A sugarcane harvester cutter disc soil cutting depth control method

Abstract

The application discloses a kind of sugarcane harvester cutter disc cutting depth control method into soil, comprising the following steps: sensor is installed on sugarcane harvester;The sensor includes laser radar for detecting splashed soil;The cutting depth control model is constructed by cutting into soil cutting test, and the cutting depth control model includes the relationship model of weak signal ratio and cutting depth;When harvesting operation is carried out, the soil position thrown by cutter disc cutting into soil is scanned in real time by laser radar, and the signal scanned in real time is returned to background controller, weak signal in the signal scanned in real time is identified by background controller, and the percentage of weak signal point in total signal point is calculated;The percentage is compared with cutting depth control model, and the depth of current cutter disc into soil is found;Real-time adjustment cutter disc reaches preset ideal cutting depth.The application can control the depth of precision cutter disc into soil in real time, and it is beneficial to avoid the problems that sugarcane root height is not the same, and root breaks head.

Description

TECHNICAL FIELD

[0001] The present application relates to a sugarcane harvester cutting method, in particular to a sugarcane harvester cutter disc cutting depth control method. BACKGROUND

[0002] Sugarcane is an important raw material for sugar, light industry and energy. The degree of mechanization of sugarcane harvesting in China is low, resulting in low efficiency and high cost of sugarcane harvesting. It is found in practice that the cutter disc cutting depth of the sugarcane harvester is appropriate when harvesting between 2-5 cm, but due to the undulating terrain of the sugarcane planting area in the hilly areas of the south, the existing mechanical harvesting operation needs to be adjusted manually, which reduces the efficiency of mechanical harvesting. It is difficult for the driver to observe the position of the cutting disc in the cab, and it is also quite difficult to adjust, which can easily cause the height of the sugarcane root stubble to be uneven, the root stubble to be broken, and other problems, resulting in unsatisfactory root cutting effect in the mechanized harvesting of sugarcane, which directly affects the popularization and application of mechanized harvesting. SUMMARY

[0003] The purpose of the present application is to overcome the above-mentioned problems, and to provide a sugarcane harvester cutter disc cutting depth control method, which can accurately control the cutting depth of the cutter disc in real time, and is beneficial to avoid the problems of uneven height of sugarcane root stubble, broken root stubble, etc.

[0004] The purpose of the present application is achieved by the following technical solutions:

[0005] A sugarcane harvester cutter disc cutting depth control method, comprising the following steps:

[0006] (1) A sensor is installed on the sugarcane harvester; the sensor includes a laser radar for detecting splashed soil, and the scanning direction of the laser radar is aligned with the position of the soil splashed when the cutter disc cuts into the soil;

[0007] (2) A cutting depth reference model is constructed by a cutting depth test, which includes a weak signal ratio and a cutting depth relationship model, and the weak signal ratio is the percentage of weak signal points to total signal points detected by the laser radar;

[0008] (3) When harvesting, the laser radar scans the position of the soil splashed when the cutter disc cuts into the soil in real time, and returns the real-time scanned signal to the background controller, the background controller identifies the weak signal in the real-time scanned signal, and calculates the percentage of weak signal points to total signal points; compare the percentage with the cutting depth reference model to find the cutting depth corresponding to the percentage, which is the current cutting depth of the cutter disc;

[0009] (4) by comparing the current cutter head into the earth depth and the difference between the preset ideal cutting depth, the height of the cutter head is adjusted in real time, so that the real-time cutting depth of the cutter head reaches the preset ideal cutting depth.

[0010] In one preferred embodiment of the application, the method for constructing the cutting depth reference model is as follows:

[0011] Leveling the land to the same height;

[0012] Divide the cutting depth of the multi-stage test; the cutting depth of the multi-stage test gradually increases from 0;

[0013] According to the above divided cutting depth, the cutting test is started step by step, and the specific operation of the test is as follows:

[0014] Place the cutter head at the corresponding cutting depth; cut the sugarcane at a fixed cutter head speed and travel a set distance; scan the earth position of the cutter head by laser radar, and upload the signal points of each scanning interval to the background controller, the signal points including strong signal points and weak signal points, the weak signal points representing the splashing soil; count the number of weak signal points and total signal points in each scanning interval, calculate the percentage of weak signal points in total signal points in each scanning interval, represented by sr; calculate the average value of the percentage of weak signal points, and store the average value in the sr variable of the current depth in the program;

[0015] According to the above operation, until the test of all cutting depth levels is completed, the sr value corresponding to all cutting depths H is obtained.

[0016] Further, the test data is received by the background controller to obtain a two-dimensional point cloud of sr value and cutting depth H, which is a discrete sequence of sr value with cutting depth H as the variable; a low-pass filter program is written to perform discrete filtering on the discrete sequence, and the remaining point cloud of the curve is filtered as a characteristic value; the remaining two-dimensional point cloud after filtering is subjected to interpolation operation and correction of the sr-H relationship curve to obtain the accurate control parameters of the sr-H relationship curve.

[0017] Further, the strong signal points represent the field ground and the leaves or stems of sugarcane.

[0018] In one preferred embodiment of the application, the sensor further comprises a speed sensor for detecting the walking speed of the sugarcane harvester.

[0019] Further, before starting the cutting test, the walking speed of the harvester for the multi-stage test is divided; the walking speed of the multi-stage test gradually increases from 0;

[0020] When starting the cutting test, set the walking speed of the harvester walking speed, and complete the sr value corresponding to all cutting depths at this walking speed according to the specific operation of the test.

[0021] According to the above operation, until the test of all walking speed levels is completed, the sr-H relationship corresponding to all walking speeds is obtained.

[0022] Further, the speed sensor is fixed on the wheel shaft of the sugarcane harvester, and the walking speed data detected by the speed sensor is collected by a data acquisition card and transmitted to a background controller.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] 1、The cutting depth control method of the present application scans the soil splashed by the cutter head entering the soil through the laser radar, and obtains the percentage of weak signals representing the soil, compares the percentage with the cutting depth comparison model, and finds the cutting depth corresponding to the percentage; by comparing the difference between the current depth of the cutter head entering the soil and the preset ideal cutting depth, the height of the cutter head is adjusted in real time and accurately, so that the real-time cutting depth of the cutter head reaches the preset ideal cutting depth, which is beneficial to avoid the problems of uneven height of sugarcane root stubble and broken root stubble.

[0025] 2、Not easy to be disturbed by the field environment. When harvesting in the field, the influence of sugarcane leaves, weeds, and fallen sugarcane in the sugarcane field on the intensity of laser radar signal points is very small, and the anti-interference ability is strong. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The working flowchart of the cutting depth control method of the cutter head of the sugarcane harvester of the present application. DETAILED DESCRIPTION

[0027] In order for those skilled in the art to have a better understanding of the technical solutions of the present application, the present application will be further described below in conjunction with the embodiments and drawings, but the embodiments of the present application are not limited thereto.

[0028] Referring to Figure 1 The cutting depth control method of the cutter head of the sugarcane harvester of the present embodiment comprises the following steps:

[0029] (1) Install a sensor on the sugarcane harvester; the sensor comprises a laser radar for detecting splashed soil and a speed sensor for detecting the walking speed of the sugarcane harvester.

[0030] Further, the laser radar is a 360-degree DTOF laser radar, which is fixed on the rack at the upper end of the cutter head, and the scanning direction is aligned with the position of the soil splashed when the cutter head enters the soil for cutting. The radar rotates one revolution every 100 ms, generating 3200 scanning points, and the distance, angle and quality value of each scanning point are transmitted to the vehicle-mounted computer through a serial-to-USB cable.

[0031] Further, the speed sensor is fixed on the wheel shaft 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 vehicle-mounted computer.

[0032] (2) Construct a cutting depth control model through the soil cutting test, and the construction method is:

[0033] Level the land to the same height.

[0034] Divide the cutting depth of the multi-stage test; the cutting depth of the multi-stage test is gradually increased from 0, for example, 0-10 cm, and each stage is different by 1 cm.

[0035] According to the above divided cutting depth, start cutting test step by step, and the specific operation of the test is:

[0036] Put the cutter head on the corresponding cutting depth; cut and walk the sugarcane at a fixed cutter head speed for a set distance; scan the soil position of the cutter head by laser radar, and upload the signal points of each scanning interval to the background controller, the signal points include strong signal points and weak signal points, the weak signal points represent the splashed soil, and the strong signal points represent the field ground and the leaves or stems of the sugarcane; count the number of weak signal points and total signal points in each scanning interval, calculate the percentage of weak signal points in total signal points in each scanning interval, and denote it as sr. Calculate the average value of the percentage of weak signal points, and store the average value in the sr variable of the current depth in the program.

[0037] According to the above operation, until the test of all cutting depth levels is completed, the sr value corresponding to all cutting depths H is obtained.

[0038] Further, the test data is received by the background controller to obtain a two-dimensional point cloud of sr value and cutting depth H, which is a discrete sequence of sr value with cutting depth H as a variable; a low-pass filter program is written to perform discrete filtering on the discrete sequence, and the remaining point cloud of the curve is filtered as a characteristic value; the remaining two-dimensional point cloud after filtering is subjected to interpolation operation and correction of sr-H relationship curve to obtain accurate control parameters of sr-H relationship curve.

[0039] Further, before starting the cutting test, divide the walking speed of the multi-stage test; the walking speed of the multi-stage test is gradually increased from 0, for example, 1-10 km / h, and each stage is different by 1 km / h.

[0040] When starting the cutting test, set the walking speed of the harvester walking speed, and complete the sr value corresponding to all cutting depths at this walking speed according to the specific operation of the test.

[0041] According to the above operation, until the test of all walking speed levels is completed, the sr-H relationship corresponding to all walking speeds is obtained.

[0042] (3) When the harvesting operation is performed, the laser radar is used to scan the position of the soil thrown out when the cutterhead cuts into the soil in real time, and the signal of the real-time scanning is returned to the background controller, the weak signal in the signal of the real-time scanning is identified by the background controller, and the percentage of the weak signal points in the total signal points is calculated; the percentage is compared with the cutting depth comparison model, and the cutting depth corresponding to the percentage is found, which is the current depth of the cutterhead into the soil.

[0043] The following table 1 is the test value of the cutting depth H into the soil and the weak signal point percentage sr of the laser radar when the walking speed V is 3km / h, and it can be seen that the influence of different cutting depths H into the soil on the weak signal point percentage sr of the laser radar is significant, so the sr value can accurately reflect the current cutting depth into the soil.

[0044] Table 1

[0045]

[0046] (4) By comparing the difference between the current depth of the cutterhead into the soil and the preset ideal cutting depth, the height of the cutterhead is adjusted in real time, so that the real-time cutting depth of the cutterhead reaches the preset ideal cutting depth.

[0047] The above is the preferred embodiment of the present application, but the embodiment of the present application is not limited by the above, any change, modification, substitution, combination, simplification made without departing from the spirit and principles of the present application should be equivalent replacement method, all included in the protection scope of the present application.

Claims

1. A method of controlling the depth of cut of a sugarcane harvester cutterhead into the soil, characterised by, The method comprises the following steps: (1) installing a sensor on a sugarcane harvester; the sensor comprises a laser radar for detecting splashed soil, and the scanning direction of the laser radar is aligned with the position of the splashed soil when the cutterhead cuts into the soil; (2) constructing a cutting depth reference model through a cutting depth test, wherein the cutting depth reference model comprises a weak signal ratio-cutting depth relationship model, and the weak signal ratio is the percentage of weak signal points detected by the laser radar in total signal points; The method for constructing the cutting depth reference model is as follows: Leveling the land to the same height; Dividing the cutting depths of the multi-stage test; the cutting depths of the multi-stage test are gradually increased from 0; Starting the cutting test according to the above-mentioned divided cutting depths; the specific operation of the test is as follows: Placing the cutterhead at the corresponding cutting depth; cutting the sugarcane at a fixed cutterhead speed and traveling a set distance; scanning the position of the splashed soil by the laser radar, and uploading the signal points of each scanning interval to the background controller, wherein the signal points include strong signal points and weak signal points, and the weak signal points represent the splashed soil; counting the number of weak signal points and total signal points in each scanning interval, and calculating the percentage of weak signal points in total signal points in each scanning interval, which is denoted by sr; obtaining the average value of the percentage of weak signal points, and storing the average value in the sr variable of the current depth in the program; According to the above operation, the test of all cutting depth levels is completed, and the sr values corresponding to all cutting depths H are obtained (3) During the harvesting operation, the position of the splashed soil when the cutterhead cuts into the soil is scanned in real time by the laser radar, and the real-time scanned signal is returned to the background controller; the weak signal in the real-time scanned signal is identified by the background controller, and the percentage of weak signal points in total signal points is calculated; the percentage is compared with the cutting depth reference model to find the cutting depth corresponding to the percentage, which is the current cutting depth of the cutterhead into the soil; (4) The height of the cutterhead is adjusted in real time by comparing the difference between the current cutting depth of the cutterhead into the soil and the preset ideal cutting depth, so that the real-time cutting depth of the cutterhead reaches the preset ideal cutting depth.

2. The method of controlling the depth of cut of a sugarcane harvester cutterhead into the soil of claim 1, characterised in that, The test data is received by the background controller to obtain a two-dimensional point cloud of sr values and cutting depths H, which is a discrete sequence of sr values with cutting depths H as variables; a low-pass filter program is written to perform discrete filtering on the discrete sequence to obtain the remaining point cloud of the curve as characteristic values; The remaining two-dimensional point cloud after filtering is subjected to interpolation operation and correction of the sr-H relationship curve to obtain accurate control parameters of the sr-H relationship curve.

3. The method of claim 1, wherein, The strong signal points represent the field surface and the leaves or stems of the sugarcane.

4. The method of claim 1, wherein, The sensor further comprises a speed sensor for detecting the walking speed of the sugarcane harvester.

5. A method of controlling the depth of cut of a sugarcane harvester cutterhead into the soil as claimed in claim 4, characterised in that, Before starting the cutting test, the walking speed of the multi-stage test is divided; the walking speed of the multi-stage test is gradually increased from 0; When starting the cutting test, the walking speed of the harvester is set, and the sr values corresponding to all cutting depths at the walking speed are obtained according to the specific operation of the test; According to the above operation, until the test of all walking speed levels is completed, the sr-H relationship corresponding to all walking speeds is obtained.

6. The method of controlling the depth of cut of a sugarcane harvester cutterhead into the soil of claim 4, wherein, The speed sensor is fixed on the wheel shaft of the sugarcane harvester, and the walking speed data detected by the speed sensor is collected through the data acquisition card and transmitted to the background controller.

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