CN111226583A

CN111226583A - Profiling anti-blocking leaf vegetable harvester and control system and method thereof

Info

Publication number: CN111226583A
Application number: CN202010124304.4A
Authority: CN
Inventors: 毛罕平; 彭海涛; 韩绿化; 高峰; 李立治
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2020-02-27
Filing date: 2020-02-27
Publication date: 2020-06-05
Anticipated expiration: 2040-02-27
Also published as: CN111226583B

Abstract

The invention belongs to a profiling anti-blocking leaf vegetable harvester and a control system and a control method thereof in the field of agricultural machinery, and comprises a reel assembly, a header chassis connecting assembly, a header chassis limiting assembly, a collecting device, a header adjusting assembly, a chassis assembly, a ridge surface detecting assembly and a control system; the reel assembly is arranged at the front part of the header assembly; the header assembly is connected to the chassis assembly through a header chassis connecting assembly; the header chassis limiting assembly is arranged between the header assembly and the chassis assembly; the collecting device is arranged at the rear part of the chassis assembly; the two header adjustment assemblies are transversely and symmetrically arranged between the header assembly and the chassis assembly and are used for adjusting the transverse and longitudinal postures of the header assembly; two sets of ridge surface detection assemblies are transversely and symmetrically arranged in front of the lower part of the header assembly; the invention realizes the functions of self-adapting the ridge surface in the transverse and longitudinal directions of the cutting height, self-adapting the operation speed of the rotating speed of the reel, intelligent anti-blocking regulation and control and the like, ensures the low loss rate of leaf vegetable harvesting and improves the leaf vegetable harvesting quality.

Description

Profiling anti-blocking leaf vegetable harvester and control system and method thereof

Technical Field

The invention belongs to the field of agricultural machinery, and particularly relates to a profiling anti-blocking leaf vegetable harvester and a control system and method thereof.

Background

The harvesting of the leaf vegetables is one of the links with the greatest labor intensity in the production of the leaf vegetables and also is the final link for ensuring the phase and quality of the leaf vegetables. Since the leaf vegetables are mostly in a slender and loose shape due to morphological characteristics, the planting mode is mostly broadcast sowing or drill sowing. The method has the advantages that the ridge surface is uneven when the leaf vegetables are harvested due to the influences of lower soil preparation and ridging precision before the leaf vegetables are sown, irrigation after the sowing and the like, namely the ridge surface is large in longitudinal and transverse fluctuation, and the height of a first cotyledon of the leaf vegetables from the ground is extremely low due to the fact that the leaf vegetables such as Shanghai green vegetables and spinach and the like, so that if the header cannot perform transverse and longitudinal profiling along with the ground in the harvesting process, namely the distance between a cutter and the ridge surface cannot keep a certain distance, the leaf vegetables are easily scattered due to the fact that the height of the cutter from the ridge surface is too high, harvesting loss is caused, harvesting quality is reduced, or the cutter is damaged due to the fact that; when the leaf vegetables are harvested in the broadcast sowing planting mode, due to the fact that the planting density at different positions of the same ridge surface is uneven due to uneven broadcast sowing, the amounts of the crops to be harvested in different areas are different, the real-time feeding amounts of the reel during the harvesting of the leaf vegetables are different, the reel is easy to block, and if no measures are taken during the blocking, the blocking situation is aggravated, so that the damage to the leaf vegetables and even the machine fault are caused; secondly, the height of the reel is different when the growth heights of different leaf vegetables and even the same leaf vegetable are different in different harvesting periods, so that the reel is required to be adjusted to the adaptive height according to the heights of different leaf vegetables to obtain a better harvesting effect; meanwhile, the shifting speed ratios required by different leaf vegetables and planting densities are different, and corresponding adjustment needs to be carried out according to specific harvesting operation conditions.

In order to solve the problems, corresponding research is carried out by scholars at home and abroad. Chinese patent CN109699287A discloses a leaf vegetable harvester with a harvesting height adjusting function and a control method thereof, wherein an electric push rod is controlled to stretch according to a signal detected by an infrared distance measuring sensor, and a lifting platform is controlled to stretch according to a signal detected by an ultrasonic sensor, but an executing device of the harvester still only realizes longitudinal profiling, does not have the functions of transverse profiling and anti-blocking, and has larger information error when the ultrasonic sensor is directly used for detecting ridge surfaces due to complex ridge surface environment. Chinese patent CN209330622U discloses an electric leaf vegetable harvester, which adjusts the height of a cutting knife assembly from the ground through a height adjusting assembly to adapt to different kinds of leaf vegetable heights. The harvester can not adjust the cutting knife distance in a self-adaptive manner according to ridge surface information and does not have the anti-blocking function.

Therefore, further research on the leaf vegetable harvester in the aspects of mechanism and intellectualization, such as a transverse and longitudinal profiling mechanism, an anti-blocking mechanism and a corresponding control system is needed.

Disclosure of Invention

The present invention aims to solve at least one of the above technical problems to a certain extent.

Therefore, the invention provides an intelligent profiling anti-blocking leaf vegetable harvester and a control system and method thereof, wherein the function of the header assembly in the mechanism aspect of transverse and longitudinal adjustment relative to a chassis assembly is realized through a header chassis connecting assembly and a header chassis limiting assembly, the control system detects the ridge distance of a cutting knife obtained by a ridge surface detection assembly and further controls a header adjustment assembly to transversely and longitudinally adjust the header assembly so as to ensure that a certain distance is kept between the cutting knife and the ridge surface, and the phenomena of leaf vegetable harvesting loss and cutter soil penetration damage caused by improper height adjustment of the cutting knife are reduced; the reel assembly can realize the function of adjusting the reel up and down, the reel height is adjusted according to different leaf vegetable heights, and the control system judges the blocking state according to the numerical value measured by the reel encoder and the torque sensor so as to control the reel position to realize the anti-blocking function. The operation speed is obtained through the walking encoder, and the rotating speed of the reel is controlled through the control system to reach the expected speed according to the preset reel speed ratio so as to ensure the harvesting operation effect.

The technical scheme of the invention is as follows: a profiling anti-blocking leaf vegetable harvester comprises a reel assembly, a header chassis connecting assembly, a header chassis limiting assembly, a collecting device, a header adjusting assembly, a chassis assembly, a ridge surface detecting assembly and a control system;

the reel assembly is arranged in the front of the header assembly;

the header assembly is connected to the chassis assembly through the header chassis connection assembly;

the header chassis limiting assembly is arranged between the header assembly and the chassis assembly;

the collecting device is arranged at the rear part of the chassis assembly;

the two header adjustment assemblies are transversely and symmetrically arranged between the header assembly and the chassis assembly and are used for adjusting the postures of the header assembly in the transverse and longitudinal directions;

the two sets of ridge surface detection assemblies are transversely and symmetrically arranged in front of the lower part of the header assembly;

the control system is respectively connected with the reel assembly, the header adjusting assembly, the chassis assembly and the ridge surface detecting assembly.

In the above scheme, the reel assembly comprises a linear guide rail pair, a reel pull rod, a reel bearing seat, a driving device and a reel;

the linear guide rail pairs are arranged on two sides of a gantry frame in the front of the header frame; two sides of a reel pull rod are respectively connected with the linear guide rail pair in a sliding way; the lower part of the reel pull rod is respectively connected with a reel bearing seat; two ends of the reel are respectively rotatably connected with a reel bearing seat; the driving device is connected with the upper part of a reel pull rod, and drives the reel pull rod to drive the reel to slide up and down along the linear guide rail pair so as to adjust the height of the reel;

the reel assembly also comprises a reel encoder, a reel encoder coupler, a reel coupler connecting rod, a first connecting flange, a torque sensor, a second connecting flange and a reel rotating speed motor;

the reel encoder speed measuring shaft is connected with a reel coupling connecting rod through a reel encoder coupler, and the reel coupling connecting rod is connected with the end part of the rotating center at one side of the reel;

one end of the torque sensor for measuring force is connected with the end part of the rotation center at the other side of the reel through a first connecting flange, and the other end of the torque sensor for measuring force is connected with a power output shaft of a reel rotating speed motor through a second connecting flange;

the driving device, the reel encoder, the torque sensor and the reel rotating speed motor are respectively connected with the control system.

In the scheme, the ridge surface detection assembly comprises a parallel four-bar mechanism, a detection plate, a spring, a profiling wheel shaft, a profiling wheel and an ultrasonic sensor;

one end of the parallel four-bar mechanism is rotatably connected with the copying wheel shaft, and two ends of the copying wheel shaft are respectively provided with a copying wheel; the springs are arranged on the parallel four-bar mechanisms and used for providing tension to open the parallel four-bar mechanisms so as to apply force to the copying wheels to enable the copying wheels to be attached to ridge surfaces;

the outer side of the top of the parallel four-bar mechanism is connected with the header assembly; the ultrasonic sensor is arranged on the inner side of the top of the parallel four-bar mechanism, and the detection plate is installed at the bottom of the parallel four-bar mechanism; the ultrasonic sensor is used for detecting the distance between the inner side of the top of the parallel four-bar mechanism and the detection plate; the ultrasonic sensor is connected with the control system.

In the scheme, the header assembly comprises a guide plate, a transmission flexible shaft and an anti-blocking brush;

the guide plate is arranged at the rear part of the conveying belt of the header assembly;

one end of the transmission flexible shaft is connected to a power output shaft of a cutting knife motor of the header assembly, and the other end of the transmission flexible shaft is connected to a cutting knife power input shaft of the header assembly;

the anti-blocking brushes are arranged on two sides of a header rack of the header assembly and can cover gaps between the header rack and the conveying belt.

In the above scheme, the header adjustment assembly comprises an electric push rod and a displacement sensor;

the extension end of the electric push rod is connected with the header assembly, and the bottom end of the electric push rod is connected with the chassis assembly;

the displacement sensor is used for detecting the length change of the electric push rod;

and the displacement sensor is connected with the control system.

A control system of a profiling anti-blocking leaf vegetable harvester comprises a detection mechanism, a control system and an execution mechanism;

the detection mechanism comprises a reel encoder, a walking encoder, a torque sensor, an ultrasonic sensor and a displacement sensor;

the actuating mechanism comprises a reel lifting motor, a reel rotating speed motor and an electric push rod;

the detection mechanism is connected with a control system, and the control system is connected with an execution mechanism;

the control system comprises a cutting table profiling control module, a reel rotating speed control module and a reel anti-blocking control module;

the header profile modeling control module obtains the length l of the current left electric push rod through the left side and the right side by the displacement sensor_0lAnd the length l of the current right electric push rod_0rAnd the included angles α of the left side and the right side of the header assembly relative to the ridge surface are respectively obtained through a header dip angle mathematical model_l、α_r(ii) a The vertical distance d between the inner side of the top of the parallel four-bar mechanism at the left side and the right side and the detection plate is detected by two sets of ultrasonic sensors in the ridge surface detection assembly_tl、d_trAnd obtaining the actual distance h between the left side and the right side of a cutting knife of the header assembly and the ridge surface through a profile modeling-header mathematical model_l、h_r(ii) a According to the preset distance h between the cutting knife and the ridge surface₀Obtaining the actual distance h between the left side and the right side_l、h_rAre respectively connected with h₀Difference Δ h of_l、Δh_r(ii) a Determining the length l needed by the electric push rod on the left side and the right side through a header attitude mathematical model_l、l_rAnd is long by the length l of the current electric push rod_0l、l_0rCalculating the corresponding difference Deltal_l、Δl_r(ii) a According to the obtained difference value delta l of the left side and the right side, which needs to be adjusted, of the electric push rod_l、Δl_rThe electric push rods on the two sides are adjusted through the header posture control model;

the reel rotating speed control module obtains the operating speed n of the harvester through the walking encoder₁And calculating the required rotation speed n of the reel through a reel rotation speed model₂(ii) a Obtaining the current rotating speed n of the reel through the reel encoder₂₀And calculating the current rotation speed n of the reel₂₀With the rotation speed n of reel₂The difference e and the change rate ec; then the rotating speed motor of the reel is adjusted through a fuzzy control rule;

the reel anti-blocking control module obtains the rotating speed n of the reel through the reel encoder and the torque sensor₂₀A torque value T; calculating the blockage state value D of the reel through a reel blockage state mathematical model, and comparing the value D with a preset value D₀Comparing and calculating a deviation value delta D; if the deviation value delta D is within the allowable range, no control signal is sent to control the reel lifting motor, namely the reel position is unchanged; and if the deviation value delta D exceeds the allowable range, controlling the reel lifting motor through a reel height control mathematical model so as to change the position of the reel by delta D distance.

In the above scheme, the header inclination angle mathematical model is as follows:

in the formula: d₁The distance from the rotation center of the header assembly to the joint of the electric push rod and the header assembly is obtained; d₂The distance from the rotation center of the header assembly to the bottom of the chassis frame; d₃The horizontal distance from the rotation center of the header assembly to the joint of the electric push rod and the chassis assembly is obtained;

the profiling-header mathematical model is as follows:

in the formula: l is_t1The length of the double connecting rod A; l is_t3The lengths of the axes of the single connecting rod A and the single connecting rod B connected with the connecting pin D and the simulated wheel axle are shown; l is_t4The distance between the mounting surface of the mounting frame and the normal direction of the mounting surface of the cutting knife is equal to the distance between the mounting surface of the mounting frame and the normal direction of the cutting knife; l is_t5The distance between the stop block and the cutter is in the normal direction of the stop block surface; d_tThe distance between the plane of the inner side of the top of the parallel four-bar mechanism detected by the ultrasonic sensor and the plane of the detection plate is obtained;

r is the following wheel radius;

the header attitude mathematical model is as follows:

wherein

θ²＝d₁ ²+d₂ ²+d₃ ²χ²＝d₂ ²+d₃ ²

In the formula: d is the distance from the rotation center of the header assembly to the cutting knife;

in the above scheme, the rotation speed model of the reel is as follows:

in the formula: r is₁Is the radius of the drive wheel of the chassis assembly; lambda is the ratio of the linear speed to the operating speed of the reel (1-13); r is₂Is the radius of the reel.

In the above scheme, the reel blocking state mathematical model Γ is:

D＝Γ(n₂₀,T)；

the height control mathematical model H of the reel is as follows:

Δd＝H(ΔD)。

a control method of the profiling anti-blocking leaf vegetable harvester control system comprises the following steps:

profiling control of the cutting table: the header profile modeling control module of the control system obtains the length l of the current left electric push rod through the left side and the right side through the displacement sensors_0lAnd the length l of the current right electric push rod_0rAnd respectively obtaining α included angles of the left side and the right side of the header assembly relative to the ridge surface through the header inclination angle mathematical model_l、α_r(ii) a The vertical distance d between the inner side of the top of the parallel four-bar mechanism at the left side and the right side and the detection plate is detected by two sets of ultrasonic sensors in the ridge surface detection assembly_tl、d_trAnd obtaining the actual distance h between the left side and the right side of a cutting knife of the header assembly and the ridge surface through the profiling-header mathematical model_l、h_r(ii) a According to the preset distance h between the cutting knife and the ridge surface₀Obtaining the actual distance h between the left side and the right side_l、h_rAre respectively connected with h₀Difference Δ h of_l、Δh_r(ii) a Determining the length l needed by the electric push rod at the left side and the right side through the header attitude mathematical model_l、l_rAnd is long by the length l of the current electric push rod_0l、l_0rCalculating the corresponding difference Deltal_l、Δl_r(ii) a According to the obtained difference value delta l of the left side and the right side, which needs to be adjusted, of the electric push rod_l、Δl_rThe electric push rods on the two sides are adjusted through the header attitude control model, so that the distance between the transverse direction and the longitudinal direction of a cutting knife of the header assembly and the ridge surface is adjusted;

and (3) controlling the rotating speed of the reel: the reel rotating speed control module of the control system obtains the operating speed n of the harvester through the traveling encoder of the chassis assembly₁And calculating the required rotation speed n of the reel through the rotation speed model of the reel₂(ii) a Obtaining the current rotating speed n of the reel through the reel encoder₂₀And calculating the current rotation speed n of the reel₂₀With the required rotation speed n of the reel₂The difference e and the change rate ec; and then the rotating speed motor of the reel is controlled by fuzzy control rulesAdjusting;

reel anti-blocking control: the reel anti-blocking control module of the control system obtains the rotating speed n of the reel through the reel encoder and the torque sensor₂₀A torque value T; calculating the blockage state value D of the reel through the mathematical model of the blockage state of the reel, and comparing the blockage state value D with a preset value D₀Comparing and calculating a deviation value delta D; if the deviation value delta D is within the allowable range, no control signal is sent to control the reel lifting motor, namely the reel position is unchanged; and if the deviation value delta D exceeds the allowable range, controlling the reel lifting motor through the reel height control mathematical model so as to change the position of the reel by delta D distance.

Compared with the prior art, the invention has the beneficial effects that:

1. the invention aims at the problems that the transverse and longitudinal levelness of the ridge surface for harvesting the leaf vegetables is poor, and the leaf vegetables are easily scattered due to improper adjustment of the height of a cutting knife, provides a mechanism for meeting the transverse and longitudinal adjustment of the header, realizes the transverse and longitudinal adjustment of the header through the provided control system to ensure that the distance between the cutting knife and the ridge surface keeps a certain value, and reduces the leaf vegetable harvesting loss caused by the fact that the height of the cutting knife cannot be adjusted along with the transverse and longitudinal adjustment of the ridge surface.

2. The invention provides a lifting reel mechanism aiming at the harvesting requirements of different leaf vegetable heights and the condition that the leaf vegetable harvesting process is easy to block, the height of the reel mechanism can be adjusted according to the leaf vegetable heights, the blocking condition is judged through an encoder and a torque sensor, and the height of the reel is adjusted through a control system so as to solve the blocking problem.

3. The invention aims at different shifting speed ratios required by harvesting different leaf vegetables, and the speed of the reel is controlled by collecting the operation speed and further by the set shifting speed ratio so as to meet the harvesting requirement.

4. Aiming at the problem that the ridge surface information detection effect of a common sensor is poor, the invention provides a ridge surface detection assembly, the distances from the left side and the right side of the cutting knife to the ridge surface are obtained, and the header adjustment assemblies on the left side and the right side are adjusted through a control system to perform transverse and longitudinal adjustment on a header, so that the distance between the cutting knife and the ridge surface is adjusted; the problem that the existing ridge surface detection means directly detects through ultrasonic waves or infrared rays and the like, but errors can be generated when the sensors are directly used due to the influence of ridge surface stubble cutting and soil blocks is solved, and the mechanical device matched with the sensors for detection has better adaptability and accuracy.

Drawings

Fig. 1 is a schematic view of the whole structure of the present invention.

FIG. 2 is a rear two-side schematic view of an overall structure of an embodiment of the invention.

Fig. 3 is a rear view of the overall structure of an embodiment of the present invention.

Fig. 4 is a front side view of a reel assembly according to an embodiment of the present invention.

Fig. 5 is a partially enlarged view a of the reel assembly according to an embodiment of the present invention.

Fig. 6 is a partial enlarged view B of a reel assembly according to an embodiment of the present invention.

Fig. 7 is a partial enlarged view C of a reel assembly according to an embodiment of the present invention.

Fig. 8 is a schematic view of the header assembly from both sides of the header assembly in accordance with an embodiment of the present invention.

Fig. 9 is a rear side schematic view of a header assembly according to an embodiment of the present disclosure.

Fig. 10 is a schematic view of a header pan attachment assembly according to an embodiment of the present disclosure.

Fig. 11 is a transverse cross-sectional view of a header pan attachment assembly in accordance with an embodiment of the present invention.

Fig. 12 is a longitudinal cross-sectional view of a header chassis attachment assembly in accordance with an embodiment of the present invention.

Fig. 13 is a schematic structural view of a header chassis limiting assembly according to an embodiment of the present invention.

FIG. 14 is a schematic view of a lower link assembly according to an embodiment of the present invention.

Fig. 15 is a schematic view of a header adjustment assembly according to an embodiment of the present invention.

FIG. 16 is a schematic structural diagram of a chassis assembly according to an embodiment of the present invention.

Fig. 17 is a partially enlarged schematic view of a chassis assembly structure according to an embodiment of the present invention.

FIG. 18 is a schematic view of the front side of a profiling probe assembly configuration according to an embodiment of the invention.

FIG. 19 is a rear side schematic view of a profiling detection assembly configuration according to an embodiment of the invention.

Fig. 20 is a schematic view of an automatic control flow of the intelligent profiling anti-blocking leaf vegetable harvester according to the embodiment of the invention.

Fig. 21 is a hardware connection schematic diagram of an intelligent profiling anti-blocking leaf vegetable harvester according to an embodiment of the invention.

Fig. 22 is a schematic view of the control flow of the intelligent profiling anti-blocking leaf vegetable harvester according to the embodiment of the invention.

Fig. 23 is a geometric dimension schematic of a mathematical model of the header inclination angle in accordance with an embodiment of the present invention.

Fig. 24 is a geometric dimension schematic of a profiling-header mathematical model in accordance with an embodiment of the present invention.

Fig. 25 is a geometric dimension diagram of a mathematical model of a header attitude in accordance with an embodiment of the present invention.

Fig. 26 is a schematic control flow diagram of the profiling subsystem of the header in automatic mode according to an embodiment of the present invention.

Fig. 27 is a schematic control flow diagram of the reel speed control subsystem in the automatic mode according to an embodiment of the present invention.

Fig. 28 is a schematic control flow diagram of the reel anti-blocking lifting control subsystem in the automatic mode according to an embodiment of the present invention.

In the figure: 1. a reel assembly; 1-1, a linear guide rail pair; 1-2, a reel pull rod; 1-3, a first connecting block; 1-4, a first slide block; 1-5, reel bearing seat; 1-6, reel coder support; 1-7, reel coder; 1-8, reel coder coupling; 1-9, a reel coupling connecting rod; 1-10, a reel lifting motor; 1-11, a reel lifting motor bracket; 1-12, a lead screw; 1-13, reel; 1-14, a reel rotating speed motor support; 1-15, a first connecting flange; 1-16, a torque sensor; 1-17, a second connecting flange; 1-18, a reel rotating speed motor; 1-19, a reel rotating speed motor connecting shaft; 1-20, a second slide block; 2. a header assembly; 2-1, a header frame; 2-2, a deflector; 2-3, a left guard plate; 2-4, a conveyer belt; 2-5, a flexible transmission shaft; 2-6, a cutter; 2-7, a right guard plate; 2-8, a transmission guard plate; 2-9, conveying belt driving roller assembly; 2-9-1, a drive roller bearing seat; 2-9-2, a driving roller; 2-10, a conveyer belt transmission assembly; 2-10-1, a conveyer belt driven sprocket; 2-10-2, conveying belt transmission chain; 2-10-3, conveying belt motor; 2-10-4, a driving chain wheel of the conveying belt; 2-11, a conveyer belt driven roller assembly; 2-11-1, driven roller bearing seat; 2-11-2, a driven roller; 2-12, a cutter motor; 2-13, anti-blocking brushes; 3. the header chassis is connected with the assembly; 3-1, a side support assembly; 3-2, supporting a transverse shaft assembly; 3-3, a central support assembly; 3-4, connecting shafts; 4. a header chassis limiting assembly; 4-1, a chassis supporting seat; 4-2, connecting pins of a chassis supporting seat; 4-3, a lower connecting rod assembly; 4-3-1, a lower connecting rod mounting rack; 4-3-2, end cover; 4-3-3, bearing; 4-4, connecting rod connecting shaft; 4-5, an upper connecting rod; 4-6, joint bearing; 4-7, connecting pins of a header supporting seat; 4-8, a header supporting seat; 5. a collection device; 6. a header adjustment assembly; 6-1, a header connecting seat; 6-2, a header connecting pin; 6-3, an electric push rod; 6-4, a displacement sensor; 6-5, a chassis connecting pin; 6-6, a chassis connecting seat; 6-7, a joint bearing; 7. a chassis assembly; 7-1, a chassis frame; 7-2, a chassis transmission assembly; 7-2-1, a chassis motor; 7-2-2, a chassis drive sprocket; 7-2-3, a chassis transmission chain; 7-2-4, a chassis driven sprocket; 7-3, a walking encoder assembly; 7-3-1, a walking encoder; 7-3-2, a walking encoder bracket; 7-3-3, a walking encoder coupler; 7-4, a walking assembly; 7-4-1, driving wheels; 7-4-2, a driving wheel bearing seat; 7-4-3, a drive shaft; 7-5, a steering wheel; 7-6, a power supply; 8. a ridge surface detection assembly; 8-1, a stop block; 8-2, connecting pin A; 8-3, mounting racks; 8-4, a connecting pin B; 8-5, a double connecting rod A; 8-6, connecting pin C; 8-7, a single connecting rod A; 8-8, detecting plate; 8-9, a spring; 8-10 parts of single connecting rod B; 8-11, connecting pin D; 8-12, double connecting rods B; 8-13, a copying wheel shaft; 8-14, a profiling wheel; 8-15, ultrasonic sensor; 9. and (5) controlling the system.

Detailed Description

The present invention will be described in further detail with reference to the following drawings and detailed description, but the scope of the present invention is not limited thereto.

Example 1

Fig. 1, fig. 2, fig. 3 show a preferred embodiment of the profiling anti-blocking leaf vegetable harvester, which comprises a reel assembly 1, a header assembly 2, a header chassis connection assembly 3, a header chassis limiting assembly 4, a collecting device 5, a header adjustment assembly 6, a chassis assembly 7, a ridge surface detection assembly 8 and a control system 9. The reel wheel assemblies 1 are transversely and symmetrically arranged at the front part of the header assembly 2, and the header assembly 2 is connected to the chassis assembly 7 through the header chassis connecting assembly 3; the header chassis limiting assembly 4 is arranged between the header assembly 2 and the chassis assembly 7; the two header adjustment assemblies 6 are transversely and symmetrically arranged between the header assembly 2 and the chassis assembly 7 and are used for adjusting the postures of the header assembly 2 in the transverse and longitudinal directions; the collecting device 5 is arranged at the rear part of the chassis assembly 7 and is used for collecting and storing the leaf vegetables harvested and conveyed by the header assembly 2; the two sets of ridge surface detection assemblies 8 are transversely symmetrically arranged in front of the lower part of the header assembly 2; the control system 9 controls the reel assembly 1, the cutting table assembly 2, the cutting table adjusting assembly 6, the chassis assembly 7 and the ridge surface detecting assembly 8.

Fig. 4, 5, 6, and 7 are schematic structural diagrams of the reel assembly 1, where the reel assembly 1 includes a linear guide pair 1-1, a reel pull rod 1-2, a first connecting block 1-3, a first slider 1-4, a reel bearing seat 1-5, a reel encoder bracket 1-6, a reel encoder 1-7, a reel encoder coupler 1-8, a reel coupler connecting rod 1-9, a reel 1-13, a reel rotational speed motor bracket 1-14, a first connecting flange 1-15, a torque sensor 1-16, a second connecting flange 1-17, a reel rotational speed motor 1-18, a reel rotational speed motor connecting shaft 1-19, and a second slider 1-20. The reel assembly 1 is transversely and symmetrically arranged on two sides of a gantry frame at the front part of the header frame 2-1 through two parallel linear guide rail pairs 1-1, two sets of first sliding blocks 1-4 are respectively arranged on the two linear guide rail pairs 1-1, two sets of second sliding blocks 1-20 are respectively arranged on the two linear guide rail pairs 1-1, the second sliding blocks 1-20 are positioned below the first sliding blocks 1-4, and the upper parts of two sides of a reel pull rod 1-2 are respectively fixedly connected to the first sliding blocks 1-4 through the first connecting blocks 1-3; the lower ends of one side of the reel bearing seat 1-5, the reel encoder bracket 1-6 and the reel pull rod 1-2 are fixedly connected to the second slide block 1-20 on one side, and the lower ends of the other side of the reel bearing seat 1-5, the reel rotating speed motor bracket 1-14 and the reel pull rod 1-2 are fixedly connected to the second slide block 1-20 on the other side; two ends of the reel 1-13 are respectively rotatably connected with two sets of reel bearing seats 1-5, a reel encoder 1-7 shell is fixedly connected on a reel encoder bracket 1-6, a reel coupling connecting rod 1-9 is fixedly connected at the end part of the rotary center at one side of the reel 1-13, a reel encoder 1-7 speed measuring shaft is fixedly connected with the reel coupling connecting rod 1-9 through a reel encoder coupling 1-8, one end of the torque sensor 1-16 for measuring force is fixedly connected with the end part of the rotary center at the other side of the reel 1-13 through the first connecting flange 1-15, the other end of the torque sensor 1-16 for measuring force is fixedly connected with the power output shaft of the reel rotating speed motor 1-18 through the second connecting flange 1-17, the outer shell of the reel rotating speed motor 1-18 is fixedly connected with the reel rotating speed motor support 1-14 through a plurality of reel rotating speed motor connecting shafts 1-19.

The axial lines of the power output shafts of the reel rotating speed motors 1 to 18, the force measuring axial lines of the torque sensors 1 to 16, the speed measuring axial lines of the reel encoders 1 to 7 and the rotation axial lines of the reel 1 to 13 are collinear.

The reel wheels 1-13 can rotate around the axes of the two sets of reel wheel bearing blocks 1-5, the control system 9 can control the reel wheel rotating speed motors 1-18 to drive the reel wheels 1-13 to rotate, and the reel wheel encoders 1-7 can detect the rotating speeds of the reel wheels 1-13 and transmit rotating speed information to the control system 9; the torque sensors 1-16 can detect the torque value caused by the resistance of the leaf vegetables to the reel 1-13 in the rotating state and transmit the torque value information to the control system 9.

The reel assembly 1 further comprises a driving device, and the driving device comprises reel lifting motors 1-10, reel lifting motor supports 1-11 and screws 1-12. The outer shell of the reel lifting motor 1-10 is fixedly connected to the upper portion of a gantry frame at the front end of the header frame 2-1 through a reel lifting motor support 1-1, one end of a screw rod 1-12 is connected with a power output hole of the reel lifting motor 1-10 in a matched mode, and the other end of the screw rod 1-12 is fixedly connected to a reel pull rod 1-2.

The reel lifting motor 1-10 fixedly connected to the header rack 2-1 can drive the screw rod 1-12 to move up and down according to a command given by the control system 9 so as to drive the reel pull rod 1-2, and the reel 1-13, the reel encoder 1-7, the reel rotating speed motor 1-18, the torque sensor 1-16 and the like fixedly connected to the reel pull rod 1-2 to move up and down along the two sets of linear guide rail pairs 1-1 through the two sets of first slide blocks 1-4 and the second slide blocks 1-20.

Fig. 8 and 9 show structural schematic diagrams of the header assembly 2, wherein the header assembly 2 comprises a header frame 2-1, a left guard plate 2-3, a conveyor belt 2-4, a cutting knife 2-6, a right guard plate 2-7, a transmission guard plate 2-8, a conveyor belt driving roller assembly 2-9, a conveyor belt transmission assembly 2-10, a conveyor belt driven roller assembly 2-11 and a cutting knife motor 2-12. The left guard plate 2-3 and the right guard plate 2-7 are fixedly installed on two sides of the header rack 2-1 respectively and have the function of preventing harvested leaf vegetables from leaking from the two sides. The conveying belt driving roller assembly 2-9 comprises a driving roller bearing seat 2-9-1 and a driving roller 2-9-2, and two ends of the driving roller 2-9-2 are mounted at the rear end of a conveying part of the header frame 2-1 through two sets of driving roller bearing seats 2-9-1; the conveying belt driven roller assembly 2-11 comprises a driven roller bearing seat 2-11-1 and a driven roller 2-11-2, and two ends of the driven roller 2-11-2 are mounted at the front end of a conveying part of the header frame 2-1 through two sets of driven roller bearing seats 2-11-1; the conveying belt transmission assembly 2-10 comprises a conveying belt driven chain wheel 2-10-1, a conveying belt transmission chain 2-10-2, a conveying belt motor 2-10-3 and a conveying belt driving chain wheel 2-10-4, the shell of the conveyer belt motor 2-10-3 is fixedly arranged at the rear part of the header frame, the driving chain wheel 2-10-4 of the conveying belt is fixedly connected on the power output shaft of the motor 2-10-3 of the conveying belt, the driven chain wheel 2-10-1 of the conveying belt is fixedly connected with one end of the driving roller 2-9-2, the driving chain wheel 2-10-4 of the conveying belt and the driven chain wheel 2-10-1 of the conveying belt transmit power through the transmission chain 2-10-2 of the conveying belt; the transmission guard plate 2-8 is fixedly connected to one side of the header frame 2-1 and covers the conveyor belt transmission assembly 2-10 to protect the conveyor belt transmission assembly 2-10; the conveying belt 2-4 is tightly sleeved on the driving roller 2-9-2 and the driven roller 2-11-2 and can carry out conveying operation through rotation of the driving roller 2-9-2. The cutting knife 2-6 is connected to the front end of the header rack 2-1, and the cutting knife motor 2-12 is fixedly connected to the rear portion of the chassis rack 7-1 to provide power for the cutting knife 2-6.

According to the embodiment, preferably, the header assembly 2 further includes a baffle 2-2 and a flexible transmission shaft 2-5. The guide plate 2-2 is fixedly connected to the rear part of the conveying belt 2-4 arranged on the header rack 2-1 and used for gathering the harvested leaf vegetables conveyed by the conveying belt 2-4 and then falling into the collecting device 5, so that the leaf vegetables at the edge of the conveying belt 2-4 are prevented from falling outside the collecting device 5 to cause harvesting loss; one end of the transmission flexible shaft 2-5 is fixedly connected to the power output shaft of the cutting knife motor 2-12, and the other end of the transmission flexible shaft is fixedly connected to the power input shaft of the cutting knife motor 2-6 and used for transmitting the power of the cutting knife motor 2-12 to the cutting knife 2-6.

Header assembly 2 still includes anti-blocking brush 2-13. The two sets of anti-blocking brushes 2-13 are fixedly arranged on two sides of the header rack 2-1 and can cover gaps at the joint of the two sides of the header rack 2-1 and the two sides of the conveying belt 2-4, so that the harvested leaf vegetables are prevented from being rolled into the gaps to cause loss and machine faults in the conveying process. The anti-blocking brushes 2-13 are flexible brushes and are attached to two sides of the conveying belt 2-4 in a floating mode.

Fig. 10, 11 and 12 are schematic structural diagrams of the header chassis connection assembly 3, and the header chassis connection assembly 3 includes a side support assembly 3-1, a cross support shaft device 3-2, a central support device 3-3 and a connecting shaft 3-4. The two sets of lateral supporting devices 3-1 are transversely and symmetrically arranged at two ends of the supporting transverse shaft device 3-2, and the central supporting device 3-3 is longitudinally and symmetrically arranged on the supporting transverse shaft device 3-2 through a connecting shaft 3-4. The supporting transverse shaft device 3-2 can rotate around the two side supporting devices 3-1, and the central supporting device 3-3 can rotate around the supporting transverse shaft device 3-2 through a connecting shaft 3-4.

The header chassis connecting assembly 3 is transversely symmetrically and fixedly arranged on a cross rod arranged at the rear part of the chassis rack 7-1 through two sets of side support assemblies 3-1, and the other end of the header chassis connecting assembly is fixedly arranged on a longitudinal central line at the bottom of the header rack 2-1 through the central support assembly 3-3. The vertical distance between the axis of the connecting shaft 3-4 and the bottom of the header rack 2-1 is equal to the vertical distance between the axis of the header support seat connecting pin 4-7 and the bottom of the header rack 2-1.

Fig. 13 and 14 show a schematic structural diagram of the header chassis limiting assembly 4, wherein the header chassis limiting assembly 4 comprises a chassis supporting seat 4-1, a chassis supporting seat connecting pin 4-2, a lower connecting rod assembly 4-3, a connecting rod connecting shaft 4-4, an upper connecting rod 4-5, a knuckle bearing 4-6, a header supporting seat connecting pin 4-7 and a header supporting seat 4-8. One end of the lower connecting rod assembly 4-3 is hinged with the chassis supporting seat 4-1 through a chassis supporting seat connecting pin 4-2, and the other end is hinged with one end of the upper connecting rod 4-5 through a connecting rod connecting shaft 4-4; the other end of the upper connecting rod 4-5 is fixedly connected with the rod end of the joint bearing 4-6, and the hole end of the joint bearing 4-6 is hinged with the header supporting seat 4-8 through a header supporting seat connecting pin 4-7; the chassis supporting seat 4-1 is fixedly connected to the longitudinal center of the chassis frame 7-1, and the header supporting seat 4-8 is fixedly connected to the bottom of the longitudinal center of the header frame 2-1.

The lower connecting rod assembly 4-3 comprises a lower connecting rod mounting frame 4-3-1, end covers 4-3-2 and bearings 4-3-3, two sets of the bearings 4-3-3 are symmetrically arranged in bearing mounting holes in two sides of the lower connecting rod mounting frame 4-3-1, and the two sets of the end covers 4-3-2 are respectively and fixedly connected to the outer sides of the bearing mounting holes in two ends of the lower connecting rod mounting frame 4-3-1.

Fig. 15 is a schematic structural diagram of the header adjustment assembly 6, and the header adjustment assembly 6 includes a header connection seat 6-1, a header connection pin 6-2, an electric push rod 6-3, a displacement sensor 6-4, a chassis connection pin 6-5, a chassis connection seat 6-6, and a joint bearing 6-7; both ends of the electric push rod 6-3 are fixedly provided with joint bearings 6-7, the joint bearing 6-7 at the bottom end of the electric push rod 6-3 is hinged with the chassis connecting seat 6-6 through a chassis connecting pin 6-6, and the chassis connecting seat 6-6 is fixedly connected to one side of the chassis frame 7-1; a joint bearing 6-7 at the extending end of the electric push rod 6-3 is hinged with the header connecting seat 6-1 through a header connecting pin 6-2, and the header connecting seat 6-1 is fixedly connected in the header frame 2-1 at the same side as the chassis frame 7-1; the shell of the displacement sensor 6-4 is fixedly connected to the shell of the electric push rod 6-3, and a joint bearing 6-7 fixedly connected with the extending end is hinged to the header connecting pin 6-2.

The displacement sensor 6-4 can detect the length change of the electric push rod 6-3 and send the length information to the control system 9.

Fig. 16 and 17 are schematic structural diagrams of the chassis assembly 7, and the chassis assembly 7 includes a chassis frame 7-1, a chassis transmission assembly 7-2, a walking encoder assembly 7-3, a walking assembly 7-4, a steering wheel 7-5 and a power supply 7-6. The chassis transmission assembly 7-2 comprises a chassis motor 7-2-1, a chassis driving chain wheel 7-2-2, a chassis transmission chain 7-2-3 and a chassis driven chain wheel 7-2-4; the walking encoder assembly 7-3 comprises a walking encoder 7-3-1, a walking encoder bracket 7-3-2 and a walking encoder coupler 7-3-3; the walking assembly 7-4 comprises a driving wheel 7-4-1, a driving wheel bearing seat 7-4-2 and a driving shaft 7-4-3; the shell of the chassis motor 7-2-1 is fixedly arranged on the chassis frame 7-1, the chassis driving chain wheel 7-2-2 is fixedly connected to the power output shaft of the chassis motor 7-2-1, the chassis driven chain wheel 7-2-4 is fixedly connected to the driving shaft 7-4-3, and the chassis transmission chain 7-2-3 is used for transmitting power between the chassis driving chain wheel 7-2-2 and the chassis driven chain wheel 7-2-4; the two sets of driving wheels 7-4-1 are fixedly connected to two sides of the driving shaft 7-4-3, the driving shaft 7-4-3 is transversely and symmetrically installed at the front end of the bottom of the chassis frame 7-1 through two sets of driving wheel bearing blocks 7-4-2, and the two sets of steering wheels 7-5 are transversely and symmetrically fixedly connected to the rear end of the bottom of the chassis frame 7-1; the walking encoder 7-3-1 speed measuring head is fixedly connected with the power output shaft of the chassis motor 7-2-1 through a walking encoder coupler 7-3-3, and the walking encoder 7-3-1 shell is fixedly connected to the chassis frame 7-1 through a walking encoder support 7-3-2.

Fig. 18 and 19 show a schematic structural view of the ridge detection assembly 8, wherein the ridge detection assembly 8 comprises a connecting pin A8-2, a mounting frame 8-3, a connecting pin B8-4, a double connecting rod A8-5, a connecting pin C8-6, a single connecting rod A8-7, a spring 8-9, a single connecting rod B8-10, a connecting pin D8-11, a double connecting rod B8-12, a profiling wheel shaft 8-13, a profiling wheel 8-14 and an ultrasonic sensor 8-15. One end of the double connecting rod A8-5 is rotatably connected with one end of the mounting frame 8-3 through the connecting pin B8-4, one end of the double connecting rod B8-12 is rotatably connected with the other end of the mounting frame 8-3 through the connecting pin A8-2, one ends of the single connecting rod A8-7 and the single connecting rod B8-10 are symmetrically and rotatably connected with two sides of the other end of the double connecting rod A8-5 through the connecting pin C8-6, and the middle parts of the single connecting rod A8-7 and the single connecting rod B8-10 are symmetrically and rotatably connected with two sides of the other end of the double connecting rod B8-12 through the connecting pin D8-11; the two sets of contour wheels 8-14 are symmetrically and rotatably connected in mounting holes at the other ends of the single connecting rod A8-7 and the single connecting rod B8-10 through the contour wheel shafts 8-13; one end of each of the two sets of springs 8-9 is connected in a hanging hole in the double connecting rod B8-12, and the other end of each of the two sets of springs is connected in a hanging hole in the middle of the single connecting rod A8-7 and the single connecting rod B8-10; the ultrasonic sensor 8-15 is fixedly connected to the inner side of the mounting surface of the mounting rack 8-3.

The single connecting rod A8-7 and the single connecting rod B8-10 are both provided with a plurality of hanging holes.

The ridge surface detection assembly 8 further comprises a stop block 8-1. The stopper is fixedly connected to one end of the mounting rack 8-3 and has the function of limiting the rotation range of the double link B8-12.

The mounting rack 8-3, the double connecting rods A8-5, the single connecting rod A8-7, the single connecting rod B8-10 and the double connecting rod B8-12 are rotatably connected through the connecting pin A8-2, the connecting pin B8-4, the connecting pin C8-6 and the connecting pin D8-11 to form a parallel four-bar mechanism, the rotating range of the double connecting rods B8-12 is limited through the stop 8-1 to further limit the rotating range of the formed parallel four-bar mechanism, an elastic opening unit is formed through the two sets of springs 8-9, and the positions of hanging holes of the springs 8-9 can be adjusted according to different use conditions to further adjust the corresponding spring tension.

The ridge surface detection assembly 8 further comprises detection plates 8-8 which are fixedly connected to the two sets of single connecting rods A8-7 and the single connecting rods B8-10.

The inner side plane of the mounting surface of the mounting frame 8-3 is parallel to the plane of the detection plate 8-8 fixedly mounted on the two sets of single connecting rods A8-7 and the single connecting rod B8-10, and the ultrasonic sensor 8-15 fixedly mounted on the inner side of the mounting surface of the mounting frame 8-3 can detect the distance between the inner side plane of the mounting surface of the mounting frame 8-3 and the plane of the detection plate 8-8 and send distance information to the control system 9.

Example 2

The control system of the profiling anti-blocking leaf vegetable harvester according to the embodiment 1 has the beneficial effects of the embodiment 1, and the details are not repeated.

The control system of the profiling anti-blocking leaf vegetable harvester comprises a detection mechanism, a control system 9 and an execution mechanism. The detection mechanism comprises reel encoders 1-7, a walking encoder 7-3-1, torque sensors 1-16, ultrasonic sensors 8-15 and a displacement sensor 6-4. The actuating mechanism comprises reel lifting motors 1-10, reel rotating speed motors 1-18 and electric push rods 6-3. The detection mechanism is connected with a control system 9, and the control system 9 is connected with an execution mechanism; the control system 9 comprises a cutting table profiling control module, a reel rotating speed control module and a reel anti-blocking control module.

The header profiling control module obtains the length l of the current left electric push rod 6-3 through the left and right displacement sensors 6-4_0lAnd the length l of the current right electric push rod 6-3_0rAnd the included angles α of the left side and the right side of the header assembly 2 relative to the ridge surface are respectively obtained through a header dip angle mathematical model_l、α_r(ii) a The vertical distance d between the inner side of the top of the parallel four-bar mechanism at the left side and the right side and the detection plate 8-8 is detected by two sets of ultrasonic sensors 8-15 in the ridge surface detection assembly 8_tl、d_trAnd the actual distance h between the left side and the right side of the cutting knife 2-6 of the header assembly 2 and the ridge surface is obtained through a profile modeling-header mathematical model_l、h_r(ii) a According to the preset distance h between the cutting knife and the ridge surface₀Obtaining the actual distance h between the left side and the right side_l、h_rAre respectively connected with h₀Difference Δ h of_l、Δh_r(ii) a Determining the length l required by the electric push rods 6-3 at the left side and the right side through a header attitude mathematical model_l、l_rAnd is long by the length l of the current electric push rod_0l、l_0rCalculating the corresponding difference Deltal_l、Δl_r(ii) a The difference value delta l which is required to be adjusted according to the electric push rods 6-3 at the left side and the right side is obtained_l、Δl_rAnd adjusting the electric push rods 6-3 at two sides through a header posture control model.

The reel rotating speed control module obtains the operating speed n of the harvester through the walking encoder 7-3-1₁And calculating the required rotation speed n of the reel through a reel rotation speed model₂(ii) a Obtaining the current reel rotating speed n through the reel encoders 1-7₂₀And calculating the current rotation speed n of the reel₂₀With the required rotation speed n of the reel₂The difference e and the change rate ec; and then the rotating speed motors 1 to 18 of the reel are adjusted through a fuzzy control rule.

The reel anti-blocking control module obtains the rotating speed n of the reel through the reel encoders 1-7 and the torque sensors 1-16₂₀A torque value T; calculating the blockage state value D of the reel through a reel blockage state mathematical model, and comparing the value D with a preset value D₀Comparing and calculating a deviation value delta D; if the deviation value delta D is within the allowable range, no control signal is sent to control the reel lifting motor 1-10, namely the reel 1-13 is unchanged in position; and if the deviation value delta D exceeds the allowable range, controlling the lifting motor 1-10 of the reel through a reel height control mathematical model so as to change the position of the reel 1-13 by delta D distance.

According to this embodiment, preferably, the header inclination angle mathematical model is:

in the formula: d₁From the turning center of the header assembly 2 to the joint of the electric push rod 6-3 and the header assembly 2A distance; d₂The distance from the rotation center of the header assembly 2 to the bottom of the chassis frame 7-1 is measured; d₃The horizontal distance from the rotation center of the header assembly 2 to the joint of the electric push rod 6-3 and the chassis assembly 7;

according to this embodiment, preferably, the profiling-header mathematical model is:

in the formula: l is_t1The length of the double connecting rod A8-5; l is_t3The length of the axis connecting the single link A, B8-7, 8-10 with the connecting pin D8-11, following axle 8-13; l is_t4The distance between the mounting surface 8-3 of the mounting rack and the normal direction of the mounting surface of the cutting knife 2-6 is; l is_t5The distance between the stop block 8-1 and the cutting knife 2-6 in the normal direction of the stop block surface is defined; d_tThe distance between the inner side of the top of the parallel four-bar mechanism detected by the ultrasonic sensor 8-15, namely the plane on the inner side of the mounting surface of the mounting rack 8-3 and the plane of the detection plate 8-8; r is the radius of the imitated wheel 8-14;

the header attitude mathematical model is as follows:

wherein

θ²＝d₁ ²+d₂ ²+d₃ ²χ²＝d₂ ²+d₃ ²

In the formula: d is the distance from the rotation center of the header assembly 2 to the cutting knife 2-6;

according to the present embodiment, preferably, the reel rotation speed model is:

in the formula: r is₁The radius of the driving wheel is 7-4-1; r is₂The radius of the reel is 1-13; lambda is the ratio of the linear speed to the operating speed of the reel (1-13).

According to the present embodiment, preferably, the reel blockage state mathematical model Γ is:

D＝Γ(n₂₀,T)；

according to the present embodiment, preferably, the reel height control mathematical model H is:

Δd＝H(ΔD)。

fig. 20 is a flowchart of a communication mode between the detection mechanism and the control system 9 and a flow chart of the control system in an automatic mode, in which the control system 9 performs information transmission with the reel encoders 1 to 7 and the traveling encoders 7 to 3 to 1 through encoder program interfaces, performs information transmission with the torque sensors 1 to 16 and the displacement sensors 6 to 4 through analog-to-digital conversion program interfaces, and performs information transmission with the ultrasonic sensors 8 to 15 through serial port program interfaces. The control system 9 controls the reel lifting motor 1-10, the reel rotating speed motor 1-18, the conveyer belt motor 2-10-3, the cutter motor 2-12, the electric push rod 6-3 and the chassis motor 7-2-1 through voltage signals.

As shown in fig. 21, the control system of the present invention further includes an operation speed adjusting button, a header height adjusting button, a header deflection adjusting button, a manual/automatic selecting button, an automatic start/stop button, a reel rotation speed adjusting button, and a reel height adjusting button connected to the control system 9; preferably, the control system 9 is an ARM processor.

In the operation process of the harvester, an operator can select between a manual mode and an automatic mode of the harvester through a manual/automatic selection button, and in the manual mode, the operator can operate an ARM processor through an operation speed adjusting button, a header height adjusting button, a header deflection adjusting button, a reel rotating speed adjusting button and a reel height adjusting button, and the ARM processor further controls a chassis motor 7-2-1, a left electric push rod 6-3, a right electric push rod 6-3, a reel rotating speed motor 1-18 and a reel lifting motor 1-10 to carry out corresponding adjustment through a driver. In the automatic mode, the ARM processor acquires relevant information according to the ultrasonic sensors 8-15 on the left side and the right side, the displacement sensors 6-4 on the left side and the right side, the walking encoder 7-3-1, the reel encoder 1-7 and the torque sensors 1-16 to correspondingly adjust the actuating mechanism.

Example 3

The control method of the profiling anti-blocking leaf vegetable harvester control system according to the embodiment 2 has the beneficial effects of the embodiment 2, and the description is omitted.

The control method of the profiling anti-blocking leaf vegetable harvester control system comprises the following steps:

profiling control of the cutting table: the header profiling control module of the control system 9 obtains the length l of the current left electric push rod 6-3 through the left and right displacement sensors 6-4_0lAnd the length l of the current right electric push rod 6-3_0rAnd respectively obtaining α included angles of the left side and the right side of the header assembly 2 relative to ridge surfaces through the header inclination angle mathematical model_l、α_r(ii) a The vertical distance d between the inner side of the top of the parallel four-bar mechanism at the left side and the right side and the detection plate 8-8 is detected by two sets of ultrasonic sensors 8-15 in the ridge surface detection assembly 8_tl、d_trAnd obtaining the actual distance h between the left side and the right side of the cutting knife 2-6 of the header assembly 2 and the ridge surface through the profiling-header mathematical model_l、h_r(ii) a According to the preset distance h between the cutting knife and the ridge surface₀Obtaining the actual distance h between the left side and the right side_l、h_rAre respectively connected with h₀Difference Δ h of_l、Δh_r(ii) a Determining the length l required by the electric push rods 6-3 at the left side and the right side through the header attitude mathematical model_l、l_rAnd is long by the length l of the current electric push rod_0l、l_0rCalculating the corresponding difference Deltal_l、Δl_r(ii) a The difference value delta l which is required to be adjusted according to the electric push rods 6-3 at the left side and the right side is obtained_l、Δl_rThe electric push rods 6-3 at two sides are adjusted through the header posture control model, so that the transverse direction and the longitudinal direction of the cutting knives 2-6 and the ridge surface are adjustedA distance;

and (3) controlling the rotating speed of the reel: the reel rotating speed control module of the control system 9 obtains the operation speed n of the harvester through the walking encoder 7-3-1₁And calculating the required rotation speed n of the reel through the rotation speed model of the reel₂(ii) a Obtaining the current reel rotating speed n through the reel encoders 1-7₂₀And calculating the current rotation speed n of the reel₂₀With the required rotation speed n of the reel₂The difference e and the change rate ec; then regulating the rotating speed motors 1 to 18 of the reel through a fuzzy control rule;

standing grain pulling anti-blocking control: the reel anti-blocking control module of the control system 9 obtains the rotating speed n of the reel through the reel encoders 1-7 and the torque sensors 1-16₂₀A torque value T; calculating the blockage state value D of the reel through the mathematical model of the blockage state of the reel, and comparing the blockage state value D with a preset value D₀Comparing and calculating a deviation value delta D; if the deviation value delta D is within the allowable range, no control signal is sent to control the reel lifting motor 1-10, namely the reel 1-13 is unchanged in position; and if the deviation value delta D exceeds the allowable range, controlling the reel lifting motor 1-10 through the reel height control mathematical model so as to change the position of the reel 1-13 by delta D distance.

Fig. 22 is a control flow chart of the profiling anti-blocking leaf vegetable harvester, wherein the control system 9 can perform manual mode and automatic mode switching according to specific operation requirements, the manual mode can respectively manually adjust the operation speed, the rotation speed of the reel, the longitudinal height of the header, the transverse deflection of the header and the lifting of the reel by controlling the chassis motor 7-2-1, the rotation speed motor 1-18 of the reel, the electric push rod 6-3 and the lifting motor 1-10 of the reel, the self-adaptive adjustment of the transverse and longitudinal postures of the header according to the profiling control module of the header in the automatic mode is performed to ensure that the distances between the cutting knife and the ridge surface are kept consistent, the rotation speed of the reel is adaptively adjusted through the rotation speed control module of the reel, and the self-adaptive adjustment of the height of the reel is performed through the anti-blocking control module of the.

Preferably, the control method of the profiling anti-blocking leaf vegetable harvester control system comprises the following steps:

initializing a controller and a peripheral;

automatic mode/manual mode selection;

if the mode is automatic, the control system 9 firstly sets a speed ratio lambda and gives an initial voltage value V to the reel rotating speed motor 1-18₀So that the reel keeps an initial speed;

if the mode is a manual mode, an operator manually adjusts the operation speed, the rotating speed of the reel, the longitudinal height of the cutting table, the transverse deflection of the cutting table and the lifting of the reel through a control system until the operation is finished;

in the automatic mode, the control system 9 obtains the distance between the left side and the right side of the cutting knife 2-6 and the ridge surface through two sets of ridge surface detection assemblies 8 symmetrically arranged on the left side and the right side, and the control system 9 adjusts the left side and the right side of the header adjustment assemblies 6 to perform horizontal and longitudinal adjustment of the header so as to ensure that the distance between the cutting knife 2-6 and the ridge surface is equal to a preset value.

In the automatic mode state, the control system 9 acquires the operation speed of the harvester through the walking encoder 7-3-1 and adaptively adjusts the rotating speed of the reel through the reel rotating speed fuzzy control model;

in the automatic mode, the control system 9 obtains the rotating speed of the reel through the reel encoders 1-7 and the torque value of the reels 1-13 due to the shifting of the leaf vegetables through the torque sensors 1-16, and adjusts the height of the reel through the reel anti-blocking lifting control model.

Fig. 23, 24, 25, and 26 are schematic diagrams illustrating a geometric dimension of a header inclination angle mathematical model, a profiling-header mathematical model, a header attitude mathematical model, and a control flow of a header profiling subsystem in an automatic mode, respectively.

The control steps of the header profiling control module of the control system 9 in the automatic mode are as follows:

s1: the length l of the current electric push rod 6-3 is obtained through displacement sensors 6-4 arranged in the header adjusting assembly 6 at the left side and the right side_0l、l_0rAnd respectively pass through the table dip angle mathematical model, i.e. the following formulaObtain the included angle α between the left and right sides of the header assembly 2 and the ridge surface_l、α_r。

In the formula: d₁The distance from the rotation center of the header assembly 2 to the joint of the electric push rod 6-3 and the header assembly 2 is measured; d₂The distance from the rotation center of the header assembly 2 to the bottom of the chassis frame 7-1 is measured; d₃The horizontal distance from the rotation center of the header assembly 2 to the joint of the electric push rod 6-3 and the chassis assembly 7;

s2: the vertical distance d from the inner side of the mounting frame 8-3 to the detection plate 8-8 is detected by two sets of ultrasonic sensors 8-15 in a ridge surface detection assembly 8 arranged on the left side and the right side_tl、d_trAnd the distance h between the left side and the right side of the cutting knife 2-6 and the ridge surface is obtained through a profile modeling-cutting table mathematical model, namely the following formula_l、h_r。

In the formula: l is_t1The length of the double connecting rod A8-5; l is_t3The length of the axis connecting the single link A, B8-7, 8-10 with the connecting pin D8-11, following axle 8-13; l is_t4The distance between the mounting surface 8-3 of the mounting rack and the normal direction of the mounting surface of the cutting knife 2-6 is; l is_t5The distance between the stop block 8-1 and the cutting knife 2-6 in the normal direction of the stop block surface is defined; d_tThe distance between the plane of the inner side of the mounting surface of the mounting frame 8-3 and the plane of the detection plate 8-8 is detected by the ultrasonic sensor 8-15; r is the radius of the imitated wheel 8-14;

s3: according to the preset distance h between the cutting knife and the ridge surface₀The actual distance h of the left and right sides is obtained by the following formula_l、h_rAnd h₀Difference Δ h of_l、Δh_r，

Δh＝h-h₀；

S4: root of herbaceous plantAccording to the obtained difference value delta h_l、Δh_rAnd the length l required by the electric push rods 6-3 at the left side and the right side is determined by combining with a header attitude mathematical model, namely the following formula_l、l_r。

Wherein the content of the first and second substances,

θ²＝d₁ ²+d₂ ²+d₃ ²χ²＝d₂ ²+d₃ ²

s5: according to the length l required by the electric push rod 6-3 on the left side and the right side_l、l_rLength l of the current electric push rod_0l、l_0rThe corresponding difference Δ l is calculated according to the following formula_l、Δl_r，

Δl＝l-l₀。

S6: the difference value delta l which is required to be adjusted according to the electric push rods 6-3 at the left side and the right side is obtained_l、Δl_rAnd the electric push rods 6-3 on the two sides are adjusted through the header posture control model so as to meet the requirement that the distance between the cutting knife and the ridge surface is kept consistent.

Preferably, the header attitude control model includes the following:

s1: according to Δ l_l、Δl_rPositive and negative and Δ l_l、Δl_rThe absolute value of (A) is divided into eight states of four cases:

case 1: Δ l_l>0&Δl_r>0；

1)|Δl_l|>|Δl_r|；2)|Δl_l|<|Δl_r|；

Case 2: Δ l_l<0&Δl_r<0；

1)|Δl_l|>|Δl_r|；2)|Δl_l|<|Δl_r|；

Case 3: Δ l_l>0&Δl_r<0；

1)|Δl_l|>|Δl_r|；2)|Δl_l|<|Δl_r|；

Case 4: Δ l_l<0&Δl_r>0；

1)|Δl_l|>|Δl_r|；2)|Δl_l|<|Δl_r|；

S2: determining a first control displacement delta for each state₁Second adjustment displacement delta₂。

Case 1: 1) delta₁＝Δl_r，δ₂＝Δl_l-Δl_r；2)δ₁＝Δl_l，δ₂＝Δl_r-Δl_l；

Case 2: 1) delta₁＝|Δl_r|，δ₂＝|Δl_l|-|Δl_r|；2)δ₁＝|Δl_l|，δ₂＝|Δl_r|-|Δl_l|；

Case 3: 1) delta₁＝|Δl_r|，δ₂＝Δl_l-|Δl_r|；2)δ₁＝Δl_l，δ₂＝|Δl_r|-Δl_l；

Case 4: 1) delta₁＝Δl_r，δ₂＝|Δl_l|-Δl_r；2)δ₁＝|Δl_l|，δ₂＝Δl_r-|Δl_l|；

S3: first adjustment displacement delta determined by the previous step₁Second adjustment displacement delta₂And the left and right sets of electric push rods 6-3 are adjusted in two steps for eight states.

Case 1: 1) delta₁＝Δl_r，δ₂＝Δl_l-Δl_r；

In the first step, two sets of electric push rods 6-3 are simultaneously lifted by delta through a control system 9₁Distance between two adjacent plates；

Secondly, the control system 9 controls the left electric push rod 6-3 to ascend delta₂A distance;

2)δ₁＝Δl_l，δ₂＝Δl_r-Δl_l；

in the first step, two sets of electric push rods 6-3 are simultaneously lifted by delta through a control system 9₁A distance;

secondly, the control system 9 controls the right electric push rod 6-3 to ascend delta₂A distance;

case 2: 1) delta₁＝|Δl_r|，δ₂＝|Δl_l|-|Δl_r|；

Firstly, two sets of electric push rods 6-3 are simultaneously descended by delta through a control system 9₁A distance;

secondly, the control system 9 controls the left electric push rod 6-3 to descend by delta₂A distance;

2)δ₁＝|Δl_l|，δ₂＝|Δl_r|-|Δl_l|；

secondly, the control system 9 controls the right electric push rod 6-3 to descend by delta₂A distance;

case 3: 1) delta₁＝|Δl_r|，δ₂＝Δl_l-|Δl_r|；

Firstly, two sets of left and right electric push rods 6-3 are respectively ascended and descended delta simultaneously through a control system 9₁A distance;

2)δ₁＝Δl_l，δ₂＝|Δl_r|-Δl_l；

case 4: 1) delta₁＝Δl_r，δ₂＝|Δl_l|-Δl_r；

Firstly, two sets of left and right electric push rods 6-3 are respectively descended and ascended delta simultaneously through a control system 9₁A distance;

2)δ₁＝|Δl_l|，δ₂＝Δl_r-|Δl_l|；

head _ height (x, y) in fig. 26 is an execution program for the control system 9 to control the electric putter 6-3,

wherein x is an adjusting type x-1, and the left electric push rod 6-3 and the right electric push rod 6-3 rise simultaneously;

x is 2, and the left electric push rod 6-3 and the right electric push rod 6-3 rise simultaneously;

x is 3, and the left electric push rod 6-3 and the right electric push rod 6-3 respectively descend and ascend simultaneously;

x is 4, and the left electric push rod 6-3 and the right electric push rod 6-3 respectively ascend and descend simultaneously;

y is the adjusted displacement of the electric push rod 6-3.

δ₁The push rod is delta₁The side electric push rod 6-3 corresponding to the adjustment amount, ENA enable is locked to be fixed with the side electric push rod 6-3.

Fig. 27 is a schematic view showing a control flow of a reel rotation speed control module, and the step of the control system 9 performing adaptive adjustment on the reel rotation speed in the automatic mode is as follows:

s1: setting a ratio of the linear speed of the reel to the operation speed, namely a reel speed ratio lambda, which is suitable for harvesting according to different leaf vegetable harvested crops;

s2: the information transmitted by the walking encoder 7-3-1 is used for acquiring the operation speed n of the harvester₁And the required rotation speed n of the reel is calculated by a reel rotation speed model, namely the following formula₂，

In the formula: r is₁The radius of the driving wheel is 7-4-1;

r₂the radius of the reel is 1-13;

lambda is the ratio of the linear speed to the operating speed of the reel (1-13).

S3: obtaining the current reel rotating speed n through the reel encoders 1-7₂₀And calculating the required rotation speed n of the reel₂Difference Δ n and rate of change.

S4: the rotating speed of the reel is adjusted by fuzzy control rules.

The method utilizes a fuzzy PID control algorithm to control the rotating speed of the reel, and comprises the following specific control steps:

firstly, taking the difference e of the rotating speeds of the reel and the difference change speed ec thereof as input variables of a fuzzy controller, wherein the corresponding variable languages are E, EC respectively, and the output variables of the fuzzy controller are KP, KI and KD respectively; corresponding input linguistic variables E and EC to the domain of [ -3, 3], corresponding output linguistic variables KP, KI and KD to the domain of [ -3, 3], setting linguistic variable values to 7 levels of { negative large, negative medium, negative small, zero, positive small, positive medium and positive large }, wherein each linguistic variable adopts a triangular membership function;

then according to the influence of PID control parameters on system output and experience, establishing the following fuzzy rule:

when the difference value | E | is smaller than a preset value A and the difference value change rate | EC | is smaller than a preset value B, the control system is kept unchanged;

when the difference value | E | is greater than or equal to a preset value A or the error change rate | EC | is greater than or equal to a preset value B, the control system correspondingly adjusts the rotating speed of the reel according to established rules.

And establishing a fuzzy rule control table of KP, KI and KD, editing the rule language and storing.

In the process of vegetable harvesting operation, the control system searches the fuzzy rule control table according to the difference e of the obtained numerical values and the difference change speed ec thereof to obtain three parameters of KP, KI and KD, and further obtains k_p、k_i、k_iThe blur amount is then deblurred to refinement according to the following algorithm.

Where T is the control system sampling time, k_p、k_i、k_dThe control system is a proportional, integral and differential regulating coefficient of the controller.

Fig. 28 is a schematic flow chart of the reel blockage prevention control module, and the step of adjusting the height of the reel by the reel blockage prevention lifting control subsystem in the automatic mode by the control system 9 is as follows:

s1: the control system 9 obtains the rotating speed n of the reel through the reel encoders 1-7 and the torque sensors 1-16₂₀A torque value T;

s2: calculating the blocking state value D of the reel through a mathematical model gamma of the blocking state of the reel, and comparing the blocking state value D with a preset value D₀And comparing, and calculating a deviation value:

ΔD＝|D-D₀|

s3: if the deviation value delta D is within the allowable range, the control system 9 does not send out a control signal to control the reel lifting motors 1-10, namely the positions of the reels 1-13 are unchanged.

If the deviation value delta D exceeds the allowable range, the control system 9 controls the reel lifting motors 1-10 through the reel height control mathematical model H so as to change the positions of the reels 1-13 by delta D distance.

The mathematical model gamma of the blocking state of the reel is obtained by an experimental method₂₀Turning off torque value T and reel block state value DDetermining a reel blocking state mathematical model gamma by a nonlinear fitting method according to data:

D＝Γ(n₂₀,T)

the reel height control mathematical model H is obtained through an experimental method and is determined as follows through a nonlinear fitting method:

Δd＝H(ΔD)

the above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims

1. A profiling anti-blocking leaf vegetable harvester is characterized by comprising a reel assembly (1), a header assembly (2), a header chassis connecting assembly (3), a header chassis limiting assembly (4), a collecting device (5), a header adjusting assembly (6), a chassis assembly (7), a ridge surface detecting assembly (8) and a control system (9);

the reel assembly (1) is arranged in the front of the header assembly (2);

the header assembly (2) is connected to the chassis assembly (7) through the header chassis connecting assembly (3);

the header chassis limiting assembly (4) is arranged between the header assembly (2) and the chassis assembly (7);

the collecting device (5) is arranged at the rear part of the chassis assembly (7);

the two header adjustment assemblies (6) are transversely and symmetrically arranged between the header assembly (2) and the chassis assembly (7) and are used for adjusting the postures of the header assembly (2) in the transverse and longitudinal directions;

the two sets of ridge surface detection assemblies (8) are transversely and symmetrically arranged in front of the lower part of the header assembly (2);

the control system (9) is respectively connected with the reel assembly (1), the cutting table assembly (2), the cutting table adjusting assembly (6), the chassis assembly (7) and the ridge surface detecting assembly (8).

2. The profiling anti-blocking leaf vegetable harvester according to claim 1, characterized in that the reel assembly (1) comprises a linear guide rail pair (1-1), a reel pull rod (1-2), a reel bearing seat (1-5), a driving device and a reel (1-13);

the linear guide rail pair (1-1) is arranged on two sides of a gantry frame in the front of the header frame (2-1); two sides of a reel pull rod (1-2) are respectively connected with the linear guide rail pair (1-1) in a sliding way; the lower parts of the reel pull rods (1-2) are respectively connected with reel bearing seats (1-5); two ends of the reel (1-13) are respectively connected with a reel bearing seat (1-5) in a rotating way; the driving device is connected with the upper part of a reel pull rod (1-2), and the reel pull rod (1-2) is driven to drive the reel (1-13) to slide up and down along the linear guide rail pair (1-1) so as to adjust the height of the reel (1-13);

the reel assembly (1) also comprises reel encoders (1-7), reel encoder couplers (1-8), reel coupler connecting rods (1-9), first connecting flanges (1-15), torque sensors (1-16), second connecting flanges (1-17) and reel rotating speed motors (1-18);

the speed measuring shaft of the reel coder (1-7) is connected with a reel coupler connecting rod (1-9) through a reel coder coupler (1-8), and the reel coupler connecting rod (1-9) is connected with the end part of the rotating center at one side of the reel (1-13);

one end of the torque sensor (1-16) for measuring force is connected with the end part of the rotary center at the other side of the reel (1-13) through a first connecting flange (1-15), and the other end of the torque sensor (1-16) for measuring force is connected with the power output shaft of the reel rotating speed motor (1-18) through a second connecting flange (1-17);

the driving device, the reel encoders (1-7), the torque sensors (1-16) and the reel rotating speed motors (1-18) are respectively connected with the control system (9).

3. The profiling anti-blocking leaf vegetable harvester according to claim 1, wherein the ridge surface detection assembly (8) comprises a parallel four-bar mechanism, a detection plate (8-8), a spring (8-9), a profiling wheel shaft (8-13), a profiling wheel (8-14) and an ultrasonic sensor (8-15);

one end of the parallel four-bar mechanism is rotatably connected with a copying wheel shaft (8-13), and two ends of the copying wheel shaft (8-13) are respectively provided with a copying wheel (8-14); the springs (8-9) are arranged on the parallel four-bar mechanisms and used for providing tension to open the parallel four-bar mechanisms so as to apply force to the imitated wheels (8-14) to enable the imitated wheels to be attached to ridge surfaces;

the outer side of the top of the parallel four-bar mechanism is connected with a header assembly (2); an ultrasonic sensor (8-15) is arranged on the inner side of the top of the parallel four-bar mechanism, and the detection plate (8-8) is arranged at the bottom of the parallel four-bar mechanism; the ultrasonic sensors (8-15) are used for detecting the distance between the inner side of the top of the parallel four-bar mechanism and the detection plate (8-8); the ultrasonic sensors (8-15) are connected with a control system (9).

4. The profiling anti-blocking leaf vegetable harvester according to claim 1, wherein the header assembly (2) comprises a guide plate (2-2), a transmission flexible shaft (2-5) and an anti-blocking brush (2-13);

the guide plate (2-2) is arranged at the rear part of a conveying belt (2-4) of the header assembly (2);

one end of the transmission flexible shaft (2-5) is connected to a power output shaft of a cutting knife motor (2-12) of the header assembly (2), and the other end of the transmission flexible shaft is connected to a power input shaft of a cutting knife (2-6) of the header assembly (2);

the anti-blocking brushes (2-13) are arranged on two sides of a header rack (2-1) of the header assembly (2) and can cover gaps between the header rack (2-1) and the conveying belts (2-4).

5. The profiling anti-blocking leaf vegetable harvester according to claim 1, wherein the header adjustment assembly (6) comprises an electric push rod (6-3) and a displacement sensor (6-4);

the extension end of the electric push rod (6-3) is connected with the header assembly (2), and the bottom end of the electric push rod (6-3) is connected with the chassis assembly (7);

the displacement sensor (6-4) is used for detecting the length change of the electric push rod (6-3);

the displacement sensor (6-4) is connected with a control system (9).

6. The control system of the profiling anti-blocking leaf vegetable harvester according to any one of claims 1 to 5, characterized by comprising a detection mechanism, a control system (9) and an execution mechanism;

the detection mechanism comprises reel encoders (1-7), a traveling encoder (7-3-1), torque sensors (1-16), ultrasonic sensors (8-15) and displacement sensors (6-4);

the actuating mechanism comprises a reel lifting motor (1-10), a reel rotating speed motor (1-18) and an electric push rod (6-3);

the detection mechanism is connected with a control system (9), and the control system (9) is connected with an execution mechanism;

the control system (9) comprises a cutting table profiling control module, a reel rotating speed control module and a reel anti-blocking control module; the header profiling control module obtains the length l of the current left electric push rod (6-3) through the left and right displacement sensors (6-4)_0lAnd the length l of the current right electric push rod (6-3)_0rAnd the included angles α of the left side and the right side of the header assembly (2) relative to the ridge surface are respectively obtained through a header dip angle mathematical model_l、α_r(ii) a The vertical distance d between the inner sides of the tops of the parallel four-bar mechanisms at the left side and the right side and the detection plate (8-8) is detected by two sets of ultrasonic sensors (8-15) in the ridge surface detection assembly (8)_tl、d_trAnd the actual distance h between the left side and the right side of a cutting knife (2-6) of the cutting table assembly (2) and the ridge surface is obtained through a profile modeling-cutting table mathematical model_l、h_r(ii) a According to the preset distance h between the cutting knife and the ridge surface₀Obtaining the actual distance h between the left side and the right side_l、h_rAre respectively connected with h₀Difference Δ h of_l、Δh_r(ii) a The length l required by the electric push rods (6-3) at the left side and the right side is determined through a header attitude mathematical model_l、l_rAnd is long by the length l of the current electric push rod_0l、l_0rCalculating the corresponding difference Deltal_l、Δl_r(ii) a According to the obtained difference value delta l of the electric push rods (6-3) at the left side and the right side which needs to be adjusted_l、Δl_rThe electric push rods (6-3) at two sides are adjusted through the header posture control model;

the reel rotating speed control module obtains the operation speed n of the harvester through a walking encoder (7-3-1) of the chassis assembly (7)₁And calculating the required rotation speed n of the reel through a reel rotation speed model₂(ii) a Obtaining the current reel rotating speed n through the reel encoder (1-7)₂₀And calculating the current rotation speed n of the reel₂₀With the rotation speed n of reel₂The difference e and the change rate ec; then the rotating speed motors (1-18) of the reel are adjusted through a fuzzy control rule;

the reel anti-blocking control module obtains the rotating speed n of the reel through the reel encoder (1-7) and the torque sensor (1-16)₂₀A torque value T; calculating the blockage state value D of the reel through a reel blockage state mathematical model, and comparing the value D with a preset value D₀Comparing and calculating a deviation value delta D; if the deviation value delta D is within the allowable range, no control signal is sent to control the reel lifting motor (1-10), namely the position of the reel (1-13) is unchanged; if the deviation value delta D exceeds the allowable range, the reel lifting motor (1-10) is controlled through a reel height control mathematical model so as to change the position of the reel (1-13) by delta D distance.

7. The control system of the profiling anti-blocking leaf vegetable harvester according to claim 6, wherein the header inclination angle mathematical model is as follows:

in the formula: d₁The distance from the rotation center of the header assembly (2) to the joint of the electric push rod (6-3) and the header assembly (2);

d₂the distance from the rotation center of the header assembly (2) to the bottom of the chassis frame (7-1);

d₃from the rotation center of the header assembly (2) to the electric push rod (6-3) and the chassis assembly (7)) Horizontal distance of the junction;

the profiling-header mathematical model is as follows:

in the formula: l is_t1The length of a double connecting rod A (8-5) of the ridge surface detection assembly (8);

L_t3the lengths of the axes of the ridge surface detection assembly (8) connected with the single connecting rod A (8-7), the single connecting rod B (8-10), the connecting pin D (8-11) and the following wheel shaft (8-13) are set;

L_t4the distance between the mounting surface of a mounting frame (8-3) of the ridge surface detection assembly (8) and the normal direction of the mounting surface of the cutting knife (2-6);

L_t5the distance between a stop block (8-1) of the ridge surface detection assembly (8) and the cutting knife (2-6) in the normal direction of the stop block surface is determined;

d_tthe distance between the inner side plane of the top of the parallel four-bar mechanism detected by the ultrasonic sensor (8-15) and the plane of the detection plate (8-8);

r is the radius of the imitating wheel (8-14);

the header attitude mathematical model is as follows:

wherein

In the formula: d is the distance from the rotation center of the header assembly (2) to the cutting knife (2-6).

8. The control system of the profiling anti-blocking leaf vegetable harvester according to claim 6, wherein the rotation speed model of the reel is as follows:

in the formula: r is₁Is the radius of a driving wheel (7-4-1) of the chassis assembly (7);

r₂the radius of the reel (1-13);

9. The control system of the profiling anti-blocking leaf vegetable harvester according to claim 6, wherein the mathematical model Γ of the blocking state of the reel is as follows:

D＝Γ(n₂₀,T)；

the height control mathematical model H of the reel is as follows:

Δd＝H(ΔD)。

10. the control method of the profiling anti-blocking leaf vegetable harvester control system according to claim 6 is characterized by comprising the following steps of:

profiling control of the cutting table: the header profiling control module of the control system (9) obtains the length l of the current left electric push rod (6-3) through the left side and the right side of the displacement sensor (6-4)_0lAnd the length l of the current right electric push rod (6-3)_0rAnd respectively obtaining the included angles α of the left side and the right side of the header assembly (2) relative to the ridge surface through the header inclination angle mathematical model_l、α_r(ii) a The vertical distance d between the inner sides of the tops of the parallel four-bar mechanisms at the left side and the right side and the detection plate (8-8) is detected by two sets of ultrasonic sensors (8-15) in the ridge surface detection assembly (8)_tl、d_trAnd obtaining the actual distance h between the left side and the right side of a cutting knife (2-6) of the cutting table assembly (2) and the ridge surface through the profiling-cutting table mathematical model_l、h_r(ii) a According to the preset distance h between the cutting knife and the ridge surface₀Obtaining the actual distance h between the left side and the right side_l、h_rAre respectively connected with h₀Difference Δ h of_l、Δh_r(ii) a Determining the length l required by the electric push rods (6-3) at the left side and the right side through the header attitude mathematical model_l、l_rAnd is long by the length l of the current electric push rod_0l、l_0rCalculating the corresponding difference Deltal_l、Δl_r(ii) a According to the obtained difference value delta l of the electric push rods (6-3) at the left side and the right side which needs to be adjusted_l、Δl_rThe electric push rods (6-3) at two sides are adjusted through the header attitude control model, so that the distance between the transverse direction and the longitudinal direction of a cutting knife (2-6) of the header assembly (2) and the ridge surface is adjusted;

and (3) controlling the rotating speed of the reel: the rotating speed control module of the reel of the control system (9) obtains the operating speed n of the harvester through a traveling encoder (7-3-1) of the chassis assembly (7)₁And calculating the required rotation speed n of the reel through the rotation speed model of the reel₂(ii) a Obtaining the current reel rotating speed n through the reel encoder (1-7)₂₀And calculating the current rotation speed n of the reel₂₀With the required rotation speed n of the reel₂The difference e and the change rate ec; then the rotating speed motors (1-18) of the reel are adjusted through a fuzzy control rule;

reel anti-blocking control: the reel anti-blocking control module of the control system (9) obtains the rotating speed n of the reel through the reel encoders (1-7) and the torque sensors (1-16)₂₀A torque value T; calculating the blockage state value D of the reel through the mathematical model of the blockage state of the reel, and comparing the blockage state value D with a preset value D₀Comparing and calculating a deviation value delta D; if the deviation value delta D is within the allowable range, no control signal is sent to control the reel lifting motor (1-10), namely the position of the reel (1-13) is unchanged; and if the deviation value delta D exceeds the allowable range, controlling the reel lifting motor (1-10) through the reel height control mathematical model so as to change the position of the reel (1-13) by delta D distance.