WO2020216036A1 - 叶类蔬菜收获机前置式分禾仿形采集控制系统及收获控制方法 - Google Patents

叶类蔬菜收获机前置式分禾仿形采集控制系统及收获控制方法 Download PDF

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WO2020216036A1
WO2020216036A1 PCT/CN2020/083095 CN2020083095W WO2020216036A1 WO 2020216036 A1 WO2020216036 A1 WO 2020216036A1 CN 2020083095 W CN2020083095 W CN 2020083095W WO 2020216036 A1 WO2020216036 A1 WO 2020216036A1
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profiling
header
electric cylinder
distance
connection point
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PCT/CN2020/083095
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English (en)
French (fr)
Inventor
李青龙
孙永佳
孙宜田
褚幼晖
毕金英
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山东省农业机械科学研究院
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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

Definitions

  • the invention relates to a leafy vegetable harvester front type crop division profiling collection control system and a harvest control method.
  • the device is suitable for planting intensive leafy vegetable harvesting operations and belongs to the field of agricultural machinery.
  • the vegetable industry is a pillar industry of my country's agricultural economy and a leading industry in increasing farmers' income. It is related to farmers' "pockets” and urban residents' “vegetable baskets”.
  • leafy vegetables account for about 40% of vegetable production.
  • Leafy vegetables represented by small rapeseed, spinach, lettuce, etc. have strong growth adaptability and large market demand. Among leafy vegetables, they are most suitable for large-scale and large-scale planting. However, due to the unsatisfactory operating quality of related equipment and the lack of key equipment, the current overall level of domestic leafy vegetable mechanized production is less than 20%.
  • the key equipment for leafy vegetable harvesting has a low degree of automation, especially when harvesting small rapeseed, spinach, lettuce and other vegetables, the distance between the cutting table and the ground is required to be about 1cm. It is necessary to reduce the cutting position to ensure the appearance of the harvest and prevent The cutting knife is too low to bring into the soil to increase the difficulty of later sorting. Due to the soft soil of the vegetable field, the traditional mechanical hard limit device is prone to sinking and the effect is not ideal.
  • the technical problem to be solved by the present invention is to provide a leafy vegetable harvester with a front-type crop division profiling collection control system and a harvest control method.
  • a leafy vegetable harvester front-type cropping profiling collection control system includes a mounting frame, a cropping profiling device, a profiling wheel and a cutting table electric cylinder.
  • the cropping profiling device is connected to the mounting frame and can move up and down. Floating; the profiling wheel is located at the rear of the slicing wheel and connected to the mounting frame, and can float up and down; the mounting frame is also rotatably connected with the first angle sensor for measuring the floating amplitude of the profiling wheel and for measuring the slicing profile
  • the second angle sensor of the floating amplitude of the controller; the first angle sensor, the second angle sensor and the header electric cylinder are all electrically connected to the controller.
  • the upper part of the cropping profiling device is connected to the mounting frame through a connecting arm
  • the lower part of the cropping profiling device is connected to one end of the supporting arm
  • the middle end of the supporting arm Connected to the mounting frame
  • the other end of the support arm is connected to one end of the connecting rod of the grain divider
  • the other end of the connecting rod of the grain divider is connected to the lower rocker arm
  • the lower rocker arm and the second angle sensor are connected to the mounting frame via the first rotating shaft.
  • the connecting rod of the grain profiler is provided with a grain divider adjusting spring.
  • the cross section of the support arm is U-shaped.
  • the profiling wheel is connected to one end of the profiling wheel connecting rod, the other end of the profiling wheel connecting rod is rotatably connected to one end of the upper rocker arm, and the other end of the upper rocker arm
  • the mounting frame is connected with the first angle sensor via the second rotating shaft, and the contour wheel connecting rod is provided with a contour wheel adjusting spring.
  • the front end of the crop profiling device is in an acute-angle shape, and the bottom is an arc surface.
  • a harvesting control method using the leafy vegetable harvester front-type crop division profiling collection control system including the following steps
  • the driver Before the operation, the driver can set the distance between the cutting knife and the ground through the controller, and the grain divider moves up and down, and the second angle sensor 7 generates a time-varying voltage signal according to different swing amplitudes and transmits it to the control Detector to detect the topographical change at the fixed position of the front end of the cutter;
  • the profiling wheel moves up and down under the influence of the undulation of the ground.
  • the profiling wheel moves, and the first angle sensor generates a time-varying voltage signal according to different swing amplitudes and transmits it to the controller;
  • the controller calculates the height difference ⁇ h of the ground between a fixed distance and the corresponding electric cylinder pre-action distance ⁇ c through the acquired two signals, the formula is as follows:
  • the controller controls the movement speed and distance of the header electric cylinder (13) to ensure that the cutter position advances to the current divider profiler When detecting the position, the distance from the ground is always within the set range value.
  • the controller controls the speed and distance of the electric cylinder of the header, which can ensure that when the cutting knife moves to the current position of the cutter
  • the height between it and the ground is always within the set range; the grain divider and the profile wheel are independent of the cutting table, so they are not affected by the cutting table action and lead to inaccurate detection; exclude vegetable leaves to prevent vegetable damage
  • Figure 1 is a schematic front view of a selected embodiment of the invention.
  • Figure 2 is a schematic top view of a selected embodiment of the invention.
  • Figure 3 is a schematic front view of the mounting frame of the selected embodiment of the present invention.
  • Fig. 4 is a schematic side view of the mounting frame of the selected embodiment of the present invention.
  • 1-grain profiling device 2- profiling wheel, 3- connecting arm, 4- profiling wheel connecting rod, 5- upper rocker arm, 6-first angle sensor, 7-second angle sensor, 8-down Rocker arm, 9-mounting frame, 10-grain profiler connecting rod, 11-support arm, 12-controller, 13-header electric cylinder, 14-grain divider adjustment spring, 15-second shaft, 16- The first rotating shaft, 17-shaft body, 18-profiling wheel adjustment spring.
  • a front-type cropping profiling collection control system for leafy vegetable harvesters including a mounting frame 9, a cropping profiling device 1, a profiling wheel 2, and a header electric cylinder 13, a cropping profiling device 1 and a mounting frame 9 It is connected and can float up and down; the profiling wheel 2 is located behind the grain divider 1 and is connected to the mounting frame 9, and can float up and down; the mounting frame 9 is also rotatably connected to the first for measuring the floating amplitude of the profiling wheel 2
  • An angle sensor 6 and a second angle sensor 7 for measuring the floating amplitude of the slicing profiler 1; the first angle sensor 6, the second angle sensor 7 and the header electric cylinder 13 are all electrically connected to the controller 12.
  • the upper part of the grain divider 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 through the shaft body 17, the lower part of the grain divider 1 is connected to one end of the support arm 11, and the middle end of the support arm 11 is connected to the installation
  • the frame 9 is connected, the other end of the support arm 11 is connected to one end of the grain divider connecting rod 10, and the other end of the grain divider connecting rod 10 is connected to the lower rocker arm 8.
  • the lower rocker arm 8 and the second angle sensor 7 pass through the first rotating shaft 16 is connected to the mounting frame 9, and the crop divider connecting rod 10 is provided with a crop divider adjusting spring 14.
  • the cross section of the support arm 11 is U-shaped.
  • the profile wheel 2 is connected to one end of the profile wheel connecting rod 4, the other end of the profile wheel connecting rod 4 is rotatably connected to one end of the upper rocker arm 5, and the other end of the upper rocker arm 5 is connected to the first angle sensor 6 via the second shaft 15 to the mounting frame 9 ,
  • the contour wheel connecting rod 4 is provided with a contour wheel adjustment spring 18.
  • the front end of the grain divider 1 has an acute angle shape to facilitate the separation of the staggered and shaded vegetable leaves, and the bottom is an arc surface that can smoothly contact the ground.
  • a harvesting control method using a leafy vegetable harvester front-mounted grazing profiling collection control system includes the following steps:
  • the driver Before the operation, the driver can set the distance between the cutting knife and the ground through the controller, and the grain divider moves up and down, and the second angle sensor 7 generates a time-varying voltage signal according to different swing amplitudes and transmits it to the control Detector to detect the topographical change at the fixed position of the front end of the cutter;
  • the controller calculates the height difference ⁇ h of the ground between a fixed distance and the corresponding electric cylinder pre-action distance ⁇ c through the acquired two signals, the formula is as follows:
  • the controller controls the speed and distance of the cutting table electric cylinder (13) to ensure that the cutter position advances to the current division.
  • the distance from the ground is always within the set range value.

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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)
  • Guiding Agricultural Machines (AREA)
  • Agricultural Machines (AREA)

Abstract

一种叶类蔬菜收获机前置式分禾仿形采集控制系统，包括安装架（9）、分禾仿形器（1）、仿形轮（2）和割台电缸（13），分禾仿形器（1）与安装架（9）连接，且能够沿上下浮动；仿形轮（2）位于分禾仿形器（1）后方并与安装架（9）连接，且能够沿上下浮动；安装架（9）还转动连接用于测量仿形轮浮动幅度的第一角度传感器（6）和用于测量分禾仿形器浮动幅度的第二角度传感器（7）；第一角度传感器（6）、第二角度传感器（7）及割台电缸（13）均与控制器（12）电连接。还公开了该系统的收获控制方法。

Description

叶类蔬菜收获机前置式分禾仿形采集控制系统及收获控制方法 技术领域
本发明涉及一种叶类蔬菜收获机前置式分禾仿形采集控制系统及收获控制方法，该装置适合种植密集的叶类蔬菜收获作业使用，属于农业机械领域。
背景技术
蔬菜产业是我国农业经济支柱产业，也是农民增收的主导产业，关乎农民“钱袋子”和城镇居民“菜篮子”，叶类蔬菜作为蔬菜产业的重要组成约占蔬菜生产的40％。以小油菜、菠菜、油麦菜等为代表的叶菜生长适应性强、市场需求量大，在叶类蔬菜中最适合大范围、规模化种植。然而，因相关装备作业质量不理想、关键装备缺失影响，当前国内叶类蔬菜机械化生产整体水平不足20％。随着蔬菜生产逐渐向规模化、集约化、标准化发展，叶类蔬菜生产机械化和智能水平低的问题凸显出来。目前，叶类蔬菜收获关键装备自动化作业程度低，尤其在收获小油菜、菠菜、油麦菜等蔬菜时对割台贴地距离要求在1cm左右，既要降低切割位置保证收获品相，又要防止割刀过低带入泥土增加后期分拣处理难度。由于蔬菜地土壤松软传统机械式硬性限位装置易出现下陷效果不理想。而菜叶遮挡视线依靠人工操控割台高度则反应速度慢、控制难度大，收获作业的效率和质量较低。因此，研究前置式分禾仿形采集控制系统，排除菜叶防止伤菜的前提下精确检测收获机前方地形，预控制割台动作，对提高仿形控制精度和作业效率有十分重要的意义。
发明内容
本发明要解决的技术问题是提供了一种叶类蔬菜收获机前置式分禾仿形采集控制系统及收获控制方法。
本发明为实现上述目的，通过以下技术方案实现：
一种叶类蔬菜收获机前置式分禾仿形采集控制系统，包括安装架、分禾仿形器、仿形轮和割台电缸，分禾仿形器与安装架连接，且能够沿上下浮动；仿形轮位于分禾仿形器后方并与安装架连接，且能够沿上下浮动；安装架还转动连接用于测量仿形轮浮动幅度的第一角度传感器和用于测量分禾仿形器浮动幅度的第二角度传感器；第一角度传感器、第二角度传感器及割台电缸均与控制器电连接。
所述叶类蔬菜收获机前置式分禾仿形采集控制系统优选方案，分禾仿形器上部通过连接臂与安装架连接，分禾仿形器下部与支撑臂一端连接，支撑臂中端与安装架连接，支撑臂另一端连接分禾仿形器连接杆一端，分禾仿形器连接杆另一端连接下摇臂，下摇臂与第二角度传感器经第一转轴连接安装架，分禾仿形器连接杆上设有分禾器调节弹簧。
所述叶类蔬菜收获机前置式分禾仿形采集控制系统优选方案，支撑臂截面为U形。
所述叶类蔬菜收获机前置式分禾仿形采集控制系统优选方案，仿形轮连接仿形轮连接杆一端，仿形轮连接杆另一端转动连接上摇臂一端，上摇臂另一端与第一角度传感器经第二转轴连接安装架，仿形轮连接杆上设有仿形轮调整弹簧。
所述叶类蔬菜收获机前置式分禾仿形采集控制系统优选方案，分禾仿形器前端为锐角形状，底部为圆弧面。
一种利用所述叶类蔬菜收获机前置式分禾仿形采集控制系统的收获控制方 法，包括以下步骤
(1)作业前驾驶员可通过控制器设置好割刀距地面的距离，分禾仿形器上下移动，根据不同摆动幅度第二角度传感器7产生时变的电压信号，并将其传输给控制器，检测出割刀前端固定位置的地形变化；
(2)收获机前进时仿形轮受地面起伏影响上下移动，仿形轮移动，根据不同摆动幅度第一角度传感器产生时变的电压信号，并将其传输给控制器；
(3)控制器通过获取的两路信号，计算出固定距离间地面的高度差Δh和对应电缸预动作距离Δc，公式如下：
Figure PCTCN2020083095-appb-000001
c2＝c1+Δc；
L-割台旋转连接点至割刀的距离；
θ-割台旋转连接点垂直地面边与L边的夹角
a-割台旋转连接点至割台与割台电缸连接点的距离
b-割台旋转连接点至割台电缸旋转连接点的距离
c1-割台与割台电缸连接点至割台电缸旋转连接点的初始距离
c2-割台与割台电缸连接点至割台电缸旋转连接点的预动作后距离
并依据从收获机处获取的行进速度v，推算出割刀移动到分禾仿形器位置所需时间
Figure PCTCN2020083095-appb-000002
(d-分禾仿形器至割刀的安装距离)；
(4)通过预测计算、第一角度传感器信号和割台电缸反馈信号的实时校验，控制器控制割台电缸(13)动作的速度和距离，保证割刀部位前进到当前分禾仿形器检测位置时，其与地面的距离始终在设定范围值内。
本发明的优点在于：
通过第一角度传感器、第二角度传感器和割台电缸反馈信号的实时校验，控制器控制割台电缸动作的速度和距离，可保证割刀部位前进到当前分禾仿形器检测位置时，其与地面的高度始终在设定范围值内；分禾仿形器和仿形轮相对于割台是独立的，因此不受割台动作影响而导致检测不准确；排除菜叶防止伤菜的前提下精确检测收获机前方地形，预控制割台动作，提高仿形控制精度和作业效率。
附图说明
附图用来提供对本发明的进一步理解，并且构成说明书的一部分，与本发明的实施例一起用于解释本发明，并不构成对本发明的限制。
图1为本发明选定实施例的主视示意图。
图2为本发明选定实施例的俯视示意图。
图3为本发明选定实施例安装架的主视示意图。
图4为本发明选定实施例安装架的侧视示意图。
如图所示：
1-分禾仿形器，2-仿形轮，3-连接臂，4-仿形轮连接杆，5-上摇臂，6-第一角度传感器，7-第二角度传感器，8-下摇臂，9-安装架，10-分禾仿形器连接杆，11-支撑臂，12-控制器，13-割台电缸，14-分禾器调节弹簧，15-第二转轴，16-第一转轴，17-轴体，18-仿形轮调整弹簧。
具体实施方式
以下结合附图对本发明的优选实施例进行说明，应当理解，此处所描述的优选实施例仅用于说明和解释本发明，并不用于限定本发明。
一种叶类蔬菜收获机前置式分禾仿形采集控制系统，包括安装架9、分禾仿形器1、仿形轮2和割台电缸13，分禾仿形器1与安装架9连接，且能够沿上下浮动；仿形轮2位于分禾仿形器1后方并与安装架9连接，且能够沿上下浮动；安装架9还转动连接用于测量仿形轮2浮动幅度的第一角度传感器6和用于测量分禾仿形器1浮动幅度的第二角度传感器7；第一角度传感器6、第二角度传感器7及割台电缸13均与控制器12电连接。
分禾仿形器1上部连接连接臂3一端，连接臂3另一端通过轴体17与安装架9转动连接，分禾仿形器1下部与支撑臂11一端连接，支撑臂11中端与安装架9连接，支撑臂11另一端连接分禾仿形器连接杆10一端，分禾仿形器连接杆10另一端连接下摇臂8，下摇臂8与第二角度传感器7经第一转轴16连接安装架9，分禾仿形器连接杆10上设有分禾器调节弹簧14。支撑臂11截面为U形。
仿形轮2连接仿形轮连接杆4一端，仿形轮连接杆4另一端转动连接上摇臂5一端，上摇臂5另一端与第一角度传感器6经第二转轴15连接安装架9，仿形轮连接杆4上设有仿形轮调整弹簧18。
分禾仿形器1前端为锐角形状便于分离交错遮挡的菜叶，底部为圆弧面可以与地面平滑接触。
一种利用叶类蔬菜收获机前置式分禾仿形采集控制系统的收获控制方法，包括以下步骤：
(1)作业前驾驶员可通过控制器设置好割刀距地面的距离，分禾仿形器上下移动，根据不同摆动幅度第二角度传感器7产生时变的电压信号，并将其传输给控制器，检测出割刀前端固定位置的地形变化；
(2)收获机前进时仿形轮2受地面起伏影响上下移动，仿形轮2移动，根 据不同摆动幅度第一角度传感器6产生时变的电压信号，并将其传输给控制器；
(3)控制器通过获取的两路信号，计算出固定距离间地面的高度差Δh和对应电缸预动作距离Δc，公式如下：
Figure PCTCN2020083095-appb-000003
c2＝c1+Δc；
L-割台旋转连接点至割刀的距离；
θ-割台旋转连接点垂直地面边与L边的夹角
a-割台旋转连接点至割台与割台电缸连接点的距离
b-割台旋转连接点至割台电缸旋转连接点的距离
c1-割台与割台电缸连接点至割台电缸旋转连接点的初始距离
c2-割台与割台电缸连接点至割台电缸旋转连接点的预动作后距离
并依据从收获机处获取的行进速度v，推算出割刀移动到分禾仿形器位置所需时间
Figure PCTCN2020083095-appb-000004
(d-分禾仿形器至割刀的安装距离)；
(4)通过预测计算、第一角度传感器信号和割台电缸(13)反馈信号的实时校验，控制器控制割台电缸(13)动作的速度和距离，保证割刀部位前进到当前分禾仿形器检测位置时，其与地面的距离始终在设定范围值内。
最后应说明的是：以上所述仅为本发明的优选实施例而已，并不用于限制本发明，尽管参照前述实施例对本发明进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (6)

  1. 一种叶类蔬菜收获机前置式分禾仿形采集控制系统，包括安装架(9)、分禾仿形器(1)、仿形轮(2)和割台电缸(13)，其特征在于：分禾仿形器(1)与安装架(9)连接，且能够沿上下浮动；仿形轮(2)位于分禾仿形器(1)后方并与安装架(9)连接，且能够沿上下浮动；安装架(9)还转动连接用于测量仿形轮(2)浮动幅度的第一角度传感器(6)和用于测量分禾仿形器(1)浮动幅度的第二角度传感器(7)；第一角度传感器(6)、第二角度传感器(7)及割台电缸(13)均与控制器(12)电连接。
  2. 根据权利要求1所述叶类蔬菜收获机前置式分禾仿形采集控制系统，其特征在于：分禾仿形器(1)上部通过连接臂(3)与安装架(9)连接，分禾仿形器(1)下部与支撑臂(11)一端连接，支撑臂(11)中端与安装架(9)连接，支撑臂(11)另一端连接分禾仿形器连接杆(10)一端，分禾仿形器连接杆(10)另一端连接下摇臂(8)，下摇臂(8)与第二角度传感器(7)经第一转轴连接安装架(9)，分禾仿形器连接杆(10)上设有分禾器调节弹簧(14)。
  3. 根据权利要求1所述叶类蔬菜收获机前置式分禾仿形采集控制系统，其特征在于：支撑臂(11)截面为U形。
  4. 根据权利要求1所述叶类蔬菜收获机前置式分禾仿形采集控制系统，其特征在于：
    仿形轮(2)连接仿形轮连接杆(4)一端，仿形轮连接杆(4)另一端转动连接上摇臂(5)一端，上摇臂(5)另一端与第一角度传感器(6)经第二转轴连接安装架(9)，仿形轮连接杆(4)上设有仿形轮调整弹簧(18)。
  5. 根据权利要求1所述叶类蔬菜收获机前置式分禾仿形采集控制系统，其特 征在于：分禾仿形器(1)前端为锐角形状，底部为圆弧面。
  6. 一种利用权利要求1至5任一项所述叶类蔬菜收获机前置式分禾仿形采集控制系统的收获控制方法，其特征在于：包括以下步骤
    (1)作业前驾驶员可通过控制器设置好割刀距地面的距离，分禾仿形器上下移动，根据不同摆动幅度第二角度传感器7产生时变的电压信号，并将其传输给控制器，检测出割刀前端固定位置的地形变化；
    (2)收获机前进时仿形轮2受地面起伏影响上下移动，仿形轮2移动，根据不同摆动幅度第一角度传感器6产生时变的电压信号，并将其传输给控制器；
    (3)控制器通过获取的两路信号，计算出固定距离间地面的高度差Δh和对应电缸预动作距离Δc，公式如下：
    Figure PCTCN2020083095-appb-100001
    c2＝c1+Δc；
    L-割台旋转连接点至割刀的距离；
    θ-割台旋转连接点垂直地面边与L边的夹角
    a-割台旋转连接点至割台与割台电缸连接点的距离
    b-割台旋转连接点至割台电缸旋转连接点的距离
    c1-割台与割台电缸连接点至割台电缸旋转连接点的初始距离
    c2-割台与割台电缸连接点至割台电缸旋转连接点的预动作后距离
    并依据从收获机处获取的行进速度v，推算出割刀移动到分禾仿形器位置所需时间
    Figure PCTCN2020083095-appb-100002
    (d-分禾仿形器至割刀的安装距离)；
    (4)通过预测计算、第一角度传感器信号和割台电缸(13)反馈信号的实 时校验，控制器控制割台电缸(13)动作的速度和距离，保证割刀部位前进到当前分禾仿形器检测位置时，其与地面的距离始终在设定范围值内。
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