A sugarcane harvester cutting depth control device based on laser radar detection

Abstract

This invention discloses a sugarcane harvester cutting depth control device based on lidar detection, comprising a hydraulic lifting mechanism, a lidar, and a controller. The hydraulic lifting mechanism includes a lifting hydraulic cylinder, hydraulic pipes, a hydraulic solenoid valve, a hydraulic pump, and a hydraulic power source. The telescopic end of the lifting hydraulic cylinder is connected to the harvester's header, and a cutter head is located below the header. The hydraulic pipe connects the lifting hydraulic cylinder and the hydraulic pump. The hydraulic solenoid valve is mounted on the hydraulic pipe. The hydraulic power source is connected to the hydraulic pump. The lidar is fixedly mounted on one side of the cutter head for continuously scanning the area of ​​soil splashed during cutting. The controller is electrically connected to the lidar, the hydraulic solenoid valve, and the hydraulic pump. This cutting depth control device can accurately control the depth of the cutter head in real time, which helps to avoid problems such as uneven sugarcane stubble height and broken stubble.

Description

Technical Field

[0001] This invention relates to sugarcane harvesters, and more specifically to a sugarcane harvester cutting depth control device based on lidar detection. Background Technology

[0002] Sugarcane is an important raw material for sugar production, light industry, and energy. Current mechanized harvesting operations require manual adjustment of the cutting depth of the cutter head, reducing harvesting efficiency. Drivers in the cab have difficulty observing the cutter head's position, and adjustments are also quite difficult, easily leading to uneven stubble height and broken stubble ends, resulting in unsatisfactory root-cutting effects in mechanized sugarcane harvesting.

[0003] The cutter head of a sugarcane harvester is mounted on the cutting platform and rotates under motor control, while its lifting height is controlled by a hydraulic cylinder. During sugarcane harvesting, it is difficult to accurately control the depth of the cutter head into the soil in real time, which can easily lead to problems such as uneven sugarcane stubble height and broken stubble ends. Summary of the Invention

[0004] The purpose of this invention is to overcome the above-mentioned problems and provide a sugarcane harvester cutting depth control device based on lidar detection. This cutting depth control device can accurately control the depth of the cutter head into the soil in real time, which helps to avoid problems such as uneven sugarcane stubble height and stubble breakage.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A sugarcane harvester cutting depth control device based on lidar detection includes a hydraulic lifting mechanism, a lidar, and a controller;

[0007] The hydraulic lifting mechanism includes a lifting hydraulic cylinder, a hydraulic pipe, a hydraulic solenoid valve, a hydraulic pump, and a hydraulic power source; the telescopic end of the lifting hydraulic cylinder is connected to the header of the harvester, and a cutter head is provided below the header; the hydraulic pipe is connected between the lifting hydraulic cylinder and the hydraulic pump; the hydraulic solenoid valve is installed on the hydraulic pipe; and the hydraulic power source is connected to the hydraulic pump.

[0008] The lidar is fixedly installed on one side of the cutter head and is used to continuously scan the area of ​​soil splashed when the cutter head enters the soil for cutting.

[0009] The controller is electrically connected to the lidar, the hydraulic solenoid valve, and the hydraulic pump, respectively.

[0010] The signal points scanned by the lidar are uploaded to the controller, which calculates the percentage of weak signal points. The higher the percentage of weak signal points, the deeper the cutting depth. If the current cutting depth does not meet expectations, the controller sends corresponding signal commands to the hydraulic solenoid valve and hydraulic pump. The hydraulic solenoid valve and hydraulic pump deliver hydraulic oil to the lifting hydraulic cylinder according to the commands. The lifting hydraulic cylinder drives the cutting table to rise or fall, adjusting the cutting depth of the cutter head in real time.

[0011] The working principle of the above-mentioned sugarcane harvester cutting depth control device based on lidar detection is as follows:

[0012] During operation, a lifting hydraulic cylinder drives the cutter head downwards towards the sugarcane root, where it cuts the root. As the cutter head enters the soil, soil splashes out. A lidar scanner then scans the cutter head's exit point and uploads the signal points for each scan interval to the backend controller. These signal points include strong and weak points, with the weak points representing splashed soil. The controller calculates the percentage of weak signal points.

[0013] By comparing the current depth of the cutter head into the soil with the preset ideal cutting depth, if the current cutting depth does not meet expectations, the controller sends corresponding signal commands to the hydraulic solenoid valve and hydraulic pump. The hydraulic solenoid valve and hydraulic pump deliver hydraulic oil to the lifting hydraulic cylinder according to the commands, and the lifting hydraulic cylinder drives the cutting table to rise or fall, thereby precisely adjusting the depth of the cutter head in real time.

[0014] In a preferred embodiment of the present invention, the hydraulic lifting mechanism further includes an oil tank, which is connected to the hydraulic pump.

[0015] In a preferred embodiment of the present invention, the hydraulic power source is composed of a diesel engine.

[0016] In a preferred embodiment of the present invention, the hydraulic lifting mechanism further includes a relief valve, the inlet of which is connected to the outlet pipe of the hydraulic pump, and the outlet of which is connected to the oil tank, serving as a safety valve to limit the maximum pressure of the system.

[0017] In a preferred embodiment of the present invention, the lidar is connected to the frame of a cutting machine via a mounting structure. This mounting structure includes a mounting bracket and a mounting plate. The mounting bracket extends vertically and is fixedly connected to the frame of the cutting machine. The mounting bracket has multiple vertically arranged mounting holes. The mounting plate is fixed to the mounting bracket by mounting bolts passing through the mounting holes. The lidar is connected to the mounting plate via an angle adjustment structure. With this structure, the mounting plate can be connected to different positions on the mounting bracket using mounting bolts to adjust the installation height of the lidar.

[0018] Furthermore, the angle adjustment structure includes an adjustment plate, adjustment bolts, and adjustment holes; the adjustment plate is fixedly connected to the lidar, and two adjustment bolts are provided, which pass through the adjustment plate and are fixed to the mounting plate; the adjustment hole is formed on the mounting plate and is arc-shaped; one of the adjustment bolts passes through the adjustment hole. With the above structure, the installation angle of the lidar can be adjusted to adapt to different application scenarios.

[0019] Furthermore, the mounting bracket is fixedly connected to the frame of the cutting machine by passing U-bolts through the mounting holes. This allows the position of the lidar to be adjusted by changing the position of the U-bolts.

[0020] In a preferred embodiment of the present invention, a speed sensor for detecting the walking speed of a sugarcane harvester is also included.

[0021] Furthermore, the speed sensor is fixed on the wheel axle of the sugarcane harvester, and the walking speed data detected by the speed sensor is collected by the data acquisition card and transmitted to the controller.

[0022] Compared with the prior art, the present invention has the following advantages:

[0023] 1. The sugarcane harvester cutting depth control device of the present invention scans the soil exit position of the cutter head using a laser radar and uploads the scanned signal points to the controller. The controller calculates the proportion of weak signal points among the signal points. By comparing the current soil penetration depth of the cutter head with the preset ideal cutting depth, if the current cutting depth does not meet expectations, the controller sends corresponding signal commands to the hydraulic solenoid valve and hydraulic pump. The hydraulic solenoid valve and hydraulic pump deliver hydraulic oil to the lifting hydraulic cylinder according to the commands, and the lifting hydraulic cylinder drives the cutting table to rise or fall, thereby accurately adjusting the cutting depth of the cutter head in real time.

[0024] 2. The percentage of weak signal points of lidar is not easily affected by sugarcane leaves, weeds, lodged sugarcane, etc. in sugarcane fields, and has strong anti-interference ability;

[0025] 3. Compared to the driver subjectively judging the cutting depth of sugarcane roots by visual inspection in the cockpit and adjusting the working height of the cutter head, this invention is more objective and reasonable, and significantly reduces the driver's labor intensity. Attached Figure Description

[0026] Figure 1 This is a simplified structural diagram of the sugarcane harvester cutting depth control device based on lidar detection according to the present invention.

[0027] Figure 2 This is a diagram showing the installation structure of the cutter head and lidar of the present invention.

[0028] Figure 3 for Figure 2 A magnified view of X in the image. Detailed Implementation

[0029] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0030] See Figure 1 The sugarcane harvester cutting depth control device based on lidar detection in this embodiment includes a hydraulic lifting mechanism, a lidar 1, a speed sensor 2, and a controller 3. The hydraulic lifting mechanism includes an oil tank 4, a lifting hydraulic cylinder 5, a hydraulic pipe 6, a hydraulic solenoid valve 7, an overflow valve 8, a hydraulic pump 9, and a hydraulic power source 10. The oil tank 4 is connected to the hydraulic pump 9. The telescopic end of the lifting hydraulic cylinder 5 is connected to the harvester's cutting platform 11, and a cutter head 12 is provided below the cutting platform 11. The hydraulic pipe 6 connects the lifting hydraulic cylinder 5 and the hydraulic pump 9. The hydraulic solenoid valve 7 is installed on the hydraulic pipe 6. The hydraulic power source 10 is connected to the hydraulic pump 9. The hydraulic power source 10 is composed of a diesel engine.

[0031] See Figure 1 The inlet of the relief valve 8 is connected to the outlet pipe of the hydraulic pump 9, and the outlet of the relief valve 8 is connected to the oil tank 4, serving as a safety valve to limit the maximum pressure of the system.

[0032] See Figure 1 The controller 3 is electrically connected to the lidar 1, the hydraulic solenoid valve 7, and the hydraulic pump 9. The signal points scanned by the lidar 1 are uploaded to the controller 3, and the controller 3 calculates the proportion of weak signal points among the signal points. The higher the percentage of weak signal points, the deeper the cutting depth. If the current cutting depth does not meet expectations, the controller 3 sends corresponding signal commands to the hydraulic solenoid valve 7 and the hydraulic pump 9. The hydraulic solenoid valve 7 and the hydraulic pump 9 deliver hydraulic oil to the lifting hydraulic cylinder 5 according to the commands. The lifting hydraulic cylinder 5 drives the cutting table 11 to be raised or lowered, and the depth of the cutter head 12 is adjusted in real time.

[0033] See Figure 2-3The lidar 1 is fixedly mounted on one side of the cutter head 12 for continuous scanning of the soil area splashed during cutting. The lidar 1 is connected to the frame 13 of the cutting machine via a mounting structure, which includes a mounting bracket 14 and a mounting plate 15. The mounting bracket 14 extends vertically and is fixedly connected to the frame 13 of the cutting machine, and has multiple vertically arranged mounting holes 14-1. The mounting plate 15 is fixed to the mounting bracket 14 by mounting bolts 16 passing through the mounting holes 14-1. The lidar 1 is connected to the mounting plate 15 via an angle adjustment structure. Through this structure, the mounting plate 15 can be connected to different positions on the mounting bracket 14 using the mounting bolts 16 to adjust the installation height of the lidar 1.

[0034] Furthermore, the angle adjustment structure includes an adjustment plate 17, adjustment bolts 18, and an adjustment hole 15-1. The adjustment plate 17 is fixedly connected to the lidar 1. Two adjustment bolts 18 are provided, passing through the adjustment plate 17 and fixed to the mounting plate 15. The adjustment hole 15-1 is formed on the mounting plate 15 and is arc-shaped. One of the adjustment bolts 18 passes through the adjustment hole 15-1. With the above structure, the installation angle of the lidar 1 can be adjusted to adapt to different application scenarios.

[0035] Furthermore, the mounting bracket 14 is fixedly connected to the frame 13 of the cutting machine by passing U-bolts through the mounting holes 14-1. This allows the position of the lidar 1 to be adjusted by changing the position of the U-bolts.

[0036] See Figure 1 The speed sensor 2 is used to detect the walking speed of the sugarcane harvester. The speed sensor 2 is fixed on the wheel axle of the sugarcane harvester. The walking speed data detected by the speed sensor 2 is collected by the data acquisition card and transmitted to the controller 3.

[0037] See Figure 1-2 The working principle of the sugarcane harvester cutting depth control device based on lidar detection in this embodiment is as follows:

[0038] The lifting hydraulic cylinder 5 drives the cutter head 12 downwards towards the sugarcane root, where it cuts the root. As the cutter head 12 enters the soil, soil splashes out. At this time, the lidar 1 scans the position where the cutter head 12 emerges from the soil and uploads the signal points of each scan interval to the backend controller 3. These signal points include strong and weak signal points, with the weak signal points representing splashed soil. The controller 3 calculates the proportion of weak signal points among the signal points.

[0039] Before actual operation, a test was conducted. Assuming the harvester's travel speed was between 2.8 km / h and 3.2 km / h, if the percentage of weak signal points in one scanning cycle was less than 5%, it indicated that the cutter head 12 did not penetrate the soil for cutting; if the percentage of weak signal points in one scanning cycle was between 5% and 15%, it indicated that the cutter head 12 penetrated the soil for cutting too shallowly; if the percentage of weak signal points in one scanning cycle was between 15% and 40%, it indicated that the cutter head 12 penetrated the soil for cutting at a suitable depth; and if the percentage of weak signal points in one scanning cycle was greater than 40%, it indicated that the cutter head 12 penetrated the soil for cutting too deeply.

[0040] Therefore, when the controller 3 receives a speed between 2.8 km / h and 3.2 km / h and the percentage of weak signal points in one scan cycle is less than 15%, the controller 3 sends a corresponding downward adjustment command to the hydraulic solenoid valve 7 and the hydraulic pump 9. The hydraulic solenoid valve 7 and the hydraulic pump 9 deliver hydraulic oil to the lifting hydraulic cylinder 5 according to the downward adjustment command, and the lifting hydraulic cylinder 5 drives the cutting table 11 to descend, thereby accurately adjusting the depth of the cutter head 12 in real time.

[0041] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A sugarcane harvester cutting depth control device based on lidar detection, characterized in that, Includes a hydraulic lifting mechanism, lidar, and controller; The hydraulic lifting mechanism includes a lifting hydraulic cylinder, a hydraulic pipe, a hydraulic solenoid valve, a hydraulic pump, and a hydraulic power source; the telescopic end of the lifting hydraulic cylinder is connected to the header of the harvester, and a cutter head is provided below the header; the hydraulic pipe is connected between the lifting hydraulic cylinder and the hydraulic pump; the hydraulic solenoid valve is installed on the hydraulic pipe; and the hydraulic power source is connected to the hydraulic pump. The lidar is fixedly installed on one side of the cutter head and is used to continuously scan the area of ​​soil splashed when the cutter head enters the soil for cutting. The controller is electrically connected to the lidar, the hydraulic solenoid valve, and the hydraulic pump, respectively. The signal points scanned by the lidar are uploaded to the controller, which calculates the percentage of weak signal points. The higher the percentage of weak signal points, the deeper the cutting depth. If the current cutting depth does not meet expectations, the controller sends corresponding signal commands to the hydraulic solenoid valve and hydraulic pump. The hydraulic solenoid valve and hydraulic pump deliver hydraulic oil to the lifting hydraulic cylinder according to the commands. The lifting hydraulic cylinder drives the cutting table to rise or fall, adjusting the cutting head depth in real time. The lidar is connected to the frame of the cutting machine via a mounting structure, which includes a mounting bracket and a mounting plate. The mounting bracket extends vertically and is fixedly connected to the frame of the cutting machine, and has multiple vertically arranged mounting holes. The mounting plate is fixed to the mounting bracket by mounting bolts passing through the mounting holes. The lidar is connected to the mounting plate via an angle adjustment structure. The angle adjustment structure includes an adjustment plate, adjustment bolts, and adjustment holes; the adjustment plate is fixedly connected to the lidar; two adjustment bolts are provided, and the two adjustment bolts pass through the adjustment plate and are fixed to the mounting plate; the adjustment hole is opened on the mounting plate and is arc-shaped; one of the adjustment bolts passes through the adjustment hole; The mounting bracket is fixedly connected to the frame of the cutting machine by passing U-bolts through the mounting holes.

2. The sugarcane harvester cutting depth control device based on lidar detection according to claim 1, characterized in that, The hydraulic lifting mechanism also includes an oil tank, which is connected to the hydraulic pump.

3. The sugarcane harvester cutting depth control device based on lidar detection according to claim 1, characterized in that, The hydraulic power source is composed of a diesel engine.

4. The sugarcane harvester cutting depth control device based on lidar detection according to claim 1, characterized in that, The hydraulic lifting mechanism also includes a relief valve, the inlet of which is connected to the outlet pipe of the hydraulic pump, and the outlet of which is connected to the oil tank, serving as a safety valve to limit the maximum pressure of the system.

5. The sugarcane harvester cutting depth control device based on lidar detection according to claim 1, characterized in that, It also includes a speed sensor for detecting the walking speed of the sugarcane harvester.

6. The sugarcane harvester cutting depth control device based on lidar detection according to claim 5, characterized in that, The speed sensor is fixed on the wheel axle of the sugarcane harvester. The walking speed data detected by the speed sensor is collected by the data acquisition card and transmitted to the controller.

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