CN110352707B - Automatic profiling follow-up system of sugarcane harvester and control method thereof - Google Patents
Automatic profiling follow-up system of sugarcane harvester and control method thereof Download PDFInfo
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- CN110352707B CN110352707B CN201910780913.2A CN201910780913A CN110352707B CN 110352707 B CN110352707 B CN 110352707B CN 201910780913 A CN201910780913 A CN 201910780913A CN 110352707 B CN110352707 B CN 110352707B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/10—Harvesting of standing crops of sugar cane
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
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Abstract
The invention discloses an automatic profiling follow-up system of a sugarcane harvester and a control method thereof, and the system comprises a displacement sensor device, wherein the displacement sensor device is arranged right behind a sugarcane supporting mechanism, the sugarcane supporting mechanism is fixed at the front end of a lifting device of the sugarcane supporting mechanism, the lifting device of the sugarcane supporting mechanism is arranged at the front end of a vehicle body and is connected with a sugarcane supporting hydraulic control device, a root cutting device is arranged in the middle of the front lower part of the vehicle body, the root cutting device is connected with an undercut hydraulic control device, and a ridge channel height detection device is arranged at the bottom of the middle of the vehicle body and is used for detecting the height change between a cutting knife at the bottom of the root cutting device and a sugarcane ridge in real time. The automatic profiling follow-up system adopted by the invention is a closed-loop control system, can automatically profile to carry out sugarcane harvesting operation, greatly reduces the breakage rate of sugarcane ratoons and reduces waste.
Description
Technical Field
The invention relates to an automatic profiling follow-up system for a sugarcane harvester. Furthermore, the invention relates to a sugar cane harvester with such an automatic profiling follower system, and to a control method for an automatic profiling follower system of a sugar cane harvester.
Background
The profiling system of the existing sugarcane harvester usually works in a mode of a terrain exploration wheel, namely, the terrain exploration wheel is used for walking at the bottom of a sugarcane row to measure and estimate the operation height of the root cutting device. For example, chinese utility model patent with publication number CN201621247569.9 discloses "the imitative topography system of sugarcane harvester chopping device", it drives the rising and the decline of imitative topography swing arm according to the shape of the land in real time through the detection wheel, and imitative topography swing arm utilizes the cooperation of round pin axle and chute, drives chopping device and imitative topography swing arm and goes up and down together in step to realize the imitative topography work of chopping process. The mode that the cutting device is directly driven to lift through the terrain exploration wheel has the defect that the height of the cut sugarcane root cannot be standard due to the fact that the terrain exploration wheel travels under the sugarcane ridge, the cutting device operates on the sugarcane ridge, and the height difference between the upper ridge and the lower ridge changes frequently; in addition, the root cutting device, the sugarcane supporting mechanism and the like of the existing sugarcane harvester are of an integrated structure, and the weight of hundreds of kilograms is obviously unreasonable only by the fixation of the terrain-imitating swing arm and the bearing of the terrain exploration wheel.
Disclosure of Invention
For another example, in the patent of "a terrain-imitating cutting-section type sugarcane harvester" with publication number cn201610938273.x, a semicircular (hemispherical) device and a suspension structure with two supporting arms are arranged at the bottom of a root cutting cutterhead of the sugarcane harvester, so that the cutterhead can be tightly attached to uneven ground to perform accurate automatic terrain-imitating harvesting work under high-speed rotation. In the patent of 'terrain-imitating sugarcane harvester' with the publication number of CN201610940140.6, the hemispherical base is arranged at the bottom of the cutter head of the sugarcane harvester, so that the base can be tightly attached to the ground in the high-speed rotation process of the cutter head, and the whole cutting table assembly is supported to harvest in the terrain-imitating manner. The 2 modes also have the defects that if the hemispherical base is arranged to be higher than the perennial root after root cutting, the precise harvesting work of the imitation terrain close to the ground is not established, and the header assembly cannot be changed along with the change of the ground; if the hemisphere base sets up to fall on the perennial root after cutting the root, the weight of whole header assembly can lead to the fact the destruction to sugarcane perennial root and sugarcane ridge through hemisphere base, and in addition, the cutter in the header assembly is located hemisphere base top, and when the harvester was advanced, the sugarcane root after the cutting can be heightened gradually, causes the waste.
Disclosure of Invention
In order to overcome the defects that in the root cutting process of a sugarcane harvester in the prior art, the perennial root breakage rate is high due to too low cutting knife, the perennial root germination in the next year is reduced or can not germinate, or the perennial root left during cutting is too high to cause waste, and the like, the invention provides the automatic profiling follow-up system of the sugarcane harvester and the control method thereof, which can enable a sugarcane supporting mechanism and a root cutting device of the sugarcane harvester to automatically profile along with the height change of a sugarcane field, and can greatly reduce the perennial root breakage rate of the sugarcane or the waste caused by too high residual root.
The technical scheme adopted by the invention for solving the technical problems is as follows: an automatic profiling follow-up system for a sugarcane harvester comprises a displacement sensor device, wherein the displacement sensor device is of a sealing structure and is arranged right behind a sugarcane supporting mechanism, a semiconductor angle sensor, a torsion spring, a positioning bolt and a rotating shaft are arranged in the displacement sensor device, a connecting rod is fixed to the rotating shaft, a height detection wheel is arranged at the other end of the connecting rod and can lift along with the height change of a sugarcane channel and is attached to the ground through torsion generated by the torsion spring, the sugarcane supporting mechanism is fixed to the front end of the sugarcane supporting mechanism lifting device, the sugarcane supporting mechanism lifting device is arranged at the front end of a vehicle body and connected with a sugarcane supporting hydraulic control device, a root cutting device is arranged in the middle of the front lower portion of the vehicle body and connected with the root cutting hydraulic control device, a ridge channel height detection device is arranged at the middle bottom of the vehicle body and used for detecting the height change between a cutting knife at the bottom of the root cutting device and a sugarcane ridge in real time, The sugarcane cutting machine comprises a sugarcane channel, a wheel, a ridge channel height detection device, a control system and wheels, wherein the sugarcane channel and the wheel are rolled to form a height change, the change value of the perennial root height after the sugarcane is cut is obtained, the ridge channel height detection device is provided with a three-dimensional laser radar sensor, a fan and a direct-current illuminating lamp, and the vehicle body is further provided with the control system and the wheels.
The center of the displacement sensor device is provided with a rotating shaft, one end of the rotating shaft is fixed on the connecting rod, the other end of the rotating shaft is provided with a torsion spring, the torsion direction of the torsion spring is clockwise and is used for pressing the connecting rod to the positioning bolt, the angle between the connecting rod and the rotating shaft is larger than 10 degrees, the direction deviating from the rotating shaft and the direction of the sugarcane harvester are opposite to the advancing direction, the semiconductor angle sensor is fixed in the displacement sensor device for measuring, when the height detection wheel is lifted along with the change of the sugarcane canal ground, the connecting rod is driven to rotate around the rotating shaft, and the semiconductor angle sensor detects the angle change value of the semiconductor angle sensor and transmits a signal to the control system.
Foretell automatic profile modeling servo-system, ridge canal height detection device installs in the sugarcane harvester chassis and placed in the middle of and be located root cutting device rear, ridge canal height detection device internally mounted has the fan, the fan outlet is downward, be used for preventing that the dust from getting into and blowing away bottom miscellaneous leaf, the direct current light is installed to the ridge canal height detection device left and right sides, three-dimensional laser radar sensor is installed to its intermediate position, three-dimensional laser radar sensor is solid state laser radar, transmission and receiving probe carry out the altitude detection downwards and form three-dimensional image, can real-time detection sugarcane ridge height, the perennial root height after the cutting, the sugarcane canal altitude variation after the wheel rolls, and give control system with information transmission.
According to the automatic profiling follow-up system, the control system is connected with the displacement sensor device, the ridge and channel height detection device, the undercut hydraulic control device and the sugarcane supporting hydraulic control device to form a closed-loop control system, and sugarcane harvesting operation can be automatically profiled.
According to the automatic profiling follow-up system, the displacement sensor device and the ridge and channel height detection device transmit the detected sugarcane ridge and channel change signals to the control system, the control system carries out calculation according to set conditions and programs and then respectively sends instructions to the sugarcane supporting hydraulic control device and the root cutting hydraulic control device, and the sugarcane supporting hydraulic control device and the root cutting hydraulic control device respectively control the sugarcane supporting mechanism and the root cutting device to ascend or descend according to the received instructions.
In the automatic profiling follow-up system, in the setting of the control program of the control system, in order to eliminate misjudgment of small stones, hard soil blocks or sugarcane stalks on the height detection wheel, the received signals transmitted by the displacement sensor device are screened and set, the height detection wheel completes one-lifting or one-descending one-lifting action within 0.5 second or less than 1 second, and the control system does not send lifting instructions to the sugarcane supporting hydraulic control device and the undercutting hydraulic control device.
The automatic profiling servo system is characterized in that the number of the displacement sensor devices is 2, the width of the height detection wheel mounted on the displacement sensor devices is consistent with the wheel pitch width of the sugarcane harvester, the height change of a sugarcane channel is mainly detected, the height change of a sugarcane ridge and the height change of a rut are mainly detected by the ridge channel height detection device, and the control system controls automatic terrain profiling operation of the bottom conical sugarcane supporting piece of the sugarcane supporting mechanism and the cutting knife of the root cutting device according to the data change condition.
In the automatic profiling servo system, the semiconductor angle sensor arranged in the displacement sensor device can complete high-precision position control by detecting the angle and the position and is used for detecting the rotating angle of the rotating shaft in the displacement sensor device, and the semiconductor angle sensor can be replaced by a variable potentiometer, a differential transformer and a photoelectric angle sensor.
A sugar cane harvester including a vehicle body and a control system, the sugar cane harvester having an automatic profiling follower system according to any one of the preceding claims.
A method of operating an automatic profiling follower system for a sugar cane harvester, comprising the steps of:
the method comprises the following steps: setting the angle and the absolute position corresponding to the semiconductor angle sensor when the bottom of the height detection wheel and the bottom of the wheel are on the same horizontal line, and simultaneously setting the height difference to be kept between the conical sugarcane supporting piece at the bottom of the sugarcane supporting mechanism and the height detection wheel during operation;
step two: setting the perennial root height which needs to be reserved when a cutting knife of the root cutting device cuts the sugarcane root, namely the distance between the cutting knife and the sugarcane ridge;
step three: the control system controls the sugarcane supporting hydraulic control device, the sugarcane supporting mechanism and the bottom conical sugarcane supporting piece to automatically perform terrain-imitating operation according to the height change of the height detection wheel and the height change data transmitted by the corresponding displacement sensor device;
step four: the control system controls the root cutting device to automatically perform profiling operation in real time according to the sugarcane ridge height detected by the ridge and channel height detection device and by combining the sugarcane ridge height change and the sugarcane channel height change detected by the height detection wheel.
The sugarcane ridge and channel height detection device has the advantages that the sugarcane ridge and channel height and the change of the sugarcane ridge and channel height in the sugarcane field are detected in real time by the displacement sensor device and the ridge and channel height detection device, the detected information is transmitted to the control system, the control system controls the sugarcane supporting mechanism and the root cutting device to automatically perform terrain-imitating operation along with the change of the sugarcane ridge and channel height, and the problems that the growth of sugarcane is influenced by the high perennial root breakage rate or the waste is caused by the overhigh perennial root and the like of the conventional sugarcane harvester are effectively solved.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a schematic structural diagram of a displacement sensor device;
FIG. 3 is a schematic view of a device for detecting the height of a ridge and a trench;
fig. 4 is a sectional view taken along line a-a of fig. 1.
In the figure, 1, a vehicle body, 2, a control system, 3, an undercut hydraulic control device, 4, a sugarcane supporting hydraulic control device, 5, a sugarcane supporting mechanism, 6, sugarcane ridges, 7, a sugarcane channel, 8, a conical sugarcane supporting piece, 9, a displacement sensor device, 10, a positioning bolt, 11, a semiconductor angle sensor, 12, a torsion spring, 13, a connecting rod, 14, a height detection wheel, 15, a sugarcane supporting mechanism lifting device, 16, a root cutting device, 17, an undercut lifting mechanism, 18, a ridge channel height detection device, 19, a three-dimensional laser radar sensor, 20, a fan, 21, a direct-current illuminating lamp, 22, wheels and 23, and a rotating shaft are arranged.
Detailed Description
[ example 1 ]
An automatic profiling follow-up system for a sugarcane harvester comprises a displacement sensor device 9, wherein the displacement sensor device 9 is of a sealing structure and is installed right behind a sugarcane supporting mechanism 5, a semiconductor angle sensor 11, a torsion spring 12, a positioning bolt 10 and a rotating shaft 23 are arranged in the displacement sensor device 9, the rotating shaft 23 is fixedly provided with a connecting rod 13, the other end of the connecting rod 13 is provided with a height detection wheel 14, the height detection wheel 14 can lift along with the height change of a sugarcane canal 7 and is attached to the ground by the torsion force generated by the torsion spring 12, the sugarcane supporting mechanism 5 is fixed at the front end of a sugarcane supporting mechanism lifting device 15, the sugarcane supporting mechanism lifting device 15 is installed at the front end of a vehicle body 1 and is connected with a sugarcane supporting hydraulic control device 4, a cutting device 16 is installed at the root part in the middle of the front lower part of the vehicle body 1, the root cutting device 16 is connected with an undercut hydraulic control device 3, a ridge canal height detection device 18 is installed at the bottom in the middle of the vehicle body 1, the device is used for detecting height changes between a cutter at the bottom of the root cutting device 16 and a sugarcane ridge 6, height changes after rolling of a sugarcane channel 7 and wheels 22 and change numerical values of the height of a perennial root after cutting of the sugarcane in real time, the ridge channel height detection device 18 is provided with a three-dimensional laser radar sensor 19, a fan 20 and a direct-current illuminating lamp 21, and the vehicle body 1 is further provided with a control system 2 and wheels 22. The center of displacement sensor device 9 is provided with pivot 23, pivot one end is fixed on connecting rod 13, torsion spring 12 is installed to the other end, torsion spring 12's torsion direction is clockwise for compress tightly connecting rod 13 to positioning bolt 10 department, the angle between connecting rod 13 and the pivot straightness that hangs down is greater than 10, its direction that deviates from the pivot straightness that hangs down is opposite with sugarcane harvester traffic direction, semiconductor angle sensor 11 fixes and surveys in displacement sensor device 9, when height detection wheel 14 goes up and down along with sugarcane canal 7 ground change, drive connecting rod 13 and rotate around the pivot, semiconductor angle sensor 11 detects its angle variation value and gives control system 2 with signal transmission. Ridge canal height detection device 18 installs and is located root cutting device 16 rear in the middle of in the sugarcane harvester chassis, 18 internally mounted of ridge canal height detection device has fan 20, the export of fan 20 is downward, be used for preventing that the dust from getting into and blow off bottom miscellaneous leaf, direct current light 21 is installed to the 18 left and right sides of ridge canal height detection device, three-dimensional laser radar sensor 19 is installed to its middle position, three-dimensional laser radar sensor 19 is solid state laser radar, transmitting and receiving probe carry out the altitude detection downwards and form three-dimensional image, can detect sugarcane ridge 7 height in real time, the perennial root height after the cutting, 7 altitude variation in sugarcane canal after wheel 22 rolls, and give control system 2 with information transmission. The control system 2 is connected with the displacement sensor device 9, the ridge and channel height detection device 18, the undercut hydraulic control device 3 and the sugarcane supporting hydraulic control device 4 to form a closed-loop control system, and sugarcane harvesting operation can be automatically performed in a copying mode. The displacement sensor device 9 and the ridge and channel height detection device 18 transmit the detected sugarcane ridge and channel change signals to the control system 2, the control system 2 respectively sends instructions to the sugarcane supporting hydraulic control device 4 and the undercut hydraulic control device 3 after performing operation according to set conditions and programs, and the sugarcane supporting hydraulic control device 4 and the undercut hydraulic control device 3 respectively control the sugarcane supporting mechanism 5 and the root cutting device 16 to ascend or descend according to the received instructions. In the setting of the control program of the control system 2, in order to eliminate the misjudgment of small stones, hard soil blocks or sugarcane stalks on the height detection wheel 14, the received signals transmitted by the displacement sensor device 9 are screened and set, the height detection wheel 14 completes the actions of lifting or descending or ascending and descending within 0.5 second or less than 1 second, and the control system 2 does not send a lifting instruction to the sugarcane supporting hydraulic control device 4 and the undercutting hydraulic control device 3. The displacement sensor device 9 is left and right 2, the width of the height detection wheel 14 installed on the displacement sensor device is consistent with the width of the wheel base of the sugarcane harvester, the height change of the sugarcane canal 7 is mainly detected, the height change of the sugarcane ridge 6 and the height change of the rut which are mainly detected by the ridge canal height detection device 18 are mainly detected, and the control system 2 controls the automatic terrain-imitating operation of the bottom conical sugarcane supporting piece 8 of the sugarcane supporting mechanism 5 and the cutting knife of the root cutting device 16 according to the data change condition. The semiconductor angle sensor 11 provided in the displacement sensor device 9 detects the angle and position to perform high-precision position control for detecting the rotation angle of the rotating shaft 23 in the displacement sensor device 9, and the semiconductor angle sensor 11 may be replaced with a variable potentiometer, a differential transformer, or a photoelectric angle sensor.
A sugar cane harvester comprising a vehicle body 1 and a control system 2, the sugar cane harvester having an automatic profiling follower system according to any one of the preceding claims.
A method of operating an automatic profiling follower system for a sugar cane harvester, comprising the steps of:
the method comprises the following steps: setting the corresponding angle and absolute position of the semiconductor angle sensor 11 when the bottom of the height detection wheel 14 and the bottom of the wheel 22 are on the same horizontal line, and simultaneously setting the height difference to be kept between the conical sugarcane supporting piece 8 at the bottom of the sugarcane supporting mechanism 5 and the height detection wheel 14 during operation;
step two: setting the perennial root height which needs to be reserved when the cutting knife of the root cutting device 16 cuts the sugarcane root, namely the distance between the cutting knife and the sugarcane ridge 6;
step three: the control system 2 controls the sugarcane supporting hydraulic control device 4, the sugarcane supporting mechanism 5 and the bottom conical sugarcane supporting piece 8 to automatically simulate terrain operation according to the height change of the height detection wheel 14 and the height change data transmitted by the corresponding displacement sensor device 9;
step four: the control system 2 controls the root cutting device 16 to automatically perform profiling operation in real time according to the height of the sugarcane ridge 6 detected by the ridge and channel height detection device 18 and the height change of the sugarcane channel 7 detected by the height detection wheel 14 in combination with the height change of the sugarcane ridge 6.
When the sugarcane harvester works, the sugarcane harvester enters a sugarcane field, the wheels 22 of the sugarcane harvester run in front of the sugarcane canal 7, the sugarcane supporting mechanism 5 descends, the sugarcane harvester stops when the height detection wheel 14 presses the ground of the sugarcane canal 7, the root cutting device 16 descends at the same time, and the sugarcane harvester stops when the ridge canal height detection device 18 detects that the root cutting device 16 descends to a set position away from the height of the sugarcane ridge 6; after the sugarcane harvester starts harvesting operation, the displacement sensor device 9 and the ridge and channel height detection device 18 detect the height change condition of the sugarcane ridge and channel in real time, and transmit the data to the control system 2, and the control system 2 controls the sugarcane supporting mechanism 5 and the root cutting device 16 to automatically perform profiling operation.
Claims (9)
1. An automatic profiling following system for a sugar cane harvester, comprising a displacement sensor device (9), characterized in that: the displacement sensor device (9) is a sealing structure and is arranged right behind the sugarcane supporting mechanism (5), a semiconductor angle sensor (11), a torsion spring (12), a positioning bolt (10) and a rotating shaft (23) are arranged in the displacement sensor device, the other end of a connecting rod (13) is provided with a height detection wheel (14), the height detection wheel (14) can lift along with the height change of the sugarcane canal (7) and is attached to the ground by the torsion force generated by the torsion spring (12), the center of the displacement sensor device (9) is provided with the rotating shaft (23), one end of the rotating shaft is fixed on the connecting rod (13), the other end of the rotating shaft is provided with the torsion spring (12), the torsion direction of the torsion spring (12) is clockwise and is used for pressing the connecting rod (13) to the positioning bolt (10), the angle between the connecting rod (13) and the rotating shaft is more than 10 degrees, and the direction deviating from the rotating shaft is opposite to the running direction of the sugarcane harvester, the device is characterized in that the semiconductor angle sensor (11) is fixed on the inner side of the displacement sensor device (9), when the height detection wheel (14) is lifted along with the change of the ground of the sugarcane channel (7), the connecting rod (13) is driven to rotate around the rotating shaft, the semiconductor angle sensor (11) detects the angle change value and transmits a signal to the control system (2), the number of the displacement sensor devices (9) is 2, the width of the height detection wheel (14) arranged on the displacement sensor devices is consistent with the wheel span width of the sugarcane harvester, the sugarcane supporting mechanism (5) is fixed at the front end of the sugarcane supporting mechanism lifting device (15), the sugarcane supporting mechanism lifting device (15) is arranged at the front end of the vehicle body (1) and connected with the sugarcane supporting hydraulic control device (4), the root cutting device (16) is arranged in the middle of the front lower part of the vehicle body (1), the root cutting device (16) is connected with the root cutting hydraulic control device (3), the device comprises a vehicle body (1), wherein a ridge and channel height detection device (18) is installed at the middle bottom of the vehicle body (1) and used for detecting height change between a cutting knife at the bottom of a root cutting device (16) and a sugarcane ridge (6) in real time, height change after rolling of the sugarcane channel (7) and wheels (22) and change numerical values of the perennial root height after cutting of the sugarcane, a three-dimensional laser radar sensor (19), a fan (20) and a direct-current illuminating lamp (21) are arranged on the ridge and channel height detection device (18), and a control system (2) and the wheels (22) are further installed on the vehicle body (1).
2. The automatic profiling follow-up system according to claim 1, wherein the ridge and channel height detection device (18) is installed in a central position in a chassis of the sugarcane harvester and behind the root cutting device (16), a fan (20) is installed inside the ridge and channel height detection device (18), an outlet of the fan (20) faces downwards to prevent dust from entering and blow away bottom miscellaneous leaves, direct-current illuminating lamps (21) are installed on the left side and the right side of the ridge and channel height detection device (18), a three-dimensional laser radar sensor (19) is installed in the central position, the three-dimensional laser radar sensor (19) is a solid laser radar, a transmitting probe and a receiving probe face downwards to perform height detection and form a three-dimensional image, the height of a sugarcane ridge (6), the height of a cut perennial root and the height change of a sugarcane channel (7) after rolling of wheels (22) can be detected in real time, and transmits the information to the control system (2).
3. The automatic profiling follow-up system according to claim 1, wherein the control system (2) is connected with a displacement sensor device (9), a ridge and canal height detection device (18), an undercut hydraulic control device (3) and a sugarcane supporting hydraulic control device (4) to form a closed-loop control system, and can automatically profile to perform sugarcane harvesting operation.
4. The automatic profiling follow-up system according to claim 1, wherein the displacement sensor device (9) and the ridge and channel height detection device (18) transmit detected sugarcane ridge and channel change signals to the control system (2), the control system (2) respectively sends instructions to the sugarcane supporting hydraulic control device (4) and the undercut hydraulic control device (3) after performing operation according to set conditions and programs, and the sugarcane supporting hydraulic control device (4) and the undercut hydraulic control device (3) respectively control the sugarcane supporting mechanism (5) and the root cutting device (16) to ascend or descend according to the received instructions.
5. The automatic profiling follow-up system according to claim 1, characterized in that in the control program setting of the control system (2), in order to eliminate the misjudgment of the small stones, hard soil blocks or sugar cane stalks on the height detection wheel (14), the received signals transmitted by the displacement sensor device (9) are screened and set, the height detection wheel (14) completes the actions of lifting or lowering and lifting within 0.5-1 second, and the control system (2) does not send lifting commands to the cane supporting hydraulic control device (4) and the undercut hydraulic control device (3).
6. The automatic profiling follow-up system according to claim 1, wherein the displacement sensor device mainly detects height changes of a sugarcane canal (7), the ridge canal height detection device (18) mainly detects height changes of sugarcane ridges (6) and rutting height changes, and the control system (2) controls the bottom conical sugarcane supporting piece (8) of the sugarcane supporting mechanism (5) and the cutting knife of the root cutting device (16) to automatically work in a terrain-imitating manner according to data changes.
7. An automatic copying follow-up system according to claim 1, characterized in that the semiconductor angle sensor (11) arranged in the displacement sensor device (9) is used for detecting the rotation angle of the rotating shaft (23) in the displacement sensor device (9) by detecting the angle and the position to complete the high-precision position control, and the semiconductor angle sensor (11) can be replaced by a variable potentiometer, a differential transformer and an optoelectronic angle sensor.
8. A sugar cane harvester comprising a vehicle body (1) and a control system (2), characterized in that it has an automatic profiling following system according to any one of the preceding claims.
9. A method of operating an automatic profiling follower system for a sugar cane harvester, comprising the steps of:
the method comprises the following steps: setting the corresponding angle and absolute position of the semiconductor angle sensor (11) when the bottom of the height detection wheel (14) and the bottom of the wheel (22) are on the same horizontal line, and simultaneously setting the height difference required to be kept between the conical sugarcane supporting piece (8) at the bottom of the sugarcane supporting mechanism (5) and the height detection wheel (14) during operation;
step two: setting the perennial root height which needs to be reserved when a cutting knife of the root cutting device (16) cuts the sugarcane root, namely the distance between the cutting knife and the sugarcane ridge (6);
step three: the control system (2) controls the sugarcane supporting hydraulic control device (4), the sugarcane supporting mechanism (5) and the bottom conical sugarcane supporting piece (8) to automatically perform terrain-imitating operation according to the height change of the height detection wheel (14) and the height change data transmitted by the corresponding displacement sensor device (9);
step four: the control system (2) controls the root cutting device (16) to automatically perform profiling operation in real time according to the height of the sugarcane ridge (6) detected by the ridge and channel height detection device (18) and the height change of the sugarcane channel (7) detected by the height detection wheel (14) in combination with the height change of the sugarcane ridge (6).
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| CN113141862B (en) * | 2021-01-21 | 2023-07-21 | 广西蓝星智能农机装备有限责任公司 | Cutting method of sugarcane harvester |
| CN113534139A (en) * | 2021-06-22 | 2021-10-22 | 西南大学 | Sugarcane ridge height detection system and method based on frequency modulation continuous wave radar |
| CN115885685A (en) * | 2021-08-18 | 2023-04-04 | 广西蓝星智能农机装备有限责任公司 | Automatic ground-adhering profiling control system for sugarcane supporting roller of sugarcane combine harvester |
| CN113906900B (en) * | 2021-09-26 | 2022-11-11 | 广西大学 | Sugarcane harvester and method for adjusting position and posture of cutter head of sugarcane harvester based on multi-sensor fusion |
| CN113853927A (en) * | 2021-10-26 | 2021-12-31 | 黄薇 | Whole-rod type sugarcane harvester |
| CN114931028A (en) * | 2022-05-30 | 2022-08-23 | 农业农村部南京农业机械化研究所 | Highly adaptive picking device |
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