CN111837589A

CN111837589A - Intelligent multipurpose cyperus esculentus harvester and operation method

Info

Publication number: CN111837589A
Application number: CN202010808512.6A
Authority: CN
Inventors: 何勋; 王万章; 史景钊; 何豪; 吕严柳; 宋玉玺
Original assignee: Henan Agricultural University
Current assignee: Henan Agricultural University
Priority date: 2020-08-12
Filing date: 2020-08-12
Publication date: 2020-10-30

Abstract

The invention discloses an intelligent multi-purpose cyperus esculentus harvester which comprises a vehicle body, a collecting box, a traveling mechanism, a first cutting mechanism for heading cyperus esculentus in the middle period, a second cutting mechanism for harvesting cyperus esculentus and an intelligent control system, wherein the first cutting mechanism is used for heading cyperus esculentus in the middle period; the intelligent control system comprises an operation terminal, a communication module, a central processing module and a state monitoring module; the operating terminal is used for setting a task to be executed and a safety task, and the intelligent control system is arranged to realize the full-automatic control of the cyperus esculentus heading operation or harvesting operation and simultaneously perform the safety task, so that the cyperus esculentus operation is highly mechanized and has multiple functions.

Description

Intelligent multipurpose cyperus esculentus harvester and operation method

Technical Field

The invention relates to the technical field of harvesters, in particular to an intelligent multi-purpose cyperus esculentus harvester and an operation method.

Background

With the continuous improvement of the agricultural productivity level in China, agricultural mechanization is a necessary way for realizing agricultural modernization, and the mechanized productivity can improve the agricultural labor productivity, reduce the production cost and increase the income of farmers.

The pasture harvester comprises a cutting mechanism and a traveling mechanism; the travelling mechanism drives the cutting mechanism to move in a grass field, and the cutting mechanism cuts the forage grass.

In the planting process of the cyperus esculentus, middle-stage heading operation and later-stage harvesting operation are required, however, the heading operation and the cutting operation of the cyperus esculentus have different requirements on the operation, and for example, the cutting height is different when the cyperus esculentus is cut. Therefore, the existing pasture grass harvester can not be used universally in the planting process of the cyperus esculentus, and the operation efficiency is low if the harvester is forced to use the same harvester for different operations.

And the existing forage grass harvesters are driven by drivers, so that the intelligent degree is low, the agricultural labor production efficiency is low, the human resource cost is high, and the agricultural benefit is reduced.

Disclosure of Invention

The invention aims to provide an intelligent multi-purpose cyperus esculentus harvester and an operation method, which can be simultaneously suitable for heading operation and cutting operation of cyperus esculentus, realize automatic operation, and have rich functions and high intelligent degree.

The technical scheme adopted by the invention is as follows:

an intelligent multi-purpose cyperus esculentus harvester comprises a vehicle body, a collecting box, a traveling mechanism, a first cutting mechanism for heading cyperus esculentus in the middle period, a second cutting mechanism for harvesting cyperus esculentus and an intelligent control system;

the collecting box is arranged on the upper end surface of the vehicle body, and the traveling mechanism drives the vehicle body to travel;

the first cutting mechanism is arranged at the front end of the vehicle body, and the second cutting mechanism is arranged at the rear end of the vehicle body;

the intelligent control system comprises an operation terminal, a communication module, a central processing module and a state monitoring module;

the state monitoring module comprises a rotating speed sensor for detecting the rotating speed of a cutting knife in the first cutting mechanism, an ultrasonic sensor for detecting obstacles, a speed sensor for detecting the traveling speed of the traveling mechanism and a temperature sensor;

the signal output end of the speed sensor is connected with the third signal input end of the central processing module, and the signal output end of the temperature sensor is connected with the fourth signal input end of the central processing module;

the first signal output end of the central processing module is connected with the walking control signal input end of the walking mechanism, the second signal output end of the central processing module is connected with the cutting control signal input end of the first cutting mechanism, and the third signal output end of the central processing module is connected with the harvesting control signal input end of the second cutting mechanism;

the central processing module is in communication connection with the operation terminal through the communication module.

In order to adjust the height of the first cutting mechanism header and the height of the second cutting mechanism header, the intelligent multipurpose cyperus esculentus harvester further comprises a first lifting mechanism used for adjusting the height of the first cutting mechanism header and a second lifting mechanism used for adjusting the height of the second cutting mechanism header;

the first lifting mechanism is arranged between the vehicle body and the first cutting mechanism; the second lifting mechanism is arranged between the vehicle body and the second cutting mechanism; the control signal input end of the first lifting mechanism is connected with the fourth signal output end of the central processing module, and the control signal input end of the second lifting mechanism is connected with the fifth signal output end of the central processing module.

Further, the state monitoring module comprises a first sensor for detecting the header height of the first cutting mechanism, a second sensor for detecting the header height of the second cutting mechanism and a third sensor for detecting the header height of the cyperus esculentus; and the signal output ends of the first sensor, the second sensor and the third sensor are respectively connected with the height signal input end of the central processing module.

Preferably, the first cutting mechanism comprises a first cutting part, a first conveying part, a first driving mechanism, a first cutting transmission assembly and a first conveying transmission assembly; the first driving mechanism drives the first cutting part through the first cutting transmission assembly, and the first driving mechanism drives the first conveying part through the first conveying transmission mechanism;

the feeding end of the first conveying part is arranged corresponding to the first cutting part, and the discharging end of the first conveying part is connected with the first feeding hole of the collecting box;

the second cutting mechanism comprises a second cutting part, a second conveying part, a second driving mechanism, a second cutting transmission assembly and a second conveying transmission assembly; the second driving mechanism drives the second cutting part through the second cutting transmission assembly, and the second driving mechanism drives the second conveying part through the second conveying transmission mechanism;

the feeding end of the second conveying part is arranged corresponding to the second cutting part, and the discharging end of the second conveying part is connected with the second feeding hole of the collecting box.

Specifically, the first cutting part adopts a double-disc cutting knife, and the first conveying part adopts a chain rake type conveyor;

the double-disc cutter comprises a header shell, two disc cutter bodies, guide teeth, a grain lifter and an auger; the two disc cutter bodies are arranged in the header shell, and the auger is arranged right behind the disc cutter bodies and matched with the chain rake type conveyor; the grain lifter is arranged in front of the circular cutter body of the grain lifter and is movably connected with the circular cutter body through the guide teeth.

The second cutting part adopts a rotary cutting mechanism, and the second conveying part adopts an inclined conveyor;

the rotary cutting mechanism comprises a rack, a rotary cutting shaft, a plurality of Y-shaped flail knives, a spiral conveying device and a pickup device, wherein the Y-shaped flail knives are fixedly connected with the rotary cutting shaft, the rotary cutting shaft rack is rotatably connected, the pickup device and the spiral conveying device are sequentially arranged behind the Y-shaped flail knives, and the spiral conveying device is matched with the inclined conveyor.

The operation method of the intelligent multipurpose cyperus esculentus harvester comprises the following steps:

A. collecting the terrain of a grassland to be harvested, designing an automatic running route of the harvester according to the collected terrain information, transmitting the automatic running route to a central processing module through an operation terminal, and setting a task to be executed and a safety task through the operation terminal; the tasks to be executed comprise a heading task and a mowing task;

B. the central processing module judges whether the task is being executed, if so, the step C is carried out after the current task is finished, otherwise, the step C is directly carried out;

C. judging the type of the executed task, if the task is a heading task, entering the step D, if the task is a mowing task, entering the step E,

D. executing a heading task, entering a heading mode, and performing heading operation according to an automatic driving route; simultaneously executing a safety task, performing a safety monitoring mode, detecting whether the state of the mower is normal or not in real time by a state monitoring module, if so, continuing to perform heading operation, and if not, transmitting warning information to an operation terminal through a communication module to warn an operator or directly interrupt the operation; returning to the step A after the heading operation is finished;

E. executing a mowing task, entering a mowing mode, and performing mowing operation according to an automatic driving route; simultaneously executing a safety task, performing a safety monitoring mode, detecting whether the state of the mower is normal or not in real time by a state monitoring module, continuing mowing operation if the state of the mower is normal, and transmitting warning information to an operation terminal through a communication module if the state of the mower is abnormal, and warning an operator or directly interrupting operation; returning to the step A after the mowing operation is finished;

specifically, the specific process of designing the automatic travel route of the harvester in the step a is as follows:

a1: determining an initial position according to a grassland to be harvested; setting the side of the initial position as a first side, and setting the side opposite to the first side as a second side; setting the automatic running route of the mower to be snakelike, starting from the first side to the second side, and then returning to the first side from the second side for a circle;

a2: determining the number of working weeks of the mower to be n weeks according to the length of the first side, and then determining the spacing distance L1 between the first side and the second side in each week of working;

a3: during each week of operation, the central processing module calculates the walking distance L2 of the mower according to the signal output by the speed sensor, when the walking distance L2 is equal to the spacing distance L1 for the first time, the mower turns around, and when the walking distance L2 is equal to the spacing distance L1 for the second time, the week of operation is completed, and the next week of operation is started;

a4: and D, repeating the step A3, and finishing the operation of the mower for n weeks.

Specifically, the step D includes the following steps:

d1: adjusting the direction of the mower with the first harvesting mechanism facing in the direction of the second side;

d2: the central processing module controls the traveling mechanism to drive the harvester to travel according to the automatic traveling route;

in the walking process, the height of the first cutting mechanism is adjusted by the central processing module according to the height of the cyperus esculentus in real time, and the method specifically comprises the following steps: setting a heading height in the central processing module, wherein the heading height is a height difference value between the cyperus esculentus and the header of the first cutting mechanism; the third sensor collects cyperus esculentus height signals and transmits the cyperus esculentus height signals to the central processing module, the first sensor collects header height signals of the first cutting mechanism and transmits the header height signals to the central processing module, the central processing module processes the signals to obtain cyperus esculentus height and header height of the first cutting mechanism, and header height of the first cutting mechanism is adjusted through the first lifting mechanism according to header height.

Specifically, the step E includes the following steps:

e1: adjusting the direction of the mower with the second harvesting mechanism facing in the direction of the second side;

e2: the central processing module controls the traveling mechanism to drive the harvester to travel according to the automatic traveling route;

in the walking process, the height of the first cutting mechanism cutting table is adjusted by the central processing module according to the distance between the central processing module and the ground, and the method specifically comprises the following steps: a harvesting height is set in the central processing module, and the harvesting height is the height difference between the ground and the height of a cutting table of the second cutting mechanism; the second sensor collects height signals of the second cutting mechanism header and transmits the height signals to the central processing module, the central processing module processes the height signals to obtain the height of the second cutting mechanism header, and the height of the second cutting mechanism header is adjusted through the second lifting mechanism according to the height of the header.

Specifically, in the safety monitoring mode, the ultrasonic sensor detects whether an obstacle exists in the advancing direction of the mower; the rotation speed sensor acquires a rotation speed signal of a cutting knife of the first cutting mechanism, and the central processing module processes the rotation speed signal to obtain the rotation speed of the cutting knife; the temperature sensor collects a transmitter temperature signal, and the central processing module processes the temperature signal to obtain the transmitter temperature;

if the conditions of no obstacles, normal rotating speed of the cutting knife and normal temperature of the engine are met at the same time, judging that the state of the mower is normal;

otherwise, if the conditions of no obstacles, normal rotating speed of the cutting knife and normal temperature of the engine cannot be met at the same time, the state of the mower is judged to be abnormal.

The invention has the following beneficial effects:

(1): the first cutting mechanism is arranged at the front end of the trolley body and used for heading the cyperus esculentus in the middle period, and the second cutting mechanism is arranged at the rear end of the trolley body and used for harvesting the cyperus esculentus, so that the multifunctional one-machine is realized; and an intelligent control system is arranged to realize the full-automatic control of the cyperus esculentus heading operation or harvesting operation, and realize the high mechanization of the cyperus esculentus operation.

(2): the invention is provided with a first lifting mechanism for adjusting the height of the first cutting mechanism header, a second lifting mechanism for adjusting the height of the second cutting mechanism header, and a sensor matched with a state monitoring module, and automatically adjusts the heights of the first cutting mechanism header and the second cutting mechanism header, thereby ensuring that the height of the header is intelligently adjusted along with the height of the cyperus alternifolius in the cyperus alternifolius middle-period header operation, and the height of the second cutting mechanism header is automatically adjusted along with the fluctuation of the ground in the harvesting operation, preventing the second cutting mechanism from contacting the ground to influence the setting damage of the working efficiency, further enhancing the intelligent degree of the mower, and ensuring the smooth and more approaching the operation of the unmanned operation of the intelligent multi-purpose cyperus alternifolius harvester.

(3) Through set up first conveying part in first cutting mechanism, carry the cyperus rotundus of beating the head to the collecting box, through set up second conveying part in second cutting mechanism, will reap the minced cyperus rotundus and carry to the collecting box in, solve the problem that the minced cyperus rotundus can't mechanized collection, need not artifical the pickup, promoted the degree of mechanization of cyperus rotundus operation, improved agricultural production's operating efficiency, promoted agricultural modernization, mechanized process.

(4) And a safety monitoring mode is set, the state of the harvester is monitored according to the state monitoring module, the safety monitoring mode has the highest priority, if the state monitoring mode is abnormal, warning information is transmitted to the operation terminal through the communication module, and an operator is warned or the operation is directly interrupted, so that the safe running of the cyperus esculentus harvester is ensured.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a circuit schematic of the intelligent control system of the present invention;

fig. 3 is a schematic view of a first harvesting mechanism of the present invention;

FIG. 4 is a schematic view of a first cutting portion according to the present invention;

fig. 5 is a schematic structural view of a second harvesting mechanism of the present invention;

description of reference numerals:

1. a vehicle body; 2. a collection box; 3. a traveling mechanism; 4. a first cutting portion; 4-1, a header shell; 4-2, guide teeth; 4-3, a grain lifter; 4-4, vertical transmission shaft; 4-5, a grain lifting disc; 4-6, a cutter head; 4-7, a cylindrical shell; 4-8, throwing a knife; 4-9, a screw conveyor; 4-10 parts of universal transmission shaft; 4-11, bevel gear drive; 5. a first conveying section; 5-1, a conveyor box body; 5-2, conveying chain harrow; 6. a first lifting mechanism; 6-1, a first lifting hydraulic cylinder; 6-2, a lifting mechanism connecting block; 6-3, lifting and restricting sleeves; 6-4, lifting constraint columns; 7. a second cutting part; 7-1, a frame; 7-2, rotary cutting the cutter shaft; 7-3, Y-shaped flail knife; 7-4, a spiral conveying device; 7-5, a pickup; 8. a second conveying section; 9. A second hydraulic cylinder; 10. A third sensor.

Detailed Description

As shown in fig. 1, the invention comprises a vehicle body 1, a collection box 2, a traveling mechanism 3, a first cutting mechanism for heading the head of cyperus esculentus in the middle period, a second cutting mechanism for harvesting cyperus esculentus, a first lifting mechanism 6 for adjusting the height of a header of the first cutting mechanism, a second lifting mechanism for adjusting the height of a header of the second cutting mechanism and an intelligent control system;

the collecting box 2 is arranged on the upper end surface of the vehicle body 1, and the traveling mechanism 3 drives the vehicle body 1 to travel;

the first cutting mechanism is arranged at the front end of the vehicle body 1, and the second cutting mechanism is arranged at the rear end of the vehicle body 1;

the first lifting mechanism 6 is arranged between the vehicle body 1 and the first cutting mechanism; the second lifting mechanism is arranged between the vehicle body 1 and the second cutting mechanism.

As shown in fig. 2, the intelligent control system includes an operation terminal, a communication module, a central processing module and a state monitoring module;

the state monitoring module comprises a rotating speed sensor for detecting the rotating speed of a cutting knife in the first cutting mechanism, an ultrasonic sensor for detecting obstacles, a speed sensor for detecting the walking speed of the walking mechanism 3, a first sensor for detecting the header height of the first cutting mechanism, a second sensor for detecting the header height of the second cutting mechanism, a third sensor 10 for detecting the height of the cyperus esculentus and a temperature sensor;

the signal output end of the speed sensor is connected with the third signal input end of the central processing module, and the signal output end of the temperature sensor is connected with the fourth signal input end of the central processing module; the signal output ends of the first sensor, the second sensor and the third sensor 10 are respectively connected with the height signal input end of the central processing module.

A first signal output end of the central processing module is connected with a walking control signal input end of the walking mechanism 3, a second signal output end of the central processing module is connected with a cutting control signal input end of the first cutting mechanism, and a third signal output end of the central processing module is connected with a harvesting control signal input end of the second cutting mechanism; a fourth signal output end of the central processing module is connected with a control signal input end of the first lifting mechanism 6, and a fifth signal output end of the central processing module is connected with a control signal input end of the second lifting mechanism;

The operation terminal can adopt a mobile phone, a computer, a tablet and the like.

The invention realizes multiple purposes by arranging the first cutting mechanism at the front end of the vehicle body 1 for heading the cyperus esculentus in the middle period and arranging the second cutting mechanism at the rear end of the vehicle body 1 for harvesting the cyperus esculentus; and an intelligent control system is arranged to realize the full-automatic control of the cyperus esculentus heading operation or harvesting operation, and realize the high mechanization of the cyperus esculentus operation.

In this embodiment, specifically, the first cutting mechanism includes a first cutting part 4, a first conveying part 5, a first driving mechanism, a first cutting transmission assembly, and a first conveying transmission assembly; the first driving mechanism drives the first cutting part 4 through the first cutting transmission assembly, and drives the first conveying part 5 through the first conveying transmission mechanism;

the feeding end of the first conveying part 5 is arranged corresponding to the first cutting part 4, and the discharging end of the first conveying part 5 is connected with the first feeding hole of the collecting box 2;

as shown in fig. 3 and 4, the first cutting part 4 adopts a double-disc cutter, and the first conveying part 5 adopts a chain-and-rake type conveyor;

the double-disc cutter comprises a header shell 4-1, two disc cutter bodies, guide teeth 4-2, a grain lifter 4-3 and an auger 4-9; the two disc cutter bodies are arranged inside the header shell 4-1, and the auger 4-9 is arranged right behind the disc cutter bodies and matched with the chain rake type conveyor; is arranged in front of the disc cutter body of the grain lifter 4-3 and is movably connected with the disc cutter body through the guide teeth 4-2.

The disc cutter body comprises a vertical transmission shaft 4-4, two grain lifting discs 4-5, a cutter head 4-6, a cylindrical shell 4-7 and a flail knife 4-8, the two grain lifting discs 4-5 and the cutter head 4-6 are sequentially connected with the cylindrical shell 4-7 from top to bottom, and the flail knife 4-8 and the cutter head 4-6 are connected in a riveting mode, so that the connecting mode is more flexible and is easy to replace. The cylindrical shell 4-7 is sleeved outside the vertical transmission shaft 4-4, the vertical transmission shaft 4-4 is driven by the first driving mechanism through the first cutting transmission assembly to rotate, the two grain-lifting disks 4-5 and the cutter head 4-6 are driven to rotate, the two grain-lifting disks 4-5 play a role in fixing cyperus esculentus, and the cutting effect of the flail knife 4-8 is prevented from being influenced by forward lodging when the mower moves forward.

The first cutting transmission assembly comprises a gearbox, a universal transmission shaft 4-10, a plurality of groups of belt pulley sets and a bevel gear transmission 4-11, and specific connection relations are not repeated for the prior art.

The screw conveyors 4-9 are arranged behind the two disc cutter bodies and are driven by the belt pulley group in the first cutting transmission component.

The first conveying part 5 comprises a conveyor box body 5-1 and a conveying chain rake 5-2; the connection relationship between the conveyor box body 5-1 and the conveying chain harrow 5-2 is the prior art and is not described again, and the first driving mechanism drives the conveying chain harrow 5-2 through the first conveying transmission component. The first conveyor drive assembly is preferably a pulley set.

The working principle of the first cutting mechanism is as follows: the first driving mechanism transmits power to the bevel gear transmission case through the transmission case, the universal transmission shafts 4-10 and the belt pulley sets, the bevel gear transmission case changes the direction of power transmission, the two disc cutter bodies start to rotate to cut the cyperus esculentus, the two disc cutter bodies rotate in different directions, the cut cyperus esculentus can be conveyed to the back of the disc cutter bodies and conveyed into the chain harrow type conveyor through the screw conveyors 4-9, and the cyperus esculentus is conveyed into the collection box 2 inside the chain harrow type conveyor, so that the purposes of cutting and collecting are achieved.

The first lifting mechanism 6 comprises a first lifting hydraulic cylinder 6-1, a lifting mechanism connecting block 6-2, a lifting constraint sleeve 6-3 and a lifting constraint column 6-4; the first lifting hydraulic cylinder 6-1 fixes the lifting restraint sleeve 6-3 through the lifting mechanism connecting block 6-2, and the lifting restraint sleeve 6-3 is fixedly connected with the collection box 2, so that the first lifting hydraulic cylinder 6-1 is fixed; a piston rod of the first lifting hydraulic cylinder 6-1 is fixedly connected with the lifting constraint column 6-4 to drive the lifting constraint column 6-4 to move up and down, and the lifting constraint column 6-4 is respectively connected with the first cutting part 4 and the first conveying part 5 to drive the first cutting part 4 and the first conveying part 5 to integrally ascend or descend.

The second cutting mechanism comprises a second cutting part 7, a second conveying part 8, a second driving mechanism, a second cutting transmission assembly and a second conveying transmission assembly; the second driving mechanism drives the second cutting part 7 through the second cutting transmission assembly, and drives the second conveying part 8 through the second conveying transmission mechanism;

the feeding end of the second conveying part 8 is arranged corresponding to the second cutting part 7, and the discharging end of the second conveying part 8 is connected with the second feeding hole of the collecting box 2.

As shown in fig. 5, the second cutting part 7 adopts a rotary cutting mechanism, and the second conveying part 8 adopts an inclined conveyor;

the rotary cutting mechanism comprises a rack 7-1, a rotary cutting knife shaft 7-2, a plurality of Y-shaped flail knives 7-3, a spiral conveying device 7-4 and a pickup device 7-5, wherein the plurality of Y-shaped flail knives 7-3 are fixedly connected with the rotary cutting knife shaft 7-2, the rotary cutting knife shaft 7-2 is rotatably connected with the rack 7-1, the pickup device 7-5 and the spiral conveying device 7-4 are sequentially arranged behind the Y-shaped flail knives 7-3, and the spiral conveying device 7-4 is matched with an inclined conveyor.

The second driving mechanism transmits power to the second cutting transmission assembly through the transmission system, so that the rotary cutting cutter shaft 7-2 is driven to rotate, the purpose of enabling the Y-shaped flail knife 7-3 to cut the cyperus esculentus in a high-speed rotating mode is achieved, the cut cyperus esculentus is transferred to the rear spiral conveying device through the pickup device 7-5 at the rear end, and finally the cyperus esculentus is conveyed into the inclined conveyor through the spiral conveying device 7-4 and is conveyed into the collection box 2 to achieve the purpose of cutting and collecting.

The second lifting mechanism comprises a second lifting hydraulic cylinder 9 which is obliquely arranged, the second lifting hydraulic cylinder 9 is fixedly connected with the collecting box 2, a piston rod of the second lifting hydraulic cylinder 9 is rotatably connected with the second cutting part 7, and the second cutting mechanism integrally rotates along with the extension and contraction of the piston rod of the second lifting hydraulic cylinder 9, so that the second lifting hydraulic cylinder can lift or descend.

Through set up first conveying part 5 in first cutting mechanism, carry the cyperus rotundus of beating the head to the collecting box 2 in, through set up second conveying part 8 in second cutting mechanism, will reap the minced cyperus rotundus and carry to the collecting box 2 in, solve the problem that the minced cyperus rotundus can't mechanized collection, need not artifical the pickup, promoted the degree of mechanization of cyperus rotundus operation, improved agricultural production's operating efficiency, promoted agricultural modernization, mechanized process.

In this embodiment, in combination with the specific implementation mode that the first lifting mechanism 6 is vertical lifting and the second lifting mechanism is rotary lifting, the first sensor for detecting the height of the header of the first cutting mechanism is a height sensor, and the height sensor is installed on the first lifting hydraulic cylinder 6-1. The second sensor for detecting the height of the second cutting mechanism header adopts an angle sensor to acquire a rotating angle used for the second cutting mechanism, transmits a rotating angle signal to the central processing module, calculates the rotating angle signal into the height of the second cutting mechanism header, and a third sensor 10 for detecting the height of the cyperus esculentus is arranged on the header shell 4-1 of the double-disc cutting knife.

According to the embodiment, the double-disc cutter is driven through the upper transmission, so that the rotating speed sensor is arranged in the bevel gear transmission box to detect the rotating speed of the double-disc cutter in the first cutting mechanism. And because the input shaft is driven to the side by the double-disc cutter, the rotating speed sensor is arranged at the position of the vertical transmission shaft 4-4.

Since the present invention can be advanced in two directions, the number of the ultrasonic sensors is plural. The front end and the rear end of the mower are respectively provided with the ultrasonic sensors, so that the ultrasonic sensors are used for detecting obstacles, when the ultrasonic sensors detect that the front end or the rear end of the mower has the obstacles, information is transmitted to the central processing module, and the information is transmitted through the communication module and then displayed on the operation terminal, so that a worker is reminded, and the purpose of avoiding or braking is achieved.

The speed sensor is used for measuring the walking speed of the mower, is arranged near the wheels of the walking mechanism 3, detects the rotating speed signals of the wheels of the walking mechanism 3, transmits the rotating speed signals to the central processing module for calculation, and converts the rotating speed signals into the speed of the mower in real time.

The temperature sensor is arranged at the position where circulating water in the engine at the walking speed returns to the water tank, the temperature of the engine is detected, the circulating water is transmitted to the central processing module to be calculated, and when the temperature is too high, the circulating water is displayed on the terminal, so that the purpose of reminding workers is achieved.

The invention discloses an operating method of an intelligent multipurpose cyperus esculentus harvester, which comprises the following steps:

through the operation method of the intelligent multipurpose cyperus esculentus harvester, the cyperus esculentus mower is unmanned, can logically execute a heading task or a mowing task, simultaneously considers a safety task, has high intelligence, simple operability and high safety, greatly promotes the mechanization and modernization process of agriculture in China, greatly improves the operation efficiency of the cyperus esculentus harvester, and saves the human resource cost.

In this embodiment, the specific process of designing the automatic travel route of the harvester in the step a is as follows:

Specifically, the step D includes the following steps:

d2: the central processing module controls the traveling mechanism 3 to drive the harvester to travel according to the automatic traveling route;

in the walking process, the height of the first cutting mechanism is adjusted by the central processing module according to the height of the cyperus esculentus in real time, and the method specifically comprises the following steps: setting a heading height in the central processing module, wherein the heading height is a height difference value between the cyperus esculentus and the header of the first cutting mechanism; the third sensor 10 collects cyperus esculentus height signals and transmits the cyperus esculentus height signals to the central processing module, the first sensor collects header height signals of the first cutting mechanism and transmits the header height signals to the central processing module, the central processing module processes the signals to obtain cyperus esculentus height and header height of the first cutting mechanism, and header height of the first cutting mechanism is adjusted through the first lifting mechanism 6 according to header height.

Specifically, the step E includes the following steps:

e2: the central processing module controls the traveling mechanism 3 to drive the harvester to travel according to the automatic traveling route;

When the heights of the cyperus esculentus are different due to different relief heights or different planting environments in different areas, the height of the header of the first cutting mechanism is adjusted by the central processing module according to the height of the cyperus esculentus, so that the intelligent adjustment of the heading height in the middle-stage heading operation of the cyperus esculentus is ensured, the intelligent degree of the mower is further enhanced, the fine degree of the heading operation is also ensured, and the growth of the cyperus esculentus is ensured to the maximum extent.

Along with the relief height difference, the height of the header of the second cutting mechanism is adjusted by the central processing module according to the height distance between the central processing module and the ground, the second cutting mechanism is prevented from contacting the ground to influence the setting damage of the working efficiency, the intelligent degree of the mower is further enhanced, and the automatic unmanned operation of the intelligent multi-purpose cyperus esculentus harvester is ensured to be smoothly carried out.

In the safety monitoring mode, the ultrasonic sensor detects whether an obstacle exists in the advancing direction of the mower; the rotation speed sensor acquires a rotation speed signal of a cutting knife of the first cutting mechanism, and the central processing module processes the rotation speed signal to obtain the rotation speed of the cutting knife; the temperature sensor collects a transmitter temperature signal, and the central processing module processes the temperature signal to obtain the transmitter temperature;

The safety monitoring mode has the highest priority, so that the safety running of the cyperus esculentus harvester is ensured.

Claims

1. An intelligent multi-purpose cyperus esculentus harvester is characterized in that: the automatic head cutting machine comprises a vehicle body, a collecting box, a traveling mechanism, a first cutting mechanism for heading the cyperus esculentus in the middle period, a second cutting mechanism for harvesting the cyperus esculentus and an intelligent control system;

2. The intelligent multipurpose cyperus esculentus harvester according to claim 1, characterized in that: the first lifting mechanism is used for adjusting the height of the first cutting mechanism header and the second lifting mechanism is used for adjusting the height of the second cutting mechanism header;

3. The intelligent multipurpose cyperus esculentus harvester according to claim 2, characterized in that: the state monitoring module comprises a first sensor for detecting the height of a first cutting mechanism cutting table, a second sensor for detecting the height of a second cutting mechanism cutting table and a third sensor for detecting the height of the cyperus esculentus; and the signal output ends of the first sensor, the second sensor and the third sensor are respectively connected with the height signal input end of the central processing module.

4. The intelligent multipurpose cyperus esculentus harvester according to claim 3, characterized in that: the first cutting mechanism comprises a first cutting part, a first conveying part, a first driving mechanism, a first cutting transmission assembly and a first conveying transmission assembly; the first driving mechanism drives the first cutting part through the first cutting transmission assembly, and the first driving mechanism drives the first conveying part through the first conveying transmission mechanism;

5. The intelligent multipurpose cyperus esculentus harvester according to claim 4, characterized in that: the first cutting part adopts a double-disc cutting knife, and the first conveying part adopts a chain rake type conveyor;

6. The operation method of the intelligent multipurpose cyperus esculentus harvester based on the claim 3 is characterized in that: the method comprises the following steps:

7. the method of claim 6, wherein the method comprises:

the specific process of designing the automatic travel route of the harvester in the step A is as follows:

8. The method of claim 6, wherein the method comprises:

the step D comprises the following steps:

9. The method of claim 6, wherein the method comprises:

the step E comprises the following steps:

10. The method of claim 6, wherein the method comprises: