the position to be measured as a point a and connecting the point a with the header; the O crossing point is made as a parallel line of the upper surface of the bridge structure, and is intersected with a horizontal line of the a crossing point at a point b and is intersected with an OD line at a point d, and at the moment, the angle Oba is equal to beta; making a vertical line passing through the point A, and intersecting the OB line at a point E; making a horizontal line through the point E, and intersecting the horizontal line with the OD line at a point F; since the EF line is parallel to the BD line, α OEF is α; making a vertical line passing through the point a, and intersecting the line Ob at a point e; making a horizontal line at the crossing point, and intersecting the horizontal line with the OD line at the point f; since the ef line is parallel to the bd line, angle Oef is equal to β; the header and the gap bridge structure are fixedly connected, so that no position change occurs in the lifting process, and the length of the line segment OA (L is used)OAExpressed) is equal to the length of oa (in L)oarepresents) namely LOA＝Loa(ii) a The length of line segment OE (in L)OEExpressed) is equal to the length of Oe (in L)Oerepresents) namely LOE＝LOe(ii) a Length of line dD (by H)dDexpressed) is equal to the length of fF (in H)fFrepresents H), i.e. has HdD＝HfF。
The height difference Δ H in the vertical direction of the lowest point of the header at the initial position and the target position may be expressed as:
ΔH＝Ha＝HdD＝HfF＝HOF-HOf； (2)
wherein HaIs the height of point a from the ground.
Because of having:
HOF＝LEF×tanα＝LAD×tanα；(3)
Wherein HOFIs the height difference between the O point and the F point, LEFIs the distance between points E and F, LADis the distance between the point A and the point D, i.e. the horizontal distance between the lowest point of the header and the articulated shaft, HOfIs the height difference between the point O and the point f, LOeIs the distance between the point O and the point e, LOEIs the distance between the point O and the point E.
Therefore, there are:
Equation (5) is an equation representing the height difference.
When the lowest point of the header 1 is located at any point in the air when the header 1 is at the initial position, the height difference Δ H is still determined by the above formula (5).
When the target position is higher than the initial position, the height of the header may be expressed as:
When the target position is higher than the initial position, the height of the header may be expressed as:
wherein, H is the height of the header when the header is at the target position, and H' is the initial height of the header when the header is at the initial position, i.e. the distance between the lowest point a of the header 1 and the ground.
the formula (5) and the formula (6) are relations between the target inclination angle of the gap bridge structure and the height of the header when the header is at the target position, that is, quantitative relations between the inclination angle of the gap bridge structure and the height of the header. The real-time monitoring of the height of the header can be realized through a formula (5) and a formula (6), namely, the obtained real-time inclination angle of the gap bridge structure when the header is at the position to be measured is substituted into the formula (5) or the formula (6) as the value of beta, and the calculated H is the real-time height of the header.
When the lowest point of the header 1 is located on the ground when the header 1 is at the initial position, H' is 0; when the lowest point of the header 1 is in the air when the header 1 is in the initial position, H' > 0.
As shown in fig. 4, on the basis of the above embodiment, an embodiment of the present invention provides an agricultural machinery header height sensor, including: an acquisition module 41 and a height determination module 42; wherein the content of the first and second substances,
the acquisition module 41 is used for acquiring a real-time inclination angle of the gap bridge structure when the header is at a position to be measured;
The height determination module 42 is configured to determine a real-time height of the header based on the real-time tilt angle and a quantitative relationship between the real-time tilt angle and the real-time height of the header;
further comprising: a quantitative relationship determination module;
the quantitative relationship determination module is configured to determine the quantitative relationship based on an initial tilt angle of the bridge structure, a horizontal distance between a lowest point of the header and the hinge axis, and an initial height of the header when the header is at an initial position.
Specifically, the functions of the modules in the header height sensor for agricultural machinery provided in the embodiment of the present invention correspond to the operation flows of the steps in the embodiments of the methods one to one, and the embodiments of the present invention are not limited to this specifically.
on the basis of the above embodiment, the embodiment of the present invention provides a header height sensor for an agricultural machine, further including: a storage module;
The storage module is used for storing the initial inclination angle of the gap bridge structure, the horizontal distance between the lowest point of the header and the hinge shaft and the initial height of the header when the header is at the initial position, which are acquired by the acquisition module.
On the basis of the above embodiment, the header height sensor for an agricultural machine provided in the embodiment of the present invention specifically includes: an angle sensor;
The angle sensor is specifically used for acquiring a real-time inclination angle of the gap bridge structure when the header is located at a position to be measured.
the angle sensor is further specifically used for acquiring an initial inclination angle of the gap bridge structure when the header is at an initial position, and acquiring a target inclination angle of the gap bridge structure when the header is at a target position.
on the basis of the above embodiment, the header height sensor for an agricultural machine provided in the embodiment of the present invention further includes: a distance measurement submodule;
The distance measuring submodule is specifically used for obtaining the horizontal distance between the lowest point of the header and the hinge shaft when the header is at the initial position.
on the basis of the above embodiment, the header height sensor for the agricultural machine provided in the embodiment of the present invention may be disposed on the upper surface of the gap bridge structure.
as shown in fig. 5, on the basis of the above embodiment, an embodiment of the present invention provides an electronic device, including: a processor (processor)501, a memory (memory)502, a communication Interface (Communications Interface)503, and a bus 504; wherein the content of the first and second substances,
The processor 501, the memory 502 and the communication interface 503 are communicated with each other through a bus 504. The memory 502 stores program instructions executable by the processor 501, and the processor 501 is configured to call the program instructions in the memory 502 to perform the methods provided by the above-mentioned method embodiments.
The logic instructions in memory 502 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone article of manufacture. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
On the basis of the above embodiments, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the methods provided by the above method embodiments.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A header height monitoring method for agricultural machinery is characterized by comprising the following steps:
acquiring a real-time inclination angle of the gap bridge structure when the header is at a position to be measured;
Determining a real-time height of the header based on the real-time inclination angle and a quantitative relationship between the inclination angle of the gap bridge structure and the height of the header;
wherein the quantitative relationship is determined based on an initial tilt angle of the bridge structure when the header is in an initial position, a horizontal distance between a lowest point of the header and a hinge axis, and an initial height of the header; the gap bridge structure is fixedly connected with the header, and the articulated shaft is a connecting shaft of the gap bridge structure and the agricultural machine body.
2. an agricultural header height monitoring method as claimed in claim 1, wherein the quantitative relationship is determined by a method comprising:
Characterizing a difference in height of a lowest point of the header in a vertical direction based on the initial tilt angle, the horizontal distance, and a target tilt angle of the bridge structure when the header is at the target position when the header is raised or lowered from the initial position to the target position;
Determining the quantitative relationship based on the height difference and the initial height.
3. An agricultural header height monitoring method as claimed in claim 2, wherein the difference in height is characterized by the formula:
ΔH＝La×|tanα-cosα×sinβ|；
Wherein Δ H is the height difference, LaAnd alpha is the initial inclination angle and beta is the target inclination angle.
4. a method of monitoring the height of an agricultural header as claimed in claim 1, wherein the lowest point of the header is on the ground when the header is in the initial position.
5. The method for monitoring the height of the header for the agricultural machinery according to claim 1, wherein the obtaining of the real-time inclination angle of the gap bridge structure when the header is at the position to be measured specifically comprises:
And measuring the real-time inclination angle through an angle sensor, wherein the angle sensor is arranged on the upper surface of the gap bridge structure.
6. The utility model provides a header height sensor for agricultural machinery which characterized in that includes: the device comprises an acquisition module and a height determination module; wherein the content of the first and second substances,
The acquisition module is used for acquiring the real-time inclination angle of the gap bridge structure when the header is positioned at the position to be measured;
The height determination module is used for determining the real-time height of the header based on the real-time inclination angle and the quantitative relation between the real-time inclination angle and the real-time height of the header;
further comprising: a quantitative relationship determination module;
The quantitative relationship determination module is configured to determine the quantitative relationship based on an initial tilt angle of the bridge structure, a horizontal distance between a lowest point of the header and the hinge axis, and an initial height of the header when the header is at an initial position.
7. the header height sensor for agricultural machinery of claim 6, wherein the acquisition module specifically comprises: an angle sensor;
the angle sensor is specifically used for acquiring a real-time inclination angle of the gap bridge structure when the header is located at a position to be measured.
8. An agricultural header height sensor according to claim 6 or 7, wherein the agricultural header height sensor is provided on an upper surface of the bridge structure.
9. An electronic device, comprising:
At least one processor, at least one memory, a communication interface, and a bus; wherein the content of the first and second substances,
the processor, the memory and the communication interface complete mutual communication through the bus;
The memory stores program instructions executable by the processor to invoke to perform an agricultural header height monitoring method as claimed in any one of claims 1 to 5.
10. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the method of agricultural header height monitoring of any one of claims 1-5.
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| CN201910736412.4A CN110567409B (en) | 2019-08-09 | 2019-08-09 | Header height monitoring method for agricultural machine and header height sensor for agricultural machine |
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| CN201910736412.4A CN110567409B (en) | 2019-08-09 | 2019-08-09 | Header height monitoring method for agricultural machine and header height sensor for agricultural machine |
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| CN (1) | CN110567409B (en) |
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