Harvester walking learning and working method and walking learning control system

Abstract

The present disclosure describes a walking learning and working method and walking learning control system for a harvester. The method includes the following steps: generating terrain parameters based on the harvester's operating time, operating speed, operating motion, and terrain simulation signals; adjusting the sugarcane supporting parameters controlled by the sugarcane supporting unit, the root cutting parameters controlled by the root cutting unit, and the conveying parameters controlled by the conveying unit based on the terrain parameters; storing the terrain parameters, the sugarcane supporting parameters of the sugarcane supporting unit, the root cutting parameters of the root cutting unit, the conveying parameters of the conveying unit, the leaf stripping parameters of the leaf stripping unit, the air separation parameters controlled by the air separation unit, and the cutting parameters controlled by the cutting unit; and determining whether the terrain parameters and working conditions are pre-operating conditions. Thus, parameters such as terrain can be learned to achieve automatic control of the harvester, thereby improving the intelligent level of the harvester's operation and saving manpower and material resources.

Description

Technical Field

[0001] The present disclosure generally relates to a walking learning and working method of a harvester and a walking learning control system. Background Art

[0002] With the continuous development of the agricultural industry and the continuous advancement of science and technology this year, the means for farmers to carry out agricultural production have been increasing, and the agricultural machinery industry has also shown a good development momentum. In order to improve the economic benefits of agriculture and promote economic and social development, various agricultural machinery tools have sprung up like mushrooms after rain and gradually entered every household, bringing tangible benefits to farmers.

[0003] Modern agriculture relies almost entirely on agricultural machinery and equipment to complete every link from sowing, planting to harvesting. The mechanization of agriculture has improved the efficiency of agricultural production and brought great convenience to farmers.

[0004] Traditional agricultural harvesting tools such as harvesters are usually controlled by oil pressure and hydraulic pressure, which usually require professional personnel to operate, are difficult to control, and have a low level of intelligence. Summary of the Invention

[0005] The present disclosure is proposed in view of the above-mentioned state of the prior art, and its purpose is to provide a walking learning and working method of a harvester and a walking learning control system that can learn parameters such as terrain to achieve automatic control of the harvester.

[0006] To this end, the present disclosure provides a first aspect of a walking learning and working method for a harvester, comprising the following steps:

[0007] Generate terrain parameters based on the harvester's running time, running speed, running action, and terrain simulation signals;

[0008] Adjust the sugarcane supporting parameters controlled by the sugarcane supporting unit, the root cutting parameters controlled by the root cutting unit, and the conveying parameters controlled by the conveying unit according to the terrain parameters;

[0009] According to the root cutting parameters controlled by the root cutting unit, further adjusting the leaf stripping parameters controlled by the leaf stripping unit, the air separation parameters controlled by the air separation unit, and the cutting parameters controlled by the cutting unit;

[0010] storing the terrain parameters, the sugarcane supporting parameters of the sugarcane supporting unit, the root cutting parameters of the root cutting unit, the conveying parameters of the conveying unit, the leaf stripping parameters of the leaf stripping unit, the air separation parameters controlled by the air separation unit, and the cutting parameters controlled by the cutting unit; and

[0011] Determine whether the terrain and working conditions are pre-working conditions;

[0012] If yes, the central control unit calls the stored terrain parameters, sugarcane supporting parameters, root cutting parameters, conveying parameters, leaf stripping parameters, winnowing parameters and cutting parameters to automatically control the harvester's movement and work.

[0013] In the first aspect of the present disclosure, the terrain parameters generated according to the harvester's operating time, operating speed, operating action, and terrain simulation signals can be used to further adjust the sugarcane supporting parameters controlled by the sugarcane supporting unit, the root cutting parameters controlled by the root cutting unit, and the conveying parameters controlled by the conveying unit. Furthermore, according to the root cutting parameters controlled by the root cutting unit, the leaf stripping parameters controlled by the leaf stripping unit, the air separation parameters controlled by the air separation unit, and the cutting parameters controlled by the cutting unit can be further adjusted. The above parameters can be pre-stored. When the working condition is encountered again, the central control unit can directly call the above parameters that have been learned to directly control the harvester to automatically walk and work. In this way, the intelligent level of the harvester's operation can be improved, thereby saving manpower and material resources.

[0014] In addition, in the harvester walking learning and working method according to the first aspect of the present disclosure, it is optionally determined whether the terrain and working conditions are pre-working conditions; if not, the method returns to the first step to learn unfamiliar terrain conditions. In this way, learning can be performed for unfamiliar terrain conditions.

[0015] In addition, in the walking learning and working method of the harvester involved in the first aspect of the present disclosure, optionally, the sugarcane supporting parameters include sugarcane supporting speed and sugarcane supporting height, the root cutting parameters include cutter head height and root cutting speed, the conveying parameters include conveying speed, the leaf stripping parameters include leaf stripping speed, the air selection parameters include blowing power, and the cutting parameters include cutting speed. Thus, various parameters can be easily obtained.

[0016] In addition, in the harvester travel learning and operating method according to the first aspect of the present disclosure, the conveying parameters controlled by the conveying unit and the undercutting speed controlled by the undercutting unit can be optionally adjusted according to the operating speed, and the cutterhead height controlled by the undercutting unit can be adjusted according to the ground simulation signal. This facilitates obtaining the conveying parameters and undercutting parameters.

[0017] In addition, in the harvester walking learning and working method according to the first aspect of the present disclosure, optionally, the terrain-simulating signal includes a height above the ground detected by a terrain-simulating sensor, and the running speed includes a driving speed detected by a speed sensor. Thus, the terrain-simulating signal and the running speed can be easily detected.

[0018] In addition, in the walking learning and working method of the harvester involved in the first aspect of the present disclosure, optionally, the operating action includes forward movement, turning, constant speed, emergency stop, and braking actions performed by the walking control system. Thus, the operating action can be easily obtained.

[0019] In addition, in the walking learning and working method of the harvester involved in the first aspect of the present disclosure, optionally, the terrain parameters include vegetation density, slope, and number of obstacles. Thus, the terrain parameters can be obtained.

[0020] In addition, in the harvester walking learning and working method according to the first aspect of the present disclosure, the central control unit can optionally be connected to the sugarcane supporting unit, the root cutting unit, the conveying unit, the leaf stripping unit, and the cutting unit via a CAN bus. When the harvester is operating, the central control unit monitors the operating conditions of the sugarcane supporting unit, the root cutting unit, the conveying unit, the leaf stripping unit, and the cutting unit in real time. This facilitates monitoring of the operating conditions of each module.

[0021] The second aspect of the present disclosure provides a walking learning control system for a harvester, comprising a central control unit, a display operation unit, a walking control unit, a sugarcane supporting unit, a root cutting unit, a conveying unit, a leaf stripping unit and a cutting unit. The central control unit is connected to the display operation unit, the walking control unit, the sugarcane supporting unit, the root cutting unit, the conveying unit, the leaf stripping unit and the cutting unit respectively through a CAN bus. The sugarcane supporting unit, the root cutting unit and the conveying unit operate according to the travel parameters of the walking control unit. The root cutting unit conveys materials to the leaf stripping unit, the cutting unit and the air separation unit through the conveying unit.

[0022] In the second aspect of the present disclosure, the central control unit, display and operation unit, sugarcane lifting unit, root cutting unit, conveying unit, leaf stripping unit, and cutting unit operate to harvest and process materials batch by batch. The central control unit and the CAN bus monitor the operation of each unit in real time. This strengthens the coordination of the various modules and enhances the intelligent operation of the system.

[0023] In addition, the walking learning control system according to the second aspect of the present disclosure may optionally further include a packaging unit for finally packaging the materials, thereby enabling the processed materials to be packaged.

[0024] In addition, in the walking learning control system involved in the second aspect of the present disclosure, optionally, it also includes a display operation unit connected to the central control unit. Thus, it is possible to operate and display the walking learning control system on the display operation unit.

[0025] According to the present disclosure, a walking learning and working method of a harvester with a high degree of intelligence and a walking learning control system can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Embodiments of the present disclosure will now be explained in further detail, by way of example only, with reference to the accompanying drawings, in which:

[0027] Figure 11 is a flowchart illustrating a method for learning to travel and operating a harvester according to an embodiment of the present disclosure.

[0028] Figure 2 2 is a block diagram illustrating a walking learning control system according to an embodiment of the present disclosure.

[0029] Figure 3 FIG. 2 is a block diagram illustrating another example of a walking learning control system according to an embodiment of the present disclosure.

[0030] Figure 4 2 is a schematic diagram showing the travel and turning control of the harvester involved in the embodiment of the present disclosure.

[0031] Figure 5 2 is a schematic diagram showing turning control of a harvester according to an embodiment of the present disclosure.

[0032] Explanation of symbols:

[0033] 10…Central control unit, 20…Travel control unit, 30…Display operation unit, 31…Operation lever module, 32…Display touch module, 33…Rear control panel, 34…Throttle signal control module, 41…Sugarcane lifting unit, 42…Root cutting unit, 43…Conveying unit, 44…Leaf stripping unit, 45…Cut off unit, 46…Wind separation unit, 47…Packaging unit, 48…Discharging unit. DETAILED DESCRIPTION

[0034] The preferred embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. In the following description, identical components are assigned identical reference numerals, and duplicate descriptions are omitted. In addition, the accompanying drawings are merely schematic, and the proportions of the dimensions of the components and the shapes of the components may differ from the actual ones.

[0035] Figure 1 1 is a flowchart illustrating a method for learning to travel and operating a harvester according to an embodiment of the present disclosure. Figure 2 2 is a block diagram illustrating a walking learning control system according to an embodiment of the present disclosure.

[0036] Reference Figure 1 and Figure 2 The walking learning and working method of the harvester involved in this embodiment may include the following steps:

[0037] Generate terrain parameters based on the harvester's running time, running speed, running action, and terrain simulation signals;

[0038] According to the terrain parameters, adjust the sugarcane supporting parameters controlled by the sugarcane supporting unit 41, the root cutting parameters controlled by the root cutting unit 42, and the conveying parameters controlled by the conveying unit 43;

[0039] According to the root cutting parameters controlled by the root cutting unit 42, the leaf stripping parameters controlled by the leaf stripping unit 44, the air separation parameters controlled by the air separation unit 46, and the cutting parameters controlled by the cutting unit 45 are further adjusted;

[0040] The terrain parameters, the sugarcane supporting parameters of the sugarcane supporting unit 41, the root cutting parameters of the root cutting unit, the conveying parameters of the conveying unit 43, the leaf stripping parameters of the leaf stripping unit 44, the air separation parameters controlled by the air separation unit 46, and the cutting parameters controlled by the cutting unit 45 are stored; and

[0041] Determine whether the terrain and working conditions are pre-working conditions;

[0042] If yes, the central control unit 10 calls the stored terrain parameters, sugarcane supporting parameters, root cutting parameters, conveying parameters, leaf stripping parameters, winnowing parameters and cutting parameters to automatically control the walking and working of the harvester.

[0043] In the present disclosure, by using terrain parameters generated according to the harvester's operating time, operating speed, operating action, and terrain simulation signals, the sugarcane supporting parameters controlled by the sugarcane supporting unit 41, the root cutting parameters controlled by the root cutting unit, and the conveying parameters controlled by the conveying unit 43 can be further adjusted. Furthermore, according to the root cutting parameters controlled by the root cutting unit, the leaf stripping parameters controlled by the leaf stripping unit 44, the air separation parameters controlled by the air separation unit 46, and the cutting parameters controlled by the cutting unit 45 can be further adjusted. The above parameters can be pre-stored. When the working condition is encountered again, the central control unit 10 can directly call the above parameters that have been learned to directly control the harvester to automatically walk and work. In this way, the intelligent level of the harvester's operation can be improved, thereby saving manpower and material resources.

[0044] In this embodiment, the pre-work ground condition may be a familiar ground condition in which work has been done before.

[0045] In this embodiment, the method may further include the steps of:

[0046] Determine whether the terrain parameters and working conditions are pre-working conditions;

[0047] If not, return to the first step to study in an unfamiliar situation, or end.

[0048] In this embodiment, the sugarcane supporting parameters include the sugarcane supporting speed and sugarcane supporting height, the root cutting parameters include the cutter head height and root cutting speed, the conveying parameters include the conveying speed, the leaf stripping parameters include the leaf stripping speed, the air separation parameters include the blowing power, and the cutting parameters include the cutting speed. Thus, various parameters can be easily obtained.

[0049] In some examples, the conveying parameters controlled by the conveying unit 43 and the undercutting speed controlled by the undercutting unit are adjusted according to the running speed, and the cutter head height controlled by the undercutting unit is adjusted according to the ground simulation signal. In this way, the conveying parameters and the undercutting parameters can be easily obtained.

[0050] In some examples, the terrain-simulating signal includes a height above the ground detected by a terrain-simulating sensor, and the running speed includes a driving speed detected by a speed sensor. Thus, the terrain-simulating signal and the running speed can be easily detected.

[0051] In some examples, the running action includes forward movement, turning, constant speed, emergency stop, and braking actions performed by the travel control system.

[0052] In some examples, the terrain parameters include vegetation density, slope, and number of obstacles. Thus, the terrain parameters can be obtained.

[0053] In some examples, the running time may be driving time detected by a timer.

[0054] In some examples, the central control unit 10 is connected to the sugarcane supporting unit 41, the root cutting unit, the conveying unit 43, the leaf stripping unit 44, and the cutting unit 45 via a CAN bus. When the harvester is operating, the central control unit 10 monitors the operating conditions of the sugarcane supporting unit 41, the root cutting unit, the conveying unit 43, the leaf stripping unit 44, and the cutting unit 45 in real time. This facilitates monitoring of the operating conditions of each module.

[0055] Figure 3 FIG. 2 is a block diagram illustrating another example of a walking learning control system according to an embodiment of the present disclosure.

[0056] Reference Figure 3 In some examples, the display operation 30 may include a joystick module 31 , a display touch module 32 , a rear control panel 33 , and a throttle signal control module 34 .

[0057] In some examples, the control system may further include a discharging unit 48 disposed between the cutting unit 45 and the air separation unit 46 . The discharging unit 48 may transport the material cut and processed by the cutting unit 45 to the air separation unit 46 .

[0058] In some examples, the CAN bus can include CAN bus 1 and CAN bus 2. The central control unit 10 can be connected to the walking control unit 20, the sugarcane supporting unit 41, the root cutting unit 42, the conveying unit 43, the leaf stripping unit 44, the cutting unit 45, the air separation unit 46, the packaging unit 47 and the discharging unit 48 through CAN bus 1. The central control unit 10 can be connected to the operating lever module 31, the display module 32, the rear control panel 33 and the throttle signal control module 34 through CAN bus 2.

[0059] In some examples, the travel control unit 20 may be connected to a left-wheel travel motor, a left-wheel travel controller that controls the left-wheel travel motor, a right-wheel travel motor, and a right-wheel travel controller that controls the right-wheel travel motor.

[0060] In some examples, the sugarcane unit 41 can be connected to: sugarcane motor A, sugarcane motor controller A for controlling sugarcane motor A, and sugarcane current feedback module A for feeding back the current of the sugarcane motor; sugarcane motor B, sugarcane motor controller B for controlling sugarcane motor B, and sugarcane current feedback module B for feeding back the current of the sugarcane motor; sugarcane motor C, sugarcane motor controller C for controlling sugarcane motor C, and sugarcane current feedback module C for feeding back the current of the sugarcane motor.

[0061] In some examples, the root cutting unit 42 can be connected to: a root cutting motor A, a root cutting motor controller A for controlling the root cutting motor A, and a root cutting current feedback module A for feeding back the root cutting motor current; a root cutting motor B, a root cutting motor controller B for controlling the root cutting motor B, and a root cutting current feedback module B for feeding back the root cutting motor current; a root cutting motor C, a root cutting motor controller C for controlling the root cutting motor C, and a root cutting current feedback module C for feeding back the root cutting motor current; a cutter head height motor, a Mesgu motor controller for controlling the cutter head height motor; a gyroscope; and a sugarcane supporting height feedback A, a sugarcane supporting height feedback B, and a sugarcane supporting height feedback C of the sugarcane supporting height fed back by the sugarcane supporting unit 41.

[0062] In some examples, the delivery unit 42 may be connected to a delivery motor, a delivery motor controller for controlling the delivery motor, and a delivery current feedback module for feeding back the current of the delivery motor.

[0063] In some examples, the leaf peeling unit 44 can be connected to: a leaf peeling motor A, a leaf peeling motor controller A that controls the leaf peeling motor, and a leaf peeling current feedback module A that feeds back the current of the leaf peeling motor; a leaf peeling motor B, a leaf peeling motor controller B that controls the leaf peeling motor, and a leaf peeling current feedback module B that feeds back the current of the leaf peeling motor.

[0064] In some examples, the discharging unit 48 may be connected to a discharging motor, a discharging motor controller for controlling the discharging motor, and a discharging current feedback module for feeding back the current of the discharging motor.

[0065] In some examples, the air selection unit 46 can be connected to an air selection motor, an air selection motor controller that controls the air selection motor; an auxiliary motor, an auxiliary motor controller that controls the auxiliary motor, and an auxiliary current feedback module that feeds back the auxiliary motor current; a steering motor, a steering motor controller that controls the steering motor, and a steering current feedback module that feeds back the steering motor current.

[0066] In some examples, the packing unit 47 may be connected to a lifter relay A, a lifter relay B, and a lifter relay C for packing materials into a hopper.

[0067] In some examples, the travel control unit 20 mainly completes the travel control of the harvester. The travel control unit 20 may include a motor drive unit and a motor unit, and the motor unit may be connected to the travel mechanism.

[0068] In some examples, the motor unit may be driven by two brushless DC motors, and the walking mechanism may be composed of a track and four drive wheels.

[0069] The travel control unit 20 can receive control instructions from the central control unit 10 and control the motor drive unit, the motor unit and the travel mechanism to complete the harvester's forward movement, turning, constant speed, emergency stop, braking and other actions.

[0070] Figure 4 2 is a schematic diagram showing the travel and turning control of the harvester involved in the embodiment of the present disclosure. Figure 5 2 is a schematic diagram showing turning control of a harvester according to an embodiment of the present disclosure.

[0071] Reference Figure 4 and Figure 5 The following is a detailed description of a specific example of how the walking control unit 20 controls the harvester to walk and turn:

[0072] Assuming the input signal is a two-dimensional voltage signal output by a Hall effect remote sensing handle that is linearly proportional to its position, the user can continuously adjust the harvester's speed by pushing it forward or backward, and continuously control the harvester's turning angle by pushing it left or right. The two-dimensional signal is converted into speed and steering control commands through the handle signal processing operator.

[0073] like Figure 4 As shown: The X-axis represents the rotation angle, with leftward being positive; the Y-axis represents the vehicle speed, with forward being positive. The corresponding relationships between voltage, rotation angle, and vehicle speed in the X- and Y-axis directions are shown in the figure. If the two-dimensional voltage signal falls within the square area, and a certain input command corresponds to point A(X,Y), the handle processing algorithm can be used to obtain the speed and rotation angle control commands for the left and right motors:

[0074] The conversion results of the two-dimensional voltage (X, Y) and the two-dimensional vehicle speed angle coordinates (V, θ) are as follows:

[0075] V = 5*(2.5-Y) / 2.5;

[0076] θ = 90°*(2.5-X) / 2.5;

[0077] Where V is the linear velocity and θ is the angle.

[0078] From the above formula, we can see that the current target linear velocity is determined by the Y direction signal, and the target angle is determined by the X direction signal.

[0079] Now analyze how the harvester turns, refer to Figure 5 :

[0080] The figure shows the harvester turning left with point O as the center. V represents the harvester's linear velocity, ω represents the harvester's angular velocity, and V l 、V r Represent the linear speed of the left and right wheels respectively, ω l ,ω r Represent the angular velocity of the left and right wheels respectively, L is the wheel spacing, r represents the driving wheel radius, R is the turning radius, and θ is the vehicle body turning angle.

[0081] Assuming that the driving wheel is only rolling relative to the ground, kinematic analysis shows that:

[0082] V=(ω l +ω r )*r / 2;

[0083] L=ω l +ω r ;

[0084] R=2*ω r -ω; l

[0085] Given R and V, we can determine ω l 、ω r as follows:

[0086] ω r =((2R+L)*V) / (2Rr);

[0087] ω l =((2R-L)*V) / (2Rr);

[0088] And, ω=((ω r -ω l )r) / L.

[0089] Three motion states of the harvester

[0090] 1. When θ=0,V≠0, the harvester moves in a straight line with a speed of V. At this time, the linear speed of the harvester is V=Vl =V r , turning radius R = ∞. At this time, the speeds of the left and right wheels are as follows:

[0091] ω r =ω l =V / r.

[0092] 2. When θ≠0 and V≠0, the harvester is turning, and the turning radius R is between 0 and ∞. At this time, the left and right motors should follow each other in speed, and the speeds of the left and right wheels are as follows:

[0093] ω r =((2R+L)*V) / (2Rr);

[0094] ω l =((2R-L)*V) / (2Rr).

[0095] 3. When θ≠0, V=0, that is, the harvester is required to rotate in place with a turning radius of 0, and the motion controller needs to ensure the linear velocity V of the left and right wheels l =-V r =V m , the two wheel speeds are as follows:

[0096] ω r =ω l =V m / r;

[0097] Among them, V m Can be determined by the mechanical characteristics of the system.

[0098] In some examples, the undercutting unit can be driven by two brushless DC motors. The undercutting speed and cutterhead height of this module can be manually controlled to accommodate harvesting in unfamiliar and complex terrain. Harvesting can then proceed automatically based on system-learned parameters. The undercutting unit can adjust the cutterhead height based on data from the terrain-mimicking sensor and control the cutting speed based on the normal driving speed.

[0099] In some examples, the conveying unit 43 can transport the materials (crops such as sugarcane and corn) cut by the undercutting unit to the defoliating unit 44 .

[0100] In some examples, the cutting unit 45 can further cut the material conveyed by the conveying unit 43. In some examples, the cutting unit 45 can be driven by a brushless DC motor.

[0101] In some examples, the air separation unit 46 can blow the impurities or broken leaves generated by the conveying unit 43, the leaf stripping unit 44 and the cutting unit 45 to the outside of the device through wind energy to achieve the purpose of cleaning.

[0102] In some examples, the air separation unit 46 may include a drive motor and a steering motor. In this case, the residue left by the leaf stripping unit 44 can be blown away by wind energy by adjusting the blowing power, and the uniform rotation of the steering motor can be controlled to evenly sprinkle impurities into the field.

[0103] The present disclosure also provides a walking learning control system for a harvester, which can be a control system that uses the above-mentioned walking learning method. The control system can include a central control unit 10, a display operation unit 30, a walking control unit 20, a sugarcane supporting unit 41, a root cutting unit, a conveying unit 43, a leaf stripping unit 44 and a cutting unit 45. The central control unit 10 is connected to the walking control unit 20, the display operation unit 30, the sugarcane supporting unit 41, the root cutting unit, the conveying unit 43, the leaf stripping unit 44 and the cutting unit 45 through a CAN bus, and the root cutting unit transports materials to the leaf stripping unit 44, the cutting unit 45 and the air separation unit 46 through the transmission unit.

[0104] In the present disclosure, the central control unit 10, display and operation unit 30, sugarcane lifting unit 41, root cutting unit, conveying unit 43, leaf stripping unit 44, and cutting unit 45 operate to harvest and process materials batch by batch. The central control unit 10 and the CAN bus monitor the working status of each unit in real time. This strengthens the coordination of the various modules and improves the intelligent operation of the system.

[0105] In this embodiment, the control system may further include a storage unit. In some examples, the storage unit may be built into the central control unit 10. The storage unit may be used to store the aforementioned terrain parameters, sugarcane supporting parameters, root cutting parameters, conveying parameters, leaf stripping parameters, winnowing parameters, and cutting parameters.

[0106] In some embodiments, the display operation unit 30 may include an operation stick module 31 and a display touch module 32.

[0107] In this embodiment, the central control unit 10 can receive the operating parameters and abnormal information of other functional modules through the CAN bus, and send them to the display operation unit 30 for display.

[0108] In this embodiment, the display and operation unit 30 can display information including the machine's operating speed, abnormal conditions, power consumption, and detailed operating parameters. Operations can primarily include system setup and operation. These settings include terrain settings, manual and automatic selection, and can also be used to control individual functional units, such as forward speed, turning angle, cane slope, height, winnowing power, and conveyor speed. The unit can also be set to automatic mode for automated sugarcane harvesting. In this case, terrain parameters, speed, and conveyor speeds are automatically controlled according to the set parameters, reducing reliance on human intervention during the harvesting process.

[0109] In this embodiment, the control system may further include a packaging unit 47 for packaging the materials. Thus, the processed materials can be packaged.

[0110] In some examples, the packaging unit 47 can transport the cleaned materials to the mesh bag. The packaging unit 47 can be driven by a DC motor, the running trajectory of the mesh bag can be controlled by a control component, the packaging unit 47 can be started by a start switch, and the stop of the packaging unit 47 can be controlled by two in-position switches.

[0111] In this embodiment, the control system may further include a display operation unit 30 connected to the central control unit 10 , so that operations and displays can be performed on the display operation unit 30 .

[0112] In some examples, the control system may further include a remote control unit connected to the central control unit 10, and the remote control unit may include a remote control component and a remote control signal processing component. The remote control unit may send remote control information to other functional units through the central control unit 10 through manual operation.

[0113] According to the present disclosure, a walking learning and working method of a harvester with a high degree of intelligence and a walking learning control system can be provided.

[0114] Although the present disclosure has been described in detail above with reference to the accompanying drawings and embodiments, it will be understood that the above description does not limit the present disclosure in any form. Those skilled in the art may modify and change the present disclosure as needed without departing from the spirit and scope of the present disclosure, and such modifications and variations all fall within the scope of the present disclosure.

Claims

1. A walking learning and working method for a harvester, characterized in that: The steps include: Generate terrain parameters based on the harvester's running time, running speed, running action, and terrain simulation signals; According to the terrain parameters, adjust the sugarcane supporting parameters controlled by the sugarcane supporting unit, the root cutting parameters controlled by the root cutting unit, and the conveying parameters controlled by the conveying unit; According to the root cutting parameters controlled by the root cutting unit, further adjusting the leaf stripping parameters controlled by the leaf stripping unit, the air separation parameters controlled by the air separation unit, and the cutting parameters controlled by the cutting unit; storing the terrain parameters, the sugarcane supporting parameters of the sugarcane supporting unit, the root cutting parameters of the root cutting unit, the conveying parameters of the conveying unit, the leaf stripping parameters of the leaf stripping unit, the air separation parameters controlled by the air separation unit, and the cutting parameters controlled by the cutting unit; and Determine whether the terrain and working conditions are pre-working conditions; If yes, the central control unit calls the stored terrain parameters, sugarcane supporting parameters, root cutting parameters, conveying parameters, leaf stripping parameters, winnowing parameters and cutting parameters to automatically control the harvester's movement and work; Among them, the sugarcane supporting parameters include sugarcane supporting speed and sugarcane supporting height, the root cutting parameters include cutter head height and root cutting speed, the conveying parameters include conveying speed, the leaf stripping parameters include leaf stripping speed, the air separation parameters include blowing power, and the cutting parameters include cutting speed; Adjust the conveying parameters controlled by the conveying unit and the root cutting speed controlled by the root cutting unit according to the running speed, and adjust the cutter head height controlled by the root cutting unit according to the ground simulation signal; The terrain imitation signal includes the height from the ground detected by the terrain imitation sensor, and the running speed includes the driving speed detected by the speed sensor; The running actions include forward, turning, constant speed, emergency stop and braking actions performed by the travel control system; The terrain parameters include vegetation density, slope, and number of obstacles.

2. The walking learning and working method of a harvester according to claim 1, characterized in that: Determine whether the terrain and working conditions are pre-working conditions; If not, return to the first step to study in an unfamiliar situation.

3. The walking learning and working method of a harvester according to claim 1, characterized in that: The central control unit is connected to the sugarcane supporting unit, root cutting unit, conveying unit, leaf stripping unit and cutting unit through the CAN bus. When the harvester is working, the central control unit monitors the working conditions of the sugarcane supporting unit, root cutting unit, conveying unit, leaf stripping unit and cutting unit in real time.

4. A walking learning control system for a harvester, applied to the walking learning and working method of a harvester according to any one of claims 1 to 3, characterized in that: It includes a central control unit, a display operation unit, a travel control unit, a sugarcane supporting unit, a root cutting unit, a conveying unit, a leaf stripping unit and a cutting unit. The central control unit is connected to the display operation unit, the travel control unit, the sugarcane supporting unit, the root cutting unit, the conveying unit, the leaf stripping unit and the cutting unit respectively through a CAN bus. The sugarcane supporting unit, the root cutting unit and the conveying unit work according to the parameters of the travel control unit. The root cutting unit conveys materials to the leaf stripping unit, the cutting unit and the air separation unit through the conveying unit.

5. The walking learning control system for a harvester according to claim 4, characterized in that: It also includes a display operation unit connected to the central control unit.

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