Copying cutterhead mechanism of sugarcane harvester and copying method of copying cutterhead mechanism

Abstract

The invention discloses a sugarcane harvester profiling cutter head mechanism and a profiling method thereof. The sugarcane harvester profiling cutter head mechanism comprises a rack; the cutter head is connected with the driving module; the driving module is connected with the profiling adjusting module and drives the cutter head to rotate to cut the sugarcane; the profiling detection module is connected with the rack, the profiling detection module converts the ascending or descending displacement of the wheel set into an angle, and the height of the sugarcane ridge is calculated according to angle data; the profiling adjusting module is installed on the rack and can adjust the height and the inclination angle of the driving module. And the control module is used for receiving the angle data, the gradient and the image and controlling the profiling adjusting module to adjust the height and the inclination angle of the driving module. According to the profiling cutter head mechanism of the sugarcane harvester, the height and angle of the cutter head can be adjusted according to detected angle data, automatic profiling of the cutter head is achieved, sugarcanes are harvested in order, meanwhile, interference between the cutter head and sugarcane ridges is avoided, and the profiling cutter head mechanism belongs to the technical field of sugarcane harvesting equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of sugarcane harvesting equipment, and particularly to a profiling cutter head mechanism for a sugarcane harvester and a profiling method thereof. Background Art

[0002] Sugarcane is an important raw material for the sugar industry. The planting area of sugarcane accounts for 85% of the sugar crop planting area in China. In countries such as Brazil, sugarcane is also an important raw material for bioethanol and biomass power generation, and the sugarcane yield has become an important factor in national energy proportion regulation. In China, sugarcane is mainly planted in southern tropical regions such as Guangxi, Guangdong, and Yunnan, where the sugarcane fields are uneven. During the harvesting process, the operator can only manually adjust the height of the cutter head. If the cutter head is set too high, sugarcane loss and broken heads will increase. On the contrary, if the cutter head is set too low, the roots of the sugarcane will be damaged, affecting germination next year. Therefore, the automatic control of the cutter head height of a sugarcane harvester is a key factor for a mechanical sugarcane harvester.

[0003] Due to the complex field operation environment, the control of the cutter head height in China is still manual control, and the operator cannot guarantee the required cutter head height, resulting in uneven sugarcane harvesting. Summary of the Invention

[0004] Aiming at the above deficiencies, the present invention provides a profiling cutter head mechanism for a sugarcane harvester and a profiling method thereof, which can adjust the height and angle of the cutter head according to the detected angle data, realize automatic profiling of the cutter head, neatly harvest sugarcane, and avoid interference between the cutter head and the sugarcane ridges at the same time.

[0005] The specific technical solutions are as follows:

[0006] A profiling cutter head mechanism for a sugarcane harvester, comprising:

[0007] A frame;

[0008] A cutter head, the cutter head is connected to a drive module;

[0009] A drive module, the drive module is connected to a profiling adjustment module, and the drive module drives the cutter head to rotate and cut sugarcane;

[0010] A profiling adjustment module, the profiling adjustment module is installed on the frame, and the profiling adjustment module can adjust the height and the inclined angle of the drive module;

[0011] A slope detection module, the slope detection module is used to detect the slope of the sugarcane ridges and send the slope of the sugarcane ridges to a control module;

[0012] A camera module, the camera module is used to take images of the sugarcane ridges, detect obstacles on the sugarcane ridges, and send the images of the sugarcane ridges to the control module;

[0013] The control module is used to receive the angle data, the slope of the sugarcane ridge, and the image of the sugarcane ridge sent by the profiling detection module, calculate the height of the sugarcane ridge according to the angle, control the profiling adjustment module to adjust the height of the drive module; adjust the tilt angle of the drive module according to the slope of the sugarcane ridge; judge whether there are obstacles on the traveling route according to the image of the sugarcane ridge, and judge whether to adjust the height of the drive module according to the situation of the obstacles.

[0014] Preferably, the frame includes a moving wheel set and a vehicle frame. The moving wheel set includes four moving wheels and a rotating motor. The four moving wheels are connected in pairs by connecting shafts. The rotating motor is connected to one of the connecting shafts. Both connecting shafts are rotatably connected to the vehicle frame through bearing seats;

[0015] Or the four moving wheels are respectively connected to a rotating motor for driving, and each moving wheel is connected to the frame through a support.

[0016] Preferably, the drive module includes a fixed seat and a drive motor. A cutter head shaft is connected to the cutter head, and the cutter head shaft is fixedly connected to the output shaft of the drive motor. The drive motor is installed on the fixed seat, and the fixed seat is connected to the profiling adjustment module.

[0017] Preferably, the profiling detection module includes a profiling wheel, a wheel support, a deflection shaft, and an encoder. The profiling wheel is rotatably connected to the wheel support. The wheel support is fixedly connected to the deflection shaft. The deflection shaft is rotatably connected to the frame. The deflection shaft is connected to the rotating shaft of the encoder. The encoder is connected to the control module through an electrical signal; wherein, the wheel support includes a first movable section, a second movable section, and a spring. One end of the first movable section is fixedly connected to the deflection shaft. The other end of the first movable section is inserted into the second movable section and slides relative to the second movable section. The spring is sleeved outside the first movable section. One end of the spring is connected to one end of the first movable section, and the other end of the spring is connected to the second movable section. The second movable section is rotatably connected to the profiling wheel.

[0018] Preferably, the profiling adjustment module includes a lifting adjustment module. The lifting adjustment module includes a fixed frame, a first hydraulic cylinder, and a mounting frame. The fixed frame includes two columns vertically fixed on the frame and a cross beam connecting the tops of the columns. The first hydraulic cylinder is installed at the bottom of the cross beam of the fixed frame and is oriented towards the ground. The movable end of the first hydraulic cylinder is connected to the mounting frame. The mounting frame is a rectangular frame structure. The profiling adjustment module is fixedly connected to the inner side wall of the mounting frame. The first hydraulic cylinder is connected to the drive module through the profiling adjustment module. The first hydraulic cylinder is connected to the control module.

[0019] Preferably, the slope detection module is arranged on the frame through a first connecting piece. The slope detection module is hinged to the first connecting piece. The first connecting piece is installed on the frame. The slope detection module is connected to the control module. The slope detection module is used to detect the angle of the frame relative to the horizontal plane.

[0020] Preferably, the profiling adjustment module further includes an angle adjustment module. The first hydraulic cylinder is connected to the drive module through the angle adjustment module, and the angle adjustment module cooperates with the controller to adjust the cutter head angle.

[0021] Preferably, the angle adjustment module includes a second hydraulic cylinder, a third hydraulic cylinder, and an angle adjustment plate. The second hydraulic cylinder and the third hydraulic cylinder are installed on the mounting frame at intervals. The movable ends of the second hydraulic cylinder and the third hydraulic cylinder are both hinged to the angle adjustment plate, and the angle adjustment plate is connected to the drive module.

[0022] Preferably, the camera module is arranged on the frame through a second connecting member. The second connecting member is hinged to the camera module, the second connecting member is installed on the frame, the camera module is connected to the control module, and the camera module is used to take images of the sugarcane ridges and detect obstacles on the sugarcane ridges.

[0023] A profiling method for a profiling cutter head mechanism of a sugarcane harvester, which adopts a profiling cutter head mechanism of a sugarcane harvester. The method includes the following steps:

[0024] S1: Control the frame to move forward on the sugarcane ridges and harvest the sugarcane. During the harvesting process, the profiling wheel moves up and down with the terrain of the sugarcane ridges.

[0025] S2: The rotating shaft of the encoder rotates with the movement of the profiling wheel, and converts the displacement of the profiling wheel in height into angle data.

[0026] S3: The control module calculates the lifting distance according to the angle data, and then controls the lifting adjustment module to drive the cutter head to lift with the change of the angle data.

[0027] S4: During the movement of the frame, the camera module takes images of the sugarcane ridges. The control module judges whether there are obstacles according to the images of the sugarcane ridges, which causes the profiling wheel to move quickly within 2 - 3S. If there are obstacles, the control module does not adjust the cutter head. If there are no obstacles, the adjustment of the cutter head continues.

[0028] S5: During the movement of the frame, the slope detection module detects the slope of the sugarcane ridges, and the control module adjusts the tilt angle of the cutter head according to the slope data.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 1. The profiling cutter head mechanism of the sugarcane harvester of the present invention can adjust the height and angle of the cutter head according to the detected angle data, realize automatic profiling of the cutter head, neatly harvest the sugarcane, and avoid interference between the cutter head and the sugarcane ridges at the same time.

[0031] 2. The profiling cutter head mechanism of the sugarcane harvester of the present invention is provided with a slope detection module to detect the slope of the sugarcane ridge by using the slope detection module, so as to avoid the interference between the cutter head and the sugarcane ridge caused by the lack of adjustment of the cutter head when walking uphill during the process of the profiling cutter head mechanism of the sugarcane harvester walking on the sugarcane ridge due to a long slope, resulting in damage to the cutter head.

[0032] 3. The profiling cutter head mechanism of the sugarcane harvester of the present invention is provided with a photographing module to take images of the sugarcane ridge through the photographing module and detect obstacles on the sugarcane ridge. When it is detected that there are obstacles on the walking route, causing the profiling wheel to quickly change its height within 2 - 3 seconds, a signal can be sent to the control module, without the need to adjust the height of the cutter head, reducing errors, eliminating interference, and improving the profiling accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0034] Figure 1 It is a perspective view of a profiling cutter head mechanism of a sugarcane harvester.

[0035] Figure 2 It is a left view of a profiling cutter head mechanism of a sugarcane harvester.

[0036] Figure 3 It is a top view of a profiling cutter head mechanism of a sugarcane harvester.

[0037] Figure 4 It is a front view of a profiling cutter head mechanism of a sugarcane harvester.

[0038] Figure 5 It is an assembly schematic diagram of a drive module, a profiling detection module, and a profiling adjustment module.

[0039] Figure 6 It is a front view of a profiling cutter head mechanism of a sugarcane harvester in Embodiment 2.

[0040] Figure 7 It is a perspective view of an angle adjustment module.

[0041] Figure 8 It is a structural schematic diagram of a wheel support.

[0042] 1 is the frame, 2 is the profiling adjustment module, 21 is the fixing frame, 22 is the first hydraulic cylinder, 23 is the mounting frame, 3 is the driving module, 31 is the driving motor, 32 is the cutter head shaft, 33 is the cutter head, 4 is the profiling detection module, 41 is the encoder, 42 is the bushing, 43 is the deflection shaft, 44 is the wheel support, 441 is the second movable joint, 442 is the spring, 443 is the first movable joint, 45 is the profiling wheel, 5 is the photographing module, 6 is the slope detection module, 7 is the angle adjustment module, 71 is the angle adjustment plate, 72 is the second hydraulic cylinder, 73 is the third hydraulic cylinder. Detailed implementation mode

[0043] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0044] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0045] In the description of the present invention, the meaning of several is one or more, and the meaning of multiple is more than two. Understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If the terms "first", "second", "third" are described only for the purpose of description and for distinguishing technical features, they cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0046] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations. In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0047] Embodiment 1

[0048] As Figures 1 - 5 , Figures 7 - 8 shown, a profiling cutter head 33 mechanism provided in this embodiment includes:

[0049] Frame 1;

[0050] Cutter head 33, the cutter head 33 is connected to the drive module 3;

[0051] Drive module 3, the drive module 3 is connected to the profiling adjustment module 2, and the drive module 3 drives the cutter head 33 to rotate and cut sugarcane;

[0052] Profiling detection module 4, the profiling detection module 4 is connected to the frame 1, and the profiling detection module 4 converts the displacement of the wheel set rising or falling into an angle, and calculates the height of the sugarcane ridge according to the angle data;

[0053] Profiling adjustment module 2, the profiling adjustment module 2 is installed on the frame 1, and the profiling adjustment module 2 can adjust the height and inclination angle of the drive module 3;

[0054] Gradient detection module, the gradient detection module is used to detect the gradient of the sugarcane ridge and send the gradient of the sugarcane ridge to the control module;

[0055] Photographing module, the photographing module is used to take images of the sugarcane ridge, detect obstacles on the sugarcane ridge, and send the images of the sugarcane ridge to the control module;

[0056] Control module, the control module is used to receive the angle data, the gradient of the sugarcane ridge and the images of the sugarcane ridge sent by the profiling detection module 4, calculate the height of the sugarcane ridge according to the angle, and control the profiling adjustment module 2 to adjust the height of the drive module 3; adjust the inclination angle of the drive module according to the gradient of the sugarcane ridge; judge whether there are obstacles in the traveling route according to the images of the sugarcane ridge, and judge whether to adjust the height of the drive module according to the situation of the obstacles.

[0057] The displacement of the wheel set rising or falling is detected by the profiling detection module 4 and converted into angle data, and the control module is used to calculate the height difference corresponding to the angle data, control the lifting of the cutter head 33, ensure the profiling of the cutter head 33, and neatly harvest the sugarcane.

[0058] The frame 1 includes a mobile wheel set and a vehicle frame. The mobile wheel set includes four mobile wheels and a rotation motor. The four mobile wheels are connected in pairs by connecting shafts, and the rotation motor is connected to one of the connecting shafts. Both connecting shafts are rotatably connected to the vehicle frame through bearing seats; alternatively, each of the four mobile wheels is connected to a rotation motor for driving, and each mobile wheel is connected to the frame through a support. The mobile wheel set and the vehicle frame are the vehicle frame and mobile wheel set of an existing sugarcane harvester, which are used to move the entire mechanism on the sugarcane ridges and will not be elaborated here. The vehicle frame is the vehicle frame of an existing sugarcane harvester. The mobile wheel set can be driven individually by a rotation motor or by a single motor, which is set according to different needs.

[0059] The drive module 3 includes a fixed seat and a drive motor 31. A cutter head shaft 32 is connected to the cutter head 33, and the cutter head shaft 32 is fixedly connected to the output shaft of the drive motor 31. The drive motor 31 is installed on the fixed seat, and the fixed seat is connected to the profiling adjustment module 2. The drive motor 31 is used to drive the cutter head shaft 32 to rotate, and the cutter head shaft 32 drives the cutter head 33 to rotate to cut the sugarcane.

[0060] The profiling detection module 4 provided in this embodiment includes a profiling wheel 45, a wheel support 44, a deflection shaft 43, and an encoder 41. The profiling wheel 45 is rotatably connected to the wheel support 44. The wheel support 44 is fixedly connected to the deflection shaft 43. The deflection shaft 43 is rotatably connected to the frame 1. The deflection shaft 43 is connected to the rotation shaft of the encoder 41. The encoder 41 is electrically connected to the control module. Among them, the wheel support includes a first movable section, a second movable section, and a spring. One end of the first movable section is fixedly connected to the deflection shaft. The other end of the first movable section is inserted into the second movable section and slides relative to the second movable section. The spring is sleeved outside the first movable section. One end of the spring is connected to one end of the first movable section, and the other end of the spring is connected to the second movable section. The second movable section is rotatably connected to the profiling wheel. Exemplarily, the profiling wheel 45 is an existing roller, which has a wheel shaft. The wheel support 44 is rotatably connected to the wheel shaft through a bearing. The wheel support 44 is fixedly connected to the deflection shaft 43 through shaft-hole fit. The deflection shaft 43 is rotatably connected to the vehicle frame through a bushing 42. The bushing 42 is welded to the vehicle frame. The deflection shaft 43 passes through the bushing 42 and is fixedly connected to the rotation shaft of the encoder 41. During the process of the profiling wheel 45 moving up and down with the terrain of the sugarcane ridge, it is transmitted to the deflection shaft 43. The rotation of the deflection shaft 43 drives the rotation of the rotation shaft of the encoder 41. The encoder 41 reads the rotation angle data and sends it to the control module. The control module calculates the displacement of the profiling wheel 45 in the height direction according to the angle data, and then controls the lifting adjustment module to drive the cutter head 33 to lift. By setting the wheel support into a movable structure, part of the impact can be absorbed.

[0061] The profiling wheel 45 is arranged on one side of the vehicle frame. The profiling wheel 45 is in contact with the ground. During the forward operation, the profiling wheel 45 will move up and down with the undulation of the ground, which will cause the deflecting shaft 43 to swing at a certain angle. The deflecting shaft 43 drives the rotation of the shaft of the encoder 41. After the encoder 41 reads the deflection angle, it sends the angle data to the control module, and the control module controls the profiling adjustment module 2 to drive the drive module 3 and the cutter head 33 to lift or adjust the angle.

[0062] The profiling adjustment module 2 includes a lifting adjustment module. The lifting adjustment module includes a fixed frame 21, a first hydraulic cylinder 22 and a mounting frame 23. The fixed frame 21 is fixed on the machine frame 1. The first hydraulic cylinder 22 is installed on the fixed frame 21. The movable end of the first hydraulic cylinder 22 is connected to the mounting frame 23. The first hydraulic cylinder 22 is connected to the drive module 3 and the control module. When the control module receives the angle data of the encoder 41, it calculates the required lifting distance, controls the first hydraulic cylinder 22 to start, drives the mounting frame 23 to lift, and the lifting of the mounting frame 23 drives the lifting of the drive module 3 or the combination of the angle adjustment module 7 and the drive module 3 installed on the mounting frame 23, so as to realize the height adjustment of the cutter head 33.

[0063] In some embodiments, a profiling cutter head 33 mechanism of a sugarcane harvester further includes a slope detection module 6. The slope detection module 6 is arranged on the machine frame 1 through a first connecting piece. The first connecting piece is an existing hinge. The detection angle of the slope detection module is adjusted through the first connecting piece to improve versatility. The slope detection module 6 is connected to the control module. The slope detection module 6 is used to detect the angle of the machine frame 1 relative to the horizontal plane. Exemplarily, the slope detection module 6 can adopt an inclination sensor. The inclination sensor is a common device for detecting slopes. It determines the slope by measuring the angle of the vehicle frame relative to the horizontal plane. Its working principle is to use an accelerometer to detect the gravity component of the vehicle frame in the vertical direction, so as to calculate the slope angle. For example, the VC4000 device displays the slope value by measuring the zero adjustment and angle change of the accelerometer. In addition, the dynamic inclination module also monitors the vehicle frame position in real time through the inclination sensor and adjusts the vehicle speed in combination with the gearbox.

[0064] Exemplarily, the slope detection module 6 adopts the cooperation of a gyroscope and a height sensor. The gyroscope can measure the pitch angle and roll angle of the vehicle. Combining the data of the height sensor, the slope can be calculated more accurately.

[0065] It can also be other existing slope recognition devices, which will not be elaborated here.

[0066] In some embodiments, the profiling adjustment module 2 further includes an angle adjustment module 7. The first hydraulic cylinder 22 is connected to the drive module 3 through the angle adjustment module 7, and the angle adjustment module 7 cooperates with the controller to adjust the angle of the cutter head 33.

[0067] The angle adjustment module 7 includes a second hydraulic cylinder 72, a third hydraulic cylinder 73 and an angle adjustment plate 71. The second hydraulic cylinder 72 and the third hydraulic cylinder 73 are installed on the mounting frame 23 at intervals. The movable ends of the second hydraulic cylinder 72 and the third hydraulic cylinder 73 are both hinged to the angle adjustment plate 71, and the angle adjustment plate 71 is connected to the driving module 3. The angle adjustment plate 71 is of a flat plate structure. The movable ends of the second hydraulic cylinder 72 and the third hydraulic cylinder 73 are distributed at intervals on the angle adjustment plate 71. By driving any one of the second hydraulic cylinder 72 and the third hydraulic cylinder 73 alone, the angle deflection of the angle adjustment plate 71 is realized, so as to drive the driving module 3 and the cutter head 33 to realize angle deflection. When the vehicle frame travels to a place with a relatively high slope, if the cutter head 33 is arranged in front of the vehicle frame during travel, it will interfere with the sugarcane ridges. At this time, it is necessary to first raise the cutter head 33 and then adjust the angle consistent with the slope so that the cutter head 33 is relatively parallel to the sugarcane ridges, so that the sugarcane on the slope of the sugarcane ridges can be harvested smoothly.

[0068] When the cutter head 33 is arranged on both sides of the vehicle frame to harvest the sugarcane on both sides of the vehicle frame, the cutting angle of the cutter head 33 can also be actively adjusted to ensure that the stubbles of the harvested sugarcane are at the same height and the stubbles can be maintained at the optimal height, which not only ensures the yield of sugarcane in the current year.

[0069] When the cutter head 33 is arranged behind the vehicle frame during travel, the cutter head 33 is adjusted in advance according to the detected height and angle to ensure that the stubbles of the harvested sugarcane are at the same height and the stubbles can be maintained at the optimal height.

[0070] In the above embodiments, the encoder 41 uses a mechanical encoder 41, which consists of a code disk, a rotating shaft, and a photoelectric sensor. The code disk is the core component of the encoder 41 and is usually a disk with black and white stripes, used to detect mechanical displacement or rotational speed. The code disk can be an optoelectronic or magnetic encoder 41, using a photodiode or Hall element respectively to detect stripe changes. The rotating shaft receives the externally input rotational motion. Scale lines or gratings are engraved on the code disk, and the photoelectric sensor senses the mark changes on the code disk by detecting light changes. When the rotating shaft drives the code disk to rotate, the photoelectric sensor will detect the changes in the scale lines or gratings on the code disk. This change is converted into an electrical signal through the photoelectric effect, such as a pulse signal or a digital signal. The frequency of these signals is proportional to the rotational speed, and the number of signals is proportional to the rotational angle. The encoder 41 transmits the detected electrical signals to the control module. After processing such as amplification, filtering, and analog-to-digital conversion, the signals are converted into digital signals or analog signals for further processing by the control module. For example, an absolute encoder 41 can directly output the current angle value, while an incremental encoder 41 needs to calculate the cumulative number of pulses to determine the current angle. The signal transmission methods of the encoder 41 are diverse, including TTL level signals, SPI communication protocols, Biss protocols, etc. For example, the SPI protocol transmits angle data to the control module through serial communication to ensure the stability and accuracy of data transmission.

[0071] The mechanical encoder 41 has the following advantages:

[0072] High precision: The mechanical encoder 41 can provide high-resolution angle measurement and is suitable for scenarios that require high-precision control.

[0073] Reliability: Its structure is simple and it has strong anti-interference ability, making it suitable for use in harsh environments.

[0074] Flexibility: The absolute encoder 41 or incremental encoder 41 can be selected according to requirements, which are respectively suitable for different application scenarios.

[0075] The mechanical encoder 41 detects the motion changes of the rotating shaft, converts the angle information into electrical signals, and transmits this information to the control module through signal processing and transmission technologies, thereby achieving precise control and monitoring of the device.

[0076] Embodiment 2

[0077] As Figure 6As shown in the figure, a profiling cutter head 33 mechanism provided in this embodiment further includes a camera module 5. The camera module 5 is arranged on the frame 1 through a second connecting piece. The second connecting piece is an existing hinge. The shooting angle of the camera module is adjusted through the second connecting piece to improve versatility. The camera module 5 is connected to the control module. The camera module 5 is used to shoot images of the sugarcane ridges and detect obstacles on the sugarcane ridges. The camera captures images on the driving route of the vehicle frame, and uses computer vision technology to analyze the images to identify information such as the position, shape, and size of the obstacles. The images captured by the camera need to be preprocessed, including operations such as denoising and enhancing contrast, in order to better identify obstacles. The image data collected by the camera sensor is transmitted to the image acquisition device and then analyzed and processed by the control module. After receiving the obstacle information, the control module will process it according to a preset algorithm. Image preprocessing includes de-distortion: correcting the image distortion caused by the fish-eye lens; illumination enhancement: adaptive histogram equalization (CLAHE) or deep learning dehazing algorithm (such as DehazeNet).

[0078] The obstacle detection algorithm is an existing object detection model: single-stage model: YOLO series (YOLOv5 / v7 / v8), SSD (lightweight and suitable for embedded deployment). Two-stage model: Faster R-CNN (high accuracy but slow speed). Since it is an existing obstacle detection algorithm, it will not be elaborated here too much.

[0079] The profiling cutter head 33 mechanism of a sugarcane harvester in this embodiment identifies obstacles (such as stones) on the driving route of the vehicle frame by setting the camera module 5. If the profiling wheel 45 rapidly changes its height within 2 - 3 seconds, it can be considered an obstacle, and the height of the cutter head 33 does not need to be adjusted, reducing errors and improving the profiling accuracy.

[0080] The parts not mentioned in this embodiment are the same as those in Embodiment 1.

[0081] Embodiment 3

[0082] A profiling method for a profiling cutter head 33 mechanism of a sugarcane harvester provided in this embodiment adopts a profiling cutter head 33 mechanism of a sugarcane harvester. The method includes the following steps:

[0083] S1: Control the frame 1 to move forward on the sugarcane ridges and harvest the sugarcane. During the harvesting process, the profiling wheel 45 moves up and down with the terrain of the sugarcane ridges;

[0084] S2: The rotating shaft of the encoder 41 rotates with the movement of the profiling wheel 45, converting the displacement of the profiling wheel 45 in height into angular data;

[0085] S3: The control module calculates the lifting distance according to the angular data, and then controls the lifting adjustment module to drive the cutter head 33 to lift and lower with the change of the angular data;

[0086] S4: During the movement of the frame 1, the imaging module 5 captures an image of the sugarcane ridges. The control module determines whether there are obstacles based on the image of the sugarcane ridges to cause the quick movement of the profiling wheel 45 within 2 - 3 seconds. If there are obstacles, the control module does not adjust the cutter head 33. If there are no obstacles, the adjustment of the cutter head 33 continues;

[0087] S5: During the movement of the frame 1, the slope detection module 6 detects the slope of the sugarcane ridges. The control module adjusts the tilt angle of the cutter head 33 according to the slope data.

[0088] Through the method provided in this embodiment, it can be well achieved that the distance between the cutting cutter head and the ground is always kept consistent, and at the same time, the tilt angle of the cutter head can also be adjusted.

[0089] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A sugarcane harvester contour cutter mechanism, characterized in that: include: frame; A cutter disc, which is connected to a drive module; A driving module, the driving module is connected to the profiling adjustment module, and the driving module drives the cutter disc to rotate and cut the sugarcane; A profiling detection module is connected to the frame. The profiling detection module converts the displacement of the wheel group rising or falling into an angle, and calculates the height of the sugarcane ridge according to the angle data; A profiling adjustment module is installed on the frame. The profiling adjustment module can adjust the height and tilt angle of the driving module; A slope detection module, which is used to detect the slope of the sugarcane ridge and send the slope of the sugarcane ridge to the control module; A camera module, which is used to take images of the sugarcane ridges, detect obstacles on the sugarcane ridges, and send the images of the sugarcane ridges to the control module; The control module is used to receive the angle data, the slope of the sugarcane ridge and the image of the sugarcane ridge sent by the profiling detection module, calculate the height of the sugarcane ridge according to the angle, and control the profiling adjustment module to adjust the height of the driving module; adjust the inclination angle of the driving module according to the slope of the sugarcane ridge; determine whether there are obstacles in the route according to the image of the sugarcane ridge, and determine whether to adjust the height of the driving module according to the situation of the obstacle.

2. The sugarcane harvester contoured cutter disc mechanism according to claim 1, characterized in that: The frame includes a moving wheel group and a frame, the moving wheel group includes four moving wheels and a rotating motor, the four moving wheels are connected in pairs through connecting shafts, the rotating motor is connected to one of the connecting shafts, and the two connecting shafts are both rotatably connected to the frame through a bearing seat; Or the four moving wheels are respectively connected to a rotating motor for driving, and each moving wheel is connected to the frame through a support.

3. The sugarcane harvester contoured cutter disc mechanism according to claim 1, characterized in that: The driving module includes a fixing seat and a driving motor. The cutter disc is connected with a cutter disc shaft, which is fixedly connected to the output shaft of the driving motor. The driving motor is installed on the fixing seat, and the fixing seat is connected to the profiling adjustment module.

4. The sugarcane harvester contoured cutter disc mechanism according to claim 1, characterized in that: The profiling detection module includes a profiling wheel, a wheel support, a deflection shaft and an encoder, the profiling wheel is rotatably connected to the wheel support, the wheel support is fixedly connected to the deflection shaft, the deflection shaft is rotatably connected to the frame, the deflection shaft is connected to the rotating shaft of the encoder, and the encoder is connected to the control module through electrical signals; Among them, the wheel support includes a first movable joint, a second movable joint and a spring, one end of the first movable joint is fixedly connected to the deflection shaft, the other end of the first movable joint is inserted into the second movable joint, and slides relative to the second movable joint. The spring is sleeved on the outside of the first movable joint, one end of the spring is connected to one end of the first movable joint, the other end of the spring is connected to the second movable joint, and the second movable joint is rotatably connected to the contouring wheel.

5. The sugarcane harvester contoured cutter disc mechanism according to claim 1, characterized in that: The profiling adjustment module includes a lifting adjustment module, which includes a fixed frame, a first hydraulic cylinder and a mounting frame. The fixed frame includes two columns vertically fixed to the frame and a beam connecting the top ends of the columns. The first hydraulic cylinder is installed at the bottom of the beam of the fixed frame and is set toward the ground. The movable end of the first hydraulic cylinder is connected to the mounting frame. The mounting frame is a rectangular frame structure. The profiling adjustment module is fixedly connected to the inner wall of the mounting frame. The first hydraulic cylinder is connected to the driving module through the profiling adjustment module, and the first hydraulic cylinder is connected to the control module.

6. The sugarcane harvester contoured cutter disc mechanism according to claim 5, characterized in that: The slope detection module is arranged on the frame through a first connecting member, the slope detection module is hinged to the first connecting member, the first connecting member is installed on the frame, the slope detection module is connected to the control module, and the slope detection module is used to detect the angle of the frame relative to the horizontal plane.

7. The sugarcane harvester contoured cutter disc mechanism according to claim 6, characterized in that: The contour adjustment module also includes an angle adjustment module. The first hydraulic cylinder is connected to the driving module through the angle adjustment module. The angle adjustment module cooperates with the controller to adjust the angle of the cutter disc.

8. The sugarcane harvester contoured cutter disc mechanism according to claim 7, characterized in that: The angle adjustment module includes a second hydraulic cylinder, a third hydraulic cylinder and an angle adjustment plate. The second hydraulic cylinder and the third hydraulic cylinder are installed on the mounting frame at intervals. The movable ends of the second hydraulic cylinder and the third hydraulic cylinder are hinged to the angle adjustment plate, and the angle adjustment plate is connected to the driving module.

9. The sugarcane harvester contoured cutter disc mechanism according to claim 1, characterized in that: The camera module is arranged on the frame through a second connecting piece, the second connecting piece is hinged to the camera module, the second connecting piece is installed on the frame, the camera module is connected to the control module, and the camera module is used to take images of the sugarcane ridges and detect obstacles on the sugarcane ridges.

10. A profiling method for a profiling cutter disc mechanism of a sugarcane harvester, characterized in that: Using the sugarcane harvester contoured cutter disc mechanism according to any one of claims 1 to 9, the method comprises the following steps: S1: Control the frame to move along the sugarcane ridge to harvest the sugarcane. During the harvesting process, the contour wheel moves up and down along the topography of the sugarcane ridge. S2: The encoder shaft rotates with the movement of the profiling wheel, converting the displacement of the profiling wheel in height into angle data; S3: The control module calculates the lifting distance according to the angle data, and then controls the lifting adjustment module to drive the cutter head to lift and lower as the angle data changes; S4: During the movement of the frame, the camera module takes an image of the sugarcane ridge, and the control module determines whether there is an obstacle based on the image of the sugarcane ridge, and causes the contour wheel to move quickly within 2-3 seconds. If there is an obstacle, the control module does not adjust the cutter disc, and if there is no obstacle, the control module continues to adjust the cutter disc; S5: During the movement of the frame, the slope detection module detects the slope of the sugarcane ridge, and the control module adjusts the inclination angle of the cutter disc according to the slope data.

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