CN113348862A - Automatic row aligning device and method for orderly harvesting leaf vegetables and harvester - Google Patents
Automatic row aligning device and method for orderly harvesting leaf vegetables and harvester Download PDFInfo
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- CN113348862A CN113348862A CN202110752114.1A CN202110752114A CN113348862A CN 113348862 A CN113348862 A CN 113348862A CN 202110752114 A CN202110752114 A CN 202110752114A CN 113348862 A CN113348862 A CN 113348862A
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Abstract
The invention provides an automatic row aligning device and method for orderly harvesting leaf vegetables and a harvester, wherein the automatic row aligning device comprises a crop row detection assembly, a harvester posture detection assembly, a steering actuating mechanism and a control system; the crop row detection assembly detects the offset of the center of the front end of the harvester relative to the leaf vegetable rows, the harvester attitude detection assembly detects that the attitude information of the harvester comprises a course deflection angle and a steering deflection angle, the steering angle of a steering wheel is determined through a harvester steering model, and a control system controls a steering execution mechanism to finish automatic row alignment of the harvester. When the leaf vegetable harvester works, the real-time adjustment is carried out according to the offset signal transmitted in real time and the posture feedback signal of the harvester, so that the automatic row alignment and ordered harvesting function of the harvester is realized.
Description
Technical Field
The invention belongs to the field of intelligent agricultural equipment, and particularly relates to an automatic row aligning device and method for orderly harvesting leaf vegetables and a harvester.
Background
The leaf vegetable yield of China is about 30 percent of the total vegetable yield, the cultivation area is large, the variety is large, but the manual harvest is still the main point at present. The labor harvesting period is long, the labor intensity is high, and the development of the leaf vegetable industry is greatly restricted. In recent years, harvesters of different models are put into a popularization and trial stage, but the problems of exposure in the actual operation process are more. Due to the dependence on imported products, the autonomy of research and development work is insufficient, so that the performance of the existing related harvester is poor and the intelligent degree is low. In the aspect of actual harvesting, the road conditions of field harvesting are complex, so that the advancing direction of the harvester deviates from leaf vegetable lines. Under the condition that an intelligent control system is not used for regulation, skilled skills and rich experience are required for operators of the harvester, and the advancing direction and the operation speed of the harvester can be adjusted according to actual conditions, so that the opposite harvesting operation posture is kept. However, in the actual operation process, the professional performance of operators is relatively deficient, so that the leaf vegetable harvester is difficult to maintain a stable working posture for a long time.
Disclosure of Invention
Aiming at the problems, the invention provides an automatic row alignment device and method for orderly harvesting leaf vegetables, which realize the real-time adjustment of the operation route of a harvester, further realize the automatic row alignment and ordered harvesting function of the harvester, provide a foundation for subsequent bundling and boxing and improve the intelligent degree of the orderly harvester for the leaf vegetables.
The invention also provides a harvester comprising the automatic row aligning device for orderly harvesting the leaf vegetables.
The technical scheme of the invention is as follows: an automatic row aligning device for orderly harvesting leaf vegetables comprises a crop row detection assembly, a harvester attitude detection assembly, a steering execution mechanism and a control system;
the crop row detection assembly is arranged on a nearside divider of the harvester;
the harvester attitude detection assembly is arranged on an operation platform of the harvester and on the inner side of a steering wheel;
the steering actuating mechanism is arranged on the operating platform;
the control system is respectively connected with the crop row detection assembly, the harvester attitude detection assembly, the steering actuating mechanism and the operating platform; the crop row detectionThe assembly is used for detecting the rotation angle of the angle sensor when the detection rod works
The offset delta l of the center of the front end of the harvester relative to the leaf vegetable row is obtained through an offset mathematical model by the control system; the harvester attitude detection assembly is used for detecting the course deflection angle of the harvester
And the steering angle delta of the steering wheel, and transmitting the steering angle delta to the control system;
when the offset delta l of the front end center of the harvester relative to the leaf vegetable row is larger than a set threshold value, the control system obtains a steering angle delta of a steering wheel during row alignment according to a steering model of the harvester and obtains the steering angle delta of the steering wheel according to the initial angle delta of the steering wheel0And a steering angle delta to obtain the rotation angle of the steering actuating mechanism, and the control system adjusts the rotation angle of the steering wheel through the steering actuating mechanism.
In the above scheme, the crop row detection assembly comprises a bottom plate, a connecting rod and a row alignment detection mechanism;
the rear end of the bottom plate is connected with the harvester divider through a connecting rod, and the middle part of the bottom plate is connected with the opposite-row detection mechanism.
In the above scheme, the alignment detection mechanism includes a fixed bracket, a torsion spring base, a detection rod, a coupler, an angle sensor, a rotary connecting piece, a torsion spring cover plate and a torsion spring;
the fixing support is installed on the bottom plate, the torsion spring base is fixed on the fixing support, the torsion spring is installed in the torsion spring base, and the torsion spring cover plate is installed on the torsion spring base;
the detection rod is arranged on the rotary connecting piece, one end of the rotary connecting piece is connected with the torsion spring, and the other end of the rotary connecting piece is connected with the coupler; the angle sensor is arranged on the fixed support, and a sensor rotating shaft is connected with the coupler;
the torsional spring cover is provided with a limiting groove for limiting the initial position of the rotary connecting piece;
the free end of the detection rod is used for contacting with the stem part of the leaf vegetable,the rotary connection member rotates about an axis of an angle sensor for detecting a rotation angle of the detection lever with respect to the angle sensor
And the detection rod is separated from the stem part of the leaf vegetable and rebounds to the initial position under the action of the torsion spring.
In the scheme, the base is arranged on the bottom plate and provided with a plurality of longitudinally-arranged first through holes, the fixing support at the bottom of the opposite-row detection mechanism is provided with a plurality of longitudinally-arranged second through holes, and the first through holes and the second through holes are mutually matched and connected and used for adjusting the operation height of the opposite-row detection mechanism.
In the above scheme, the harvester attitude detection assembly comprises a gyroscope corner instrument and a corner sensor; the gyroscope angle indicator is arranged on an operation table of the harvester, and the angle sensor is arranged on the inner side of the steering wheel; the gyro angle indicator is used for detecting the course deflection angle of the harvester
The rotation angle sensor is used for detecting the steering angle delta of the steering wheel0。
In the above scheme, the steering actuating mechanism comprises a large gear, a steering wheel, a small gear, a servo motor and a motor fixing frame; the motor fixing frame is arranged on the operating platform, and the servo motor is arranged on the motor fixing frame; the servo motor is connected with the control system, an output shaft of the servo motor is connected with a small gear, the small gear is meshed with a large gear, and the steering wheel is connected with the large gear; the control system outputs signals to control the servo motor to rotate, so that the large gear drives the steering wheel to rotate, and the steering wheel controls the rotating angle of the steering wheel.
In the above scheme, the turning model of the harvester is as follows:
in the formula: delta is the steering angle of the steering wheel, namely the steering angle of the front wheel;
l is the wheel base of the leaf vegetable harvester;
Ldis the forward looking distance;
d is the vertical distance between the current position of the harvester and the target path.
In the above scheme, the mathematical model of the offset of the front end center of the harvester relative to the leaf vegetable row is as follows:
in the formula: l is the length of the detection rod of the crop row detection assembly;
and delta l is the offset of the front end of the harvester and the center of the leaf vegetable row.
A harvester comprises the automatic row-alignment device for orderly harvesting the leaf vegetables.
A control method for automatic row alignment according to ordered harvesting of leaf vegetables comprises the following steps:
the leaf vegetable harvester moves forward, the detection rod of the crop row detection assembly touches the leaf vegetable stem to drive the angle sensor shaft to rotate, and the angle sensor detects the rotation angle of the detection rod relative to the angle sensor
Transmitting the offset to a control system, and obtaining an offset delta l by the control system according to an offset model of the front end center of the harvester relative to the leaf vegetable row; the gyro angle sensor of the harvester attitude detection system assembly detects the course deflection angle of the harvester
Steering angle sensor for detecting steering angle delta of steering wheel0And transmitted to the control system;
when the offset signal delta l is larger than a set threshold value, a steering angle delta of the steering wheel during the alignment is obtained according to a steering model of the harvester, and then the initial angle delta of the steering wheel is obtained0And a steering angle delta, obtaining the rotation angle of a steering wheel of the steering actuating mechanism, outputting a signal by a control system to control a servo motor of the steering actuating mechanism to rotate so as to drive the steering wheel to rotate, adjusting the rotation angle of a steering wheel by the steering wheel, and controlling the servo motor to stop rotating when the rotation angle reaches a set value;
when the leaf vegetable harvester works, the real-time adjustment is carried out according to the offset signal transmitted in real time and the posture feedback signal of the harvester, so that the row-to-row harvesting of the leaf vegetables is realized.
Compared with the prior art, the invention has the beneficial effects that: the crop row detection assembly is used for detecting the rotation angle of the angle sensor when the detection rod of the crop row detection assembly works
The offset delta l of the center of the front end of the harvester relative to the leaf vegetable row is obtained through an offset mathematical model by the control system; the harvester attitude detection system assembly is used for detecting the heading deflection angle of the harvester
And the steering angle delta of the steering wheel, and transmitting the steering angle delta to the control system; when the offset delta l of the front end center of the harvester relative to the leaf vegetable row is larger than a set threshold value, the control system obtains a steering angle delta of a steering wheel during row alignment according to a steering model of the harvester and obtains the steering angle delta of the steering wheel according to the initial angle delta of the steering wheel0And the steering angle delta is obtained to obtain the rotation angle of the steering actuating mechanism, and the control is carried outThe system adjusts the turning angle of the steering wheel through the steering actuating mechanism, and when the leaf vegetable harvester operates, the system adjusts in real time according to the offset signal transmitted in real time and the posture feedback signal of the harvester, so that the automatic row alignment and ordered leaf vegetable harvesting functions of the harvester are realized.
Drawings
FIG. 1 is a left side view of the overall structure of one embodiment of the present invention;
FIG. 2 is a top view of the overall structure of an embodiment of the present invention;
FIG. 3 is an isometric view of a crop row inspection assembly of the present invention;
FIG. 4 is an isometric view of the alignment detection mechanism;
FIG. 5 is an enlarged view of a portion of the alignment detection mechanism;
FIG. 6 is an isometric view of the fixed support;
fig. 7 is a schematic view of the mounting position of the rotation angle sensor;
FIG. 8 is a left side view of the steering actuator;
FIG. 9 is a schematic view of the steering principle;
FIG. 10 is a schematic diagram of the line alignment detection principle;
FIG. 11 is a flow chart of an automatic pairing routine.
In the figure, 1. a crop row detection assembly; 1-3-1, fixing the bracket; 1-3-2. torsion spring base; 1-3-3. a detection rod; 1-3-4. a coupler; 1-3-5. an angle sensor; 1-3-6. a rotary connector; 1-3-7, torsion spring cover plate; 1-3-8 torsion spring; 2. a crop divider; 3. a steering wheel; 4. a harvester attitude detection assembly; 4-1. a rotation angle sensor; 4-2. a gyroscope; 5. a steering actuator; 5-1, a bull gear; 5-2. a steering wheel; 5-3, pinion; 5-4, servo motor; 5-5. motor fixing frame; 6. a control system; 7. an operation platform.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Example 1
Fig. 1 and 2 show a preferred embodiment of the automatic row alignment device for orderly harvesting leaf vegetables, which comprises a crop row detection assembly 1, a harvester posture detection assembly 4, a steering execution mechanism 5 and a control system 6. The crop row detection assembly 1 detects the offset of the center of the front end of the harvester relative to the leaf vegetable row, the harvester attitude detection assembly 4 detects that the attitude information of the harvester comprises a course deflection angle and a steering deflection angle, the steering angle of the steering wheel 3 is determined through a harvester steering model of the harvester, and the control system 6 controls the steering execution mechanism 5 to finish the automatic row alignment of the harvester.
The crop row detection assembly 1 is arranged on a nearside divider 2 of the harvester, and the crop row detection assembly 1 can pass through the middle of two rows of leafy vegetables at the zero measurement point; the harvester attitude detection assembly 4 is arranged on an operation platform 7 of the harvester and on the inner side of the steering wheel 3; the steering actuator 5 is mounted on an operation table 7.
The control system 6 is respectively connected with the crop row detection assembly 1, the harvester attitude detection assembly 4, the steering actuating mechanism 5 and the operating platform 7; the crop row detection assembly 1 is used for detecting the rotation angle of the angle sensor when the detection rod works
And transmitting the offset to a control system 6, wherein the control system 6 obtains the offset delta l of the front end center of the harvester relative to the leaf vegetable rows through an offset mathematical model; the harvester attitude detection system assembly 4 is used for detecting the heading deflection angle of the harvester
And the steering angle delta of the steering wheel 3, and is transmitted to the control system 6;
when the offset delta l of the front end center of the harvester relative to the leaf vegetable row is larger than a set threshold value, the control system 6 obtains the steering angle delta of the steering wheel 3 during row alignment according to the steering model of the harvester and obtains the initial angle delta of the steering wheel 3 according to the initial angle delta0And a steering angle delta, to obtain the rotation angle of the steering actuator 5, and the control system 6 adjusts the rotation angle of the steering wheel 3 through the steering actuator 5.
As shown in fig. 3, the crop row detection assembly 1 comprises a bottom plate 1-1, a connecting rod 1-2 and a row alignment detection mechanism 1-3; the rear end of the bottom plate 1-1 is connected with a harvester divider 2 through a connecting rod 1-2, and the middle part of the bottom plate 1-1 is connected with a line aligning detection mechanism 1-3. Preferably, the front end of the bottom plate 1-1 is arc-shaped.
As shown in fig. 4, 5 and 6, the alignment detection mechanism 1-3 comprises a fixing support 1-3-1, a torsion spring base 1-3-2, a detection rod 1-3-3, a coupler 1-3-4, an angle sensor1-3-5 parts of the device, 1-3-6 parts of a rotary connecting piece, 1-3-7 parts of a torsional spring cover plate and 1-3-8 parts of a torsional spring. The fixing support 1-3-1 is installed on the bottom plate 1-1, the torsion spring base 1-3-2 is fixed on the fixing support 1-3-1, the torsion spring 1-3-8 is installed in the torsion spring base 1-3-2, and the torsion spring cover plate 1-3-7 is installed on the torsion spring base 1-3-2. The detection rod 1-3-3 is arranged on the rotary connecting piece 1-3-6, one end of the rotary connecting piece 1-3-6 is connected with the torsion spring 1-3-8, and the other end of the rotary connecting piece is connected with the coupler 1-3-4; the angle sensor 1-3-5 is arranged on the fixed support 1-3-1, and a rotating shaft of the sensor is connected with the coupler 1-3-4. And the torsional spring cover 1-3-7 is provided with a limiting groove for limiting the initial position of the rotary connecting piece 1-3-6. The free end of the detection rod 1-3-3 is used for touching the stem of the leaf vegetable, the rotary connecting piece 1-3-6 rotates around the shaft capable of rotating the angle sensor 1-3-5, and the angle sensor 1-3-5 is used for detecting the rotation angle of the detection rod 1-3-3 relative to the angle sensor 1-3-5
And the detection rod 1-3-3 is separated from the stem part of the leaf vegetable and rebounds to the initial position under the action of the torsion spring 1-3-8.
The base plate 1-1 is provided with a base, the base is provided with a plurality of longitudinally arranged through holes I, the fixing support 1-3-1 at the bottom of the opposite row detection mechanism 1-3 is provided with a plurality of longitudinally arranged through holes II, the through holes I and the through holes II are mutually matched and connected, and different hole connections can be selected to adjust the operation height of the opposite row detection mechanism 1-3.
As shown in fig. 7 and 8, the harvester attitude detection system assembly 4 includes a gyro angle 4-2 and an angle sensor 4-1; the gyroscope rotation angle instrument 4-2 is arranged on an operation table 7 of the harvester, and the rotation angle sensor 4-1 is arranged on the inner side of the steering wheel 3; the gyro angle indicator 4-2 is used for measuring the included angle between the advancing direction of the harvester and the row direction of the leaf vegetables, namely detecting the course deflection angle of the harvester
The steering angle sensor 4-1 is used for detecting the steering angle delta of the steering wheel 30。
As shown in fig. 8, the steering actuator 5 includes a large gear 5-1, a steering wheel 5-2, a small gear 5-3, a servo motor 5-4 and a motor fixing frame 5-5; the motor fixing frame 5-5 is arranged on the operating platform 7, and the servo motor 5-4 is arranged on the motor fixing frame 5-5; the servo motor 5-4 is connected with the control system 6, an output shaft of the servo motor 5-4 is connected with the small gear 5-3, the small gear 5-3 is meshed with the large gear 5-1, and the steering wheel 5-2 is connected with the large gear 5-1; the control system 6 outputs signals to control the servo motor 5-4 to rotate, so that the large gear 5-1 drives the steering wheel 5-2 to rotate, and the steering wheel 5-4 controls the rotation angle of the steering wheel 3 to enable the steering wheel 3 to rotate to a fixed rotation angle.
As shown in the combined drawings of fig. 9 and 10, when the crop row detection assembly 1 works, the bottom plate 1-1 slides along the ground, when the leaf vegetable harvester harvesters out of rows, the detection rod 1-3-3 is in contact with the stems of the leaf vegetables, the rotating connecting piece 1-3-6 and the angle sensor 1-3-5 are driven to rotate by the thrust of the leaf vegetables, and the measured reading of the sensor is
The offset mathematical model of the front end center of the harvester relative to the leaf vegetable row is as follows:
in the formula: l is the length of a detection rod 1-3-3 of the crop row detection assembly 1;
and delta l is the offset of the front end of the harvester and the center of the leaf vegetable row.
The turning model of the harvester is as follows:
in the formula: delta is the steering angle of the steering wheel, namely the steering angle of the front wheel;
l is the wheel base of the leaf vegetable harvester;
Ldis the forward looking distance;
d is the vertical distance between the current position of the harvester and the target path.
As shown in fig. 11, a method for controlling automatic row alignment according to the ordered harvesting of leaf vegetables includes the following steps:
starting the operation of the leaf vegetable harvester, starting the control system 6, and automatically initializing the system, wherein the automatic initialization mainly comprises the steps of returning the reading of a sensor to zero and initializing parameters of each module;
the leaf vegetable harvester moves forward, the detection rod 1-3-3 of the crop row detection assembly 1 touches with the leaf vegetable stem to drive the angle sensor 1-3-5 to rotate, and the angle sensor 1-3-5 detects the rotation angle of the detection rod 1-3-3 relative to the angle sensor 1-3-5
And transmitting the offset to a control system 6, wherein the control system 6 obtains an offset delta l according to an offset model of the front end center of the harvester relative to the leaf vegetable row; the gyro angle indicator 4-2 of the harvester attitude detection assembly 4 detects the course deflection angle of the harvester, namely the included angle between the operation direction of the harvester and the leaf vegetable row
The steering angle sensor 4-1 detects the steering angle δ of the steering wheel 30And transmitted to the control system 6;
when the offset signal delta l is larger than a set threshold value, the steering angle of the steering wheel 3 during the opposite traveling is obtained according to the steering model of the harvesterδ, again according to the initial angle δ of the steering wheel 30And the steering angle delta to obtain the rotation angle of a steering wheel 5-2 of the steering actuating mechanism 5, the control system 6 outputs a signal to control a servo motor 5-4 of the steering actuating mechanism 5 to rotate so as to drive the steering wheel 5-2 to rotate, the steering wheel 5-2 adjusts the rotation angle of a steering wheel 3, and when a set value is reached, the servo motor 5-4 is controlled to stop rotating;
when the leaf vegetable harvester works, the real-time adjustment is carried out according to the offset signal transmitted in real time and the posture feedback signal of the harvester, so that the row-to-row harvesting of the leaf vegetables is realized.
Example 2
A harvester comprises the ordered harvesting automatic row alignment of the leaf vegetables in the embodiment 1, so that the harvester has the beneficial effects of the embodiment 1, and the detailed description is omitted.
It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.
The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.
Claims (10)
1. An automatic row aligning device for orderly harvesting leaf vegetables is characterized by comprising a crop row detection assembly (1), a harvester posture detection assembly (4), a steering execution mechanism (5) and a control system (6);
the crop row detection assembly (1) is arranged on a nearside divider (2) of the harvester;
the harvester attitude detection assembly (4) is arranged on an operation platform (7) of the harvester and on the inner side of the steering wheel (3);
the steering actuating mechanism (5) is arranged on the operating platform (7);
the control system (6) is respectively connected with the crop row detection assembly (1), the harvester attitude detection assembly (4), the steering execution mechanism (5) and the operating platform (7); the crop row detection assembly (1) is used for detecting the rotation angle of the detection rod of the crop row detection assembly relative to the angle sensor when the detection rod works
And transmitting the offset to a control system (6), wherein the control system (6) obtains the offset delta l of the front end center of the harvester relative to the leaf vegetable row through an offset mathematical model; the harvester attitude detection assembly (4) is used for detecting the heading deflection angle of the harvester
And the steering angle delta of the steering wheel (3) and transmitting the steering angle delta to a control system (6);
when the offset delta l of the front end center of the harvester relative to the leaf vegetable row is larger than a set threshold value, the control system (6) obtains a steering angle delta of the steering wheel (3) during row alignment according to a steering model of the harvester, and obtains the initial angle delta of the steering wheel (3)0And a steering angle delta to obtain the rotation angle of the steering actuating mechanism (5), and the control system (6) adjusts the rotation angle of the steering wheel (3) through the steering actuating mechanism (5).
2. The automatic row aligning device for orderly harvesting leaf vegetables according to claim 1, wherein the crop row detection assembly (1) comprises a bottom plate (1-1), a connecting rod (1-2) and a row aligning detection mechanism (1-3);
the rear end of the bottom plate (1-1) is connected with the harvester divider (2) through a connecting rod (1-2), and the middle part of the bottom plate (1-1) is connected with the opposite-row detection mechanism (1-3).
3. The automatic row aligning device for orderly harvesting leaf vegetables according to claim 2, wherein the row aligning detection mechanism (1-3) comprises a fixed support (1-3-1), a torsion spring base (1-3-2), a detection rod (1-3-3), a coupler (1-3-4), an angle sensor (1-3-5), a rotary connecting piece (1-3-6), a torsion spring cover plate (1-3-7) and a torsion spring (1-3-8);
the fixing support (1-3-1) is installed on the bottom plate (1-1), the torsion spring base (1-3-2) is fixed on the fixing support (1-3-1), the torsion spring (1-3-8) is installed in the torsion spring base (1-3-2), and the torsion spring cover plate (1-3-7) is installed on the torsion spring base (1-3-2);
the detection rod (1-3-3) is arranged on the rotary connecting piece (1-3-6), one end of the rotary connecting piece (1-3-6) is connected with the torsion spring (1-3-8), and the other end of the rotary connecting piece is connected with the coupler (1-3-4); the angle sensor (1-3-5) is arranged on the fixed support (1-3-1), and a rotating shaft of the sensor is connected with the coupling (1-3-4);
the torsional spring cover (1-3-7) is provided with a limiting groove for limiting the initial position of the rotary connecting piece (1-3-6);
the free end of the detection rod (1-3-3) is used for being in contact with the stem of the leaf vegetable, the rotary connecting piece (1-3-6) rotates around the shaft of the angle sensor (1-3-5), and the angle sensor (1-3-5) is used for detecting the rotation angle of the detection rod (1-3-3) relative to the angle sensor (1-3-5)
And the detection rod (1-3-3) is separated from the stem part of the leaf vegetable and rebounds to the initial position under the action of the torsion spring (1-3-8).
4. The automatic row aligning device for orderly harvesting leaf vegetables according to claim 3, wherein a base is arranged on the bottom plate (1-1), the base is provided with a plurality of longitudinally arranged first through holes, a plurality of longitudinally arranged second through holes are arranged on the fixing support (1-3-1) at the bottom of the row aligning detection mechanism (1-3), and the first through holes and the second through holes are mutually matched and connected for adjusting the working height of the row aligning detection mechanism (1-3).
5. The automatic row alignment device for orderly harvesting leaf vegetables according to claim 1, wherein the harvester posture detection assembly (4) comprises a gyro angle sensor (4-2) and an angle sensor (4-1); the gyroscope angle rotating instrument (4-2) is arranged on an operation table (7) of the harvester, and the angle rotating sensor (4-1) is arranged on the inner side of the steering wheel (3); the gyro angle indicator (4-2) is used for detecting the heading deflection angle of the harvester
The steering angle sensor (4-1) is used for detecting the steering angle delta of the steering wheel (3)0。
6. The automatic row alignment for orderly harvesting leaf vegetables according to claim 1, wherein the steering actuator (5) comprises a large gear (5-1), a steering wheel (5-2), a small gear (5-3), a servo motor (5-4) and a motor fixing frame (5-5); the motor fixing frame (5-5) is arranged on the operating platform (7), and the servo motor (5-4) is arranged on the motor fixing frame (5-5); the servo motor (5-4) is connected with the control system (6), an output shaft of the servo motor (5-4) is connected with the small gear (5-3), the small gear (5-3) is meshed with the large gear (5-1), and the steering wheel (5-2) is connected with the large gear (5-1); the control system (6) outputs signals to control the servo motor (5-4) to rotate, so that the large gear (5-1) drives the steering wheel (5-2) to rotate, and the steering wheel (5-4) controls the rotation angle of the steering wheel (3).
7. The automatic row alignment for orderly harvesting leaf vegetables according to claim 1, wherein the steering model of the harvester is as follows:
in the formula: delta is the steering angle of the steering wheel, namely the steering angle of the front wheel;
l is the wheel base of the leaf vegetable harvester;
Ldis the forward looking distance;
d is the vertical distance between the current position of the harvester and the target path.
8. The automatic row alignment for orderly harvesting leaf vegetables according to claim 1, wherein the offset mathematical model of the front end center of the harvester relative to the leaf vegetable rows is as follows:
in the formula: l is the length of a detection rod (1-3-3) of the crop row detection assembly (1);
and delta l is the offset of the front end of the harvester and the center of the leaf vegetable row.
9. A harvester comprising an automatic row-by-row arrangement for orderly harvesting of leafy vegetables according to any one of claims 1 to 8.
10. The method for controlling the automatic row alignment of the orderly harvesting of the leaf vegetables according to any one of claims 1 to 8, characterized by comprising the following steps:
the leaf vegetable harvester moves forward, a detection rod (1-3-3) of the crop row detection assembly (1) touches with a leaf vegetable stem to drive an angle sensor (1-3-5) to rotate axially, and the angle sensor (1-3-5) detects the rotation angle of the detection rod (1-3-3) relative to the angle sensor (1-3-5)
And transmitting the offset to a control system (6), wherein the control system (6) obtains an offset delta l according to an offset model of the front end center of the harvester relative to the leaf vegetable row; harvester attitude detection assemblyGyro angle sensor (4-2) in (4) detects heading deflection angle of harvester
The steering angle sensor (4-1) detects the steering angle delta of the steering wheel (3)0And transmitted to the control system (6);
when the offset signal delta l is larger than a set threshold value, the steering angle delta of the steering wheel (3) during the opposite traveling is obtained according to the steering model of the harvester, and then the initial angle delta of the steering wheel (3) is obtained0And the steering angle delta is obtained, the rotation angle of a steering wheel (5-2) of the steering actuating mechanism (5) is obtained, a control system (6) outputs a signal to control a servo motor (5-4) of the steering actuating mechanism (5) to rotate so as to drive the steering wheel (5-2) to rotate, the steering wheel (5-2) adjusts the rotation angle of a steering wheel (3), and when a set value is reached, the servo motor (5-4) is controlled to stop rotating;
when the leaf vegetable harvester works, the real-time adjustment is carried out according to the offset signal transmitted in real time and the posture feedback signal of the harvester, so that the row-to-row harvesting of the leaf vegetables is realized.
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