LU101908B1 - Front-end dividing contour-following collection and control system for a leafy vegetable harvester and a harvesting control method - Google Patents
Front-end dividing contour-following collection and control system for a leafy vegetable harvester and a harvesting control method Download PDFInfo
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- LU101908B1 LU101908B1 LU101908A LU101908A LU101908B1 LU 101908 B1 LU101908 B1 LU 101908B1 LU 101908 A LU101908 A LU 101908A LU 101908 A LU101908 A LU 101908A LU 101908 B1 LU101908 B1 LU 101908B1
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- electric cylinder
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0426—Programming the control sequence
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/26—Harvesting of standing crops of cabbage or lettuce
- A01D45/263—Harvesting of standing crops of cabbage or lettuce of lettuce
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/28—Harvesting of standing crops of spinach
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D57/00—Delivering mechanisms for harvesters or mowers
- A01D57/01—Devices for leading crops to the mowing apparatus
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D63/00—Outside dividers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45003—Harvester
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Harvesting Machines For Root Crops (AREA)
- Agricultural Machines (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention provides a front-end dividing contour-following collection and control system for a leafy vegetable harvester. The front-end dividing contour-following collection and control system for the leafy vegetable harvester includes a mounting frame, a dividing contour-following device, a contour-following wheel and a header electric cylinder. The dividing contour-following device is connected to the mounting frame and can fluctuate up and down. The contour-following wheel is located behind the dividing contour-following device and connected to the mounting frame, and can fluctuate up and down. The mounting frame is rotatably connected to a first angle sensor for measuring the fluctuating amplitude of the contour-following wheel and a second angle sensor for measuring the fluctuating amplitude of the dividing contour-following device. The first angle sensor, the second angle sensor and the header electric cylinder are electrically connected to a controller.
Description
TECHNICAL FIELD The present invention belongs to the field of agricultural machinery, and more particularly, relates to a front-end dividing contour-following collection and control system for a leafy vegetable harvester and a harvesting control method. This system is suitable for use in harvesting operations of intensively cultivated leafy vegetables.
BACKGROUND The vegetable industry is a pillar industry of China's agricultural economy and also a leading industry for increasing farmers’ income, thus relating to the "pocketbook" of farmers | and the "vegetable basket" of urban residents. Leafy vegetables are the important components | of the vegetable industry and account for approximately 40% of vegetable production. Leafy | vegetables typically pakchoi cabbage, spinach, romaine lettuce, and the like, has strong growth | adaptability and large market demand, and is most suitable for large-scale cultivation among | these leafy vegetables. However, since the working quality of related equipment cannot reach | a satisfactory level and the key equipment is not developed yet, the current overall level of leafy | vegetable mechanized production in China is less than 20%. Vegetable production is gradually | developed towards scale production, intensification and standardization, which has made the | low mechanization and intelligent level in the production of leafy vegetables a protruding issue. ; At present, the key equipment for harvesting leafy vegetables has a low degree of automation, / especially when harvesting the pakchoi cabbage, spinach, romaine lettuce and the like, the | distance from the header to the ground is required to be around 1 cm. It is, therefore, necessary | to reduce the cutting position to ensure the quality of the harvested products, but also to prevent | the cutter from being positioned beneath the soil and bringing the soil to facilitate subsequent | sorting processing. Traditional mechanical rigid limit devices are prone to sink into the loose | soil in the vegetable field, and thus cannot reach a satisfactory outcome. Moreover, the line-of- | sight is blocked by the vegetable leaves, which is typically solved by manually controlling the : header height. This results in a low response speed, high control difficulty, and low efficiency | and quality of the harvesting operation. Therefore, it is highly desirable to carry out research on | a front-end dividing contour-following control system capable of accurately detecting the | terrain in front of the harvester and pre-controlling the movement of the header under the |
| 2/12 | premise of preventing vegetable leaves from damage in order to improve the accuracy of U101908 | contour-following control and the operation efficiency.
| SUMMARY | In order to solve the above-mentioned technical problems, the present invention provides | a front-end dividing contour-following collection and control system for a leafy vegetable | harvester and a harvesting control method.
| In order to achieve the above-mentioned objective, the present invention is achieved by j the following technical solutions: | A front-end dividing contour-following collection and control system for a leafy vegetable | harvester includes a mounting frame, a dividing contour-following device, a contour-following | wheel and a header electric cylinder. The dividing contour-following device is connected to the | mounting frame and can fluctuate up and down. The contour-following wheel is located behind | the dividing contour-following device and connected to the mounting frame, and can fluctuate | up and down. The mounting frame is rotatably connected to a first angle sensor for measuring | the fluctuating amplitude of the contour-following wheel and a second angle sensor for | measuring the fluctuating amplitude of the dividing contour-following device. The first angle | sensor, the second angle sensor and the header electric cylinder are electrically connected to a | controller.
| In a preferred embodiment of the front-end dividing contour-following collection and | control system for the leafy vegetable harvester, the upper part of the dividing contour- | following device is connected to the mounting frame by a connecting arm. The lower part of | the dividing contour-following device is connected to one end of a support arm. The middle | end of the support arm is connected to the mounting frame, and the other end of the support ( arm is connected to one end of a dividing contour-following device connecting rod. The other | end of the dividing contour-following device connecting rod is connected to a lower rocker arm. | The lower rocker arm and the second angle sensor are connected to the mounting frame via a | first rotating shaft. À divider adjusting spring is provided on the dividing contour-following | device connecting rod.
| In a preferred embodiment of the front-end dividing contour-following collection and | control system for the leafy vegetable harvester, the support arm has a U-shaped cross section. | In a preferred embodiment of the front-end dividing contour-following collection and
| control system for the leafy vegetable harvester, the contour-following wheel is connected ta U101908 | one end of a contour-following wheel connecting rod, and the other end of the contour- | following wheel connecting rod is rotatably connected to one end of an upper rocker arm. The , other end ofthe upper rocker arm and the first angle sensor are connected to the mounting frame , via a second rotating shaft. À contour-following wheel adjusting spring is provided on the | contour-following wheel connecting rod.
| In a preferred embodiment of the front-end dividing contour-following collection and | control system for the leafy vegetable harvester, the front end of the dividing contour-following | device has an acute angle shape, and the bottom of the dividing contour-following device has | an arc surface.
| A harvesting control method using the front-end dividing contour-following collection and | control system for the leafy vegetable harvester includes the following steps: | (1) setting a distance from a cutter to the ground in advance via the controller by the driver, | wherein the dividing contour-following device moves up and down, and the second angle sensor | 7 generates a time-varying voltage signal according to different swing amplitudes, and transmits | the time-varying voltage signal to the controller to detect a terrain change of the fixed position | of the front end of the cutter; | (2) when the harvester is moving forward, the contour-following wheel moves up and | down due to the undulations of the ground, and the first angle sensor generates a time-varying voltage signal according to different swing amplitudes and transmits the time-varying voltage | signal to the controller; | (3) calculating, by the following formulas, a height difference Ah from the cutter to the | ground and a corresponding pre-action distance Ar of the electric cylinder via the controller | according to the obtained two signals: | nA nz a | Ah=1L {cost —cos[ë+ re — arccos(“ 1} | lab, Zak | ; where | L---a distance from a rotating connection point of the header to the cutter;
| 4/12 | ©---an included angle between a side of the rotating connection point of the headetU101908 | perpendicular to the ground and the L side; | a---a distance from the rotating connection point of the header to the connection point | between the header and the header electric cylinder; | b---a distance from the rotating connection point of the header to the rotating connection | point of the header electric cylinder; | cl---an initial distance from the connection point between the header and the header | electric cylinder to the rotating connection point of the header electric cylinder; | c2---a distance from the connection point between the header and the header electric | cylinder to the rotating connection point of the header electric cylinder after the pre-action; | according to the travel speed v obtained from the harvester, calculating the time ¥ | required for the cutter to move to the dividing contour-following device, (where, d---a mounting | distance from the dividing contour-following device to the cutter); and | (4) controlling the speed and distance of the header electric cylinder (13) via the controller | according to the prediction, calculation and real-time verification of the signal from the first | angle sensor and the feedback signal from the header electric cylinder, to ensure that when the | cutter advances to the current detection position of the dividing contour-following device, the | distance from the cutter to the ground is maintained within the setting range.
| The advantages of the present invention are as follows.
| The controller controls the speed and distance of the header electric cylinder through the | real-time verification of feedback signals from the first angle sensor, second angle sensor and | header electric cylinder, to ensure that when the cutter advances to the current detection position | of the dividing contour-following device, the distance from the cutter to the ground is | maintained within the setting range. The dividing contour-following device and the contour- | following wheel are independent of the header, and thus are not affected by the action of the | header without affecting the detection accuracy. The terrain in front of the harvester is precisely | detected under the premise of preventing the vegetable leaves from damage, and the movement | of the header is controlled in advance to improve the accuracy of contour-following control and the working efficiency.
ee
| BRIEF DESCRIPTION OF THE DRAWINGS iota | The drawings are used to provide a further understanding and illustration of the present | invention with reference to the embodiments of the present invention, and constitute a part of the specification and cannot be construed as a limitation to the present invention.
| FIG. 1 is a schematic front view of a preferred embodiment of the present invention.
; FIG. 2 is a schematic top view of a preferred embodiment of the present invention.
| FIG. 3 is a schematic front view of the mounting frame according to an embodiment of the | present invention.
| FIG. 4 is a schematic side view of the mounting frame according to an embodiment of the | present invention.
| In the figures: | 1-dividing contour-following device, 2-contour-following wheel, 3-connecting arm, 4- | contour-following wheel connecting rod, 5-upper rocker arm, 6-first angle sensor, 7-second | angle sensor, 8-lower rocker arm, 9-mounting frame, 10-dividing contour-following device ‘ connecting rod, 11-support arm, 12-controller, 13-header electric cylinder, 14-divider adjusting A spring, 15-second shaft, 16-first shaft, 17-shaft body, 18-contour-following wheel adjusting | The preferred embodiments of the present invention will be illustrated hereinafter with | reference to the drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention rather than to limit the present | invention.
| A front-end dividing contour-following collection and control system for a leafy vegetable | harvester includes the mounting frame 9, the dividing contour-following device 1, the contour- | following wheel 2 and the header electric cylinder 13. The dividing contour-following device 1 i is connected to the mounting frame 9 and can fluctuate up and down. The contour-following | wheel 2 is located behind the dividing contour-following device 1 and connected to the | mounting frame 9, and can fluctuate up and down. The mounting frame 9 is rotatably connected | to the first angle sensor 6 for measuring the fluctuating amplitude of the contour-following | wheel 2 and the second angle sensor 7 for measuring the fluctuating amplitude of the dividing
| contour-following device 1. The first angle sensor 6, the second angle sensor 7 and the headaru101908 | electric cylinder 13 are electrically connected to the controller 12.
| The upper part of the dividing contour-following device 1 is connected to one end of the | connecting arm 3. The other end of the connecting arm 3 is rotatably connected to the mounting | frame 9 via the shaft body 17. The lower part of the dividing contour-following device 1 is | connected to one end of the support arm 11. The middle end of the support arm 11 is connected | to the mounting frame 9, and the other end of the support arm 11 is connected to one end of the | dividing contour-following device connecting rod 10. The other end of the dividing contour- | following device connecting rod 10 is connected to the lower rocker arm 8. The lower rocker | arm 8 and the second angle sensor 7 are connected to the mounting frame 9 via the first rotating | shaft 16. The divider adjusting spring 14 is provided on the dividing contour-following device | connecting rod 10. The support arm 11 has a U-shaped cross section.
| The contour-following wheel 2 is connected to one end of the contour-following wheel ] connecting rod 4, and the other end of the contour-following wheel connecting rod 4 is rotatably | connected to one end of the upper rocker arm 5. The other end of the upper rocker arm 5 and | the first angle sensor 6 are connected to the mounting frame 9 via the second rotating shaft 15. | The contour-following wheel adjusting spring 18 is provided on the contour-following wheel | connecting rod 4.
| The front end of the dividing contour-following device 1 has an acute angle shape to | facilitate separating the overlapped vegetable leaves. The bottom of the dividing contour- | following device 1 has an arc surface that can smoothly contact the ground.
| À harvesting control method using the front-end dividing contour-following collection and | control system for the leafy vegetable harvester includes the following steps.
| (1) A distance from a cutter to the ground is set in advance via the controller by the driver, | wherein the dividing contour-following device moves up and down, and the second angle sensor | 7 generates a time-varying voltage signal according to different swing amplitudes, and transmits | the time-varying voltage signal to the controller to detect a terrain change of the fixed position | of the front end of the cutter.
| (2) When the harvester is moving forward, the contour-following wheel 2 moves up and | down due to the undulations of the ground, and the first angle sensor 6 generates a time-varying | voltage signal according to different swing amplitudes and transmits the time-varying voltage
| signal to the controller. LU101908 | (3) A height difference AN from the cutter to the ground and a corresponding pre-action | distance Ac of the electric cylinder are calculated by the following formulas via the controller | according to the obtained two signals: | a AR EZ a gl ; AR=L {cost —cos[à arscos{ =>} — arceos(———— } | [ + ink ( Zub 3 ] | 2 = cl + Ac | ; where | L---a distance from a rotating connection point of the header to the cutter; | ©---an included angle between a side of the rotating connection point of the header | perpendicular to the ground and the L side; | a---a distance from the rotating connection point of the header to the connection point | between the header and the header electric cylinder; | b---a distance from the rotating connection point of the header to the rotating connection | point of the header electric cylinder; | cl---an initial distance from the connection point between the header and the header | electric cylinder to the rotating connection point of the header electric cylinder; | c2---a distance from the connection point between the header and the header electric | cylinder to the rotating connection point of the header electric cylinder after the pre-action; and | according to the travel speed v obtained from the harvester, the time 5 required | for the cutter to move to the dividing contour-following device is calculated, (where, d---a | mounting distance from the dividing contour-following device to the cutter).
| (4) The speed and distance of the header electric cylinder (13) are controlled via the | controller according to the prediction, calculation and real-time verification of the signal from | the first angle sensor and the feedback signal from the header electric cylinder (13), to ensure | that when the cutter advances to the current detection position of the dividing contour-following | device, the distance from the cutter to the ground is maintained within the setting range.
| 8/12
| It should be noted that the above description is only the preferred embodiment of the U101908 | present invention and is not intended to limit the present invention.
Although the present
| invention has been described in detail with reference to the foregoing embodiment, those skilled
| in the art can still make several modifications to the technical solutions described in the
| foregoing embodiment, or make equivalent replacements to some of the technical features.
Any
| modifications, equivalent replacements, improvements and the like made within the spirit and
| principle of the present invention shall fall within the scope of protection of the present
| invention.
Claims (6)
- | 9/12 | CLAIMS LU101908 | WHAT IS CLAIMED IS: | 1. A front-end dividing contour-following collection and control system for a leafy | vegetable harvester, comprising: a mounting frame (9), a dividing contour-following device (1), | a contour-following wheel (2) and a header electric cylinder (13); characterized in that, the | dividing contour-following device (1) is connected to the mounting frame (9) and can fluctuate | up and down; the contour-following wheel (2) is located behind the dividing contour-following device (1) and connected to the mounting frame (9), and can fluctuate up and down; the | mounting frame (9) is rotatably connected to a first angle sensor (6) for measuring the | fluctuating amplitude of the contour-following wheel (2) and a second angle sensor (7) for | measuring the fluctuating amplitude of the dividing contour-following device (1); the first angle | sensor (6), the second angle sensor (7) and the header electric cylinder (13) are electrically | connected to a controller (12). | 2. The front-end dividing contour-following collection and control system for the leafy | vegetable harvester according to claim 1, characterized in that, the upper part of the dividing | contour-following device (1) is connected to the mounting frame (9) by a connecting arm (3); the lower part of the dividing contour-following device (1) is connected to one end of a support arm (11); the middle end of the support arm (11) is connected to the mounting frame (9), and the other end of the support arm (11) is connected to one end of a dividing contour-following device connecting rod (10); the other end of the dividing contour-following device connecting rod (10) is connected to a lower rocker arm (8); the lower rocker arm (8) and the second angle sensor (7) are connected to the mounting frame (9) via a first rotating shaft; a divider adjusting spring (14) is provided on the dividing contour-following device connecting rod (10).3. The front-end dividing contour-following collection and control system for the leafy vegetable harvester according to claim 1, characterized in that, the support arm (11) has a U- shaped cross section.4. The front-end dividing contour-following collection and control system for the leafy vegetable harvester according to claim 1, characterized in that,| 10/12 | the contour-following wheel (2) is connected to one end of a contour-following wheelLU101908 | connecting rod (4), and the other end of the contour-following wheel connecting rod (4) is | rotatably connected to one end of an upper rocker arm (5); the other end of the upper rocker | arm (5) and the first angle sensor (6) are connected to the mounting frame (9) via a second | rotating shaft; a contour-following wheel adjusting spring (18) is provided on the contour- | following wheel connecting rod (4). | 5. The front-end dividing contour-following collection and control system for the leafy | vegetable harvester according to claim 1, characterized in that, the front end of the dividing | contour-following device (1) has an acute angle shape, and the bottom of the dividing contour- | following device (1) has an arc surface. | 6. A harvesting control method using the front-end dividing contour-following collection | and control system for the leafy vegetable harvester according to any one of claims 1-5, | comprising the following steps: | (1) setting a distance from a cutter to the ground in advance via the controller by the driver, | wherein the dividing contour-following device moves up and down, and the second angle sensor | (7) generates a time-varying voltage signal according to different swing amplitudes, and | transmits the time-varying voltage signal to the controller to detect a terrain change of the fixed position of the front end of the cutter;(2) when the harvester is moving forward, the contour-following wheel (2) moves up and down due to the undulations of the ground, and the first angle sensor (6) generates a time- varying voltage signal according to different swing amplitudes and transmits the time-varying voltage signal to the controller;(3) calculating, by the following formulas, a height difference AH from the cutter to the ground and a corresponding pre-action distance Ac of the electric cylinder via the controller according to the obtained two signals:et nl Ah = L {cost —cos|[f + arzcos =) — arceos(“ 2 2297]| 11/12 | LU101 | c3 = cel + Ac 101908 | ; where | L---a distance from a rotating connection point of the header to the cutter; | ©---an included angle between a side of the rotating connection point of the header | perpendicular to the ground and the L side; | a---a distance from the rotating connection point of the header to the connection point | between the header and the header electric cylinder; | b---a distance from the rotating connection point of the header to the rotating connection | point of the header electric cylinder; | cl---an initial distance from the connection point between the header and the header electric cylinder to the rotating connection point of the header electric cylinder; c2---a distance from the connection point between the header and the header electric | cylinder to the rotating connection point of the header electric cylinder after the pre-action; += di according to the travel speed v obtained from the harvester, calculating the time v required for the cutter to move to the dividing contour-following device, (where, d---a mounting distance from the dividing contour-following device to the cutter); and (4) controlling the speed and distance of the header electric cylinder (13) via the controller according to the prediction, calculation and real-time verification of the signal from the first angle sensor and the feedback signal from the header electric cylinder (13), to ensure that when the cutter advances to the current detection position of the dividing contour-following device, the distance from the cutter to the ground is maintained within the setting range.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910322313.1A CN110036759B (en) | 2019-04-22 | 2019-04-22 | Front-mounted seedling dividing profiling acquisition control system and harvesting control method for leaf vegetable harvester |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| LU101908B1 true LU101908B1 (en) | 2021-01-11 |
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| LU101908A LU101908B1 (en) | 2019-04-22 | 2020-04-03 | Front-end dividing contour-following collection and control system for a leafy vegetable harvester and a harvesting control method |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN110036759B (en) |
| LU (1) | LU101908B1 (en) |
| WO (1) | WO2020216036A1 (en) |
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|---|---|---|---|---|
| CN110839400B (en) * | 2019-11-25 | 2024-06-07 | 江苏大学 | Header transverse and longitudinal profiling executing device and harvester with same |
| CN112243682B (en) * | 2020-09-23 | 2021-11-23 | 江苏大学 | Header profiling device, control system and method thereof and harvester |
| CN112136491A (en) * | 2020-11-04 | 2020-12-29 | 河北农业大学 | Low stubble pushes away formula sweetleaf chrysanthemum cutter-rower and constructs |
| CN113678634B (en) * | 2021-08-05 | 2022-07-01 | 星光正工（江苏）采棉机有限公司 | Controllable copying device of angle for cotton picker |
| CN116326340B (en) * | 2023-03-07 | 2023-12-12 | 湖北工业大学 | Cutter head height detection device of sugarcane harvester |
| CN117280938B (en) * | 2023-10-07 | 2024-04-30 | 无锡悦田农业机械科技有限公司 | Ridge surface height sensing device of harvester and harvesting height adjusting method |
| CN117716880B (en) * | 2024-02-07 | 2024-04-19 | 襄垣县仁达机电设备有限公司 | Automatic copying device for corn harvester header |
| CN117918068A (en) * | 2024-02-27 | 2024-04-26 | 华南农业大学 | Profiling supporting type paddy field precise land leveling machine and land leveling method |
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| JP2000279016A (en) * | 1999-03-31 | 2000-10-10 | Seirei Ind Co Ltd | Apparatus for supporting rolling of vegetable harvester |
| JP2001251927A (en) * | 2000-03-14 | 2001-09-18 | Suzutec Co Ltd | Apparatus for harvesting leaf vegetable such as leek |
| US20170112061A1 (en) * | 2015-10-27 | 2017-04-27 | Cnh Industrial America Llc | Graphical yield monitor static (previous) data display on in-cab display |
| US9980431B2 (en) * | 2016-09-12 | 2018-05-29 | Cnh Industrial America Llc | Header height control system with multiple height sensors |
| CN106612931A (en) * | 2016-11-30 | 2017-05-10 | 山东省农业机械科学研究院 | High copying system and method for harvesting table of maize harvesting machine |
| CN107172967A (en) * | 2017-06-05 | 2017-09-19 | 中联重机股份有限公司 | A kind of cane harvesting machine and its monitoring system |
| CN107278478A (en) * | 2017-06-30 | 2017-10-24 | 山东省农业机械科学研究院 | Picker for tuber crops digs deep regulation device |
| CN207040239U (en) * | 2017-08-01 | 2018-02-27 | 上海市农业机械研究所 | The ground feeler mechanism of vegetable harvester |
| CN107295855B (en) * | 2017-08-01 | 2022-09-16 | 上海市农业机械研究所 | Ground profiling mechanism of vegetable harvester |
| CN207040233U (en) * | 2017-08-09 | 2018-02-27 | 中国科学院沈阳自动化研究所 | Ceding of Taiwan height sensor |
| CN107787664A (en) * | 2017-12-08 | 2018-03-13 | 山东五征集团有限公司 | Harvester for peanut ground-contour-following device |
| CN208095194U (en) * | 2018-04-23 | 2018-11-16 | 中国科学院沈阳自动化研究所 | Beet harvester ceding of Taiwan height copying device |
| CN210016985U (en) * | 2019-04-22 | 2020-02-07 | 山东省农业机械科学研究院 | Front-mounted seedling dividing profiling acquisition control system of leaf vegetable harvester |
-
2019
- 2019-04-22 CN CN201910322313.1A patent/CN110036759B/en active Active
-
2020
- 2020-04-03 LU LU101908A patent/LU101908B1/en active IP Right Grant
- 2020-04-03 WO PCT/CN2020/083095 patent/WO2020216036A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN110036759B (en) | 2023-05-16 |
| CN110036759A (en) | 2019-07-23 |
| WO2020216036A1 (en) | 2020-10-29 |
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| Date | Code | Title | Description |
|---|---|---|---|
| FG | Patent granted |
Effective date: 20210111 |