A terrain sensing device and method for adaptive adjustment of tool height

Abstract

The application provides a terrain sensing device and a regulation method for adaptive adjustment of cutter height, and belongs to the field of agricultural machinery and automatic control. The terrain sensing device is mainly composed of an angle sensor, a connecting plate, a rotating shaft, a drag plate flange, a drag plate and a coupling. The regulation method is based on sensing of terrain height variation by the contact type terrain sensing device and adaptive regulation of the cutter height of a sugarcane harvester. The method is performed according to the following steps: step 1, installation of the terrain sensing device and the inclination sensor; step 2, adjustment of system parameters; step 3, acquisition of terrain variation data and calculation; step 4, output of terrain error; and step 5, output of cutter height adjustment instructions to realize adaptive height regulation. The application combines the terrain sensing device with the adaptive cutter height regulation method, effectively improves the working quality and efficiency of the sugarcane harvester, and provides an effective method for terrain detection and adaptive control of working devices in similar complex scenarios.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of agricultural machinery and automatic control, and particularly relates to a terrain sensing device and a control method for adaptive adjustment of tool height. BACKGROUND

[0002] The terrain detection technology is a technology of sensing terrain changes by using one or more sensors and processing the terrain changes. The principle is to use contact or non-contact sensors to obtain the fluctuation information of the corresponding terrain, and to obtain the terrain change situation after processing. According to the environmental characteristics of the use scene, the actual demand and constraint conditions are analyzed, and a suitable terrain detection method is adopted to realize accurate detection of the terrain change trend, and is used for automatic control, terrain mapping and other subsequent researches. The terrain detection technology is widely used in robots, engineering machinery, agricultural machinery and automatic operation.

[0003] At present, the terrain detection technology has been researched and tried to be used in robots, engineering machinery and agricultural machinery. For example, when the robot walks, the terrain changes are detected in real time to provide the information of terrain changes for the path planning of the automatic walking robot. When working in the complex environment of crop planting, the terrain detection is implemented to optimize the quality and efficiency of the mechanized harvesting of crops. However, due to the difference of the application environment, the same terrain detection method often has poor adaptability in different environments. In the sugarcane harvesting link, there are a large number of sugarcane leaves, straws and weeds and other obstacles under the sugarcane harvester, so that the common terrain detection methods cannot be realized. For example, the non-contact sensors such as cameras, ultrasonic waves and radars cannot penetrate the weeds to obtain the real terrain, and only rely on manual experience to adjust the cutter height, which leads to the fact that the quality of sugarcane harvesting cannot meet the requirements of agricultural planting, and reduces the willingness of farmers to use mechanical harvesting, so that the degree of mechanization of sugarcane harvesting in China is low at present. Therefore, it is urgent to need a terrain detection method suitable for the environment of sugarcane harvesting, and to cooperate with the method of adaptive adjustment of tool height, to realize real-time terrain detection of the sugarcane harvesting scene, and then to realize adaptive control of the cutter height of the sugarcane harvester.

[0004] The related researches have combined the terrain detection technology with the automatic control method to realize the automatic control based on the terrain. At present, the recognition of the terrain change trend is mainly concentrated, and the non-contact sensors such as visual sensors and radar sensors are used to process and detect the terrain data. Since the sugarcane harvesting scene has high requirements for the anti-interference ability of the detection method, the actual situation needs to be considered, and the appropriate terrain detection method and control method are selected to realize the adaptive adjustment of the cutter height of the sugarcane harvester.

[0005] Taking a common sugarcane harvesting scene as an example, when the sugarcane harvester is harvesting, the driver needs to observe the general terrain conditions such as slope and overall change of different harvesting areas, and also needs to consider the change of the height of the underlying ridge in the middle of the different harvesting paths, so it is difficult to ensure that the sugarcane cutting height is within 5cm below the ground. The visual sensor and the radar cannot overcome the interference caused by a large number of sugarcane leaves and sugarcane stalks near the cutter; the contact sensor can reduce the influence of the complex environment on the terrain detection process by contacting the ground, but due to the change of the cutter device height and the change of the vehicle body posture during the operation of the sugarcane harvester, the existing contact sensor is difficult to be directly used for the cutter regulation and control of the sugarcane harvester. SUMMARY

[0006] In view of the deficiencies and shortcomings of the prior art, the purpose of the present application is to provide a terrain perception device and a regulation and control method for adaptive adjustment of cutter height, which solves the problem that the terrain detection of the prior art in a complex environment is difficult and the manual control of the cutter height cannot meet the requirements of sugarcane harvesting and agricultural operation.

[0007] In order to solve the above technical problems, the present application adopts the following technical solutions:

[0008] A terrain perception device for adaptive adjustment of cutter height, mainly composed of an angle sensor, a connecting plate, a shaft, a drag plate flange, a drag plate and a shaft coupling, the angle sensor is fixed with the connecting plate by bolts, the connecting plate is fixed with the vehicle body of the sugarcane harvester, the output shaft of the angle sensor is fixed with the shaft by a set screw, the drag plate flange is fixed on the shaft, the drag plate is fixed with the drag plate flange by bolts, and the two shafts are connected by the shaft coupling.

[0009] A regulation and control method for adaptive adjustment of cutter height, which uses a terrain perception device to detect terrain changes in real time, obtains terrain height data, and then adaptively controls the cutter height of the sugarcane harvester, the method is carried out according to the following steps:

[0010] Step 1, installation of the terrain perception device and the inclination sensor

[0011] The terrain perception device is installed at a suitable position below the machine body in a rotary hinged manner to obtain the height change information of the target point and the ground, the inclination sensor of the cutter holder device is fixedly installed at the cutter holder device of the vehicle body to obtain the angle between the cutter holder device and the horizontal direction during the working process, and the inclination sensor of the driver's cab is fixedly installed at the position of the driver's cab of the vehicle body to obtain the overall posture transformation of the vehicle body;

[0012] Step 2, adjustment of system parameters

[0013] Calibration of each sensor, select the appropriate PWM electromagnetic proportional valve current value, adjust the hydraulic cylinder action speed to meet the requirements;

[0014] Step 3, take the terrain change data and calculate:

[0015] The sensor data obtained during the journey is collected and input into the data processing model, and after the following formula model operation, the detected terrain height H2 is output:

[0016] H2 = H3 + H1 - H4 = L1 x sin θ + L3 x sin (β + η1) - L4 x sin (β + η2)

[0017] In the formula: α- the angle between the drag plate and the tool holder device, that is, the angle sensor output data, °;

[0018] β- the angle between the tool holder device and the horizontal direction, that is, the data collected by the tool holder device inclination sensor, °;

[0019] γ- the angle between the vehicle body and the horizontal direction, that is, the data collected by the cab inclination sensor, °;

[0020] H1- the height of the drag plate disc center from the ground, mm;

[0021] H2- the height of the cutter device from the ground, mm;

[0022] H3- the distance between the drag plate disc center and the horizontal position of the tool holder device rotating shaft, mm;

[0023] H4- the distance between the cutter device and the horizontal position of the tool holder device rotating shaft, mm;

[0024] L1- the length of the drag plate, mm;

[0025] L3- the distance between the drag plate disc center and the tool holder device rotating shaft, mm;

[0026] L4- the distance between the cutter device center and the tool holder device rotating shaft, mm;

[0027] η1- the angle between the drag plate disc center and the upper side of the tool holder device, °;

[0028] η2- the angle between the cutter device center and the upper side of the tool holder device, °;

[0029] Step 4, output the terrain error:

[0030] The output results of the processing model of step 3 are post-processed, compared with the set target terrain height, and the terrain error E is output:

[0031] E = H2 - H0

[0032] Where: H0 - set target terrain height, mm;

[0033] Step 5, output tool height adjustment command:

[0034] The height error calculation results are judged, and the judgment steps are as follows:

[0035] Step S51: Determine whether the height error E is within the control accuracy requirement range. If it is less than the control accuracy requirement, the termination requirement is met, and no control command is output. The termination requirement is:

[0036] E < E0

[0037] Where: E0 - set accuracy requirement, mm;

[0038] Otherwise, proceed to step S52;

[0039] Step S52: Input the height error calculation result into the fuzzy control algorithm, and output the corresponding cutter height motion control command based on the calculation of the fuzzy control algorithm.

[0040] When the termination condition is met, the system adaptively adjusts the cutter height.

[0041] The present invention also has the following technical features:

[0042] The terrain sensing device is designed based on the actual scene and characteristics of sugarcane harvesting. Its contact mechanism is a slide plate, which is connected to the cutter head device of the sugarcane harvester through a rotating hinge to detect the angle data between the slide plate and the cutter head device of the sugarcane harvester.

[0043] The data processing model is a kinematic model obtained through theoretical modeling and kinematic analysis of a sugarcane harvester.

[0044] During the on-site data collection process, the vehicle speed was 1km / h-3km / h, and the sampling time interval was 0.05s.

[0045] Compared with the prior art, the present invention has the following technical effects:

[0046] (I) The terrain sensing device used in this invention is in direct contact with the ground, which can overcome the influence of complex ground environment and interference. It can detect the current terrain height change of the sugarcane harvester in real time and effectively solve the problem that the complex scene makes it impossible for common terrain detection methods to achieve the goal, and lay the foundation for adaptive control of the blade height.

[0047] (II) The topography sensing method of the present application acquires the topography height change through the topography sensing device, at the same time, installs multiple inclination sensors on the vehicle body to detect the vehicle body posture change and the ground slope change, combines the topography height change and the vehicle body posture change, and uses the multi-sensor fusion method to improve the accuracy and reliability of measuring the ground height.

[0048] (III) The topography detection method and the tool height self-adaptive control method proposed by the present application realize real-time detection of the topography height of the sugarcane harvester, and then complete the self-adaptive control of the tool height of the harvester, thereby providing a terrain detection device and a height self-adaptive control method with universality for similar complex scenes. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 is the overall block diagram of the tool height self-adaptive control system.

[0050] Figure 2 is the schematic diagram of the connection relationship of each sensor.

[0051] Figure 3 is the principle diagram of the hydraulic system.

[0052] Figure 4 is the relationship between the angle and the height in the topography detection method of the sugarcane harvester.

[0053] Figure 5 is the schematic diagram of the structure of the topography sensing device.

[0054] Figure 6 is the control flow chart of the self-adaptive control method.

[0055] Figure 7 is the principle diagram of the self-adaptive fuzzy control algorithm.

[0056] Figure 8 is the schematic diagram of the indoor test model.

[0057] Figure 9 is the measured cutter height from the ground in the model 1 test.

[0058] Figure 10 is the measured cutter height from the ground in the model 2 test.

[0059] Figure 11 is the measured cutter height from the ground in the model 3 test.

[0060] Figure 12 is the measured cutter height from the ground in the model 4 test.

[0061] Figure 13 is the measured cutter height from the ground in the model 3 slow test.

[0062] Figure 14is the cutting tool height map measured by model 3 fast test.

[0063] Figure 15 is the schematic diagram of the field test sample plate modification.

[0064] Figure 16 is the cutting tool height map measured by field downhill test.

[0065] Figure 17 is the cutting tool height map measured by field uphill test.

[0066] Figure 18 is the cutting tool height map measured by field fast test.

[0067] Figure 19 is the cutting tool height map measured by field slow test.

[0068] In the figure: 1, knife holder device, 2, cab, 3, cab inclination sensor, 4, knife holder device inclination sensor, 5, lifting hydraulic cylinder, 6, cutting tool device, 7, angle sensor, 8, drag plate, 9, constant displacement gear pump, 10, PWM electric proportional directional valve, 11, oil tank, 12, hydraulic cylinder, 13, knife holder device rotating shaft, 14, hydraulic cylinder upper fulcrum, 15, hydraulic cylinder lower fulcrum, 16, drag plate disc center, 17, cutting tool device cutting point, 18, coupling, 19, drag plate flange, 20, rotating shaft, 21, connecting plate, 22, protective shell, 23, protective wire sleeve. DETAILED DESCRIPTION

[0069] A terrain sensing device for adaptive adjustment of tool height, mainly composed of angle sensor 7, connecting plate 21, rotating shaft 20, drag plate flange 19, drag plate 8 and coupling 18, the angle sensor 7 is fixed with the connecting plate 21 through bolts, the connecting plate 21 is fixed with the body of the sugarcane harvester, the output shaft of the angle sensor 7 is fixed with the rotating shaft 20 through a set screw, the drag plate flange 19 is fixed on the rotating shaft 20, the drag plate 8 is fixed with the drag plate flange 19 through bolts, and the two rotating shafts 20 are connected by the coupling 18.

[0070] The following gives a specific embodiment of the present application, it should be noted that the present application is not limited to the following specific embodiments, any equivalent transformation made on the basis of the technical scheme of the present application falls within the protection scope of the present application.

[0071] Example 1:

[0072] This embodiment gives a terrain sensing device for adaptive adjustment of tool height and a control method, which is carried out according to the following steps:

[0073] Step 1, terrain sensing device and inclination sensor installation:

[0074] Step S11, Figure 1 The overall block diagram of the control method is shown. The terrain sensing device is installed below the vehicle body in a rotary hinged manner to obtain the target point and ground height change information. The tool holder device inclination sensor is fixedly installed at the tool holder device of the vehicle body to obtain the angle between the tool holder device and the horizontal direction during operation. The cab inclination sensor is fixedly installed at the cab position of the vehicle body to obtain the overall posture change of the vehicle body.

[0075] Step S12,

[0076] The terrain sensing device is installed below the tool holder device 1 of the sugarcane harvester as shown in Figure 2 The terrain sensing device is installed below the tool holder device 1 of the sugarcane harvester as shown in

[0077] Step 2, system parameter adjustment:

[0078] Step S21, calibrate each sensor. After calibration, the angle sensor 7 at the rotary hinged connection between the drag plate 8 and the tool holder device 1 of the sugarcane harvester reads the included angle value between the two, the tool holder device inclination sensor 4 on the tool holder device 1 reads the included angle value between the tool holder device 1 and the horizontal direction, and the cab inclination sensor 3 reads the overall inclination of the sugarcane harvester, i.e. the current ground slope reading.

[0079] Step S22, select appropriate PWM electromagnetic proportional directional valve 10 current value to adjust the hydraulic cylinder 12 action speed to meet the requirements. Due to the weight of the tool itself, it is found that when the electromagnetic valve current control amount PWMCon in the controller is greater than 7500 (current is about 0.92A, PWM range is 0-65535 corresponding to 0-24V), the hydraulic cylinder 12 can start to move slowly. With the increase of PWM value, the hydraulic cylinder 12 action speed increases, and when PWMCon is 10000, the hydraulic cylinder 12 can realize fast action. Therefore, the PWM duty cycle parameter output range is set to [7500, 10000] during the test, corresponding to the output current [0.92, 1.22]A, Figure 3 is the working principle diagram of the hydraulic system;

[0080] Step 3, take terrain change data and calculate:

[0081] The sensor data acquired during the travel is collected and input into a data processing model, Figure 4 For the angle and height relationship in the sugarcane harvester terrain detection method, the current detected terrain height H2 is output after the following formula model operation;

[0082] H2 = H3 + H1 - H4 = L1 x sin θ + L3 x sin (β + η1) - L4 x sin (β + η2)

[0083] Where: α - the angle between the drag plate 8 and the cutter holder device 1, i.e. the data collected by the angle sensor 7, °;

[0084] β - the angle between the cutter holder device 1 and the horizontal direction, i.e. the data collected by the cutter holder inclination sensor 4, °;

[0085] γ - the angle between the vehicle body and the horizontal direction, i.e. the data collected by the cab inclination sensor 3, °;

[0086] H1 - the distance between the drag plate disc center 16 and the ground, mm;

[0087] H2 - the distance between the cutter device 6 and the ground, mm;

[0088] H3 - the distance between the drag plate disc center 16 and the horizontal position of the cutter holder device rotating shaft 13, mm;

[0089] H4 - the distance between the cutter device 6 and the horizontal position of the cutter holder device rotating shaft 13, mm;

[0090] L1 - the length of the drag plate 8, mm;

[0091] L3 - the distance between the drag plate disc center 16 and the cutter holder device rotating shaft 13, mm;

[0092] L4 - the distance between the center of the cutter device 6 and the cutter holder device rotating shaft 13, mm;

[0093] η1 - the angle between the drag plate disc center 16 and the upper side of the cutter holder device 1, °;

[0094] η2 - the angle between the center of the cutter device 6 and the upper side of the cutter holder device 1, °;

[0095] Step 4, output terrain error:

[0096] The output result of the processing model in step 3 is post-processed, compared with the set target terrain height, and the terrain height error E is output:

[0097] E = H2 - H0

[0098] Where: H0 - set target terrain height, mm;

[0099] The target terrain height set is set by the operator according to the field conditions before the harvester starts working;

[0100] Step 5, outputting the cutter height adjustment instruction:

[0101] The height error calculation result is judged, and the judgment steps are as follows:

[0102] Step S51, judging whether the height error E is within the control accuracy requirement, and less than the control accuracy requirement, then meeting the termination requirement, not outputting the control instruction, and the termination requirement is:

[0103] E < E0

[0104] In the formula: E0-set precision requirement, mm;

[0105] Otherwise, step S52 is performed;

[0106] Step S52, inputting the height error calculation result into the fuzzy control algorithm, outputting the corresponding cutter height motion control instruction according to the calculation of the fuzzy control algorithm, and outputting;

[0107] Figure 6 It is a flowchart of the control algorithm, which outputs the calculated control instruction by inputting the height error and combining the fuzzy rule table;

[0108] When the termination condition is met, the system realizes adaptive adjustment of the cutter height;

[0109] Figure 8 The cutter height adaptive control system is tested on different models of indoor slope models, and model 1 is used in this example, Figure 9 The cutter height data calculated during the test process.

[0110] (A) The present application breaks through the problem that the existing terrain detection method cannot well adapt to complex terrain, realizes complex terrain detection based on a terrain sensing device, and can provide a basis for terrain detection in similar complex scenes.

[0111] (B) The present application realizes cutter height adaptive control based on terrain detection, and uses multiple inclination sensors to detect the vehicle body posture and ground slope angle, further improves the control accuracy, and solves the problem of low harvesting quality caused by manual operation of the existing driver.

[0112] (D) Since the method provided by the present application can realize complex environment terrain detection and working device height adaptive control, it can provide a basis for the design of similar complex terrain detection and automatic working device in the later period.

[0113] Comparative Example 1:

[0114] The comparative example gives a terrain sensing method and tool height adaptive control method based on angle sensor, other steps of the method are the same as example 1, the difference is only in the test of different terrain models.

[0115] The test terrain model 1 in example 1 is a slope type terrain, and different terrain models 2, 3 and 4 are used for testing in this comparative example. Figure 10 、 Figure 11 、 Figure 12 The test results corresponding to comparative example 1 are shown in Table 1.

[0116] Comparative example 2:

[0117] The comparative example gives a terrain sensing method and tool height adaptive control method based on angle sensor, other steps of the method are the same as example 1, the difference is only in the test of different terrain models.

[0118] The test in example 1 simulates the normal working condition of the sugarcane harvester at a speed of 1.8 km / h, and slower (1 km / h) and faster (2 km / h) speeds are used for testing in this comparative example. Figure 13 、 Figure 14 The test results corresponding to comparative example 2 are shown in Table 2.

[0119] Example 2:

[0120] The example gives a terrain sensing method and tool height adaptive control method based on angle sensor, other steps of the method are the same as example 1, the difference is that the existing sugarcane harvester is modified by adding a protective shell 22 and a protective wire sleeve 23 to avoid damage to the sensor during the experiment, and the modification results are shown in Table 3. Figure 15 The sugarcane harvester field test is carried out in the farmland, and the difference in step 2 is:

[0121] Step 2, system parameter adjustment:

[0122] Step S21, the cab tilt sensor 3 installed in the vehicle body cab is used to feedback the angle of the vehicle body with the terrain, and is calibrated to output 0 when the cab tilt sensor 3 is horizontal, and increases to positive value when the vehicle body is tilted upward and uphill, and decreases to negative value when the vehicle body is tilted downward and downhill. The tool holder device tilt sensor 4 is calibrated to zero point when the hydraulic cylinder 12 is fully retracted, and the angle increases to positive value when the hydraulic cylinder 12 is extended;

[0123] Step S22, select appropriate PWM electromagnetic proportional directional valve 10 current value, adjust the hydraulic cylinder 12 action speed to meet the requirements;

[0124] Because the test prototype is more complete in structure than the bench, the weight of the cutter part is increased, which leads to different resistance of the telescopic oil cylinder, and the hydraulic system characteristics of the test prototype and the indoor test prototype are different. Field tests show that when PWMCon is greater than 11000 (1.35A), the hydraulic cylinder 12 can start to act slowly, and as the value increases, the hydraulic cylinder 12 acts faster. When PWMCon is 13000 (1.59A), the hydraulic cylinder 12 can act quickly, which meets the requirements of the cutting tool lifting speed. Therefore, the PWM duty cycle parameter output range is set to [11000, 13000] during the test, and the corresponding output current is [1.35, 1.59]A.

[0125] Figures 16-19 Test results corresponding to Example 2.

[0126] Effect test comparison:

[0127] The final value error of the theoretical cutter ground clearance H2 of different models is controlled within 10mm, the steady-state error is small, and the control accuracy is high; the mean error is controlled within 20mm, indicating that the overall dynamic accuracy of the control system is high.

[0128] By comparing the control performance of Comparative Example 2 at different speeds, the results show that for different speeds, i.e. different complexity of terrain changes, the final value error of the theoretical cutter ground clearance H2 is controlled within 10mm, and the mean error is controlled within 20mm, i.e. the cutter ground clearance is maintained unchanged. The control system can maintain good control accuracy. However, when the terrain changes are more complex and frequent, i.e. at high speed, the control error becomes larger, i.e. the rapidly changing terrain has a certain influence on the terrain following performance of the adaptive control system, but the overall control performance is still good.

[0129] Through field tests of Example 2, Figures 16-19 As shown in the test results of different terrains in the sugarcane field, the final value error of the theoretical cutter ground clearance H2 is controlled within 20mm, and the mean error is controlled within 25mm during the test, and the overall adaptive following performance is good. The downhill test does not show a significant difference from the uphill test, and the error of the slow speed test is relatively smaller than that of the fast speed test in different speed tests, which indicates that the inclination direction of the terrain slope has no great influence on the control system performance. Because the actual terrain is mostly continuous, the overall control performance test results are larger than those of the step model test in the indoor test.

[0130] The tests show that the terrain detection and cutter height adaptive control method based on the contact type terrain sensing device can effectively realize the adaptive control of the cutter height during the working process of the sugarcane harvester, and provides an effective method for terrain sensing and adaptive control of working devices in similar scenarios.

[0131] The method is verified in the sugarcane harvester, but the method is not limited to this case, and the use of the method for topographic perception and adaptive control of the working device of other construction machinery or agricultural machinery is also within the protection scope of the application.

[0132] The retrofitting mode, the calculation model and the fuzzy control method described in examples 1 and 2 are the same; the method of this example can detect the terrain and adaptively adjust the cutter height in different complex scenes; the method solves the problem of low efficiency and low quality caused by manual driving operation of the previous sugarcane harvester, and truly realizes the automation and intelligentization of crop harvesting.

Claims

1. A control method for adaptive adjustment of tool height, characterized in that, This method is implemented based on a dedicated terrain perception device, which includes an angle sensor, a connecting plate, a rotating shaft, a platen flange, a platen and a coupling. Among them, the angle sensor is fixed to the connecting plate by bolts, the connecting plate is fixed to the sugarcane harvester body, and the output shaft of the angle sensor is fixed to the rotating shaft by set screws to accurately transmit the angle change. The platen flange is fixed on the rotating shaft, and the platen is fixed to the platen flange by bolts and can rotate around the rotating shaft with the terrain undulation. The coupling connects the two rotating shafts. This method adaptively adjusts the height of the sugarcane harvester cutter according to the terrain height change sensed by the terrain perception device. This method is carried out according to the following steps: Step 1, Installation of terrain perception device and inclination sensor: Install the terrain perception device in a suitable position below the body in a rotating hinge manner to obtain the height change information between the target point and the ground. Fix and install the cutter holder device inclination sensor at the cutter holder device of the vehicle body to obtain the angle between the cutter holder device and the horizontal direction during the working process. Fix and install the cab inclination sensor at the cab position of the vehicle body to obtain the overall attitude change of the vehicle body; Step 2, System parameter adjustment: Calibrate each sensor, select a suitable PWM electromagnetic proportional directional valve current value, and adjust the hydraulic cylinder action speed to meet the requirements; Step 3, Collect terrain change data and calculate: Collect the data of each sensor obtained during the traveling process and input it into the data processing model. After calculation, output the detected terrain height H2; Step 4, Output terrain error: Post-process the output result of the data processing model in Step 3, compare the processed result with the set target terrain height, and output the terrain error E; Step 5, Output cutter height adjustment instruction: Judge the height error calculation result. The judgment steps are as follows: Step S51, Judge whether the height error E is within the range of the control accuracy requirement. If it is less than the control accuracy requirement, it meets the termination requirement and no control instruction is output. The termination requirement is: E < E0, otherwise go to Step S52; Step S52, Input the height error calculation result into the fuzzy control algorithm. According to the calculation of the fuzzy control algorithm, output the corresponding cutter height motion control instruction and output it; When the termination condition is met, the system realizes the adaptive adjustment of the cutter height.

2. The control method for adaptive adjustment of tool height as described in claim 1, characterized in that, The regulation method is: Use the terrain perception device to obtain the ground height change situation, combine the body attitude change and terrain slope change detected by the cab inclination sensor installed on the vehicle body, and use the method of calculating the ground height by the data processing model.

3. The control method for adaptive adjustment of tool height as described in claim 1, characterized in that, The data processing model is: A kinematic model obtained by theoretical modeling and kinematic analysis of the sugarcane harvester.

4. The control method for adaptive adjustment of tool height as described in claim 1, characterized in that, During the collection process of the terrain change data, the vehicle traveling speed is 1.8 km / h - 3 km / h, and the sampling time interval is 0.05 s.

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