An intelligent sugarcane cleaning equipment

Abstract

An intelligent sugarcane cleaning device, relating to the field of agricultural machinery technology, includes a frame, a walking mechanism, a clean water tank, a wastewater tank, a cleaning mechanism, a wastewater collection device, a water pump, a water circulation filtration system, a sugarcane identification device, and a central processing unit. This device can autonomously move to the sugarcane and, through a robotic arm, drive a cleaning sleeve and a wastewater collection hood to work in tandem, simultaneously wrapping the sugarcane and performing high-pressure washing and wastewater recycling. The wastewater is then filtered through the water circulation system for reuse. This invention automates field cleaning of sugarcane before harvest, saving manpower and improving cleaning efficiency and water resource utilization.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an intelligent sugarcane cleaning device. Background Technology

[0002] Sugarcane, as an important sugar crop and economic resource, often has a large amount of soil, sand, and other impurities adhering to its stalks during harvest. If these impurities are introduced during subsequent processing, they will not only affect the purity and quality of the sugar but also accelerate the wear and tear on sugar-making equipment. Therefore, effective cleaning of sugarcane is an indispensable and crucial pretreatment step in the sugar-making process. Currently, mature cleaning technologies and equipment in the industry are concentrated in the downstream processing stages of sugar mills, that is, after the sugarcane is harvested and transported to the processing workshop, it is centrally cleaned through fixed automated production lines. These devices typically consist of conveyor mechanisms, high-pressure spray systems, and water tanks, and the technology is relatively mature.

[0003] However, since all cleaning operations occur after the sugarcane has been harvested and removed from the field, the dried and hardened field soil adhering to the sugarcane surface is extremely difficult to remove completely. This not only increases water and energy consumption during cleaning but also affects the final cleaning effect. Currently, there are no mature and usable automated technologies for efficiently and thoroughly cleaning individual stalks or rows of sugarcane before harvesting, relying primarily on manual operation, which suffers from numerous problems such as low efficiency, high labor intensity, significant water waste, and inconsistent operation quality. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent sugarcane cleaning device for automatically cleaning sugarcane before harvesting.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: an intelligent sugarcane cleaning device, comprising:

[0006] Frame;

[0007] The running gear is located at the bottom of the frame;

[0008] The fresh water tank and the wastewater tank are mounted on the vehicle frame;

[0009] A cleaning mechanism is provided at the front of the vehicle frame. The cleaning mechanism includes a cleaning sleeve for clamping and wrapping sugarcane and a first drive arm for driving the cleaning sleeve to move and open and close. A high-pressure nozzle is provided inside the cleaning sleeve. A first multi-joint robotic arm is provided at the front of the vehicle frame. The end of the first multi-joint robotic arm extends upward to connect to the first drive arm.

[0010] A wastewater collection device is installed on the frame and located below the cleaning mechanism. The wastewater collection device includes a collection hood for wrapping sugarcane and receiving cleaning wastewater, and a second drive arm for driving the collection hood to move and open and close. A second multi-joint robotic arm is provided at the front of the frame, and the end of the second multi-joint robotic arm is connected to the second drive arm.

[0011] A water pump, which transports the wastewater collected by the collection hood to the sewage tank through a pipeline;

[0012] A water circulation filtration system includes a first circulation pipeline and a second circulation pipeline connecting the sewage tank and the clean water tank. The first circulation pipeline is equipped with a filter, and the second circulation pipeline is equipped with an electrically operated water valve with a built-in water quality detector. The high-pressure nozzle is connected to the clean water tank through a high-pressure water pipe, and the high-pressure water pipe is equipped with a high-pressure cleaning pump.

[0013] Two sugarcane identification devices are respectively located near the washing sleeve and the collection cover, and are used to identify the location of the sugarcane.

[0014] The central processing unit is electrically connected to the walking mechanism, the first drive arm, the second drive arm, the first multi-joint robotic arm, the second multi-joint robotic arm, the water pump, the water quality detector, the electric switch water valve, the high-pressure cleaning pump, and the sugarcane identification device.

[0015] Preferably, a vision module is provided on both sides of the front end and both sides of the rear end of the vehicle frame. The vision module includes a camera and an ultrasonic radar. A support column is provided at the front of the vehicle frame. The top of the support column is higher than the clean water tank and the wastewater tank (4) and a laser radar is rotatably installed. A radar motor for driving the laser radar to rotate is installed on the support column. The camera, ultrasonic radar, laser radar and radar motor are all electrically connected to the central processing unit.

[0016] More preferably, a battery is provided at the bottom of the vehicle frame.

[0017] More preferably, the walking mechanism includes four walking wheels installed at the bottom of the frame, wheel tracks installed on two walking wheels on the same side, and a wheel motor and a wheel reduction device for driving the two walking wheels on the front side of the frame are provided on the frame.

[0018] More preferably, the vehicle frame is stepped, with the wastewater tank located at the high end of the vehicle frame and the clean water tank located at the low end of the vehicle frame; both the clean water tank and the wastewater tank have covered water inlets at their tops.

[0019] More preferably, both the first and second multi-joint robotic arms include multiple articulated arms connected in sequence, with the ends of adjacent articulated arms being connected by a joint mechanism. The joint mechanism includes a drive motor, a reduction gear, and a housing. The drive motor is mounted on the surface of the housing, the reduction gear is mounted inside the housing and is connected to the drive motor, and one end of each articulated arm is rotatably connected to the housing and is connected to the reduction gear.

[0020] More preferably, the connecting arm at the end of the first multi-joint robotic arm is connected to a first transition arm via a joint mechanism, the first drive arm and the first transition arm are perpendicular to each other, and the end of the first transition arm is driven to the first drive arm via a first motor reduction gear; the connecting arm at the end of the second multi-joint robotic arm is connected to a second transition arm via another joint mechanism, the second drive arm and the second transition arm are perpendicular to each other, and the end of the second transition arm is driven to the second drive arm via a second motor reduction gear.

[0021] More preferably, the cleaning sleeve includes a first semi-annular sleeve and a second semi-annular sleeve. The first semi-annular sleeve is fixedly connected to the first driving arm, and the second semi-annular sleeve is hinged to the first driving arm through a first rotating shaft. A joint mechanism is installed on the first driving arm to drive the second semi-annular sleeve to swing, so as to realize the opening and closing of the sleeve.

[0022] More preferably, the collection hood includes a first semi-conical sleeve and a second semi-conical sleeve. The first semi-conical sleeve is fixedly connected to the second driving arm, and the second semi-conical sleeve is hinged to the second driving arm through a second rotating shaft. A joint structure is installed on the second driving arm to drive the second semi-conical sleeve to swing, thereby realizing the opening and closing of the collection hood. A third semi-annular sleeve and a fourth semi-annular sleeve are respectively provided on the first semi-conical sleeve and the second semi-conical sleeve. When the collection hood is opened and closed, the third semi-annular sleeve and the fourth semi-annular sleeve can separate or wrap around the sugarcane. A sewage collection port is opened at the bottom of the first semi-conical sleeve, and the sewage collection port is connected to the water pump through a sewage recovery pipe.

[0023] More preferably, the frame is also provided with a control panel, which is mounted on the front of the frame via a bracket. The central processing unit is built into the bracket, and the control panel is provided with buttons and a display screen.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] Through a systematic design integrating automatic walking, intelligent recognition, robotic arm control, high-pressure cleaning, wastewater recycling, and circulating filtration, the system achieves fully automated cleaning of sugarcane before harvesting in the field. This equipment can move and position the sugarcane autonomously, replacing the traditional, entirely manual cleaning method, significantly improving operational efficiency and greatly reducing labor intensity.

[0026] Furthermore, the invention features a cleaning sleeve driven by a multi-jointed robotic arm and a wastewater collection device that work in tandem to precisely enclose the sugarcane stalks to be cleaned within its working chamber. A high-pressure cleaning pump powers the high-pressure nozzles inside the sleeve, ensuring sufficient water pressure for cleaning, while the collection hood effectively recovers the sprayed wastewater. Together, these components create a closed-loop cleaning and collection process, significantly reducing water waste and field pollution.

[0027] The water circulation filtration system utilizes two parallel pipelines to achieve intelligent treatment and reuse of wastewater. When the water quality meets the standards, the water can be directly and quickly returned to the clean water tank via a valve; when the water quality is poor, it automatically switches to the filtration pipeline for purification before reuse. This design significantly improves water resource utilization efficiency while ensuring cleaning quality, enabling the equipment to operate continuously for extended periods even in fields far from water sources. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure in the embodiment;

[0029] Figure 2 for Figure 1 Enlarged schematic diagram of the structure at point A;

[0030] Figure 3 This is a partial structural diagram of the cleaning sleeve in the embodiment;

[0031] Figure 4 This is a schematic diagram of a partial structure at the collection cover in the embodiment;

[0032] Figure 5 This is a schematic diagram of the internal structure of the joint mechanism in the embodiment;

[0033] Figure 6 This is a top view of the frame structure in the embodiment;

[0034] Figure 7 This is a partial structural diagram of the embodiment with the robotic arm and water pipe structures removed.

[0035] Figure 8 for Figure 7 Rear view of the structure;

[0036] Figure 9 for Figure 7 A schematic diagram of the bottom of the structure;

[0037] Figure 10 The control logic diagram for the equipment to move forward / backward;

[0038] Figure 11 This is a control logic diagram for the cleaning operation after the equipment is parked.

[0039] Figure 12 This is a logic diagram for determining and controlling the device's power level.

[0040] In the picture:

[0041] 1. Frame; 2a. Traveling wheels; 2b. Wheel tracks; 2c. Wheel motor; 3. Clean water tank; 4. Waste water tank; 5. Cleaning sleeve; 5a. First semi-circular sleeve; 5b. Second semi-circular sleeve; 6. First drive arm; 7. High-pressure nozzle; 8. Collection hood; 8a. First semi-conical sleeve; 8b. Second semi-conical sleeve; 8c. Third semi-circular sleeve; 8d. Fourth semi-circular sleeve; 9. Second drive arm; 10. Water pump; 11. First circulation pipeline; 12. Second circulation pipeline; 13. Filter; 14. Electric water valve; 5. First multi-joint robotic arm; 16. Second multi-joint robotic arm; 17. High-pressure cleaning pump; 18. Camera; 19. Ultrasonic radar; 20. Support column; 21. LiDAR; 22. Radar motor; 23. Articulated arm; 24. Drive motor; 25. Reduction gear; 26. Housing; 27. First rotating axis; 28. Second rotating axis; 29. ​​Sugarcane identification device; 30. Operating table; 31. Support; 32. Sewage recovery pipe; 33. High-pressure water pipe; 34. First transition arm; 35. Second transition arm; 36. Battery. Detailed Implementation

[0042] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0043] It should be noted in advance that, in this invention, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of these terms in this invention according to the specific circumstances. Furthermore, in this invention, unless otherwise explicitly specified and limited, "on" or "under" a second feature can include direct contact between the first and second features, or contact between the first and second features not in direct contact but through another feature between them.

[0044] like Figures 1 to 9 As shown, an intelligent sugarcane cleaning device includes:

[0045] Frame 1;

[0046] The running gear is located at the bottom of the frame 1;

[0047] The fresh water tank 3 and the wastewater tank 4 are installed on the frame 1;

[0048] The cleaning mechanism is located at the front of the frame 1. The cleaning mechanism includes a cleaning sleeve 5 for clamping and wrapping sugarcane and a first drive arm 6 for driving the cleaning sleeve 5 to move and open and close. The cleaning sleeve 5 is provided with a high-pressure nozzle 7. A first multi-joint robotic arm 15 is provided at the front of the frame 1. The end of the first multi-joint robotic arm 15 extends upward to connect to the first drive arm 6.

[0049] The wastewater collection device is installed on the frame 1 and located below the cleaning mechanism. The wastewater collection device includes a collection hood 8 for wrapping sugarcane and receiving cleaning wastewater, and a second drive arm 9 for driving the collection hood 8 to move and open and close. A second multi-joint robotic arm 16 is provided at the front of the frame 1, and the end of the second multi-joint robotic arm 16 is connected to the second drive arm 9.

[0050] Water pump 10, the water pump 10 transports the wastewater collected by collection hood 8 to sewage tank 4 through pipeline;

[0051] Water circulation filtration system, such as Figure 6 As shown, the water circulation filtration system includes a first circulation pipe 11 and a second circulation pipe 12 connecting the sewage tank 4 and the clean water tank 3. The first circulation pipe 11 is equipped with a filter 13, and the second circulation pipe 12 is equipped with an electric switch water valve 14 with a built-in water quality detector. The high-pressure nozzle 7 is connected to the clean water tank 3 through a high-pressure water pipe 33, and the high-pressure water pipe 33 is equipped with a high-pressure cleaning pump 17.

[0052] Sugarcane identification device 29, two in number and respectively set near the washing sleeve 5 and the collection cover 8, is used to identify the location of sugarcane;

[0053] The central processing unit is electrically connected to the walking mechanism, the first drive arm 6, the second drive arm 9, the first multi-joint robotic arm 15, the second multi-joint robotic arm 16, the water pump 10, the water quality detector 12, the electric water valve 14, the high-pressure cleaning pump 17, and the sugarcane identification device 29. The central processing unit has an internal storage function. When the user uses it for the first time, they need to manually (using a control panel or remote control) operate the device to travel from their home to the planting base and circle the area so that the vehicle can collect and store a map. The device can then navigate to the planting base automatically based on the previously stored map.

[0054] like Figure 7 and Figure 8As shown, a vision module is installed on both sides of the front end and both sides of the rear end of the vehicle frame 1. The vision module includes a camera 18 and an ultrasonic radar 19. A support column 20 is installed at the front of the vehicle frame 1. The top of the support column 20 is higher than the fresh water tank 3 and the wastewater tank 4 and a lidar 21 is rotatably mounted on it. A radar motor 22 is installed on the support column 20 to drive the lidar 21 to rotate. When reversing, the radar motor 22 can drive the lidar 21 to rotate 180 degrees. The lidar, the ultrasonic radar at the rear, and the camera are used to collect environmental information and control the equipment to reverse. The camera 18, ultrasonic radar 19, lidar 21, and radar motor 22 are all electrically connected to the central processing unit. By deploying the vision module with cameras 18 and ultrasonic radar 19 in the front, rear, left, and right directions, and combining it with the lidar 21 that can rotate 180 degrees on the roof, an omnidirectional, multi-layered fusion perception system is constructed. It can provide real-time and accurate 3D environmental information and obstacle recognition for the equipment's forward, turning, and especially reversing movements, enabling autonomous and safe navigation and precise positioning in complex field environments, thereby ensuring the smooth and continuous operation of subsequent cleaning and recycling.

[0055] In this embodiment, as Figure 9 As shown, a battery 36 is installed at the bottom of the frame 1 to power various electrical components. The battery 36 can be equipped with a remaining power detection device to monitor the remaining power in real time and feed the information back to the central processing unit. The central processing unit determines the power required for the return trip based on the vehicle's current location. If the remaining power is close to the required power for the return trip (a margin is given in the design), the drive motor starts working, controlling the device to return to the designated location so that the user can recharge.

[0056] The traveling mechanism includes four traveling wheels 2a mounted on the bottom of the frame 1, wheel tracks 2b mounted on two traveling wheels 2a on the same side, and a wheel motor 2c for driving the two traveling wheels 2a on the front side of the frame 1 and a wheel reduction device.

[0057] The chassis 1 is stepped, with the wastewater tank 4 located at the higher part of the chassis 1 and the clean water tank 3 located at the lower part. This provides the water circulation system with gravity-based self-flowing power. Specifically, the wastewater in the higher wastewater tank 4 can flow naturally through the filter 13 or the electrically operated water valve 14 without relying on additional pumping equipment, and finally enter the lower clean water tank 3 to complete the circulation. This not only simplifies the system structure and reduces energy consumption and equipment costs, but also makes the entire water circulation path more efficient and reliable. In addition, both the clean water tank 3 and the wastewater tank 4 have covered water inlets on their tops, allowing users to manually add water.

[0058] Both the first multi-joint robotic arm 15 and the second multi-joint robotic arm 16 include multiple articulated arms 23 connected in sequence. The ends of adjacent articulated arms 23 are connected by a joint mechanism, such as... Figure 5 As shown, the joint mechanism includes a drive motor 24, a reduction gear 25, and a housing 26. The drive motor 24 is mounted on the surface of the housing 26, and the reduction gear 25 is installed inside the housing 26 and is drive-connected to the drive motor 24. One end of the joint arm 23 is rotatably connected to the housing 26 and drive-connected to the reduction gear 25. This allows the robotic arm to move stably and precisely in multiple degrees of freedom. This not only ensures that the washing sleeve and sewage collection hood can quickly and accurately position and wrap around the sugarcane to adapt to the irregular distribution of crops in the field, but its compact and integrated transmission design also enhances the structural rigidity and load-bearing capacity of the robotic arm, ensuring the reliability and durability of the equipment in continuous operation.

[0059] The connecting arm 23 at the end of the first multi-joint robotic arm 15 is connected to a first transition arm 34 via a joint mechanism. The first drive arm 6 is perpendicular to the first transition arm 34. The end of the first transition arm 34 is connected to the first drive arm 6 via a first motor reduction gear, so that the first drive arm 6 can swing relative to the first transition arm 34 within a certain angle range. The cleaning sleeve 5 includes a first semi-annular sleeve 5a and a second semi-annular sleeve 5b. The first semi-annular sleeve 5a is fixedly connected to the first drive arm 6, and the second semi-annular sleeve 5b is hinged to the first drive arm 6 via a first rotating shaft 27. A joint mechanism is installed on the first drive arm 6 to drive the second semi-annular sleeve 5b to swing, so as to realize the opening and closing of the sleeve 5.

[0060] The connecting arm 23 at the end of the second multi-joint robotic arm 16 is connected to a second transition arm 35 via another joint mechanism. The second drive arm 9 and the second transition arm 35 are perpendicular to each other. The end of the second transition arm 35 is connected to the second drive arm 9 via a second motor reduction gear, thus allowing the second drive arm 9 to swing relative to the second transition arm 35 within a certain angle range. The collecting cover 8 includes a first semi-conical sleeve 8a and a second semi-conical sleeve 8b. The first semi-conical sleeve 8a is fixedly connected to the second drive arm 9, and the second semi-conical sleeve 8b is connected via a second... The rotating shaft 28 is hinged to the second drive arm 9. A joint structure is installed on the second drive arm 9 to drive the second semi-conical sleeve 8b to swing, thereby realizing the opening and closing of the collection cover 8. The first semi-conical sleeve 8a and the second semi-conical sleeve 8b are respectively provided with a third semi-annular sleeve 8c and a fourth semi-annular sleeve 8d. When the collection cover 9 is opened and closed, the third semi-annular sleeve 8c and the fourth semi-annular sleeve 8d can separate or wrap the sugarcane. The bottom of the first semi-conical sleeve 8a has a sewage collection port 8e, which is connected to the water pump 10 through the sewage recovery pipe 32.

[0061] By adding a transition arm that connects vertically to the end effector of the multi-joint robotic arm, the final pose adjustment capability and operational flexibility of the washing sleeve and wastewater collection hood are further expanded and optimized. This structure allows the drive arm (i.e., the direct load-bearing component of the end effector) to move in an additional rotational degree of freedom. This allows for fine-tuning of the angle of the sleeve or collection hood even after the main body of the robotic arm has been positioned in the approximate area, ensuring more precise adaptation to the sugarcane's growth angle and achieving tighter, more efficient wrapping and operation. This vertical transition connection design increases the pose adjustment range of the end effector within a limited space, enhancing the equipment's adaptability to complex field terrain.

[0062] In addition, a control panel 30 is provided on the frame 1. The control panel 30 is mounted on the front of the frame 1 via a bracket 31. The central processing unit is built into the bracket 31. The control panel 30 is equipped with buttons and a display screen.

[0063] The workflow of the intelligent sugarcane cleaning equipment provided in the above embodiments is as follows:

[0064] (1) System startup and preparation phase:

[0065] The user first turns on the main power switch of the device via the control panel 30. At this time, the user can choose to enter either "map collection mode" or "automatic cleaning mode".

[0066] If the "map collection mode" is selected: the user manually controls the equipment to move in the sugarcane field through the control panel 30 or remote control. The lidar 21, front, rear, left and right cameras 18 and ultrasonic radar 19 installed on the frame 1 work together to collect three-dimensional point cloud and visual information of the field environment, build and store the map of the work area, and provide a basis for subsequent automatic navigation and path planning.

[0067] If you select "Automatic Cleaning Mode": the device will enter an automated cleaning process controlled by the central processor based on a preset or pre-built map.

[0068] (2) Autonomous movement and positioning stage:

[0069] The central processing unit plans a path to the target cleaning area based on task instructions. The vehicle drive motor 2c starts, driving the walking wheels 2a and tracks 2b to move the equipment across the field. During this process:

[0070] When moving forward, it mainly relies on the visual modules (camera 18, ultrasonic radar 19) at the front and sides, as well as the lidar 21 at the top, for environmental perception and obstacle avoidance.

[0071] When reversing is required: the radar motor 22 drives the top lidar 21 to rotate 180 degrees, so that its scanning direction is backward, and works in conjunction with the rear camera 18 and ultrasonic radar 19 to collect rear environmental information and ensure reversing safety.

[0072] The equipment continues to move until the central processor integrates map information and real-time sensor data to determine that it has reached the predetermined location near the sugarcane plants to be cleaned. Then, it controls the vehicle drive motor 2c to stop, completing the parking process.

[0073] (3) Identification and cleaning operation cycle stage:

[0074] After parking, the equipment enters the single-succulent cleaning cycle, as follows:

[0075] During the sugarcane identification and positioning process, the sugarcane identification device 29 (such as lidar and camera) set near the cleaning sleeve 5 and the collection cover 8, as well as the panoramic sensor on the vehicle body, work together to accurately identify and three-dimensionally locate the sugarcane in front, and send the coordinate information to the central processor.

[0076] Next, the central processing unit controls the movement of the first multi-joint robotic arm 15 and its end effector, the first drive arm 6. Each joint of the robotic arm is driven by a drive motor 24 and a reduction gear 25, and through the linkage of multiple joint arms 23, the cleaning sleeve 5 is transported to a predetermined height of the sugarcane stalk. Subsequently, the joint mechanism on the first drive arm 6 actuates, driving the second semi-annular sleeve 5b to rotate around the first rotation axis 27, closing with the first semi-annular sleeve 5a, thus enveloping the sugarcane stalk within the formed annular cleaning cavity.

[0077] Simultaneously or shortly thereafter, the central processing unit controls the movement of the second multi-joint robotic arm 16 and its end-effector, the second drive arm 9, to position the collection hood 8 at the corresponding position below the cleaning sleeve 5. The joint structure on the second drive arm 9 drives the second semi-conical sleeve 8b to rotate around the second rotation axis 28, closing with the first semi-conical sleeve 8a, causing the third and fourth semi-annular sleeves to engage, forming a funnel-shaped collection cavity with a narrowed lower end around the sugarcane stalk.

[0078] Once the cleaning sleeve 5 and the collection hood 8 are in place, the central processing unit starts the high-pressure cleaning pump 17. The high-pressure cleaning pump 17 draws clean water from the clean water tank 3 located at the bottom of the chassis, pressurizes it, and delivers it through the high-pressure water pipe 33 to the high-pressure nozzle 7 inside the cleaning sleeve 5, where it performs high-pressure spraying on the sugarcane stalks. The wastewater generated during cleaning flows downwards along the sugarcane stalks, is captured by the funnel-shaped collection hood 8 below, and flows into the wastewater recovery pipe 32 through the wastewater collection port 8e at its bottom. Simultaneously, the water pump 10 starts, pumping the wastewater collected in the collection hood 8 through the wastewater recovery pipe 32 to the wastewater tank 4 located at the top of the chassis.

[0079] The sugarcane identification device 29 monitors the cleanliness of the sugarcane surface in real time. If it determines that the sugarcane is not clean, the central processing unit controls the first multi-joint robotic arm 15 to drive the cleaning sleeve 5 to move upward along the sugarcane stalk a certain distance to perform a new round of cleaning. This cycle continues until the section of sugarcane is clean. Then, the robotic arm drives the cleaning sleeve 5 downward to clean the next section until the predetermined cleaning length of the entire sugarcane is completed.

[0080] (4) Water circulation treatment stage:

[0081] Wastewater in sewage tank 4 flows to clean water tank 3 under the influence of gravity (thanks to the stepped frame layout). There are two flow paths:

[0082] One path is a direct return path. When the water quality detector built into the electric water valve 14 on the second circulation pipeline 12 detects that the turbidity of the wastewater is lower than a set threshold, the central processing unit controls the electric water valve 14 to open, and the wastewater flows directly back to the clean water tank 3 for reuse through this pipeline. The other path is a filtered return path. If the water quality detector detects that the wastewater is too dirty, the electric water valve 14 closes. The wastewater is forced to pass through the first circulation pipeline 11, where it is purified by the filter 13 before flowing into the clean water tank 3.

[0083] After the above treatment, the water returning to the clean water tank 3 can be drawn again by the high-pressure cleaning pump 17 for cleaning, forming a water resource cycle. The water inlets on the top of the clean water tank 3 and the wastewater tank 4 can be used for initial water filling of the equipment or to add clean water when necessary.

[0084] (5) Job switching and safe return phase:

[0085] After cleaning one sugarcane stalk, the cleaning sleeve 5 and the collection hood 8 open and reset under the drive of their respective robotic arms. Following instructions, the equipment can control its walking mechanism to move to the next sugarcane stalk, repeating the process of stage 3.

[0086] Throughout the operation, the battery level of battery 23 is monitored in real time and sent to the central processing unit. The central processing unit makes a judgment based on the remaining battery level and the distance to the charging point. If it determines that the remaining battery level is insufficient to support the completion of subsequent cleaning operations and safe return, the cleaning task will be immediately terminated. The equipment then controls the walking mechanism to autonomously navigate back to the pre-set charging position, ensuring that it is not stranded in the field due to power failure.

[0087] The above workflow, through unified scheduling by the central processor, achieves full automation from autonomous navigation, sugarcane identification, precise cleaning, wastewater recycling to water recycling, significantly improving the efficiency and intelligence level of sugarcane pre-harvest cleaning operations.

[0088] To facilitate understanding by those skilled in the art of the improvements of this invention over the prior art, some of the accompanying drawings and descriptions have been simplified. The above embodiments are preferred implementations of this invention. In addition, this invention can be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this invention.

Claims

1. An intelligent sugarcane cleaning device, characterized in that, include: Frame (1); The running gear is located at the bottom of the frame (1); The clean water tank (3) and the wastewater tank (4) are installed on the frame (1); A cleaning mechanism is provided at the front of the frame (1). The cleaning mechanism includes a cleaning sleeve (5) for clamping and wrapping sugarcane and a first drive arm (6) for driving the cleaning sleeve (5) to move and open and close. A high-pressure nozzle (7) is provided inside the cleaning sleeve (5). A first multi-joint robotic arm (15) is provided at the front of the frame (1). The end of the first multi-joint robotic arm (15) extends upward to connect to the first drive arm (6). The wastewater collection device is set on the frame (1) and located below the cleaning mechanism. The wastewater collection device includes a collection cover (8) for wrapping sugarcane and receiving cleaning wastewater, and a second drive arm (9) for driving the collection cover (8) to move and open and close. A second multi-joint robotic arm (16) is provided at the front of the frame (1), and the end of the second multi-joint robotic arm (16) is connected to the second drive arm (9). A water pump (10) transports the wastewater collected by the collection hood (8) to the sewage tank (4) through a pipeline. A water circulation filtration system includes a first circulation pipe (11) and a second circulation pipe (12) connecting the sewage tank (4) and the clean water tank (3). The first circulation pipe (11) is equipped with a filter (13), and the second circulation pipe (12) is equipped with an electric switch water valve (14) with a built-in water quality detector. The high-pressure nozzle (7) is connected to the clean water tank (3) through a high-pressure water pipe (33), and the high-pressure water pipe (33) is equipped with a high-pressure cleaning pump (17). Two sugarcane identification devices (29) are respectively located near the washing sleeve (5) and the collection cover (8) to identify the location of sugarcane; The central processing unit is electrically connected to the walking mechanism, the first drive arm (6), the second drive arm (9), the first multi-joint robotic arm (15), the second multi-joint robotic arm (16), the water pump (10), the water quality detector (12), the electric switch water valve (14), the high-pressure cleaning pump (17), and the sugarcane identification device (29).

2. The intelligent sugarcane cleaning equipment according to claim 1, characterized in that: A vision module is provided on both sides of the front end and both sides of the rear end of the vehicle frame (1). The vision module includes a camera (18) and an ultrasonic radar (19). A support column (20) is provided at the front of the vehicle frame (1). The top of the support column (20) is higher than the clean water tank (3) and the wastewater tank (4) and a lidar (21) is rotatably mounted on it. A radar motor (22) for driving the lidar (21) to rotate is installed on the support column (20). The camera (18), ultrasonic radar (19), lidar (21) and radar motor (22) are all electrically connected to the central processing unit.

3. The intelligent sugarcane cleaning equipment according to claim 1, characterized in that: A battery (36) is provided at the bottom of the frame (1).

4. The intelligent sugarcane cleaning equipment according to claim 1, characterized in that: The walking mechanism includes four walking wheels (2a) installed at the bottom of the frame (1), wheel tracks (2b) installed on two walking wheels (2a) on the same side, and a wheel motor (2c) and a wheel reduction device provided on the frame (1) for driving the two walking wheels (2a) on the front side of the frame (1).

5. The intelligent sugarcane cleaning equipment according to claim 1, characterized in that: The frame (1) is stepped, the sewage tank (4) is located at the high point of the frame (1), and the clean water tank (3) is located at the low point of the frame (1); both the clean water tank (3) and the sewage tank (4) have covered water inlets at their tops.

6. The intelligent sugarcane cleaning equipment according to claim 1, characterized in that: The first multi-joint robotic arm (15) and the second multi-joint robotic arm (16) both include multiple joint arms (23) connected in sequence. The ends of adjacent joint arms (23) are connected by a joint mechanism. The joint mechanism includes a drive motor (24), a reduction device (25) and a housing (26). The drive motor (24) is mounted on the surface of the housing (26). The reduction device is mounted inside the housing (26) and is connected to the drive motor (24) in a transmission manner. One end of the joint arm (23) is rotatably connected to the housing (26) and is connected to the reduction device (25) in a transmission manner.

7. The intelligent sugarcane cleaning equipment according to claim 6, characterized in that: The connecting arm (23) at the end of the first multi-joint robotic arm (15) is connected to a first transition arm (34) through a joint mechanism. The first driving arm (6) and the first transition arm (34) are perpendicular to each other. The end of the first transition arm (34) is connected to the first driving arm (6) through a first motor reduction device. The connecting arm (23) at the end of the second multi-joint robotic arm (16) is connected to a second transition arm (35) through another joint mechanism. The second driving arm (9) and the second transition arm (35) are perpendicular to each other. The end of the second transition arm (35) is connected to the second driving arm (9) through a second motor reduction device.

8. The intelligent sugarcane cleaning equipment according to claim 7, characterized in that: The cleaning sleeve (5) includes a first semi-annular sleeve (5a) and a second semi-annular sleeve (5b). The first semi-annular sleeve (5a) is fixedly connected to the first driving arm (6), and the second semi-annular sleeve (5b) is hinged to the first driving arm (6) through a first rotating shaft (27). A joint mechanism is installed on the first driving arm (6) to drive the second semi-annular sleeve (5b) to swing, so as to realize the opening and closing of the sleeve (5).

9. The intelligent sugarcane cleaning equipment according to claim 7, characterized in that: The collection cover (8) includes a first semi-conical sleeve (8a) and a second semi-conical sleeve (8b). The first semi-conical sleeve (8a) is fixedly connected to the second drive arm (9). The second semi-conical sleeve (8b) is hinged to the second drive arm (9) through a second rotating shaft (28). A joint structure is installed on the second drive arm (9) to drive the second semi-conical sleeve (8b) to swing, thereby realizing the opening and closing of the collection cover (8). The first semi-conical sleeve (8a) and the second semi-conical sleeve (8b) are respectively provided with a third semi-annular sleeve (8c) and a fourth semi-annular sleeve (8d). When the collection cover (9) is opened and closed, the third semi-annular sleeve (8c) and the fourth semi-annular sleeve (8d) can separate or wrap the sugarcane. The bottom of the first semi-conical sleeve (8a) has a sewage collection port (8e). The sewage collection port (8e) is connected to the water pump (10) through a sewage recovery pipe (32).

10. The intelligent sugarcane cleaning equipment according to claim 1, characterized in that: The frame (1) is also provided with a control panel (30), which is mounted on the front of the frame (1) via a support (31). The central processing unit is built into the support (31), and the control panel (30) is provided with buttons and a display screen.

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