A control method, system and controller for a trimmer

Abstract

The application relates to the technical field of mechanical equipment control, in particular to a cutter control method, a cutter control system and a controller. The method comprises the following steps: determining a cutter error height, determining a cutter height experience value according to the cutter error height and a constructed reference height data packet; calculating a cutter motion angle by using the cutter height experience value and a cutter motion model; the cutter motion model is constructed according to the cutter height experience value, a hinged point height, a cutter movable arm length, a cutter error height, a cutter movable arm error length and the cutter motion angle; wherein the hinged point height is the height of a cutter hinged point from the ground; and adjusting the included angle between the cutter and the hinged point according to the cutter motion angle. Therefore, the application can solve the problems of high broken head rate and yield reduction in the sugarcane harvesting process in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical equipment control, and in particular to a cutting device control method, system and controller. BACKGROUND

[0002] At present, the sugarcane harvester has a top cutting device for cutting the top of the sugarcane leaves and a root cutting device for cutting the roots of the sugarcane on the ground. However, the current sugarcane harvester has the problems of overcutting or undercutting during the harvesting process, and the harvesting effect is not ideal, the broken head rate is high, and the cutting may not be complete or excessive waste may be caused, which directly leads to a decrease in yield compared with manual harvesting. SUMMARY

[0003] Therefore, the present application provides a cutting device control method, system and controller, which can effectively solve the problem of high broken head rate during the harvesting process of the sugarcane and the decrease in yield.

[0004] In a first aspect, the present application provides a cutting device control method of a sugarcane harvester, comprising:

[0005] determining a cutting device error height ΔH, and determining a cutting device height experience value H sample based on the cutting device error height ΔH and a constructed reference height data packet;

[0006] calculating a cutting device motion angle θ by using the cutting device height experience value H sample and a cutting device motion model; the cutting device motion model is constructed based on the cutting device height experience value H sample , a hinge point height H, a cutting device arm length L, a cutting device error height ΔH, a cutting device arm error length ΔL and the cutting device motion angle θ; wherein the hinge point height H is the height of the hinge point of the cutting device from the ground;

[0007] adjusting the included angle between the cutting device and the hinge point according to the cutting device motion angle θ.

[0008] In some embodiments, the cutting device motion model is further constructed based on a dynamic deviation adjustment value Δα, and the dynamic deviation adjustment value Δα is adjusted according to the actual cutting effect of the sugarcane harvester; and the calculation formula of the cutting device motion model is:

[0009] H sample + Δα = H + (L + ΔL) Sin θ - ΔH

[0010] wherein Δα represents the dynamic deviation adjustment value, H samplerepresents a cutter height experience value, θ represents the cutter movement angle, H represents the hinge point height, L represents the cutter arm length, ΔL represents the cutter arm error length, and ΔH represents the cutter error height.

[0011] In some embodiments, the determining the cutter error height ΔH comprises:

[0012] In some embodiments, the method further comprises:

[0013] In some embodiments, the method further comprises:

[0014] In the cutter working process, the size of the dynamic deviation adjustment value Δα is adjusted according to the harvesting effect and the actual cutter height value.

[0015] In some embodiments, the reference height data package comprises a mapping relationship between the cutter error height ΔH and the cutter height; the mapping relationship is constructed by a plurality of groups of the cutter error height ΔH and the corresponding cutter actual movement angle when the cutter works under various working environments;

[0016] The cutter height experience value H is determined according to the cutter error height ΔH and the constructed reference height data package sample , comprising:

[0017] The cutter height experience value H is determined according to the cutter error height ΔH and the constructed reference height data package sample .

[0018] In some embodiments, the working environment category comprises at least one of a flat land, a slope land and a mountain land;

[0019] Before the cutter height experience value H is determined according to the cutter error height ΔH and the constructed reference height data package sample , the method further comprises: setting the category of the current working environment; and the mapping relationship comprises a sub-mapping relationship corresponding to each working environment category;

[0020] The cutter height experience value H is determined according to the cutter error height ΔH and the constructed reference height data package sample , comprising:

[0021] The cutter height experience value H is determined according to the cutter error height ΔH and the constructed reference height data package sample .

[0022] In some embodiments, if the cutter error height ΔH cannot be found in the mapping relationship according to the cutter error height ΔH, the cutter error height ΔH and the current cutter actual height value are added to the reference height data package and the mapping relationship is rebuilt. sample

[0023] In some embodiments, before the cutter motion angle θ is calculated by using the cutter height empirical value H sample and a cutter motion model, the following steps are further included:

[0024] The lowest point H min and the highest point H max of the cutter motion are calibrated. min The lowest point H max and the highest point H x of the cutter motion are calibrated.

[0025] Alternatively, the lowest point H min0 and the highest point H max0 are used to determine the cutter variable height H x .

[0026] In a second aspect, the embodiments of the present application provide a cutter control system of a sugarcane harvester, which comprises a controller, an input module and a measurement module.

[0027] The controller is configured to implement the cutter control method of the sugarcane harvester provided in the first aspect of the present application.

[0028] The input module is configured to input cutter parameters, wherein the cutter parameters comprise a dynamic deviation adjustment value Δα, a working environment type, the lowest point H min and the highest point H max of the cutter motion.

[0029] The measurement module is configured to measure a cutter motion angle measurement value and a cutter actual height value.

[0030] In a third aspect, the embodiments of the present application provide a cutter controller of a sugarcane harvester, wherein the controller comprises a processor and a memory, the memory stores a computer program, and the processor is configured to execute the computer program to implement the cutter control method of the sugarcane harvester provided in the first aspect of the present application.

[0031] The embodiments of the present application have the following beneficial effects:

[0032] In the present application, a reference height data package is constructed, and the cutter height empirical value H sample ​The cutting bit motion model is used to query or update the cutting bit motion angle θ in real time, and the included angle between the cutting bit and the hinge point is adjusted according to the cutting bit motion angle θ. The cutting bit motion model described in the application considers many parameters, improves the accuracy of the included angle, also considers the height of the hinge point, and can also reduce the error caused by the hinge point and reduce the breakage rate of the cutting bit. Therefore, the application can effectively solve the problem of high breakage rate in the sugarcane harvesting process in the prior art, which leads to the problem of yield reduction. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0034] Figure 1 A structural schematic diagram of a cutting bit control system of a sugarcane harvester according to an embodiment of the application is shown;

[0035] Figure 2 A structural schematic diagram of a cutting bit of a sugarcane harvester in a cutting bit control method according to an embodiment of the application is shown;

[0036] Figure 3 A flowchart of a cutting bit control method of a sugarcane harvester according to an embodiment of the application is shown;

[0037] Figure 4 A structural schematic diagram of a cutting bit control device according to an embodiment of the application is shown.

[0038] Main element symbol explanation:

[0039] 110-controller; 120-input module; 130-measuring module; 410-cutting bit height empirical value determination module; 420-cutting bit motion angle calculation module; 430-cutting bit height adjustment module. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the application will be described in detail below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only some of the embodiments of the application, not all the embodiments.

[0041] The components of the application embodiments described and illustrated herein can be arranged and designed in a wide variety of different configurations. Therefore, the following detailed description of the application, read with reference to the accompanying drawings, is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. The resulting connection of all embodiments of the application achievable by a person of ordinary skill in the art without having to make inventive efforts belongs to the scope of protection of the application.

[0042] Hereinafter, the terms "include", "have", and their conjugates, used in the various embodiments of the present application, merely indicate the presence of the features, numbers, steps, operations, elements, components, or combinations thereof, and do not exclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, elements, components, or combinations thereof. In addition, the terms "first", "second", "third", and the like are used only to distinguish the description, and cannot be understood as indicating or implying a relative importance.

[0043] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the present application belong. The terms (such as terms defined in a generally used dictionary) will be interpreted to have the same meaning as the contextual meaning in the relevant technical field and will not be interpreted to have an idealized or overly formal meaning unless clearly defined in the various embodiments of the present application.

[0044] Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments and features in the embodiments can be combined with each other without conflict.

[0045] At present, there are problems of harvesting too high or too low in the harvesting process of the sugarcane harvester, and the effect of harvesting sugarcane is not too ideal, the broken head rate is relatively high, which may cause incomplete cutting or excessive cutting waste, and compared with manual harvesting, it will directly lead to yield reduction. Therefore, the present application proposes a cutting bit control method, system and controller, which can effectively solve the problem of high broken head rate in the harvesting process of the existing technology, leading to yield reduction. The cutting bit control method of the sugarcane harvester will be described below in combination with some specific embodiments.

[0046] The present application proposes a cutting bit control method for a sugarcane harvester, which is suitable for a controller 110 in a cutting bit control system of a sugarcane harvester, Figure 1A structure diagram of a control system of a sugarcane harvester according to an embodiment of the present application is shown. Exemplarily, the system includes a controller 110, an input module 120 and a measurement module 130. The input module 120 and the measurement module 130 are both connected to the controller 110.

[0047] The measurement module 130 is configured to measure a movement angle measurement value of the cutter and an actual height value of the cutter. For example, the measurement module 130 includes an angle sensor, which is installed at a position of the cutter, such as point A shown in the figure, and is connected to a support rod of the cutter through a hinge point. In this embodiment, the angle sensor is used to collect a current movement angle of the cutter and an actual height of the cutter. Figure 2

[0048] The angle sensor in this embodiment is used to calculate a movement trajectory of the cutter, and the height of the cutter is adjusted by position feedback according to the present application.

[0049] The input module 120 is configured to input cutter parameters, which include a dynamic deviation adjustment value Δα, a working environment type, a lowest point Hmin and a highest point Hmax of the movement of the cutter. For example, the input module 120 includes a visual interface, which includes input boxes or option buttons of the cutter parameters.

[0050] For example, the cutter parameter values are calibrated and set on a display, a current movement angle of the cutter (marked as a current cutter movement angle measurement value) is collected by an angle sensor, and automatic harvesting height adjustment is realized by the controller 110.

[0051] Figure 3 A flow chart of a cutter control method of a sugarcane harvester according to an embodiment of the present application is shown. Exemplarily, the cutter control method of the sugarcane harvester includes the following steps:

[0052] S10, determining a cutter error height ΔH, and determining a cutter height experience value H according to the cutter error height ΔH and a constructed reference height data packet. sample .

[0053] Further, determining the cutter error height ΔH includes:

[0054] ​The initial reference height is obtained before harvesting, the cutting bit height is adjusted again according to the actual harvesting height of sugarcane, the cutting bit determined height is obtained, and the cutting bit error height ΔH is obtained according to the initial reference height and the cutting bit determined height. Specifically, the cutting bit height needs to be adjusted manually to obtain the initial reference height before harvesting; then the cutting bit height is adjusted again to obtain the cutting bit determined height according to the harvesting height of sugarcane, and the cutting bit error height ΔH is obtained according to the difference between the initial reference height and the cutting bit determined height. If the cutting bit height is adjusted multiple times, the system will calculate the error of the height of the last time and the first time to query the sample value.

[0055] Further, the reference height data packet includes the mapping relationship between the cutting bit error height ΔH and the cutting bit height. The mapping relationship is constructed by collecting multiple sets of cutting bit actual height values and corresponding cutting bit error heights ΔH in various working environments; wherein the cutting bit actual height value is also called the cutting bit height experience value H sample .

[0056] The working environment type includes at least one of flat land, slope land and mountain land. In step S10, the cutting bit height experience value H sample Before the method, the method further includes: setting the type of the current working environment. Specifically, the type of the current working environment is set by the input module 120 according to the actual working environment. For example, if the current working environment is a mountain, the type of the current working environment is set to a mountain through the input module 120, and the setting can also be performed through a handle switch.

[0057] In one embodiment, the mapping relationship between the cutting bit error height ΔH and the cutting bit height in the reference height data packet is a mapping table, and the cutting bit actual height values and corresponding cutting bit error heights ΔH collected in historical work in various working environments are stored in the mapping table. The cutting bit actual movement angle can be obtained by querying the mapping table with the cutting bit height experience value H sample .

[0058] In one embodiment, the mapping relationship between the cutting bit error height ΔH and the cutting bit height in the reference height data packet is a fitting curve. The fitting curve is fitted by collecting multiple sets of cutting bit actual height values and corresponding cutting bit error heights ΔH in various working environments. The cutting bit actual movement angle can be obtained by combining the fitting curve with the cutting bit height experience value H sample .

[0059] Specifically, for example, when the work environment category is Horizon, the height of harvesting is adjusted multiple times according to the harvesting effect, and the optimal height is collected and marked as an experience sample value, recorded as HHorizon1, …, HHorizonx respectively. When the work environment category is Slop, the height of harvesting is adjusted multiple times and marked as an experience sample value, recorded as HSlop1, …, HSlopx respectively; when the work environment category is mountain, the height of harvesting is adjusted multiple times and marked as an experience sample value, recorded as Hmountain1, …, Hmountainx respectively; the experience sample values measured respectively are combined with the work environment category respectively to obtain a reference height data package. Exemplarily, in the reference height data package, index number one corresponds to the experience sample value of Horizon, index number two corresponds to the experience sample value of Slop, and index number three corresponds to the experience sample value of mountain.

[0060] In step S10, the bit cutter height experience value H is determined according to the bit cutter error height ΔH and the constructed reference height data package sample Previously, the method further comprises: setting the category of the current work environment; the mapping relationship comprises a sub-mapping relationship corresponding to the work environment category respectively;

[0061] The bit cutter height experience value H is determined according to the bit cutter error height ΔH and the constructed reference height data package sample , comprising:

[0062] The bit cutter height experience value H is determined according to the bit cutter error height ΔH in the corresponding sub-mapping relationship sample .

[0063] Further, if the bit cutter height experience value H is not found in the mapping relationship according to the bit cutter error height ΔH in step S10 sample , the bit cutter error height ΔH and the current bit cutter actual height value are added to the reference height data package and the mapping relationship is reconstructed, and then the initial setting value is maintained. That is, when new data setting is encountered, the system does not find the experience sample value by comparison, the system will record and store it in the reference height data, which can provide data support for subsequent setting adjustment.

[0064] Exemplarily, the work environment is set on the display interface, and can also be set through the handle switch, for example, the work environment is selected as Horizon, the index number one is set on the display interface, and then the bit cutter height experience value H is found in the sub-mapping table corresponding to Horizon according to the bit cutter error height ΔH sampleWherein, the corresponding flat ground height empirical sample value is in the range of [2800, 3200], the adjusted bit error height AH is in the range of [200, 500], and the value not found in the sample is kept as the initial setting value.

[0065] S20, using the bit height empirical value H sample and the bit movement model to calculate the bit movement angle θ; the bit movement model is constructed according to the bit height empirical value H sample , the hinge point height H, the bit arm length L, the bit error height AH, the bit arm error length AL and the bit movement angle θ; wherein, the hinge point height H is the height of the hinge point of the bit from the ground.

[0066] Further, the bit movement model is also constructed according to the dynamic deviation adjustment value Δα, which is adjusted according to the actual cutting effect of the sugarcane harvester.

[0067] The calculation formula of the bit movement model is:

[0068] H sample +Δα=H+(L+ΔL)Sinθ-ΔH

[0069] Wherein, Δα represents the dynamic deviation adjustment value, H sample represents the bit height empirical value, θ represents the bit movement angle, H represents the hinge point height, L represents the bit arm length, AL represents the bit variable height, and ΔH represents the error length.

[0070] The derivation process of the calculation formula of the bit movement model is as follows:

[0071] 1) The bit movement model of the bit can be established through point A, wherein the bit movement angle θ is defined as the angle between the bit arm and the horizontal line. As shown in Figure 2 , the bit arm length is L, the bit arm error length is AL, the height of the hinge point from the ground is H, the bit variable height is H x , and the bit error height is ΔH. The first derivation formula H x +ΔH=(L+ΔL)Sinθ can be obtained, and the actual ground clearance of the bit is HActual=H+(L+ΔL)Sinθ-ΔH. The variable height of the bit is calculated by inputting the calibration values of the lowest point Hmin and the highest point Hmax, and by calculating the angles of the lowest point and the highest point. Knowing the angles of the lowest point and the highest point can convert the variable height. The bit error height is generally a value set by artificial measurement and combined with mechanical parameters, but there may be a little difference for different mechanical structures.

[0072] 2) Determine the empirical value of the cutter height H based on the cutter error height ΔH and the constructed reference height data package sample , then we get the second derivation formula: H Actual =H sample +Δα.

[0073] According to the first and second deduction formulas, we can get:

[0074] H sample +Δα=H+(L+ΔL)Sinθ-ΔH.

[0075] Furthermore, using the cutter height empirical value H sample Before calculating the cutter motion angle θ using the cutter motion model, the following steps are also included:

[0076] Calibrate the lowest point H of the cutter movement min and the highest point H max , according to the lowest point H min and the highest point H max , variable height H of cutter x To make the cutter motion model more accurate. For example, the lowest point H of the cutter motion can be obtained by actual measurement. min and the highest point H max , the hinge point height H is obtained through actual measurement.

[0077] Alternatively, use the lowest point setting value H min0 and the highest point setting value H max0 Determine the variable height H of the cutter x Among them, the lowest point setting value H min0 and the highest point setting value H max0 These are default values ​​based on experience.

[0078] S30, adjusting the angle between the cutter and the hinge point according to the cutter movement angle θ. During the operation of the cutter, the size of the dynamic deviation adjustment value Δα is adjusted according to the harvesting effect and the actual height value of the cutter. Referring to the cutter movement angle θ obtained above, the angle between the cutter and the hinge point can be dynamically adjusted, and the height of the cutter can be adjusted by changing the angle. When the height of the cutter is found to be too high or too low during dynamic adjustment, the dynamic deviation adjustment value Δα can be fine-tuned. When the height is too high, the size of the dynamic deviation adjustment value Δα is reduced, and when the height is too low, the size of the dynamic deviation adjustment value Δα is increased. This enables the cutter to reduce the breakage rate of sugarcane heads, thereby achieving dynamic height adjustment of the cutter.

[0079] For the problem that the breakage rate of the cutting bit is high and does not reach the ideal index, the height of the cutting bit is adjusted in real time to adapt to the height of the sugarcane, the dynamic trajectory adjustment is established for the movement of the cutting bit to realize the closed-loop control of the cutting bit, and the link of manual adjustment is reduced. Specifically, there are experience sample values in the method of the present application, the current cutting bit error height ΔH measured by the angle sensor is used to query the cutting bit height experience value H sample in real time by using the mapping table method, and then the cutting bit movement angle θ or the data sample is calculated, and the dynamic deviation adjustment value parameter is added to make fine parameter adjustment, so as to improve the accuracy of the included angle and reduce the error caused by the hinge point and the breakage rate of the cutting bit.

[0080] Figure 4 A structural schematic diagram of a cutting bit control device of an embodiment of the present application is shown. The cutting bit control device includes a cutting bit height experience value determination module 410, a cutting bit movement angle calculation module 420, and a cutting bit height adjustment module 430.

[0081] The cutting bit height experience value determination module 410 is configured to determine the cutting bit error height ΔH, and determine the cutting bit height experience value H sample according to the cutting bit error height ΔH and the constructed reference height data packet.

[0082] The cutting bit movement angle calculation module 420 is configured to calculate the cutting bit movement angle θ by using the cutting bit height experience value H sample and a cutting bit movement model; the cutting bit movement model is constructed according to the cutting bit height experience value H sample , the hinge point height H, the cutting bit arm length L, the cutting bit error height ΔH, the cutting bit arm error length ΔL, and the cutting bit movement angle θ; wherein the hinge point height H is the height of the hinge point of the cutting bit from the ground.

[0083] The cutting bit height adjustment module 430 is configured to adjust the included angle between the cutting bit and the hinge point according to the cutting bit movement angle θ.

[0084] It can be understood that the device of the embodiment corresponds to the cutting bit control method of the sugarcane harvester of the above-mentioned embodiment, and the optional items in the above-mentioned embodiment are also applicable to the present embodiment, so the description is not repeated here.

[0085] The present application also provides a cutting bit controller of a sugarcane harvester, which exemplarily includes a processor and a memory, wherein the memory stores a computer program, and the processor runs the computer program, so that the cutting bit controller of the sugarcane harvester executes the functions of the cutting bit control method of the sugarcane harvester or each module of the cutting bit control device.

[0086] The processor can be an integrated circuit chip with signal processing capability. The processor can be a general purpose processor, including a central processing unit (CPU), a graphics processing unit (GPU), and a network processor (NP), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or at least one of the above. The general purpose processor can be a microprocessor or the processor can also be any conventional processor, etc., which can implement or execute the disclosed methods, steps, and logic block diagrams in the embodiments of the present application.

[0087] The memory can be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory is used to store a computer program. After receiving an execution instruction, the processor can execute the computer program accordingly.

[0088] The application also provides a readable storage medium for storing the computer program used in the controller of the sugarcane harvester.

[0089] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can also be implemented by other means. The apparatus embodiments described above are only illustrative, for example, the flowcharts and structural diagrams in the drawings show the possible implementation architecture, function and operation of the apparatus, method and computer program product according to the embodiments of the present application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment or a part of code, which contains one or more executable instructions for implementing the specified logic function. It should also be noted that in alternative implementation, the functions noted in the blocks can also occur in different order from that noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the structural diagram and / or flowchart, and the combination of blocks in the structural diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0090] In addition, each functional module or unit in the embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0091] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0092] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application.

Claims

1. A sugarcane harvester cutter control method, characterized in that: include: Determine the cutter error height ΔH, and determine the cutter height empirical value H according to the cutter error height ΔH and the constructed reference height data package sample ; Wherein, the reference height data packet includes a mapping relationship between the cutter error height ΔH and the cutter height; Using the experience value H of the cutter height sample The cutter motion angle θ is calculated by the cutter motion model; the cutter motion model is based on the cutter height empirical value H sample , hinge point height H, cutter arm length L, cutter error height ΔH, cutter arm error length ΔL and the cutter movement angle θ are constructed; wherein the hinge point height H is the height of the cutter hinge point from the ground; The included angle between the cutter and the hinge point is adjusted according to the movement angle θ of the cutter.

2. The sugarcane harvester cutter control method according to claim 1, characterized in that: The cutter motion model is also constructed based on the dynamic deviation adjustment value Δα, which is set according to the actual cutting effect of the sugarcane harvester. The calculation formula of the cutter motion model is: H sample +Δα=H+(L+ΔL)Sinθ-ΔH Among them, Δα represents the dynamic deviation adjustment value, H sample represents the empirical value of the cutter height, θ represents the cutter movement angle, H represents the hinge point height, L represents the cutter arm length, ΔL represents the cutter arm error length, and ΔH represents the cutter error height.

3. The sugarcane harvester cutter control method according to claim 2, characterized in that: Determining the cutter error height ΔH includes: Before harvesting, an initial reference height is obtained, and the cutter height is adjusted again according to the actual harvested sugarcane height to obtain the cutter determination height. The cutter error height ΔH is obtained based on the initial reference height and the cutter determination height.

4. The sugarcane harvester cutter control method according to claim 2, characterized in that: The method further comprises: During the operation of the foreman cutter, the size of the dynamic deviation adjustment value Δα is adjusted according to the harvesting effect and the actual height value of the foreman cutter.

5. The sugarcane harvester cutter control method according to claim 1, characterized in that: The mapping relationship is constructed by constructing a plurality of sets of cutter error heights ΔH and corresponding actual movement angles of the cutter when the cutter is working, which are collected under various operating environments; The height empirical value H of the cutter is determined based on the cutter error height ΔH and the constructed reference height data packet. sample ,include: According to the cutter error height ΔH, the cutter height empirical value H is obtained by searching in the mapping relationship. sample .

6. The sugarcane harvester cutter control method according to claim 5, characterized in that: The type of the working environment includes at least one of flat land, sloping land and mountainous land; The height empirical value H of the cutter is determined based on the cutter error height ΔH and the constructed reference height data packet. sample Previously, the method further includes: setting the type of the current operating environment; the mapping relationship includes sub-mapping relationships corresponding to the types of the operating environments; The height empirical value H of the cutter is determined based on the cutter error height ΔH and the constructed reference height data packet. sample ,include: According to the cutter error height ΔH, the cutter height empirical value H is obtained by searching in the corresponding sub-mapping relationship. sample .

7. The sugarcane harvester cutter control method according to claim 5, characterized in that: If the cutter height empirical value H is not found in the mapping relationship according to the cutter error height ΔH sample , then the cutter error height ΔH and the current cutter actual height value are added to the reference height data packet and the mapping relationship is reconstructed.

8. The sugarcane harvester cutter control method according to claim 1, characterized in that: In the above method, the height experience value H of the cutter is used. sample Before calculating the cutter motion angle θ using the cutter motion model, the following steps are also included: Calibrate the lowest point H of the cutter movement min and the highest point H max , according to the calibrated lowest point H min and the highest point H max , determine the variable height H of the cutter x ; Alternatively, use the lowest point setting value H min0 and the highest point setting value H max0 Determine the variable height H of the cutter x .

9. A sugarcane harvester cutter control system, characterized in that: include: controllers, input modules, and measurement modules; The controller is used to implement the sugarcane harvester cutter control method according to claim 8; The input module is used to input the parameters of the cutter, which include the dynamic deviation adjustment value Δα, the type of working environment, the cutter error height ΔH, the lowest point H of the cutter movement, and the min and the highest point H max ; The measuring module is used to measure the motion angle measurement value of the cutter and the actual height value of the cutter.

10. A sugarcane harvester cutter controller, characterized in that: The controller includes a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the method for controlling a tipper of a sugarcane harvester according to any one of claims 1 to 8.

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