CN112243676A - Cassava stem smashing and returning machine smashing blade ground clearance monitoring system - Google Patents
Cassava stem smashing and returning machine smashing blade ground clearance monitoring system Download PDFInfo
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- CN112243676A CN112243676A CN202011253275.8A CN202011253275A CN112243676A CN 112243676 A CN112243676 A CN 112243676A CN 202011253275 A CN202011253275 A CN 202011253275A CN 112243676 A CN112243676 A CN 112243676A
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- profiling
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- ground clearance
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/835—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes
- A01D34/8355—Mowers; Mowing apparatus of harvesters specially adapted for particular purposes for cutting up or crushing remaining standing stalks, e.g. stubble
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- Environmental Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention discloses a ground clearance monitoring system for a crushing blade of a cassava stem crushing and returning machine. The invention also discloses a cassava stem crushing and returning machine monitoring system loaded with the system, and the system further comprises a vehicle-mounted terminal and a satellite positioning device. The cassava stem grinding and returning machine disclosed by the invention effectively improves the informatization and automation level of the cassava stem grinding and returning machine, solves the problem that the ground clearance of the cassava stem grinding and returning machine cannot be automatically adjusted along with the unevenness of the ground surface due to the change of the terrain, so that the cassava grinding and returning effect is influenced, improves the operation efficiency of the cassava stem grinding and returning machine, and provides technical support for the supervision of the operation efficiency.
Description
Technical Field
The invention relates to a crop stem crushing and returning machine, in particular to a ground clearance monitoring system for crushing blades of a cassava stem crushing and returning machine.
Background
Cassava is an economic crop introduced and planted in the eight and ninety years in the south of China, and besides, the hilly landform and the matched agricultural facilities in the south cannot keep pace with the perfect pace, so that the research on agricultural machinery and equipment such as production and harvesting is relatively less, and particularly the agricultural machinery and equipment related to the harvest and treatment of cassava stems is provided. At present, the cassava production operation needs to meet higher mechanical production operation requirements, but the existing cassava stalk crushing and returning machine still has low operation efficiency, and the problem that the underground operation quality is influenced by various internal and external factors cannot be effectively solved. After the cassava stems are smashed and returned to the field, the phenomena that the cassava stems are not smashed and returned to the field thoroughly, residual stems are too long and the like often occur, and the ground clearance of the blade is one of the key factors determining the operation quality of the cassava stem smashing and returning to the field (theoretically, the ground clearance of the blade is not larger than the diameter of the cassava stems). The ground clearance of the blade is too large, the cassava stalks are not crushed thoroughly enough, the mechanical harvest is seriously influenced, and the cassava stalks sprout in the next year to influence the crop planting; the clearance between the blade and the ground is too small, and machines easily contact soil in the operation process, so that the power consumption of the crushing operation is increased, the abrasion of the cutter is accelerated, and shallow cassava roots are damaged. At present, the ground clearance of the blade of the cassava stem grinder is not monitored at home, and the development requirement of the cassava industry is limited to a certain extent.
When the cassava stem smashing and returning machine works in the field, the ground surface is in an uneven state during the operation, the ground clearance of the smashing blades cannot move up and down along with the ground surface, the smashed residual cassava stems are different in length, and the smashing and returning effect is difficult to guarantee. The ground clearance of the crushing blade is one of important operation parameters of the straw crushing and returning machine, at present, the domestic straw crushing and returning machine is still in a mechanical operation stage, and no research result of applying the device and the control method for measuring the ground clearance of the crushing blade to the straw crushing and returning machine exists in China.
Disclosure of Invention
The invention aims to solve the technical problem of how to improve the crushing and returning operation quality of a cassava stem crushing and returning machine, and provides a monitoring system for the cassava stem crushing and returning machine, which can automatically regulate and control the ground clearance of crushing blades of the cassava stem crushing and returning machine along with the fluctuation of the ground surface, and can perform the functions of real-time monitoring, data storage, early warning and the like on key operation parameters.
In order to solve the technical problems, the invention adopts the technical scheme that:
a cassava stem grinding returning machine crushing blade ground clearance monitoring system comprises a profiling detection mechanism for detecting ground fluctuation, a hydraulic execution mechanism for controlling blade lifting and a microprocessor in signal connection with the two mechanisms; the profiling detection mechanism comprises a posture detection device, a profiling pre-tightening spring rod, a profiling supporting rod and a profiling wheel; the gesture detection device is arranged on the profiling supporting rod; one end of the profiling supporting rod is hinged with the frame of the returning machine, and the other end of the profiling supporting rod is hinged with the rotating shaft of the profiling theory; one end of the profiling pre-tightening spring rod is hinged with the frame of the returning machine, the other end of the profiling pre-tightening spring rod is hinged with the rod stem of the profiling supporting rod, and the profiling wheel is pressed to the ground by applying downward pressure to the rod stem of the profiling supporting rod; when the crushing and returning machine advances in the field, the microprocessor continuously receives initial attitude information from the attitude detection device, resolves the initial attitude information into an angle of the profiling support rod relative to the vertical direction, and correspondingly sends a signal to the hydraulic actuating mechanism according to the angle information to control the blade to lift.
Further, the gesture detection device is a gyroscope gesture detection device.
Further, the hydraulic actuator comprises a relay, an electromagnetic valve and a hydraulic cylinder for controlling the blade to lift; the microprocessor is connected with the electromagnetic valve through the relay, the microprocessor controls the relay to open and close, the electromagnetic valve is controlled, and the electromagnetic valve controls the hydraulic cylinder through the electromagnetic directional valve.
The invention also discloses a cassava stem grinding and returning machine monitoring system loaded with the grinding blade ground clearance monitoring system, the cassava stem grinding and returning machine monitoring system further comprises a vehicle-mounted terminal, the attitude detection device is connected with the vehicle-mounted terminal through the microprocessor, and the microprocessor sends the angle information of the profiling support rod obtained after calculation relative to the vertical direction to the vehicle-mounted terminal for further processing.
Further, the cassava stem smashing and returning machine monitoring system further comprises a satellite positioning device, the satellite positioning device is connected with the vehicle-mounted terminal, and the satellite positioning device is a GPS or Beidou positioning device.
Further, the satellite positioning device outputs an adjustable pulse signal after receiving the time information, and simultaneously sends initial positioning data to the vehicle-mounted terminal; and the vehicle-mounted terminal receives the angle information of the profiling support rod from the microprocessor relative to the vertical direction and the initial positioning data of the satellite positioning device, and further calculates to obtain the ground clearance of the crushing blade, the positioning information and the driving speed information and displays the ground clearance, the positioning information and the driving speed information in real time.
Furthermore, the satellite positioning device and the vehicle-mounted terminal, the microprocessor and the vehicle-mounted terminal realize data sending and receiving through a serial port communication mode, and the communication interface device is a USB data interface.
Furthermore, the driving device of the field returning machine is a tractor, and the satellite positioning device and the vehicle-mounted terminal are both mounted on the tractor.
The invention has the beneficial effects that: the invention can realize the automatic control of the ground clearance of the crushing blade of the cassava stem crushing and returning machine, monitor the ground clearance of the crushing blade in real time, monitor the operating speed, the longitude and the latitude and the real-time change curve chart of the ground clearance of the crushing blade, and realize the functions of real-time early warning of the ground clearance of the crushing blade, saving the operating parameters and the like. The attitude detection device is used for detecting the angle of the profiling support rod relative to the vertical direction during ridge surface operation of the profiling detection mechanism, sending the angle to the microprocessor for processing and then sending the angle to the vehicle-mounted terminal, and the vehicle-mounted terminal calculates according to the angle, the size and other information of the profiling detection mechanism to obtain the ground clearance of the crushing blade of the current cassava stem crushing and returning machine and displays the ground clearance information on the vehicle-mounted terminal, so that a driver can master the ground clearance information of the crushing blade in real time. The realization of these functions has effectively solved the cassava stem and has smashed still field machine operation inefficiency problem that the driver knows the operation condition of cassava stem smashing still field machine untimely, smashes blade ground clearance and can't follow the surface relief and adjust in time scheduling problem that leads to, has also improved the intelligent level of cassava stem smashing still field machine information.
Description of the drawings:
FIG. 1 is a schematic diagram of the overall structure of a monitoring system according to an embodiment of the present invention;
FIG. 2 is a schematic view of a profiling mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic view of a blade control portion of an embodiment of the present invention;
FIG. 4 is a schematic view of a monitoring portion of an embodiment of the present invention;
FIG. 5 is a diagram of an angle-ground clearance mathematical model according to an embodiment of the present invention;
number designation in the figures: the device comprises a 1-1 satellite positioning device, a 1-2 vehicle-mounted terminal, a 1-3 tractor, a 2-1 shock absorption gasket, a 2-2 attitude detection device, a 2-3 profile modeling pre-tightening spring rod, a 2-4 profile modeling support rod, a 2-5 profile modeling wheel, a 3-1 land wheel, a 3-2 hydraulic cylinder and a 3-3 crushing blade.
Detailed Description
The following describes in detail the solution of the present invention by way of embodiments with reference to the accompanying drawings, a monitoring system for ground clearance of a crushing blade of a cassava stem crushing returning machine and a monitoring system for a cassava stem crushing returning machine loaded with the same, as shown in fig. 1 to 5.
The cassava stalk crushing returning machine monitoring system comprises three parts of data acquisition, control and data monitoring as shown in figure 1. The data acquisition part comprises the attitude detection device 2-2 and a microprocessor part and is mainly responsible for attitude detection of the profiling detection mechanism and receiving, processing and sending of attitude data. The control part comprises a microprocessor, a relay, an electromagnetic valve and a hydraulic cylinder 3-2 and is mainly responsible for receiving and processing control commands and controlling the ground clearance of the crushing blades of the cassava stem crushing returning machine to be automatically regulated and controlled along with the height change of the ridge surface. The data monitoring part mainly comprises the vehicle-mounted terminal 1-2, the satellite positioning device 1-1 and the microprocessor, and is mainly responsible for monitoring parameters such as the ground clearance of the crushing blade, the operation speed and the like and the parameter curve change of the ground clearance of the crushing blade in real time, so that the functions of man-machine interaction, ground clearance early warning and parameter setting of the crushing blade, data storage of monitoring and the like can be realized.
The profiling detection mechanism is shown in figure 2 and mainly comprises a shock absorption gasket 2-1, a posture detection device 2-2, a profiling pre-tightening spring rod 2-3, a profiling support rod 2-4 and a profiling wheel 2-5. The profiling detection mechanism is connected with the rack in a hinged mode, and meanwhile, a profiling pre-tightening spring rod 2-3 is connected to the profiling support rod and can provide elasticity for ground profiling of the profiling wheel 2-5, and when the profiling wheel 2-5 passes through a high ground, the spring is compressed; when the profiling mechanism passes through a low ground, the spring provides pressure for the profiling wheels 2-5, and displacement compensation is timely performed on the change of the high position and the low position of the profiling detection mechanism, so that the reflecting speed of the profiling detection mechanism is improved, and the pre-tightening amount can be adjusted through the nut to adapt to different ground surface heights. In order to ensure the measurement precision and reduce the influence of vibration on the attitude detection device 2-2 as much as possible, a vibration damping gasket 2-1 is arranged at the bottom of the attitude detection device 2-2. Meanwhile, the profiling pre-tightening spring rod 2-3 can also play a role in damping and buffering, and more reliable data acquisition is provided for the posture detection device 2-2.
The blade control part comprises a profiling detection mechanism, and the main components of the blade control part are a damping gasket 2-1, a posture detection device 2-2, a profiling pre-tightening spring rod 2-3, a land wheel 3-1, a hydraulic cylinder 3-2, a crushing blade 3-3 and the like respectively as shown in figure 3. When the cassava stem smashing and returning machine works on the ridge surface, the copying detection mechanism carries out real-time copying on the ridge surface and simultaneously the posture detection device 2-2 carries out real-time detection on the posture angle. The hydraulic lifting automatic control system mainly realizes the automatic control function of the ground clearance of the crushing blade of the cassava stem crushing returning machine, is an important solution for improving the operation efficiency of the cassava stem crushing returning machine, and provides technical reference for the automatic development of the cassava stem crushing returning machine. When the hydraulic control system is operated, the microprocessor processes the attitude information obtained from the attitude detecting device 2-2 and then sends a control signal to the relay. The output signal of the relay is a switch signal, and when the normally open contact or the normally closed contact of the subsequent electric appliance acts after the microprocessor obtains the control signal, the signal is sent to the electromagnetic valve. When the electromagnetic valve receives a relay switch signal, the electromagnetic valve can control the opening, closing, flow and reversing of hydraulic oil, and further control the telescopic action of the hydraulic cylinder 3-2, so that the aim of controlling the ground clearance of the crushing blade 3-3 is fulfilled.
The monitoring part is shown in figure 4 and comprises a satellite positioning device 1-1, a vehicle-mounted terminal 1-2, a microprocessor and an attitude detection device 2-2. The satellite positioning device 1-1 is used for receiving, processing and sending positioning information to the vehicle-mounted terminal 1-2; the vehicle-mounted terminal 1-2 respectively receives and transmits data with the satellite positioning device 1-1 and the microprocessor in a serial port communication mode, and the vehicle-mounted terminal 1-2 can realize the functions of receiving, processing, transmitting and displaying the data and also realize the function of pedestrian-machine interaction. The microprocessor is responsible for receiving the attitude information from the attitude detection device 2-2 and sending the processed attitude information to the vehicle-mounted terminal. The attitude detection device 2-2 is responsible for collecting attitude information of the profiling detection mechanism and sending the attitude information to the microprocessor.
The ground clearance of the crushing blade adopts an indirect measurement method, as shown in figure 5, namely a vehicle-mounted terminal 1-2 receives attitude angle information from an attitude detection device 2-2, and the ground clearance of the crushing blade is obtained and displayed after the angle information is calculated by a geometric relation model. The attitude detecting device 2-2 is fixed to the copying detecting mechanism, and its detection target is attitude information of the copying detecting mechanism during operation.
The satellite positioning device 1-1 is arranged on the top of a tractor cab and used for receiving and transmitting positioning signals. The satellite positioning device 1-1 can send initial positioning data to the vehicle-mounted terminal 1-2, and the vehicle-mounted terminal 1-2 can calculate the received initial positioning data to obtain information such as operation speed, longitude and latitude, altitude and operation track of the tractor 1-3 and display the information in real time.
The vehicle-mounted terminal 1-2 is installed in a cab, and can respectively receive and display attitude information from the microprocessor and positioning information of the satellite positioning device 1-1. Besides the realization of the human-computer interaction function, the vehicle-mounted terminal 1-2 can perform relevant mathematical operation on the received attitude information to further obtain the ground clearance of the crushing blade of the cassava stem crushing returning machine. The vehicle-mounted terminal 1-2 mainly comprises modules for monitoring positioning information and attitude information, early warning of ground clearance of the crushing blade, setting of ground clearance parameters of the crushing blade, real-time parameter curve graphs of the ground clearance of the crushing blade and storage of monitoring parameters.
The attitude detection device 2-2 is fixedly arranged on a profiling supporting rod 2-4 of the profiling detection mechanism, and is responsible for collecting the angle of the profiling supporting rod 2-4 relative to the vertical direction when the profiling detection mechanism works and sending the angle to a microprocessor for resolving.
The damping gasket 2-1 is arranged at the bottom of the attitude detection device 2-2, and can ensure the measurement precision of the attitude detection device 2-2 and reduce the influence of vibration on the attitude detection device 2-2 as much as possible.
The profiling pre-tightening springs 2-3 are arranged between the profiling support rods 2-4 and the front beam, are respectively connected with the profiling support rods 2-4 in a hinged mode, provide elasticity for ground profiling of the profiling wheels 2-5, can compensate displacement of the high position and the low position of the profiling detection mechanism in time, improve the reflecting speed of the profiling detection mechanism, and can adapt to different ground surface heights by adjusting the pre-tightening amount of the nuts.
The hydraulic cylinder 3-2 is arranged at the position of the support rod of the land wheel 3-1, and can provide support force for the cassava stem grinding and returning machine and can also automatically regulate and control the grinding blade 3-3. When the ridge surface is higher than the set ground clearance range of the crushing blades 3-3, the hydraulic cylinder 3-2 contracts at the moment, so that the ground clearance of the crushing blades 3-3 is reduced to reach the set ground clearance range of the crushing blades 3-3; when the ridge surface is lower than the set ground clearance range of the crushing blade 3-3, the hydraulic cylinder 3-2 extends to increase the ground clearance of the crushing blade 3-3 so as to reach the set ground clearance range of the crushing blade 3-3.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art will recognize that the invention can be practiced without departing from the spirit and scope of the claims. The scope of the invention is to be determined by the claims appended hereto.
Claims (9)
1. The utility model provides a cassava stem smashes still field machine and smashes blade ground clearance monitored control system which characterized in that: the system comprises a profiling detection mechanism for detecting the rise and fall of the ground, a hydraulic actuating mechanism for controlling the lifting of the blade and a microprocessor which is connected with the two mechanisms through signals; the profiling detection mechanism comprises a posture detection device, a profiling pre-tightening spring rod, a profiling supporting rod and a profiling wheel; the gesture detection device is arranged on the profiling supporting rod; one end of the profiling supporting rod is hinged with the frame of the returning machine, and the other end of the profiling supporting rod is hinged with the rotating shaft of the profiling theory; one end of the profiling pre-tightening spring rod is hinged with the frame of the returning machine, the other end of the profiling pre-tightening spring rod is hinged with the rod stem of the profiling supporting rod, and the profiling wheel is pressed to the ground by applying downward pressure to the rod stem of the profiling supporting rod; when the crushing and returning machine advances in the field, the microprocessor continuously receives initial attitude information from the attitude detection device, resolves the initial attitude information into an angle of the profiling support rod relative to the vertical direction, and correspondingly sends a signal to the hydraulic actuating mechanism according to the angle information to control the blade to lift.
2. The crushing blade ground clearance monitoring system of claim 1 wherein: the gesture detection device is a gyroscope gesture detection device.
3. A crushing blade ground clearance monitoring system according to claim 2, characterized in that: the hydraulic actuating mechanism comprises a relay, an electromagnetic valve and a hydraulic cylinder for controlling the lifting of the blade; the microprocessor is connected with the electromagnetic valve through the relay, the microprocessor controls the relay to open and close, the electromagnetic valve is controlled, and the electromagnetic valve controls the hydraulic cylinder through the electromagnetic directional valve.
4. A cassava stem grinding returning machine monitoring system loaded with the grinding blade ground clearance monitoring system of claim 3, characterized in that: the cassava stem smashing and returning machine monitoring system further comprises a vehicle-mounted terminal, the posture detection device is connected with the vehicle-mounted terminal through the microprocessor, and the microprocessor sends angle information of the profiling supporting rod obtained after resolving relative to the vertical direction to the vehicle-mounted terminal for further processing.
5. The cassava stem grinding and returning machine monitoring system according to claim 4, wherein: the cassava stem smashing and returning machine monitoring system further comprises a satellite positioning device, and the satellite positioning device is connected with the vehicle-mounted terminal.
6. The cassava stem grinding and returning machine monitoring system according to claim 5, wherein: the satellite positioning device is a GPS or Beidou positioning device.
7. The cassava stem grinding and returning machine monitoring system according to claim 6, wherein: the satellite positioning device outputs an adjustable pulse signal after receiving the time information, and simultaneously sends initial positioning data to the vehicle-mounted terminal; and the vehicle-mounted terminal receives the angle information of the profiling support rod from the microprocessor relative to the vertical direction and the initial positioning data of the satellite positioning device, and further calculates to obtain the ground clearance of the crushing blade, the positioning information and the driving speed information and displays the ground clearance, the positioning information and the driving speed information in real time.
8. The cassava stem grinding and returning machine monitoring system according to claim 7, wherein: the satellite positioning device and the vehicle-mounted terminal, the microprocessor and the vehicle-mounted terminal realize data sending and receiving through a serial port communication mode, and the communication interface device is a USB data interface.
9. The cassava stem grinding returning machine monitoring system according to any one of claims 5 to 8, wherein: the driving device of the field returning machine is a tractor, and the satellite positioning device and the vehicle-mounted terminal are both mounted on the tractor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011253275.8A CN112243676A (en) | 2020-11-11 | 2020-11-11 | Cassava stem smashing and returning machine smashing blade ground clearance monitoring system |
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| CN202011253275.8A CN112243676A (en) | 2020-11-11 | 2020-11-11 | Cassava stem smashing and returning machine smashing blade ground clearance monitoring system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113796178A (en) * | 2021-09-23 | 2021-12-17 | 华南农业大学 | Soil collection type sugarcane banking machine |
| CN116171720A (en) * | 2022-12-27 | 2023-05-30 | 中国热带农业科学院农业机械研究所 | Automatic control system and method for cutting sugarcane harvester into soil |
-
2020
- 2020-11-11 CN CN202011253275.8A patent/CN112243676A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113796178A (en) * | 2021-09-23 | 2021-12-17 | 华南农业大学 | Soil collection type sugarcane banking machine |
| CN116171720A (en) * | 2022-12-27 | 2023-05-30 | 中国热带农业科学院农业机械研究所 | Automatic control system and method for cutting sugarcane harvester into soil |
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