Terrain-imitating front cutting and conveying device of cane harvesting machine and control method thereof

Abstract

The invention provides a terrain-imitating front cutting and conveying device of a cane harvester and a control method of the terrain-imitating front cutting and conveying device. A rack of the terrain-imitating front cutting and conveying device is provided with a cane pressing roller, a cutting assembly and a clamping roller type conveying channel. A terrain-imitating pendulum bob which does not rotate along with a cutterhead is hinged to the lower portion of the cutterhead of the cutting assembly, a torque sensor for detecting the rotating and swinging torque of the terrain-imitating pendulum bob is arranged, and the terrain-imitating pendulum bob rotates and swings to the lower end to touch the ground along a hinge point and automatically rotates and swings in a profiling mode along with fluctuation of the ground when the cutting assembly moves forwards. A lifting oil cylinder is arranged above the machine frame, the cutting height of the cutter head is adjusted by controlling the lifting height of the front end of the device, and the controller dynamically adjusts the stretching amount of the lifting oil cylinder according to signals collected by the torque sensor. The control method of the device comprises three stages of initial calibration and the like. The device can sense topographic changes in real time and automatically and dynamically adjust the cutting height of the cutterhead according to the topographic changes, so that the soil penetrating depth of the cutterhead is accurately controlled, the sugarcane head breaking rate and harvesting loss are reduced, and the sugarcane harvesting efficiency and quality are improved.

Description

Technical Field

[0001] The invention relates to components of a sugarcane harvester, in particular to a terrain-mimicking front cutting and conveying device of a sugarcane harvester and a control method thereof, belonging to the technical field of agricultural machinery and equipment. Background Art

[0002] The front-end cutting and conveying device is an integrated component mounted on the front of a sugarcane harvester, used to cut the planted sugarcane from the root into the soil and gather the cut sugarcane for rearward transport. Existing cutting mechanisms on front-end cutting and conveying devices on sugarcane harvesters mostly rely on manual adjustment of the cutter disc's cutting height. This type of cutting mechanism is difficult to adjust the cutter disc's cutting height promptly and accurately in hilly areas or sugarcane planting areas with complex terrain such as ridges and furrows, resulting in unstable cutting positions.

[0003] When sugarcane fields are uneven and the cutting mechanism's blades have a fixed cutting height, the cutting depth into the soil is unstable, resulting in uneven cutting of the sugarcane roots, easily leading to broken and incomplete cane cutting. According to statistics from some agricultural machinery research institutions, traditional sugarcane harvesters, whose blades can't dynamically adjust their cutting height to the terrain, have a breakage rate of up to 15% to 20% when operating in complex terrain. Breakage not only leads to sugar loss and reduced sugar yield, but also results in yield losses. It's estimated that this loss of yield per mu (approximately 100 to 150 kilograms) due to breakage can severely impact farmers' economic returns. Furthermore, improper cutting depth can damage sugarcane roots, increase the risk of soil pathogens, and inhibit the proper germination of sugarcane seedlings the following year. Experimental data show that sugarcane fields harvested with this type of traditional harvester have a 12% to 18% lower seedling emergence rate the following year than under normal conditions, and the seedlings are weaker in growth, impacting the sustainable profitability of sugarcane cultivation. Summary of the Invention

[0004] The purpose of the present invention is to provide a terrain-mimicking front-mounted cutting and conveying device for a sugarcane harvester, which can sense terrain changes in real time and automatically and dynamically adjust the cutting height of the cutter disc according to the terrain changes, thereby accurately controlling the depth of the cutter disc into the soil, reducing the sugarcane head breakage rate and harvest losses, and improving the efficiency and quality of sugarcane harvesting.

[0005] The specific technical solutions of the present invention are as follows: A sugarcane harvester with a terrain-mimicking front-mounted cutting and conveying device is provided. A sugarcane pressing roller extending forward is mounted at the upper front end of a frame. A cutting assembly extending downward is mounted behind the pressing roller at the front end of the frame. A clamping roller-type conveying channel extending backward is mounted behind the cutting assembly. A rotatable cutterhead is mounted at the lower portion of the cutting assembly. A terrain-mimicking pendulum that does not rotate with the cutterhead is hingedly mounted below the cutterhead of the cutting assembly. A torque sensor for real-time detection of the pendulum's torque is mounted beside the pendulum. When the entire device moves forward, the pendulum rotates along the hinge point until its lower end touches the ground and automatically rotates in accordance with the undulations of the ground. The upper rear end of the frame is hinged and suspended on the rear fixed point above the rear of the frame, so that the rear end of the entire device is fixed and lifted; the piston rod end of the vertically arranged lifting cylinder is hinged at the upper middle part of the frame, and the cylinder body of the lifting cylinder is hinged on the front fixed point above the middle part of the frame. The lifting height of the front end of the entire device is controlled by the extension and contraction of the lifting cylinder, thereby adjusting the cutting height of the cutter disc of the cutting assembly; a controller is provided above the frame, and the controller is respectively provided with circuits connected to the torque sensor and the hydraulic control valve of the lifting cylinder. The controller dynamically adjusts the extension and contraction of the lifting cylinder according to the collected signal of the torque sensor.

[0006] The cutting assembly is provided with a cutting gear box driven by a cutting motor, and the bottom surface of the cutting gear box is provided with two left and right hollow output ends with the same rotation speed and opposite rotation directions. The cutting gear box is provided with fixed spindles fixedly connected to the box body and extending downward at the axial centerline positions corresponding to the two hollow output ends. A rotatable cylinder seat is movably sleeved on the lower part of the fixed spindle. The upper end face of the cylinder seat is fixedly connected to the hollow output end of the cutting gear box and rotates synchronously with it. The lower end face of the cylinder seat is fixedly connected to a cutter disc with a radially extending blade, and a group of radially extending feeding materials are installed on the outer circumference of the cylinder seat. The shift plate; the lower ends of the two fixed spindles are fixedly connected to the support rods extending radially backward at the position below the cutter disc, and the support rods on the left and right sides are fixedly connected into one by a horizontal connecting shaft, and a rotatable terrain-imitating pendulum is hinged on the connecting shaft. The terrain-imitating pendulum adopts a boot-shaped pendulum with the boot head facing downward and the boot body hinged on the connecting shaft. Under the action of gravity, the front arc surface of the boot head swings downward to the ground for contouring; the torque sensor is mounted on the connecting shaft, and the two ends of the torque sensor are fixedly connected to the connecting shaft and the terrain-imitating pendulum respectively, and the torque sensor detects the swinging torque between the terrain-imitating pendulum and the connecting shaft.

[0007] The front-mounted cutting and conveying device of this sugarcane harvester uses a terrain-mimicking pendulum installed below the cutterhead, which rotates independently of the cutterhead, to track the sugarcane field. A torque sensor acquires the pendulum's tracking data and transmits it to a controller. The controller then adjusts the extension and retraction of the lifting cylinder based on the torque sensor's signals, dynamically adjusting the cutterhead's cutting height. This device can sense terrain changes in real time and automatically and dynamically adjust the cutterhead's cutting height accordingly, precisely controlling the cutterhead's penetration depth, reducing sugarcane head breakage and harvest losses, improving sugarcane harvesting efficiency and quality, and ultimately increasing the economic benefits for sugarcane growers. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a structural schematic diagram of the terrain-mimicking front cutting and conveying device of this sugarcane harvester when cutting sugarcane.

[0009] Figure 2 for Figure 1 A partial enlarged view of the terrain-simulating pendulum part.

[0010] Figure 3 This is a control flow chart for the cutting height of the cutter disc.

[0011] In the figure: 1-sugarcane pressing roller, 2-cutting assembly, 2.1-cutter head, 2.2-cutting motor, 2.3-cutting gearbox, 2.4-fixed spindle, 2.5-cylinder seat, 2.6-feeding plate, 2.7-support rod, 2.8-connecting shaft, 3-clamping roller conveying channel, 3.1-side plate, 3.2-upper roller, 3.3-lower roller, 4-terrain-imitation pendulum, 5-torque sensor, 6-lifting cylinder, 6.1-hydraulic control valve, 7-controller, 8-circuit harness. DETAILED DESCRIPTION

[0012] The present invention will be further described below with reference to the accompanying drawings. In the description of the present invention, the directional words "front", "back", "left" and "right" are defined based on the perspective of the sugarcane harvester driver.

[0013] like Figure 1-Figure 2As shown, the terrain-mimicking front cutting and conveying device of the sugarcane harvester is provided with a sugarcane pressing roller 1 extending forward at the upper front end of the frame, a cutting assembly 2 extending downward is provided behind the sugarcane pressing roller 1 at the front end of the frame, and a clamping roller conveying channel 3 extending backward is provided behind the cutting assembly 2; a rotatable cutter disc 2.1 is provided at the lower part of the cutting assembly 2, and a terrain-mimicking pendulum 4 that does not rotate with the cutter disc 2.1 is hinged below the cutter disc 2.1 of the cutting assembly 2, and a torque sensor 5 for real-time detection of the swing torque of the terrain-mimicking pendulum 4 is provided on the side of the terrain-mimicking pendulum 4; when the entire device moves forward, the terrain-mimicking pendulum 4 swings along the hinge point until the lower end touches the ground and automatically rotates following the undulations of the ground. Swing; the upper rear end of the frame is hinged and suspended on the rear fixed point above the rear of the frame, so that the rear end of the entire device is fixed and raised; the piston rod end of the vertically arranged lifting cylinder 6 is hinged at the upper middle part of the frame, and the cylinder body of the lifting cylinder 6 is hinged on the front fixed point above the middle part of the frame. The lifting height of the front end of the entire device is controlled by the extension and contraction of the lifting cylinder 6, thereby adjusting the cutting height of the cutter disc 2.1 of the cutting assembly 2; a controller 7 is provided above the frame, and the controller 7 is respectively provided with circuits connected to the torque sensor 5 and the hydraulic control valve 6.1 of the lifting cylinder 6, and the controller 7 dynamically adjusts the extension and contraction of the lifting cylinder 6 according to the collected signal of the torque sensor 5.

[0014] The cutting assembly 2 is provided with a cutting gear box 2.3 driven by a cutting motor 2.2. The bottom surface of the cutting gear box 2.3 is provided with two hollow output ends with the same rotation speed and opposite directions on the left and right. The cutting gear box 2.3 is provided with fixed spindles 2.4 fixedly connected to the box body and extending downward at the axial centerline positions corresponding to the two hollow output ends. A rotatable cartridge seat 2.5 is movably sleeved on the lower part of the fixed spindle 2.4. The upper end face of the cartridge seat 2.5 is fixedly connected to the hollow output end of the cutting gear box 2.3 and rotates synchronously with it. The lower end face of the cartridge seat 2.5 is fixedly connected to a cutter disc 2.1 with a radially extending blade. A group of radially extending feeding plates are installed on the outer circumference of the cartridge seat 2.5. 2.6; The lower ends of the two fixed spindles 2.4 are fixedly connected to a support rod 2.7 extending radially backward at a position below the cutter disc 2.1. The support rods 2.7 on the left and right sides are fixedly connected to each other through a horizontal connecting shaft 2.8. A rotatable pendulum is hinged on the connecting shaft 2.8. The terrain-imitating pendulum 4 adopts a boot-shaped pendulum with the toe facing downward and the boot body hinged on the connecting shaft 2.8. Under the action of gravity, the front arc surface of the boot toe rotates downward and touches the ground for profiling; the torque sensor 5 is mounted on the connecting shaft 2.8, and the two ends of the torque sensor 5 are respectively fixedly connected to the connecting shaft 2.8 and the terrain-imitating pendulum 4. The torque sensor 5 detects the swinging torque between the terrain-imitating pendulum 4 and the connecting shaft 2.8. Furthermore, the fixed spindle 2.4 adopts a hollow design, and the circuit harness 8 of the torque sensor 5 runs from bottom to top along the center hole of the fixed spindle 2.4 until it passes through the cutting gear box 2.3 and is connected to the controller 7, thereby avoiding interference between the circuit harness 8 of the torque sensor 5 and the rotating cutter disc 2.1.

[0015] Furthermore, the controller 7 includes a main control unit, a signal acquisition module and an execution module. The signal acquisition module is used to receive the acquisition signal of the torque sensor 5 in real time and transmit the signal to the main control unit; the main control unit calculates the change in the cutting height of the cutter disc 2.1 based on the received signal and sends an instruction to the execution module. The execution module changes the extension and retraction amount of the lifting cylinder 6 by controlling the hydraulic control valve 6.1, thereby adjusting the cutting height of the cutter disc 2.1.

[0016] Furthermore, the roller-type conveying channel 3 is provided with a pair of side plates 3.1 vertically spaced apart, and two pairs of front and rear conveying rollers are mounted between the two side plates 3.1. The conveying rollers are composed of an upper roller 3.2 and a lower roller 3.3. The upper roller 3.2 and the lower roller 3.3 are respectively driven by conveying motors, and a group of radially extending conveying paddles are installed on the outer side of the roller body of the upper roller 3.2 and the lower roller 3.3; the lower roller 3.3 of the conveying roller is a fixed roller, and the upper roller 2.2 is a floating roller that can adaptively float up and down according to the shape of the conveyed material, so that it can be adaptively adjusted according to the length and shape of the sugarcane after cutting during the conveying process, thereby reducing damage to the sugarcane.

[0017] This sugarcane harvester's terrain-mimicking front-end cutting and conveying device is located at the front end of the harvester. During operation, the harvester drives the device through the sugarcane field. The sugarcane pressing roller 1 first presses the sugarcane forward to a certain angle, and then the rotating cutterhead 2.1 of the cutting assembly 2 uses its front blades to cut the sugarcane roots. Once the sugarcane is cut, the feeding paddles 2.6 above the left and right cutterheads 2.1, coupled with the forward motion of the harvester, hold the cut sugarcane down and feed it into the rear gripper roller conveyor 3. This gripper roller conveyor 3 then transports the sugarcane to the next processing unit of the harvester. During the harvesting process, a terrain-mimicking pendulum 4 profiles the sugarcane field. This profile data is acquired by a torque sensor 5 and transmitted to a controller 7. The controller 7 adjusts the extension and retraction of the lift cylinder 6 based on the signals from the torque sensor 5, thereby dynamically adjusting the cutting height of the cutterhead 2.1.

[0018] The control method of the terrain-mimicking front cutting and conveying device of the sugarcane harvester includes the following stages: (1) Initial calibration stage The height from the tip of the frontmost blade of the cutter disc to the ground is used as the cutter disc cutting height. The controller calculates the cutter disc cutting height by substituting the signal collected by the torque sensor into formula (1). The torque when the landing point of the terrain-simulating pendulum and the tip of the frontmost blade of the cutter disc are in the same plane is set as the zero point of the relative height. The value exceeding this torque is set as a negative value of the height, and the value below this torque is set as a positive value of the height. The cutter disc cutting height is set to several preset gears. Specifically, the cutter disc cutting height is set to four preset gears: 20mm, 35mm, 50mm, and 65mm.

[0019] Where: H is the cutting height of the cutter disc; when H>0, the tip of the frontmost blade of the cutter disc is above the ground; when H<0, the tip of the frontmost blade of the cutter disc cuts into the soil; T 测量 is the current torque measurement value; T 基准 The reference torque is when the tip of the frontmost blade of the cutterhead is coplanar with the landing point of the terrain-simulating pendulum. This reference torque is obtained through ground calibration. T 范围 is the measuring range of the torque sensor; b is the bias term; K is the system calibration coefficient; the system calibration coefficient is determined through static calibration test.

[0020] The specific steps for determining the system calibration coefficient K through a static calibration test are: 1) Fix the sugarcane harvester on the horizontal ground and manually adjust the lifting cylinder to adjust the cutter head to different heights; 2) Record the torque sensor output value corresponding to each position; 3) Calculate the K value through linear regression and store it in the non-volatile memory of the controller.

[0021] Example: Table 1 below shows five sets of data collected during a static calibration test, which are used to fit the system calibration coefficients.

[0022]

[0023] Linearize formula (1)

[0024] Calculated by the above formula: a = -1mm / (Nm); K = a*T 范围 = -1*40 = -40mm / (Nm); c =50.

[0025] (2) Ground calibration stage Before the harvesting operation begins, a relatively flat plot of land is selected as the calibration area for ground calibration. Two required cutterhead cutting height gears are selected, and the device is allowed to move a predetermined distance along the ground at these two gears to collect the torque signal of the torque sensor during the process. The collected torque signal is filtered to eliminate noise and outliers, and then the filtered torque signal is averaged to obtain the characteristic torque value corresponding to the current burial depth, which is stored in the non-volatile memory of the controller.

[0026] Filtering the collected torque signal can improve data accuracy; the above method can establish a corresponding relationship between the torque signal and the depth of soil burial, providing a basis for subsequent soil layer identification and control parameter adjustment.

[0027] (III) Cutterhead cutting height simulation and terrain lifting control stage During the harvesting process, the terrain-simulating pendulum maintains contact with the ground and automatically rotates and swings along with the undulations of the ground. The torque sensor detects the rotation torque of the terrain-simulating pendulum in real time and transmits the collected signal to the controller. The controller calculates the value of the cutter disc cutting height according to the above formula (1) and compares it with the values ​​of the two cutter disc cutting height gears calibrated on the ground before. If the calculated value is not within the range of the calibrated values ​​of the two cutter disc cutting height gears, a signal is sent to control the lifting cylinder to extend and retract accordingly until the calculated value falls within the range of the calibrated values, thereby realizing the terrain-simulating lifting and lowering of the cutter disc cutting height. The control process of the cutter disc cutting height at this stage is as follows: Figure 3 shown.

[0028] The above-mentioned figures are only typical embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A terrain-simulating front-mounted cutting and conveying device for a sugarcane harvester, characterized in that: A sugarcane pressing roller extending forward is provided at the upper front end of the frame, a cutting assembly extending downward is provided behind the sugarcane pressing roller at the front end of the frame, and a clamping roller conveying channel extending backward is provided behind the cutting assembly; a rotatable cutter disc is provided at the lower part of the cutting assembly, and a terrain-simulating pendulum that does not rotate with the cutter disc is hinged under the cutter disc of the cutting assembly, and a torque sensor for real-time detection of the torque of the terrain-simulating pendulum is provided on the side of the terrain-simulating pendulum; when the entire device moves forward, the terrain-simulating pendulum rotates and swings along the hinge point until the lower end touches the ground and automatically rotates and swings along the undulations of the ground; a hinge is provided at the upper rear end of the frame It is hung on the rear fixed point above the rear of the frame, so that the rear end of the entire device is fixed and lifted; the piston rod end of the vertically arranged lifting cylinder is hinged at the upper middle part of the frame, and the cylinder body of the lifting cylinder is hinged at the front fixed point above the middle part of the frame. The lifting height of the front end of the entire device is controlled by the extension and contraction of the lifting cylinder, thereby adjusting the cutting height of the cutter disc of the cutting assembly; a controller is provided above the frame, and the controller is respectively provided with circuits connected to the torque sensor and the hydraulic control valve of the lifting cylinder. The controller dynamically adjusts the extension and contraction of the lifting cylinder according to the collected signal of the torque sensor.

2. The terrain-mimicking front-mounted cutting and conveying device for a sugarcane harvester according to claim 1 is characterized by: The cutting assembly is provided with a cutting gear box driven by a cutting motor, and the bottom surface of the cutting gear box is provided with two left and right hollow output ends with the same rotation speed and opposite rotation directions. The cutting gear box is provided with fixed spindles fixedly connected to the box body and extending downward at the axial centerline positions corresponding to the two hollow output ends. A rotatable cylinder seat is movably sleeved on the lower part of the fixed spindle. The upper end face of the cylinder seat is fixedly connected to the hollow output end of the cutting gear box and rotates synchronously with it. The lower end face of the cylinder seat is fixedly connected to a cutter disc with a radially extending blade, and a group of radially extending feeding materials are installed on the outer circumference of the cylinder seat. The shift plate; the lower ends of the two fixed spindles are fixedly connected to the support rods extending radially backward at the position below the cutter disc, and the support rods on the left and right sides are fixedly connected into one by a horizontal connecting shaft, and a rotatable terrain-imitating pendulum is hinged on the connecting shaft. The terrain-imitating pendulum adopts a boot-shaped pendulum with the boot head facing downward and the boot body hinged on the connecting shaft. Under the action of gravity, the front arc surface of the boot head swings downward to the ground for contouring; the torque sensor is mounted on the connecting shaft, and the two ends of the torque sensor are fixedly connected to the connecting shaft and the terrain-imitating pendulum respectively, and the torque sensor detects the swinging torque between the terrain-imitating pendulum and the connecting shaft.

3. The terrain-mimicking front-mounted cutting and conveying device for a sugarcane harvester according to claim 2, characterized in that: The fixed spindle adopts a hollow design, and the circuit harness of the torque sensor is connected to the controller along the center hole of the fixed spindle from bottom to top until it passes through the cutting gear box.

4. The terrain-mimicking front-mounted cutting and conveying device for a sugarcane harvester according to claim 1 is characterized by: The controller includes a main control unit, a signal acquisition module and an execution module. The signal acquisition module is used to receive the acquisition signal of the torque sensor in real time and transmit the signal to the main control unit; the main control unit calculates the change in the cutting height of the cutter disc based on the received signal and sends instructions to the execution module. The execution module changes the extension and retraction amount of the lifting cylinder by controlling the hydraulic control valve, thereby adjusting the cutting height of the cutter disc.

5. The terrain-mimicking front-mounted cutting and conveying device for a sugarcane harvester according to claim 1 is characterized by: The roller-type conveying channel is provided with a pair of side plates vertically spaced apart, and two pairs of front and rear conveying rollers are mounted between the two side plates. The conveying rollers are composed of an upper roller and a lower roller, and the upper roller and the lower roller are respectively driven by a conveying motor. A group of radially extending conveying paddles are installed on the outer side of the roller body of the upper roller and the lower roller; the lower roller of the conveying roller is a fixed roller, and the upper roller is a floating roller that can adaptively float up and down according to the shape of the conveyed material.

6. A control method for a terrain-mimicking front-mounted cutting and conveying device of a sugarcane harvester according to any one of claims 1 to 5, characterized in that: The following stages are included: (1) Initial calibration stage The height from the tip of the front blade of the cutter disc to the ground is taken as the cutter disc cutting height. The controller calculates the cutter disc cutting height by substituting the collected signal of the torque sensor into formula (1). The torque when the landing point of the terrain-simulating pendulum and the tip of the front blade of the cutter disc are in the same plane is set as the zero point of the relative height. The value exceeding this torque is set as a negative value of the height, and the value less than this torque is set as a positive value of the height. The cutter disc cutting height is set to several preset gears. Where: H is the cutting height of the cutter disc; when H>0, the tip of the frontmost blade of the cutter disc is above the ground; when H<0, the tip of the frontmost blade of the cutter disc cuts into the soil; T 测量 is the current torque measurement value; T 基准 The reference torque is when the tip of the frontmost blade of the cutterhead is coplanar with the landing point of the terrain-simulating pendulum. This reference torque is obtained through ground calibration. T 范围 is the measuring range of the torque sensor; b is the bias term; K is the system calibration coefficient; the system calibration coefficient is determined by static calibration test; (2) Ground calibration stage Before the harvesting operation begins, a relatively flat plot of land is selected as the calibration area for ground calibration. Two required cutterhead cutting height gears are selected, and the device is moved along the ground for a predetermined distance at these two gears to collect the torque signal from the torque sensor during the process. The collected torque signal is filtered to remove noise and outliers, and then the filtered torque signal is averaged to obtain the characteristic torque value corresponding to the current soil penetration depth and stored in the non-volatile memory of the controller. (III) Cutterhead cutting height simulation and terrain lifting control stage During the harvesting process, the terrain-simulating pendulum maintains contact with the ground and automatically rotates and swings along with the undulations of the ground. The torque sensor detects the rotation torque of the terrain-simulating pendulum in real time and transmits the collected signal to the controller. The controller calculates the value of the cutter disc cutting height according to the above formula (1) and compares it with the values ​​of the two cutter disc cutting height gears calibrated on the ground before. If the calculated value is not within the range of the calibrated values ​​of the two cutter disc cutting height gears, a signal is sent to control the lifting cylinder to extend and retract accordingly until the calculated value falls within the range of the calibrated values, thereby realizing the terrain-simulating lifting and lowering of the cutter disc cutting height.

7. The control method of the terrain-mimicking front cutting and conveying device of a sugarcane harvester according to claim 6, characterized in that: During the initial calibration phase, the cutter disc cutting height is set to four preset levels: 20mm, 35mm, 50mm, and 65mm.

8. The control method of the terrain-mimicking front-mounted cutting and conveying device of a sugarcane harvester according to claim 6, characterized in that: In the initial calibration stage, the system calibration coefficient K is determined by static calibration test in the following specific steps: 1) Fix the sugarcane harvester on the horizontal ground and manually adjust the lifting cylinder to adjust the cutter head to different heights; 2) Record the torque sensor output value corresponding to each position; 3) Calculate the K value through linear regression and store it in the non-volatile memory of the controller.

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