CN112449855A

CN112449855A - Header detection device, header automatic lifting system and method

Info

Publication number: CN112449855A
Application number: CN201910965748.8A
Authority: CN
Inventors: 沈永泉; 王清泉; 王波; 姚远; 吴迪; 陈睿
Original assignee: FJ Dynamics Technology Co Ltd
Current assignee: FJ Dynamics Technology Co Ltd
Priority date: 2019-10-12
Filing date: 2019-10-12
Publication date: 2021-03-09

Abstract

The invention provides an automatic header lifting system, which is suitable for a harvester, wherein the automatic header lifting system comprises: the cutting table comprises at least one cutting table detection device, a cutting table lifting device and a control system. The control system is connected with the header detection device and the header lifting device, wherein the header detection device detects the height and the undulation of the ground and outputs a voltage signal to the control system, and the control system issues an automatic lifting instruction to control the header lifting device, so that the header of the harvester is matched with the height and the height of the ground to be automatically lifted.

Description

Header detection device, header automatic lifting system and method

Technical Field

The invention relates to a combine harvester, in particular to a header detection device, an automatic header lifting system and an automatic header lifting method, which are used for ensuring the harvesting effect and reducing the operation difficulty and labor intensity of a driver.

Background

With the progress of science and technology and the development of agricultural machinery, the cultivation mode of the traditional agriculture is changed. In other words, as science and technology continue to advance, people continue to improve the development of agricultural technology and change the cultivation mode of agriculture, thereby optimizing agricultural production efficiency. Furthermore, the current agriculture gets rid of the backward mode of completely depending on manpower to cultivate, and all links from seeding, plant protection to harvesting and the like are almost completely finished by agricultural equipment. That is, modern agriculture can be said to have entered the mechanized era. In particular, the current agricultural machinery can replace people to perform heavy work besides improving the agricultural cultivation production conditions, and can also utilize the agricultural machinery to perform work in the environment which is not suitable for people to work. In other words, the mechanization of agriculture improves the efficiency of agricultural production, brings great convenience to farmers and plays an important role in the rapid development process of agriculture.

It is worth mentioning that the harvester is one of agricultural machines, has important functions in the harvesting process of crops, improves the harvesting efficiency of the crops, reduces the labor burden of farmers, and is one of indispensable agricultural equipment in modern agriculture. As shown in fig. 1, a harvester that is a self-propelled grain combine is common today. The harvester comprises a cutting table 1 ', a conveyor 2', a walking part 3 ', a threshing and cleaning chamber 4', an operating table 5 'and a grain tank 6'. When the harvester is in work, a driver operates the harvester to walk, the header 1 cuts off crops, the crops are conveyed to the threshing and cleaning chamber 4 ' through the conveyor 2 ' to be separated from straws, then the crops are collected into the grain tank 6 ', and the straws are discharged outside the harvester. It can be understood that it is common to harvest rice and wheat crops by using the harvester at present, but the conventional harvester usually requires a mechanic, a farmer or a driver to visually observe the height change of the ground in the field when in operation, and manually or semi-automatically adjust the height of the header according to the height change of the ground or the field, so that the distance between the cutting knife of the header and the ground is always kept within a certain range. However, such an implementation requires sufficient experience for operators of the harvesting machine, but for some of the operators or the robots, due to inexperience, the height of the cutting platform cannot be timely adjusted or the adjusted height is not proper, so that the cutting height is too high or the cutting platform eats soil, which causes problems such as malfunction of the harvesting machine. Further, the current harvester is still in a completely driver dependent handling phase. In particular for paddy or dry fields, in the face of complex working environments, the driver needs to change the advancing speed of the machine and the height of the header from time to time. The operation difficulty is high, and the burden of a driver is heavy. May cause damage to machines and personnel due to untimely or erroneous operation.

Disclosure of Invention

One advantage of the present invention is that it provides a header detection apparatus, an automatic header lifting system and a method thereof to automatically adjust the height of a header according to the actual field height, thereby reducing the difficulty of operation and the burden on a driver.

An advantage of the present invention is that it provides a header sensing apparatus and an automatic header lifting system and method thereof, in which the header is maintained at an optimum header height at any time during a harvesting process without manually adjusting the header height, thereby reducing driving difficulty and labor intensity.

One advantage of the present invention is that it provides a header detection apparatus, an automatic header lifting system and a method thereof, so as to control the height of a cutting knife of a header more accurately than manually, and ensure the consistency of the height of cut stubbles.

One advantage of the present invention is that it provides a header detection apparatus, an automatic header lifting system and a method thereof to reduce problems such as harvester failure due to manual reaction not being timely and misjudgment.

An advantage of the present invention is that it provides a header detection apparatus and an automatic header lifting system and method thereof, which are applicable to both dry and paddy fields. In other words, the header detection device is arranged to harvest crops in dry fields or paddy fields. Furthermore, the structure of the header detection device is changed, so that the height of the header can be effectively and timely adjusted when the harvester runs in dry fields or paddy fields.

One advantage of the present invention is that it provides a header detection device and an automatic header lifting system and method thereof, wherein the header detection device has an angle sensor with a position that is offset, which reduces the probability of the angle sensor in the paddy field being immersed in water, and reduces the sensor failure rate.

An advantage of the present invention is that it provides a header sensing device and an automatic header lift system and method thereof, wherein the header automatically adjusts the height as the harvester travels to ensure that the header, associated components, and the harvester do not cause injury to machines and personnel due to untimely or erroneous operation.

An advantage of the present invention is that it provides a header sensing apparatus and an automatic header elevation system and method thereof, in which the header automatically adjusts the height in accordance with the soil conditions and the kinds of crops at the time of harvesting to ensure the harvesting effect and reduce the loss of the crops. Further, when the harvester runs, the header automatic lifting system automatically adjusts the height of the header according to the height of the ground.

An advantage of the present invention is that it provides a header sensing device and an automatic header lifting system and method thereof, in which a change in ground surface height is sensed by the header sensing device, and header height of the harvester is automatically adjusted by a header lifting device. In other words, the header automatic lifting system automatically adjusts the height of the header of the harvester according to the soil condition and the height of the ground surface, so as to reduce the operation burden of a driver.

Another advantage of the present invention is that it provides a fitting that does not require precision parts and complex structures, is simple to manufacture, and is inexpensive.

Additional advantages and features of the invention will be set forth in the detailed description which follows and in part will be apparent from the description, or may be learned by practice of the invention as set forth hereinafter.

To meet the above objects and other objects and advantages of the present invention, there is provided a header check device adapted for use in an automatic header lift system, wherein the header check device includes a ground engaging device; a linkage device; and the ground contact device detects the height fluctuation of the ground and drives the linkage device and the sensing device to rotate relatively so as to enable the sensing device to generate a voltage signal.

According to an embodiment of the present invention, the ground engaging device includes a rotating shaft sleeve, at least one measuring rod, a measuring plate mounting plate, and a rotating plate, wherein the measuring rod is connected to the rotating shaft sleeve, the measuring plate mounting plate and the rotating plate are respectively disposed on the measuring rod, and the linkage device is hinged to the rotating plate.

According to an embodiment of the present invention, the ground contact device further includes a detachable measuring plate and at least one pressing plate, wherein the measuring plate is detachably fixed to the measuring plate mounting plate, and the measuring plate is fixed to the measuring bar through the pressing plate.

According to an embodiment of the present invention, the measuring bar has a ground contacting end which is circular arc-shaped, wherein the shape of the measuring plate is consistent with the measuring bar, so that the measuring plate is tightly attached to the measuring bar when the measuring plate is mounted on the measuring bar.

According to an embodiment of the present invention, the linkage device includes four links, wherein the rotating plate of the ground engaging device is hinged to one end of a first link, the other end of the first link is hinged to one end of a second link, the middle of the second link is hinged to the side wall of the header, the other end of the second link is hinged to one end of a third link, the other end of the third link is hinged to one end of a fourth link, the other end of the fourth link is connected to the sensing device, and the sensing device is installed on the outer side of the side wall of the header.

According to an embodiment of the invention, the sensing device comprises an angle sensor and a mounting seat, wherein the angle sensor is mounted on the outer side of the side wall of the header through the mounting seat, and the angle sensor is connected with the other end of the fourth connecting rod.

To meet the above objects and other objects and advantages of the present invention, there is also provided an automatic header lift system adapted for use with a harvesting machine, wherein the automatic header lift system comprises:

at least one header detection device, which is arranged on a header of the harvester;

a header lifting device; and

and the control system is connected with the header detection device and the header lifting device, wherein the header detection device detects the height and the undulation of the ground and outputs a voltage signal to the control system, and the control system issues an automatic lifting command to control the header lifting device, so that the header is automatically lifted in coordination with the height of the ground.

According to an embodiment of the present invention, the header detection device includes a ground contacting device, a linkage device, and a sensing device, wherein the ground contacting device detects the ground level and connects the linkage device and drives the sensing device to rotate relatively, so that the sensing device generates the voltage signal.

According to an embodiment of the invention, one end of the ground contact device is hinged to the bottom of the header, and the other end of the ground contact device is hinged to the linkage device.

According to an embodiment of the present invention, the ground engaging device includes a rotating shaft sleeve and a rotating plate, wherein the rotating shaft sleeve is rotatably disposed on the header, and the rotating plate is hinged to the linking device.

According to an embodiment of the present invention, the ground engaging device includes at least one measuring rod having a mounting end and a ground engaging end, wherein the ground engaging end is formed in a circular arc shape, and the mounting end is connected to the rotating sleeve.

According to an embodiment of the present invention, the ground contact device includes a measuring plate mounting plate disposed on the measuring bar, wherein the ground contact device further includes a detachable measuring plate and at least one pressing plate, wherein the measuring plate is detachably fixed to the measuring plate mounting plate, and the measuring plate is fixed to the measuring bar by the pressing plate, so as to increase a detection area.

According to an embodiment of the invention, the header lifting device comprises the header, a header lifting hydraulic valve and a header oil cylinder, wherein the header lifting hydraulic valve is connected with the header oil cylinder, the header oil cylinder is connected with the header, and the header lifting hydraulic valve controls the header oil cylinder to stretch and retract after receiving the automatic lifting instruction, so that the header is lifted.

To meet the above objects and other objects and advantages of the present invention, there is also provided an automatic header lifting method of a harvester, comprising the steps of:

(A) the ground contact device detects the height fluctuation of the ground and is connected with the linkage device to drive the sensing device to rotate relatively, so that the sensing device generates a voltage signal;

(B) the sensing device sends the voltage signal to a control system; and

(C) the control system sends an automatic lifting instruction to a header lifting device to enable a header to ascend or descend.

According to the method, according to the step (A), the ground engaging device is rotatably arranged on the header by a rotating shaft sleeve, so that the ground engaging device can move along the ground.

According to a method of the invention, according to step (a), ground detection of dry land is performed by at least one measuring bar connected to said rotating sleeve, wherein the ground contact end of said measuring bar is rounded.

According to one method of the present invention, according to the step (A), ground detection of a paddy field is performed by a measuring plate provided to the measuring bar.

According to the method of the present invention, according to step (a), the linkage device is implemented as a link device, and the sensing device includes an angle sensor, wherein the link device drives the angle sensor connected thereto to rotate, and causes the angle sensor to output the voltage signal.

According to the method, the control system judges the current header ground clearance by analyzing the voltage signal, and when the header ground clearance is deviated from a set header height value, the control system sends the automatic lifting command to a header lifting hydraulic valve, and the header cylinder is stretched and contracted by controlling the header lifting hydraulic valve, and finally the header cylinder is converted into the header lifting.

According to a method of the invention, the control system controls the header lift hydraulic valve to form a circuit for supplying oil to the header cylinder, the header cylinder being raised when extended and lowered when retracted.

Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.

These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.

Drawings

Fig. 1 is a schematic view of a prior case harvester.

Fig. 2 is a logic diagram of an automatic header lift system in accordance with a preferred embodiment of the present invention.

Fig. 3 is a schematic diagram of a header detection apparatus of an automatic header lift system according to a preferred embodiment of the present invention.

Fig. 4 is a schematic view of the header check assembly ground engaging apparatus without an installed measuring plate in accordance with a preferred embodiment of the present invention.

Fig. 5 is a ground engaging apparatus of a header probe according to a preferred embodiment of the present invention, with a schematic view of mounting a header plate.

Fig. 6 is a schematic front view of a stylus of a ground engaging apparatus in accordance with a preferred embodiment of the invention.

Fig. 7 is a front and top schematic view of a side panel of a ground engaging means in accordance with a preferred embodiment of the invention.

Fig. 8 is a schematic diagram of the actuation sequence of the header automatic lifting system according to a preferred embodiment of the present invention.

Fig. 9 is a schematic cross-sectional view of a header lift hydraulic valve of a header lift apparatus according to a preferred embodiment of the present invention.

Fig. 10 is a logic diagram of a harvester according to a preferred embodiment of the invention.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced device or assembly must have a particular orientation, be constructed and operated in a particular orientation, and thus, the above terms should not be construed as limiting the present invention.

It is to be understood that the terms "a" and "an" are to be interpreted as meaning "at least one" or "one or more," i.e., that a single element may be present in one embodiment, while a plurality of elements may be present in another embodiment, and the terms "a" and "an" are not to be interpreted as limiting the number.

As shown in fig. 2 to 10, there are a harvester 1, a header check device 10, an automatic header lifting system 100 and a method thereof according to a first preferred embodiment of the present invention, wherein when the harvester 1 is in operation, the height of a header 31 of the harvester 1 is automatically adjusted by the automatic header lifting system 100, so as to reduce the difficulty of operation and the burden of a driver and ensure that the harvester 1 and related components are not injured by machines and persons due to untimely operation or erroneous operation. Further, when the harvester 1 is in operation, the land height of the paddy field or the dry land is detected by the header detection device 10, and the header 31 height of the harvester 1 is automatically adjusted and controlled by the header automatic lifting system 100 according to the detection result of the header detection device 10. In other words, the header detection device 10 of the header automatic lifting system 100 is adapted to detect the land height of the paddy field or the dry land, so that the accuracy of the height of the header 31 can be effectively ensured regardless of whether the harvester 1 is running in the paddy field or the dry land. It will be appreciated that the header autolifting system 100 of the present invention is suitable for use with the harvester 1 to automatically adjust the header 31 height as the harvester 1 travels to further ensure harvesting efficiency and reduce crop losses.

In this embodiment of the present invention, the header robotic hoist system 100 includes at least a header detection device 10, a control system 20, and a header hoist device 30. The control system 20 is connected to the header detection device 10 and the header lifting device 30, wherein the header detection device 10 outputs different ground voltage signals to the control system 20 according to the ground height, and the control system 20 further sends an automatic lifting command according to the voltage signals to control the header lifting device 30, and the header lifting device 30 drives the header 31 to automatically lift in cooperation with the ground height. Further, the header detection device 10 detects a state of ground heave, so as to output different voltage signals to the control system 20, the control system 20 determines the current ground clearance of the header 31 by analyzing the different voltage signals, and when the ground clearance of the header 31 deviates from a set value, the control system 20 sends an electric signal to the header lifting device 30 to control the lifting of the header 31.

Further, the header detection device 10 is connected to the control system 20, wherein the control system 20 will control the header 31 height of the harvester 1 when the header detection device 10 senses a change in ground surface height. It should be noted that in a preferred embodiment, the header automatic lifting system 100 may include two header detection devices 10 respectively disposed at two sides of the header 31 of the harvester 1 to clearly sense the height change of the ground surface when the harvester 1 travels. Another embodiment is: the header automatic lifting system 100 may include at least one header sensing device 10 disposed in the middle of the header 31 of the harvester 1, or the header automatic lifting system 100 may include a plurality of header sensing devices 10 disposed in the middle or both ends of the header 31 of the harvester 1. That is, the number and the installation positions of the header detection devices 10 are not limited to the present invention, and may be configured according to actual conditions.

In this embodiment of the invention, the header detection device 10 includes a ground engaging device 11, a linkage 12, and a sensing device 13. The linkage 12 is connected to the ground engaging device 11 and the sensing device 13, wherein one end of the ground engaging device 11 is connected to the bottom of the header 31 by a hinge, and the other end of the ground engaging device 11 is hinged to the linkage 12, so as to sense the ground level and directly transmit the sensed ground level to the sensing device 13 through the linkage 12, and transmit the sensed ground level to the control system 20 through the sensing device 13. In other words, the sensing device 13 is connected to the linkage 12 to transmit the condition sensed by the ground engaging device 11 to the control system 20. Further, when the harvester 1 travels, the ground contacting device 11 senses the change of the ground surface, so as to drive the linkage device 12 to link, so that the sensing device 13 outputs different voltage signals to the control system 20 after obtaining the detection information of the ground level fluctuation. The control system 20 determines the current height from the ground of the header 31 according to the received voltage signal, and when the height from the ground of the header 31 deviates from a set value, the control system 20 sends the electrical signal to the header lifting device 30 to control the lifting of the header 31.

In this embodiment of the present invention, the ground engaging means 11 comprises a rotating sleeve 111, at least one measuring rod 112, a measuring plate mounting plate 113, and a rotating plate 114. The rotating shaft sleeve 111 is rotatably disposed on the header 31, so that the ground engaging device 11 changes according to the height of the ground, and drives the linkage device 12 to link, so that the sensing device 13 obtains the detection information of the height of the ground. The measuring rod 112 is connected to the rotating sleeve 111 for sensing the ground level. In particular, the number of the measuring bars 112 may be one, two or more, which is not a limitation of the present invention. The measuring plate mounting plate 113 is disposed on the measuring bar 112. The rotating plate 114 is disposed on the measuring rod 112 for hinging the linkage 12. In addition, the rotation bushing 111, the measuring rod 112, the measuring plate mounting plate 113 and the rotation plate 114 may be formed by welding, but this is not a limitation of the present invention. It should be noted that the ground engaging device 11 further includes a detachable measuring plate 115 and at least one pressing plate 116, wherein the measuring plate 115 is detachably fixed to the measuring plate mounting plate 113 through a connecting assembly 110, and the measuring plate 115 is fixed to the measuring bar 112 through the pressing plate 116, so as to increase the detection area. Specifically, the measuring rod 112 has a mounting end 1121 and a grounding end 1122, and the grounding end 1122 is circular arc-shaped, i.e. forms a circular arc end, so as to reduce the resistance of movement detection. The mounting end 1121 is connected to the rotation sleeve 111, which may be welded, and this is not a limitation of the present invention. It should be noted that the rounded ground-engaging end 1122 of the measuring rod 112 will make the ground-engaging device 11 easier to detect according to terrain. That is, when the harvester 1 is walking, the measuring bar 112 having the ground contact end 1122 in the circular arc shape detects a change in the terrain with a small resistance. It will be appreciated that the shape of the side plate 115 will correspond to the measuring bar 112. That is, the measuring board 115 has a board mounting end 1151 and a board ground-contacting end 1152, and the board ground-contacting end 1152 has an arc shape corresponding to the arc shape of the ground-contacting end 1122 of the measuring bar 112, so that the board 115 and the pole 112 can be closely attached to each other when the board 115 is mounted on the measuring bar 112, i.e., the board ground-contacting end 1152 of the board 115 is attached to the ground-contacting end 1122 of the measuring bar 112.

It is worth mentioning that the header detection device 10 of the present invention is suitable for detecting land undulation changes in dry and paddy fields. When the dry farmland is harvested, the ground engaging device 11 is not provided with the measuring plate 115, and only the arc end of the measuring rod 112 is used for contacting the ground, so that the contact area is prevented from being too large, the harvested cutting stubbles are supported against the ground engaging device 11, the ground engaging device 11 cannot contact the ground, and the height of the cutting platform 31 cannot be effectively adjusted. When harvesting a paddy field, the ground engaging means 11 engages the measuring plate 115, and because the ground of the paddy field is soft, the mere detection by the measuring bar 112 may cause the measuring bar 112 to sink into the mud, which may cause the height of the header 31 to be less than the predetermined header height. Therefore, this problem can be solved by adding the measuring plate 115 to increase the contact area, and when the contact area is increased, the contact area of the ground engaging device 11 can be effectively prevented from being sunk into mud, and the accuracy of the height of the header 31 can be ensured.

In this embodiment of the present invention, the linkage device 12 includes a plurality of links 121 to link the detection information of the ground contacting device 11 to the sensing device 13 through the plurality of links, so that the sensing device 13 generates a voltage signal to the control system 20 according to the detection information. The control system 20 determines the current height from the ground of the header 31 according to the received voltage signal, and when the height from the ground of the header 31 deviates from a set value, the control system 20 sends the electrical signal to the header lifting device 30 to control the lifting of the header 31. It should be noted that the number of the connecting rods 121 in the present invention is not a limitation of the present invention. In the present embodiment, a preferred embodiment will be provided, in which the linkage 12 includes four links 121, wherein the four links 121 are respectively defined as a first link 121a, a second link 121b, a third link 121c and a fourth link 121d for convenience of description and understanding. When the rotating shaft sleeve 111 of the ground engaging device 11 is fixed at the bottom of the header 31 in a hinged manner, the rotating plate 114 of the ground engaging device 11 is hinged to one end of the first link 121a, the other end of the first link 121a is hinged to one end of the second link 121b, the middle of the second link 121b is hinged to a side wall of the header 31 and can rotate around a hinge point, the other end of the second link 121b is hinged to one end of the third link 121c, the other end of the third link 121c is hinged to one end of the fourth link 121d, the other end of the fourth link 121d is connected to the sensing device 13, and the sensing device 13 is installed outside the side wall of the header 31.

In particular, in another embodiment (not shown) of the linkage 12, the linkage 12 includes three links 121, wherein four links 121 are respectively defined as a first link 121a, a second link 121b, and a third link 121c for convenience of description and understanding. When the rotating shaft sleeve 111 of the ground engaging device 11 is fixed at the bottom of the header 31 in a hinged manner, the rotating plate 114 of the ground engaging device 11 is hinged to one end of the first link 121a, the other end of the first link 121a is hinged to one end of the second link 121b, the middle of the second link 121b is hinged to the side wall of the header 31 and can rotate around a hinge point, the other end of the second link 121b is hinged to one end of the third link 121c, the other end of the third link 121c is connected to the sensing device 13, and the sensing device 13 is installed outside the side wall of the header 31. Thus, it will be understood that the number of links is not a limitation of the present invention.

It should be mentioned that when the ground engaging device 11 is subjected to an angle change due to ground pressure, the ground engaging device will drive the first connecting rod 121a to change its angle, the first connecting rod 121a drives the second connecting rod 121b, a pin 122 is provided in the middle of the second connecting rod 121b and is hinged to the sidewall mounting hole 33 of the header 31, so that the second connecting rod 121b rotates around the sidewall hinge point, i.e., rotates around the pin 122, the second connecting rod 121b rotates to drive the third connecting rod 121c, the third connecting rod 121c rotates to drive the fourth connecting rod 121d, and the fourth connecting rod 121d drives the sensing device 13 connected thereto to rotate. It will be appreciated that when a change in the angle of the sensing means 13 translates into a change in the voltage value.

In this embodiment of the invention, the sensing device 13 comprises an angle sensor 131 and a mounting 132, wherein the angle sensor 131 is mounted outside the sidewall of the header 31 by means of the mounting 132. That is, one end of the fourth link 121d is hinged to the other end of the third link 121c, the other end of the fourth link 121d is connected to the angle sensor 131, and the angle sensor 131 is installed outside the sidewall of the header 31. When the ground contact device 11 is subjected to an angle change by ground pressure, the first link 121a, the second link 121b, the third link 121c and the fourth link 121d are driven, and the angle sensor 131 relatively rotates. It can be understood that, when the change of the angle sensor 131 is converted into the change of the voltage value, and the change is converted into the voltage signal to be transmitted to the control system 20, the control system 20 determines the current header 31 ground clearance by analyzing the voltage signal, and when the header ground clearance deviates from the set header height value, the control system 20 sends the electrical signal to the header lifting device 30 to control the lifting of the header 31. It should be noted that the angle sensor 131 is disposed at a higher position relative to the ground contact device 11 by the interlocking device 12, so that the probability of immersion of the angle sensor 131 is reduced, thereby reducing the probability of failure of the angle sensor 131.

In this embodiment of the present invention, the control system 20 includes a controller 21 connected to the angle sensor 131 of the sensing device 13 of the header detection device 10, wherein the connection may be wired or wireless, which is not a limitation of the present invention. Therefore, it can be understood that, when the harvester 1 walks, the ground contacting device 11 senses the change of the ground surface and drives the linkage device 12 and the angle sensor 131 to be linked, so that the angle sensor 131 outputs the voltage signal to the controller 21 of the control system 20, and the controller 21 of the control system 20 issues an automatic lifting command to the header lifting device 30, so as to control the header 31 to ascend or descend.

In this embodiment of the present invention, the header lift mechanism 30 includes a header 31, a header lift hydraulic valve 32, and a header cylinder 33. Header lift hydraulic valve 32 connects header hydro-cylinder 33. The header cylinder 33 is connected to the header 31. The header lift hydraulic valve 32 receives the automatic lift command, so that the header lift hydraulic valve 32 controls the header lift hydraulic valve to extend and retract the header cylinder 33, thereby converting the header cylinder into the lift of the header 31. Further, the controller 21 of the control system 20 issues the automatic lifting command to the header lifting hydraulic valve 32 of the header lifting device 30 according to the determination of the voltage signal, so as to control the header 31 to ascend or descend.

In addition, the header lift hydraulic valve 32 of the header lift device 30 is connected to the controller 21 of the control system 20. Wherein the angle sensor 131 of the header detection device 10 sends the voltage signal to the controller 21 of the control system 20 when the ground engaging device 11 of the header detection device 10 senses a change in ground surface height. The controller 21 of the control system 20 issues an automatic lifting instruction to the header lifting hydraulic valve 32 of the header lifting device 30 according to the voltage signal, so that the header lifting hydraulic valve 32 controls the header cylinder 33 to lift and contract to drive the header 31 to ascend or descend. In other words, the header detection device 10 converts the detection signal into the voltage signal, and transmits the voltage signal to the control system 20. The control system 20 controls the header lifting device 30, thereby achieving the overall lifting and lowering of the header 31.

It should be noted that in this embodiment, the header lift hydraulic valve 32 may be implemented as an electromagnetic directional valve, which includes a body 321 and a sliding shaft 322, wherein the body 321 has a plurality of valve ports 3211. The sliding shaft 322 moves in the body 321 to open and close the different valve ports 3211. Further, in the present embodiment, four ports 3211 are implemented, which are defined as a first port P, a second port a, a third port B, and a fourth port T for convenience of description. When the sliding shaft 322 moves in the body 321, the corresponding valve ports 3211 are opened or closed, so as to further control the header cylinder 33 to actuate. In addition, the controller 21 of the control system 20 controls hydraulic oil of an oil pump to be input to the header lift hydraulic valve 32. It should be noted that the header lift hydraulic valve 32 further has a first coil YV01 and a second coil YV 02. The controller 21 is respectively connected to the first coil YV01 and the second coil YV02 to input an electrical signal to the first coil YV01 or the second coil YV02, so as to control the sliding shaft 322 to open or close the corresponding valve ports 3211 when moving in the body 321.

In this embodiment of the present invention, when the harvester 1 is operated and meets the rise of the ground surface, the ground engaging device 11 is lifted synchronously to drive the linkage 12 and the sensing device 13, the angle sensor 131 outputs the voltage signal to the controller 21 of the control system 20, and then the controller 21 controls the valve block of the header lift hydraulic valve 32 to move, so as to form a loop for supplying oil to the header cylinder 33. At this time, the header cylinder 33 extends and lifts the header 31. It should be noted that in the present embodiment, the valve block of the header lift hydraulic valve 32 is shifted to the left to form a circuit for supplying oil to the header cylinder 33, but this is not a limitation of the present invention.

In this embodiment of the invention, the harvester 1 is operated while encountering a drop in the ground surface. The ground engaging device 11 descends synchronously to drive the linkage 12 and the sensing device 13, the angle sensor 131 outputs the voltage signal to the controller 21 of the control system 20, and then the controller 21 controls the valve block of the header lift hydraulic valve 32 to move, so that a loop for unloading oil to the header cylinder 33 is formed. At this time, the header cylinder 33 is contracted, and the header 31 is lowered by gravity. It should be noted that in the present embodiment, the valve block of the header lift hydraulic valve 32 is shifted to the right to form a circuit for discharging the header cylinder 32, but this is not a limitation of the present invention.

In this embodiment of the present invention, the harvester 1 includes the header automatic lifting system 100, a body 200, a harvesting device 300, a threshing device 400, a walking device 500, a driving device 600 and a control device 700. The harvesting device 300 is installed at the front end or in front of the body 200. The threshing device 400 is mounted to the middle end of the machine body 200. The walking device 500 is disposed at the bottom of the machine body 200. The driving device 600 is mounted to the body 200. In particular, the control device 700 is installed at the middle of the machine body 10 for easy operation. The header automatic lifting system 100, the harvesting device 300, the threshing device 400, the walking device 500 and the driving device 600 are respectively connected to the control device 700. It should be noted that the control device 700 is a central control system of the harvester 1, and is used for integrally controlling various devices of the harvester 1. In particular, the control system 20 may be implemented as a part of the control device 700, or the control system 20 may be directly connected to the control device 700, which is not a limitation of the present invention. In addition, the driving device 600 is connected to the harvesting device 300, the threshing device 400, the walking device 500 and the control device 700, respectively, and provides power for the harvesting device, the threshing device, the walking device and the control device 700, and the control device 700 drives the components to perform corresponding operations. In particular, the driving device 600 may be implemented as a fuel, electric or hybrid oil-electric drive, which is not a limitation of the present invention. The walking device 500 is used for driving the harvester 1 to walk, wherein the walking device can be crawler walking or two-wheel walking or four-wheel walking. The harvesting device 300 is used for harvesting operations. The threshing device 400 is used to thresh the harvested crop. The header automatic lifting system 100 is used to automatically adjust the header height of the harvester 1. Further, the harvesting device 300 comprises the header 31 and at least one cutter. The header 31 is connected to the cutters to support the cutters, i.e., the cutters are mounted to the header 31 to facilitate the cutters to cut the crop, which may be embodied as cutting knives or cutting drums.

In addition, the invention also provides an automatic lifting method of the cutting platform of the harvester. The automatic lifting method of the header of the harvester comprises the following steps:

(A) the ground contact device 11 detects the height fluctuation of the ground and links the linkage device 12 to drive the sensing device 13 to rotate relatively, so that the sensing device 13 generates a voltage signal;

(B) the sensing device 13 sends the voltage signal to a control system 20; and

(C) the control system 20 issues an automatic lift command to a header lift 30 to raise or lower a header 31.

According to the step (a), the ground engaging device 11 is rotatably disposed on the header 31 by a rotating shaft sleeve 111, so that the ground engaging device 11 moves along the ground and drives the linkage 12 and the sensing device 13 relatively.

According to step (a), ground detection of dry fields is carried out by at least one measuring bar 112 connected to said rotating sleeve 111. The measuring rod 112 is one, two or more. The measuring rod 112 has a mounting end 1121 and a grounding end 1122, and the grounding end is arc-shaped, i.e. an arc end is formed. The mounting end 1121 is connected to the rotation sleeve 111, which may be welded, and this is not a limitation of the present invention.

According to the step (a), the ground engaging means 11 includes a measuring plate 115 mounted to the measuring bar 112 to increase a detection area, so that the ground engaging means 11 is suitable for detection of paddy fields.

According to the step (a), the linkage 12 is implemented as a link device, and the sensing device 13 includes an angle sensor 131, wherein the link device drives the angle sensor 131 connected thereto to rotate, wherein the angle sensor 131 converts the angle change into a voltage value change and outputs the voltage value change as the voltage signal. In particular, the linkage 12 is implemented as a four-bar linkage. Further, the angle sensor 131 is provided at a position higher than the ground contact device 11 by the interlocking device 12, so that the probability of immersion of the angle sensor 131 is reduced, thereby reducing the probability of failure of the angle sensor 131.

According to the steps (B) and (C), the voltage signal is transmitted to the control system 20, wherein the control system 20 judges the current height of the header 31 from the ground by analyzing the voltage signal, when the height of the header 31 from the ground deviates from a set header height value, the control system 20 sends the automatic lifting instruction to a header lifting hydraulic valve 32, and the header lifting hydraulic valve 32 is controlled to stretch a header oil cylinder 33 and finally convert the header oil cylinder into lifting of the header 31.

According to step (C), the control system 20 controls the header lift hydraulic valve 32 to form a circuit that supplies oil to the header cylinder 32. At this time, the header cylinder 32 is extended and the header 31 is lifted.

According to step (C), the control system 20 controls the header lift hydraulic valve 32 to form a circuit that supplies oil to the header cylinder 32. At this time, the header cylinder 32 is contracted, and the header 31 is lowered by gravity.

It will be appreciated by persons skilled in the art that the embodiments of the invention described above and shown in the drawings are given by way of example only and are not limiting of the invention.

The objects of the invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the examples, and any variations or modifications of the embodiments of the present invention may be made without departing from the principles.

Claims

1. A header detection device is applicable to header automatic rising system, its characterized in that includes:

a ground engaging means;

a linkage device; and

and the ground contact device detects the height fluctuation of the ground and drives the linkage device and the sensing device to rotate relatively so as to enable the sensing device to generate a voltage signal.

2. The header measuring device of claim 1, wherein the ground engaging means comprises a rotatable bushing, at least one measuring rod, a measuring plate mounting plate, and a rotatable plate, wherein the measuring rod is connected to the rotatable bushing, the measuring plate mounting plate and the rotatable plate are respectively disposed on the measuring rod, and wherein the linkage is hinged to the rotatable plate.

3. A header probe in accordance with claim 2 wherein the ground engaging means further comprises a removable probe plate and at least one pressure plate, wherein the probe plate is removably secured to the probe plate mounting plate and the probe plate is secured to the probe rod by the pressure plate.

4. A header testing apparatus according to claim 3, wherein the measuring bar has a ground-contacting end that is rounded, and wherein the shape of the measuring plate conforms to the shape of the measuring bar such that the measuring plate fits snugly against the measuring bar when the measuring bar is mounted thereon.

5. A header measuring device according to claim 2 or 3, wherein the linkage comprises four links, wherein the rocker of the ground engaging means is hinged to one end of a first link, the other end of the first link is hinged to one end of a second link, the middle of the second link is hinged to the side wall of the header, the other end of the second link is hinged to one end of a third link, the other end of the third link is hinged to one end of a fourth link, the other end of the fourth link is connected to the sensing means, and the sensing means is mounted on the outside of the side wall of the header.

6. A header testing apparatus according to claim 5, wherein the sensing means comprises an angle sensor and a mounting block, wherein the angle sensor is mounted outside a side wall of the header by the mounting block and is connected to the other end of the fourth link.

7. An automatic header lifting system suitable for a harvester, comprising:

a header lifting device; and

8. The automatic header lifting system according to claim 7, wherein the header detection device comprises a ground engaging device, a linkage device, and a sensing device, wherein the ground engaging device detects ground level fluctuation and links the linkage device and drives the sensing device to rotate relatively, so that the sensing device generates the voltage signal.

9. The header escalator system of claim 8, wherein said ground engaging means is hinged at one end to the bottom of said header and at the other end to said linkage.

10. The header escalator system of claim 8, wherein said ground engaging means comprises a rotating sleeve and a flap, wherein said rotating sleeve is rotatably mounted to said header and said flap is pivotally connected to said linkage.

11. The header autolifting system of claim 10, wherein the ground engaging means comprises at least one measuring bar having a mounting end and a ground engaging end, wherein the ground engaging end is rounded and the mounting end is coupled to the swivel bushing.

12. The automatic header lift system of claim 11, wherein the ground engaging apparatus comprises a probe plate mounting plate disposed on the probe rod, wherein the ground engaging apparatus further comprises a detachable probe plate and at least one pressure plate, wherein the probe plate is detachably secured to the probe plate mounting plate and the probe plate is secured to the probe rod by the pressure plate to increase a probe area.

13. An automatic header lifting system according to claim 11 or 12, wherein the linkage comprises four links, wherein the rocker of the ground engaging means is hinged to one end of a first link, the other end of the first link is hinged to one end of a second link, the middle of the second link is hinged to the side wall of the header, the other end of the second link is hinged to one end of a third link, the other end of the third link is hinged to one end of a fourth link, the other end of the fourth link is connected to the sensing means, and the sensing means is mounted on the outside of the side wall of the header.

14. A header robotic hoist system according to claim 13, wherein the sensing means comprises an angle sensor and a mount, wherein the angle sensor is mounted outside a side wall of the header by the mount and is connected to the other end of the fourth link.

15. A header automatic lifting system according to any one of claims 7 to 12, wherein the header lifting device comprises the header, a header lifting hydraulic valve, and a header cylinder, wherein the header lifting hydraulic valve is connected to the header cylinder, and the header cylinder is connected to the header, wherein the header lifting hydraulic valve controls the header cylinder to extend and retract after receiving the automatic lifting command, thereby lifting the header.

16. The header automatic lifting system according to claim 13, wherein the header lifting device comprises the header, a header lifting hydraulic valve, and a header cylinder, wherein the header lifting hydraulic valve is connected to the header cylinder, and the header cylinder is connected to the header, wherein the header lifting hydraulic valve controls the header cylinder to extend and retract after receiving the automatic lifting command, thereby lifting the header.

17. An automatic lifting method of a header of a harvester is characterized by comprising the following steps:

(B) the sensing device sends the voltage signal to a control system; and

18. A method of automatically raising and lowering a header according to claim 17, wherein the ground engaging means is rotatably mounted to the header by a rotatable bushing such that the ground engaging means is contoured according to the ground level, according to step (a).

19. The automatic header lifting and lowering method according to claim 18, wherein according to the step (a), ground detection of upland fields is performed by at least one measuring bar connected to the rotary sleeve, wherein a ground contact end of the measuring bar is in a circular arc shape.

20. The automatic header lifting and lowering method according to claim 19, wherein according to the step (a), ground detection of a paddy field is performed by a measuring plate provided to the measuring bar.

21. The header auto-matically header according to claim 17, wherein according to step (a), the linkage is implemented as a linkage, and the sensing device includes an angle sensor, wherein the linkage rotates the angle sensor connected thereto, and causes the angle sensor to output the voltage signal.

22. The automatic header lifting method according to claim 17, wherein the control system determines a current header ground clearance by analyzing the voltage signal, and when the header ground clearance deviates from a set header height value, the control system sends the automatic lifting command to a header lifting hydraulic valve, and the header lifting hydraulic valve controls the header lifting hydraulic valve to extend and retract a header cylinder, and finally the header cylinder is converted into the header lifting.

23. The method of automatically lifting a header according to claim 22, wherein the control system controls the header lift hydraulic valve to create a circuit that supplies oil to the header cylinder, the header being raised when the header cylinder is extended and lowered when the header cylinder is retracted.