Crop plant cutting height control and adjustment system and method thereof

Abstract

The invention discloses a crop plant cutting height control and adjustment system and method, and belongs to the technical field of livestock grass cutting control, the crop plant cutting height control and adjustment system comprises a cutting vehicle body, a walking module is installed on the cutting vehicle body, and the walking module provides walking power for the cutting vehicle body through a power module installed on the cutting vehicle body; two lifting modules are further arranged on the cutting vehicle body, visual recognition modules are installed on the lifting modules, and a cutting module is further installed on the cutting vehicle body and located between the two lifting modules. Parameter information of livestock grass under different gradients is obtained through a spectrum technology and comprehensively analyzed to obtain a judgment value under each gradient, so that the optimal cutting position can be known according to the judgment value condition, the cutting height of the cutting module is correspondingly adjusted, the height of the harvested livestock grass can be accurately and automatically adjusted, and the harvesting efficiency of the livestock grass is improved. The quality of forage is improved, the regeneration strength of livestock and grass is reserved, and sustainable growth is achieved.

Description

Technical Field

[0001] The invention belongs to the field of livestock grass cutting control, and in particular relates to a crop plant cutting height control and adjustment system and method. Background Art

[0002] Livestock forage generally refers to grass or other herbaceous plants fed to livestock. Its strong regeneration ability allows for multiple harvests throughout the year, and its rich content of trace elements and vitamins makes it a prime choice for livestock. The higher up the plant, the tenderer the leaves, which naturally possess higher nutritional value and are more palatable to livestock such as cattle and sheep, providing better support for animal husbandry.

[0003] Existing methods for cutting livestock grass often involve cutting the entire plant. However, this method results in a mixture of older and younger grass, making forage quality difficult to control. Furthermore, cutting the entire plant prolongs the regeneration cycle of the young grass, accelerating weed growth and impacting the sustainability of grass growth. Therefore, a method for adjusting the cutting height of the plant during the cutting process is crucial. Summary of the Invention

[0004] The object of the present invention is to provide a crop plant cutting height control and adjustment system and method thereof, so as to solve the problems faced in the above-mentioned background technology.

[0005] The purpose of the present invention can be achieved through the following technical solutions:

[0006] A crop plant cutting height control and adjustment system includes a cutting vehicle body, a walking module installed on the cutting vehicle body, and the walking module provides walking power for the cutting vehicle body through a power module installed on the cutting vehicle body. The cutting vehicle body is also provided with two control modules at the handle;

[0007] The cutting vehicle body is also provided with two lifting modules, and a visual recognition module is installed on the lifting module. The visual recognition module is connected to the controller installed on the cutting vehicle body. A cutting module is also installed on the cutting vehicle body between the two lifting modules. A conveying module is connected to the rear of the cutting module, and a collection module is connected to the other side of the conveying module.

[0008] Furthermore, the lifting module includes a single-chip microcomputer control box, the single-chip microcomputer control box is connected to a lifting adjustment device, the lifting adjustment device is connected to the cutting module, and a mounting block for installing a visual recognition module is provided above the lifting adjustment device.

[0009] A method for controlling and adjusting the cutting height of crop plants, the method being implemented by the aforementioned crop plant cutting height control and adjustment system, the method comprising:

[0010] Step 1: Use the visual recognition module to emit a spectrum to illuminate the livestock grass in front in real time, thereby obtaining relevant parameter information of the livestock grass;

[0011] Step 2: The visual recognition module sends the acquired relevant parameter information to the controller, which performs a comprehensive analysis based on the acquired relevant parameter information to generate a judgment value;

[0012] Step 3: The controller determines whether the cutting height of the cutting module is reasonable according to the judgment value. If the cutting height of the cutting module is unreasonable, the controller generates a corresponding adjustment instruction.

[0013] Step 4: The lifting module rises and falls accordingly according to the adjustment instruction to adjust the cutting height of the cutting module.

[0014] Furthermore, the relevant parameter information includes the longitudinal gradient moisture content and hardness value of the livestock grass and the chlorophyll content.

[0015] Furthermore, the judgment value generation method is:

[0016] According to the moisture content wr, hardness value h and chlorophyll content c of livestock grass at different gradients, the formula Obtain the judgment value TF under each gradient;

[0017] Among them, α1 and α2 are preset coefficients, h0, wr0 and c0 are the hardness value, moisture content and chlorophyll content control values preset in the controller respectively.

[0018] Furthermore, the method for judging whether the cutting height of the cutting module is reasonable in step 3 is:

[0019] The obtained judgment value TF of livestock grass at different gradients is compared with the set optimal cutting judgment threshold TF th Compare with the optimal cutting judgment threshold TF th The gradient of the closest judgment value TF is determined as the cutting gradient, and the height value s of the cutting gradient from the ground is obtained;

[0020] It is determined whether the current height s0 of the cutting module is the same as the height value s. If not, it is determined that the cutting height of the cutting module is unreasonable, and a corresponding adjustment instruction is generated.

[0021] Furthermore, the adjustment instruction includes an increase instruction and a decrease instruction;

[0022] When s>s0, an increase instruction is generated. At this time, the formula s x=s0+(s-s0)*μ(|R-R0+|L-L0|+1) Adjust the cutting height of the cutting module to s x ;

[0023] When s<s0, a reduction instruction is generated. At this time, the formula Adjust the cutting height of the cutting module to s y ;

[0024] Among them, μ is the conversion coefficient, R is the average humidity value from the current cutting day to the next cutting day, L is the average light value from the current cutting day to the next cutting day, R0 is the preset optimal humidity value, and L0 is the preset optimal light value.

[0025] Beneficial effects of the present invention:

[0026] The present invention uses spectral technology to obtain parameter information of livestock grass at different gradients, including moisture content, hardness value, and chlorophyll content, and conducts comprehensive analysis to obtain judgment values at each gradient. In this way, the optimal cutting position can be known based on the judgment value, and the cutting height of the cutting module can be adjusted accordingly. In this way, the height of the harvested livestock grass can be accurately and automatically adjusted to improve the quality of the forage, retain the regeneration power of the livestock grass, and achieve sustainable growth.

[0027] This application transmits the acquired height signal to the lifting module through the single-chip microcomputer control algorithm, and automatically adjusts the cutting height of the cutting module up and down in combination with environmental information. It is simple to operate and has a high safety factor, avoids manual adjustment errors, and improves the efficiency and accuracy of cutting livestock grass.

[0028] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0030] Figure 1 Schematic diagram of the overall structure of the device of the present invention;

[0031] Figure 2 It is a structural diagram of the lifting module in the present invention;

[0032] Figure 3 Flow chart of the method of the present invention.

[0033] Description of the accompanying drawings:

[0034] 1. Visual recognition module; 2. Cutting module; 3. Lifting module; 4. Conveying module; 5. Collecting module; 6. Traveling module; 7. Power module; 8. Control module; 3-1. Single chip microcomputer control box; 3-2. Lifting and adjusting device; 3-3. Mounting block. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0036] In one embodiment, a crop plant cutting height control and adjustment system is disclosed, such as Figure 1 、 Figure 2 As shown, it includes a cutting body, on which a walking module 6 is installed. The walking module 6 provides walking power for the cutting body through a power module 7 installed on the cutting body. Two control modules 8 are also provided on the handle of the cutting body; two lifting modules 3 are also provided on the cutting body, on which a visual recognition module 1 is installed. The visual recognition module 1 is connected to the controller installed on the cutting body, and a cutting module 2 is also installed between the two lifting modules 3 on the cutting body. A transmission module 4 is connected to the rear of the cutting module 2, and a collection module 5 is connected to the other side of the transmission module 4. The lifting module 3 includes a single-chip microcomputer control box 3-1, and a lifting adjustment device 3-2 is connected to the single-chip microcomputer control box 3-1. The lifting adjustment device 3-2 is connected to the cutting module 3, and a mounting block 3-3 for mounting the visual recognition module 1 is provided above the lifting adjustment device 3-2. The visual recognition module 1 is used to emit a spectrum to illuminate the livestock grass in front in real time, so as to obtain the distribution gradient of the relevant parameter information of the livestock grass in the longitudinal direction, and then judge whether the cutting height of the cutting module 2 is reasonable through analysis by the controller. After judging that it is unreasonable, an adjustment instruction is generated to control the lifting module 3 to rise or fall accordingly, so that the cutting height reaches a better position, thereby performing precise cutting; the livestock grass after cutting is transmitted to the collection module 5 for collection through the transmission module 4, and the control module 8 is convenient for the operator to control and improve the safety of the device. A processing module for processing the obtained relevant parameters is provided in the controller, so that the obtained relevant parameters can be pre-processed, so that the parameters can be standardized, which is convenient for subsequent control calculations.

[0037] In one embodiment, a method for controlling and adjusting the cutting height of crop plants is also disclosed. Figure 3As shown, the method is implemented by controlling the crop plant cutting height control and adjustment system described above, and the method of use includes:

[0038] Step 1: Using a visual recognition module to emit a spectrum to illuminate the grass in front in real time, thereby obtaining relevant parameter information of the grass, including the vertical gradient moisture content and hardness value and chlorophyll content of the grass;

[0039] Step 2: The visual recognition module sends the acquired relevant parameter information to the controller, which performs a comprehensive analysis based on the acquired relevant parameter information to generate a judgment value;

[0040] Step 3: The controller determines whether the cutting height of the cutting module is reasonable according to the judgment value. If the cutting height of the cutting module is unreasonable, the controller generates a corresponding adjustment instruction.

[0041] Step 4: The lifting module rises and falls accordingly according to the adjustment instruction to adjust the cutting height of the cutting module.

[0042] Through the above technical solution, the present application uses spectral technology to obtain parameter information of livestock grass at different gradients, including moisture content, hardness value, and chlorophyll content, and conducts a comprehensive analysis to obtain judgment values at each gradient. In this way, the optimal cutting position can be determined based on the judgment value, and the cutting height of the cutting module can be adjusted accordingly. In this way, the height of the harvested livestock grass can be accurately and automatically adjusted to improve the quality of the forage and retain the regeneration power of the livestock grass, achieving sustainable growth. At the same time, the height signal obtained is transmitted to the lifting module through the single-chip microcomputer control algorithm to automatically adjust the cutting height up and down. Its operation is simple and has a high safety factor, avoiding the error of manual adjustment and improving the efficiency and accuracy of cutting livestock grass.

[0043] The judgment value generation method is: according to the moisture content wr, hardness value h and chlorophyll content c of livestock grass at different gradients, the formula Obtain the judgment value TF under each gradient;

[0044] Wherein, α1 and α2 are preset coefficients, h0, wr0 and c0 are the hardness value, moisture content and chlorophyll content control values preset in the controller respectively;

[0045] The method for judging whether the cutting height of the cutting module is reasonable in step 3 is to compare the obtained judgment value TF of the grass at different gradients with the set optimal cutting judgment threshold TF th Compare with the optimal cutting judgment threshold TF th The gradient of the closest judgment value TF is determined as the cutting gradient, and the height value s of the cutting gradient from the ground is obtained;

[0046] Determine whether the current height s0 of the cutting module is the same as the height value s. If not, determine that the cutting height of the cutting module is unreasonable and generate corresponding adjustment instructions, which include raising instructions and lowering instructions.

[0047] When s>s0, a lifting instruction is generated. At this time, the cutting height of the cutting module is adjusted to s by the formula sx=s0+(s-s0)*μ(|R-R0|+|L-L0|+1). x ;

[0048] When s<s0, a reduction instruction is generated. At this time, the formula Adjust the cutting height of the cutting module to s y ;

[0049] Among them, μ is the conversion coefficient, R is the average humidity value from the current cutting day to the next cutting day, L is the average light value from the current cutting day to the next cutting day, R0 is the preset optimal humidity value, and L0 is the preset optimal light value.

[0050] Through the above technical solution, the above technical solution provides a method for judging whether the height of the cutting module is reasonable and a specific adjustment method when it is unreasonable. First, according to the moisture content wr, hardness value h and chlorophyll content c of livestock grass at different gradients, the formula The judgment value TF under each gradient is obtained. Generally speaking, the fresher the grass is, the higher its chlorophyll content and moisture content are, and the smaller its hardness value is. Therefore, it can be seen from the formula that the larger the judgment value TF is, the fresher the grass is. After obtaining the judgment value under each gradient, the obtained judgment value TF of the grass under different gradients is compared with the set optimal cutting judgment threshold TF. th Compare with the optimal cutting judgment threshold TF th The gradient of the closest judgment value TF is determined as the cutting gradient, and the height value s of the cutting gradient from the ground is obtained at the same time. Then, it is judged whether the current height s0 of the cutting module is the same as the height value s. If they are not the same, it is judged that the cutting height of the cutting module is unreasonable and needs to be adjusted, and the corresponding adjustment instruction is generated. Similarly, the adjustment instruction includes an increase instruction and a decrease instruction. When s>s0, it means that the cutting height of the current cutting module is insufficient and the cutting height needs to be increased, and an increase instruction is generated. At this time, the formula s x =s0+(s-s0)*μ(|R-R0|+|L-L0|+1) Adjust the cutting height of the cutting module to s x ; When s<s0, it is necessary to reduce the cutting height to generate a lowering instruction. At this time, the formula Adjust the cutting height of the cutting module to s yIn order to ensure the quality of livestock grass during the next harvest, the stubble height of livestock grass is also very important. Generally speaking, the growth of livestock grass is greatly affected by changes in light intensity and humidity. Therefore, the average humidity value from the current cutting day to the next cutting day is compared with the preset optimal humidity value, and the average light value from the current cutting day to the next cutting day is compared with the preset optimal light value to adjust the cutting height (i.e. stubble height) accordingly; from the formula s x =s0+(s-s0)*μ(|R-R0|+|L-L0|+1) It can be seen that the greater the difference between the average light value or the average humidity value and their respective optimal values, the greater the impact on the growth of livestock grass. In order to ensure the quality of the next harvest, it is necessary to appropriately increase the stubble height, that is, the higher the cutting height needs to be. Similarly, from the formula It can be seen that the greater the difference between the average light value or the average humidity value and their respective optimal values, the greater the impact on the growth of livestock grass. In order to ensure the quality of the next harvest, a higher stubble height needs to be left, that is, the lower the cutting height is. In this way, the cutting height can be adjusted accordingly based on the light and humidity information of the livestock grass area, which can ensure both the quality of livestock grass cutting and the normal growth of livestock grass.

[0051] It should be noted that the preset hardness value, moisture content and chlorophyll content control values h0, wr0 and c0, the preset optimal humidity value R0 and the preset optimal light value L0 in the controller can all be analyzed and determined based on the corresponding historical data, and the optimal cutting judgment threshold TF is set. th , the conversion coefficient μ and the preset coefficients α1 and α2 can all be determined based on relevant historical data combined with empirical data, while the average humidity value R from the current cutting day to the next cutting day and the average light value L from the current cutting day to the next cutting day can be analyzed based on the data from the local meteorological bureau, which will not be described in detail here.

[0052] The above content is merely an example and explanation of the concept of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in a similar manner. As long as they do not deviate from the concept of the invention or exceed the scope defined by the claims, they should all fall within the scope of protection of the present invention.

Claims

1. A crop plant cutting height control and adjustment system, the system comprising a cutting vehicle body, characterized in that: A walking module (6) is installed on the cutting vehicle body, and the walking module (6) provides walking power for the cutting vehicle body through a power module (7) installed on the cutting vehicle body. Two control modules (8) are also provided on the cutting vehicle body at the handle. The cutting vehicle body is further provided with two lifting modules (3), a visual recognition module (1) is installed on the lifting modules (3), and the visual recognition module (1) is connected to a controller installed on the cutting vehicle body. A cutting module (2) is further installed on the cutting vehicle body between the two lifting modules (3), a conveying module (4) is connected to the rear of the cutting module (2), and a collecting module (5) is connected to the other side of the conveying module (4).

2. The crop plant cutting height control and adjustment system according to claim 1, characterized in that: The lifting module (3) comprises a single-chip microcomputer control box (3-1), a lifting adjustment device (3-2) is connected to the single-chip microcomputer control box (3-1), the lifting adjustment device (3-2) is connected to the cutting module (3), and a mounting block (3-3) for mounting the visual recognition module (1) is provided above the lifting adjustment device (3-2).

3. A method for controlling and adjusting the cutting height of crop plants, the method being implemented by the crop plant cutting height control and adjustment system according to any one of claims 1 to 2, characterized in that: The method comprises: Step 1: Use the visual recognition module to emit a spectrum to illuminate the livestock grass in front in real time, thereby obtaining relevant parameter information of the livestock grass; Step 2: The visual recognition module sends the acquired relevant parameter information to the controller, which performs a comprehensive analysis based on the acquired relevant parameter information to generate a judgment value; Step 3: The controller determines whether the cutting height of the cutting module is reasonable according to the judgment value. If the cutting height of the cutting module is unreasonable, the controller generates a corresponding adjustment instruction. Step 4: The lifting module rises and falls accordingly according to the adjustment instruction to adjust the cutting height of the cutting module.

4. The method for controlling and adjusting the cutting height of crop plants according to claim 3, wherein: The relevant parameter information includes the longitudinal gradient moisture content and hardness value of the livestock grass and the chlorophyll content.

5. The method for controlling and adjusting the cutting height of crop plants according to claim 4, characterized in that: The judgment value generation method is: According to the moisture content wr, hardness value h and chlorophyll content c of livestock grass at different gradients, the formula Obtain the judgment value TF under each gradient; Among them, α1 and α2 are preset coefficients, h0, wr0 and c0 are the hardness value, moisture content and chlorophyll content control values preset in the controller respectively.

6. The method for controlling and adjusting the cutting height of crop plants according to claim 5, characterized in that: The method for judging whether the cutting height of the cutting module is reasonable in step 3 is: The obtained judgment value TF of livestock grass at different gradients is compared with the set optimal cutting judgment threshold TF th Compare with the optimal cutting judgment threshold TF th The gradient of the closest judgment value TF is determined as the cutting gradient, and the height value s of the cutting gradient from the ground is obtained; It is determined whether the current height s0 of the cutting module is the same as the height value s. If not, it is determined that the cutting height of the cutting module is unreasonable, and a corresponding adjustment instruction is generated.

7. A method for controlling and adjusting the cutting height of crop plants according to claim 6, characterized in that: The adjustment instructions include raising instructions and lowering instructions; When s>s0, an increase instruction is generated. At this time, the formula s x =s0+(s-s0)*μ(|R-R0|+|L-L0|+1) Adjust the cutting height of the cutting module to s x ; When s<s0, a reduction instruction is generated. At this time, the formula Adjust the cutting height of the cutting module to s y ; Among them, μ is the conversion coefficient, R is the average humidity value from the current cutting day to the next cutting day, L is the average light value from the current cutting day to the next cutting day, R0 is the preset optimal humidity value, and L0 is the preset optimal light value.

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