CN117378353A - Terrain sensing device and regulation and control method for self-adaptive adjustment of cutter height - Google Patents
Terrain sensing device and regulation and control method for self-adaptive adjustment of cutter height Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
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Abstract
The invention provides a terrain sensing device and a regulation and control method for self-adaptive adjustment of cutter height, and belongs to the field of agricultural machinery and automatic control. The terrain sensing device mainly comprises an angle sensor, a connecting plate, a rotating shaft, a carriage flange, a carriage and a coupler, and the regulation and control method senses the terrain height change according to the contact type terrain sensing device and carries out self-adaptive regulation and control on the height of a cutter of the sugarcane harvester, and the method comprises the following steps: step 1, installing a terrain sensing device and an inclination sensor; step 2, system parameter adjustment; step 3, adopting terrain change data and calculating; step 4, outputting a terrain error; and step 5, outputting a cutter height adjustment instruction to realize height self-adaptive regulation and control. The invention combines the terrain sensing device with the cutter height self-adaptive regulation and control method, can effectively improve the working quality and the working efficiency of the sugarcane harvester, and can provide an effective method for terrain detection similar to complex scenes and self-adaptive control of the working device.
Description
Technical Field
The invention belongs to the field of agricultural machinery and automatic control, and particularly relates to a terrain sensing device and a regulation and control method for self-adaptive adjustment of cutter height.
Background
The terrain detection technology is a technology for sensing and processing the terrain change by using one or more sensors, and the principle of the terrain detection technology is that the fluctuation change information of the corresponding terrain is acquired by using a contact type or non-contact type sensor, and the terrain change condition is obtained after processing. According to different environmental characteristics of the use scene, the actual requirements and constraint conditions are analyzed, and a proper terrain detection method is adopted to realize accurate detection of the terrain variation trend and is used for subsequent researches such as automatic control, terrain mapping and the like. Terrain detection technology is widely used in a plurality of fields such as robots, engineering machinery, agricultural machinery and automatic operation.
At present, the terrain detection technology is researched and tried to be used on robots, engineering machinery and agricultural machinery, such as detecting terrain changes in real time when the robots walk, and providing information of the terrain changes for path planning of the automatic walking robots; when the method is used for operating in a crop planting field with complex environment, the quality and efficiency of mechanized harvesting of crops are optimized by implementing terrain detection. However, due to differences in application environments, the same terrain detection method is often poorly adaptable in different environments. In the sugarcane harvesting link, a large number of barriers such as sugarcane leaves, straws, weeds and the like exist below the sugarcane harvester, so that a common terrain detection mode cannot be realized, for example, a non-contact sensor such as a camera, ultrasonic waves, radar and the like cannot penetrate through the weeds to obtain real terrains, the height of a cutting knife can be adjusted only by means of manual experience, the sugarcane harvesting quality cannot meet the requirement of agricultural planting, the intention of farmers for mechanical harvesting is reduced, and the sugarcane harvesting mechanization degree of China is lower at present. Therefore, a terrain detection method adapting to the sugarcane harvesting environment is urgently needed, and meanwhile, the real-time terrain detection of the sugarcane harvesting scene is realized by matching with a cutter height self-adaptive adjustment method, so that the cutter height self-adaptive control of the sugarcane harvester is realized.
Related researches combine terrain detection technology with automatic control method to perform automatic control based on terrain, and focus on the identification of the trend of terrain variation at present, and non-contact sensors such as vision sensors and radar sensors are adopted to process and detect the terrain data. Because the sugarcane harvesting scene has higher requirements on the anti-interference capability of the detection method, the actual situation needs to be considered, and a proper terrain detection method and a control method are selected to realize the self-adaptive adjustment of the height of the cutting knife of the sugarcane harvester.
Taking a common sugarcane harvesting scene as an example, when the sugarcane harvester is used for harvesting, a driver needs to observe the rough terrain conditions such as gradient and overall change of different harvesting areas, meanwhile, the change of the height of the lower ridge on the way of different harvesting paths needs to be considered, and the harvesting requirement that the sugarcane cutting height is within 5cm below the ground is difficult to ensure. The visual sensor and the radar can not overcome the interference caused by a large amount of sugarcane leaves and sugarcane stalks near the cutter; the contact sensor can reduce the influence of complex environment on the terrain detection process through the mode of contacting with the ground, but because the cutter device height change and the vehicle body posture change exist in the operation process of the sugarcane harvester, the existing contact sensor is difficult to be directly used for cutter regulation and control of the sugarcane harvester.
Disclosure of Invention
Aiming at the defects and shortcomings of the prior art, the invention aims to provide a terrain sensing device and a regulation method for self-adaptive adjustment of cutter heights, which solve the problems that the terrain detection is difficult and the cutter heights can not be controlled manually in the prior art under a complex environment, so that the requirements of sugarcane harvesting and agricultural machinery operation can not be met.
In order to solve the technical problems, the invention adopts the following technical scheme:
a topography perception device for cutter height self-adaptation adjustment mainly comprises angle sensor, connecting plate, pivot, carriage flange, carriage and shaft coupling, angle sensor pass through the bolt with the connecting plate fixed, connecting plate and sugarcane harvester body fixed, angle sensor's output shaft pass through holding screw with the pivot fixed, the carriage flange fix in the pivot, the carriage pass through the bolt with the carriage flange fixed, the shaft coupling with two the pivot connect.
A regulation and control method for self-adaptive adjustment of cutter height, the method utilizes a terrain sensing device to detect the terrain change in real time, acquires the terrain height data, and then carries out self-adaptive control on the cutter height of a sugarcane harvester, and the method comprises the following steps:
step 1, installing a terrain sensing device and an inclination sensor:
a terrain sensing device is arranged at a proper position below the machine body in a rotary hinged mode to acquire height change information of a target point and the ground, a tool rest device inclination sensor is fixedly arranged at a tool rest device of the car body to acquire an included angle between the tool rest device and the horizontal direction in the working process, and a cab inclination sensor is fixedly arranged at a cab position of the car body to acquire the whole posture change condition of the car body;
step 2, system parameter adjustment:
calibrating each sensor, selecting a proper current value of a PWM electromagnetic proportional reversing valve, and adjusting the action speed of the hydraulic cylinder to meet the requirement;
step 3, taking terrain variation data and calculating:
the data of each sensor acquired in the advancing process is acquired and input into a data processing model, and the detected terrain height H2 is output after the following formula model operation:
H2＝H3+H1-H4＝L1×sinθ+L3×sin(β+η1)-L4×sin(β+η2)
wherein: the included angle between the alpha-carriage and the tool rest device, namely the data output by the angle sensor;
the angle formed by the beta-knife rest device and the horizontal direction is the angle of the data adopted by the inclination angle sensor of the knife rest device;
an included angle formed by the gamma-car body and the horizontal direction, namely the data collected by a cab inclination sensor;
h1-the height of the center of the carriage disc from the ground, mm;
h2-height of the cutter device from the ground, mm;
the distance between the center of the H3-carriage disc and the horizontal position of the rotating shaft of the tool rest device is mm;
h4-distance from the cutting knife device to the horizontal position of the rotating shaft of the knife rest device is mm;
l1-the length dimension of the carriage, mm;
the distance between the center of the L3-carriage disc and the rotating shaft of the tool rest device is mm;
l4 is the distance between the center of the cutter device and the rotating shaft of the cutter rest device, and mm;
an included angle formed by the center of the eta 1-carriage disc and the upper side of the tool rest device is formed;
η2-the angle formed by the center of the cutter device and the upper side of the cutter rest device;
step 4, outputting a terrain error:
post-processing the output result of the processing model in the step 3, comparing the output result with the set target terrain height, and outputting a terrain error E:
E＝H2-H0
wherein: h0-setting the height of the target terrain, and mm;
step 5, outputting a cutter height adjustment instruction:
judging the height error calculation result, wherein the judging steps are as follows:
step S51, judging whether the height error E is in the range of the control precision requirement or not, and if the height error E is smaller than the control precision requirement, meeting the termination requirement, and not outputting a control instruction, wherein the termination requirement is as follows:
E＜E0
wherein: e0-setting the precision requirement, mm;
otherwise, go to step S52;
step S52, inputting the height error calculation result into a fuzzy control algorithm, outputting a height motion control instruction of a corresponding cutter according to the calculation of the fuzzy control algorithm and outputting the height motion control instruction;
when the termination condition is met, the system realizes the self-adaptive adjustment of the height of the cutting knife.
The invention also has the following technical characteristics:
the terrain sensing device is based on the actual scene and characteristic design of sugarcane harvesting, and the contact mechanism is a carriage and is connected with the tool rest device of the sugarcane harvester body in a rotary hinging mode so as to detect included angle data formed by the carriage and the tool rest device of the sugarcane harvester.
The data processing model is as follows: a kinematic model obtained by theoretical modeling and kinematic analysis of a sugarcane harvester.
In the field data acquisition process, the running speed of the vehicle is 1km/h-3km/h, and the sampling time interval is 0.05s.
Compared with the prior art, the invention has the following technical effects:
(I) The terrain sensing device adopted by the invention is directly contacted with the ground, can overcome the influence of complex ground environment and interfering substances, can effectively detect the height change condition of the current terrain of the sugarcane harvester in real time, solves the problem that the common terrain detection method cannot be realized due to complex scenes, and lays a foundation for the self-adaptive regulation and control of the height of the cutter.
And (II) according to the terrain sensing method, when the terrain sensing device is used for acquiring the terrain height change, a plurality of inclination sensors are arranged on the vehicle body to detect the vehicle body posture change and the ground slope change, and the precision and the reliability of measuring the ground height are improved by combining the terrain height change and the vehicle body posture change and adopting a multi-sensor fusion mode.
Through experimental verification, the terrain detection method and the cutter height self-adaptive regulation and control method provided by the invention realize real-time detection of the terrain height of the sugarcane harvester, then finish the self-adaptive regulation and control of the cutter height of the harvester, and provide a terrain detection device with universality and a height self-adaptive regulation and control method for similar complex scenes.
Drawings
FIG. 1 is a general block diagram of a tool height adaptive modulation system.
Fig. 2 is a schematic diagram of the connection relationship of the sensors.
Fig. 3 is a schematic diagram of a hydraulic system.
FIG. 4 is an angle and height relationship in a method for terrain detection in a sugar cane harvester.
Fig. 5 is a schematic diagram of the structural components of the terrain awareness apparatus.
FIG. 6 is a control flow diagram of an adaptive modulation method.
Fig. 7 is a schematic diagram of an adaptive fuzzy control algorithm.
FIG. 8 is a schematic view of an indoor test model.
Fig. 9 is a graph of the height of the cutter off the ground measured in the model 1 test.
Fig. 10 is a graph of the height of the blade above the ground as measured in the model 2 test.
Fig. 11 is a graph of the height of the blade above the ground as measured by the model 3 test.
Fig. 12 is a graph of the height of the cutter off the ground measured in the model 4 test.
Figure 13 is a graph of the height of the blade above the ground as measured by the model 3 slow test.
Figure 14 is a graph of the height of the blade off the ground as measured by the model 3 rapid test.
FIG. 15 is a schematic diagram of a field test prototype carriage retrofit.
Fig. 16 is a graph of the height of the blade off the ground as measured by the in-situ downhill test.
Fig. 17 is a graph of the height of the blade off the ground as measured by the in-situ uphill test.
Fig. 18 is a graph of the height of the blade off the ground as measured by the field quick test.
Fig. 19 is a graph of the height of the blade off the ground as measured by the in-situ slow test.
In the figure: 1. the automatic cutting machine comprises a tool rest device, 2, a cab, 3, a cab inclination sensor, 4, a tool rest device inclination sensor, 5, a lifting hydraulic cylinder, 6, a cutting tool device, 7, an angle sensor, 8, a carriage, 9, a quantitative gear pump, 10, a PWM electric proportional reversing valve, 11, an oil tank, 12, the hydraulic cylinder, 13, a tool rest device rotating shaft, 14, a hydraulic cylinder upper fulcrum, 15, a hydraulic cylinder lower fulcrum, 16, a carriage disc center, 17, a cutting tool device cutting point, 18, a coupler, 19, a carriage flange, 20, a rotating shaft, 21, a connecting plate, 22, a protective casing, 23 and a protective wire sleeve.
Detailed Description
A topography sensing device for cutter height self-adaptation adjustment mainly comprises angle sensor 7, connecting plate 21, pivot 20, carriage flange 19, carriage 8 and shaft coupling 18, angle sensor 7 pass through the bolt with connecting plate 21 fixed, connecting plate 21 and sugarcane harvester body fixed, angle sensor 7's output shaft pass through holding screw with pivot 20 fixed, carriage flange 19 fix pivot 20 on, carriage 8 pass through the bolt with carriage flange 19 fixed, shaft coupling 18 with two pivot 20 connect.
The following specific embodiments of the present invention are provided, and it should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solutions of the present application fall within the protection scope of the present invention.
Example 1:
the embodiment provides a terrain sensing device and a regulation and control method for self-adaptive adjustment of the height of a cutter, which are carried out according to the following steps:
step 1, installing a terrain sensing device and an inclination sensor:
step S11, fig. 1 shows an overall block diagram of a control method, wherein a terrain sensing device is arranged at a proper position below a machine body in a rotary hinged mode to acquire height change information of a target point and the ground, a tool rest device inclination sensor is fixedly arranged at a tool rest device of a vehicle body to acquire an included angle between the tool rest device and the horizontal direction in the working process, and a cab inclination sensor is fixedly arranged at a cab position of the vehicle body to acquire the overall posture change condition of the vehicle body;
in step S12 of the process of the present invention,
a topography sensing device is arranged at the lower position of the tool rest device 1 of the sugarcane harvester as shown in fig. 2, a carriage 8 is connected with the side lower position of the tool rest device 1 in a rotary hinging manner, an angle sensor 7 is arranged at the rotary hinging connection, and the height change information of the tool rest device 1 and the ground is obtained in a form of changing an included angle; a tool rest device inclination sensor 4 is fixedly arranged on the tool rest device 1, and the change of an included angle between the tool rest device 1 and the horizontal direction in the action process is obtained; a cab inclination sensor 3 is fixedly arranged in the cab 2, the installation direction of the cab inclination sensor is consistent with that of the cutter rest device inclination sensor 4, and an included angle between the whole vehicle and the horizontal direction in the working process, namely the current terrain gradient, is obtained;
step 2, system parameter adjustment:
and S21, calibrating each sensor, wherein the reading of the angle sensor 7 at the rotary hinged joint of the carriage 8 and the sugarcane harvester knife rest device 1 is an included angle value of the carriage and the sugarcane harvester knife rest device, the reading of the knife rest device inclination angle sensor 4 on the knife rest device 1 is an included angle value of the knife rest device 1 and the horizontal direction, and the reading of the cab inclination angle sensor 3 is an integral inclination angle of the sugarcane harvester, namely a current ground slope reading.
Step S22, selecting a proper current value of the PWM electromagnetic proportional reversing valve 10, and adjusting the action speed of the hydraulic cylinder 12 to meet the requirement; because of the self weight of the cutter, experiments find that the hydraulic cylinder 12 can start to act slowly when the current control quantity PWMcon of the electromagnetic valve in the controller is more than 7500 (the current is about 0.92A, the PWM range is 0-65535 and corresponds to 0-24V), and the hydraulic cylinder 12 can act quickly when the action speed of the hydraulic cylinder 12 is increased along with the increase of the PWM value, the PWMcon is 10000, so that the PWM duty ratio parameter output range is positioned [7500, 10000] in the test process, the corresponding output current is [0.92,1.22] A, and the working principle diagram of the hydraulic system is shown in FIG. 3;
step 3, taking terrain variation data and calculating:
acquiring and inputting data of each sensor acquired in the advancing process into a data processing model, wherein fig. 4 is an angle and height relation in a terrain detection method of the sugarcane harvester, and outputting the current detected terrain height H2 after the operation of the following formula model;
H2＝H3+H1-H4＝L1×sinθ+L3×sin(β+η1)-L4×sin(β+η2)
wherein: the included angle between the alpha-carriage 8 and the tool rest device 1, namely the data adopted by the angle sensor 7;
the angle formed by the beta-knife rest device 1 and the horizontal direction is the angle of the data adopted by the knife rest device inclination angle sensor 4;
an included angle formed by the gamma-car body and the horizontal direction, namely the data collected by the cab inclination sensor 3;
h1-distance from the center 16 of the carriage disc to the ground, mm;
h2-distance from the cutter device 6 to the ground, mm;
h3-the distance between the center 16 of the carriage disc and the horizontal position of the rotating shaft 13 of the tool rest device is mm;
h4-distance between the cutter device 6 and the horizontal position of the rotary shaft 13 of the cutter rest device is mm;
l1-the length dimension of the carriage 8, mm;
the center 16 of the L3-carriage disc is separated from the rotating shaft 13 of the tool rest device by mm;
the center of the L4-cutter device 6 is separated from the rotating shaft 13 of the cutter rest device by mm;
η1-included angle formed between the center 16 of the carriage disc and the upper side of the tool rest device 1;
η2-the center of the cutter device 6 forms an included angle with the upper side of the cutter rest device 1;
step 4, outputting a terrain error:
performing post-processing on the output result of the processing model in the step 3, comparing the output result with the set target terrain height, and outputting a terrain height error E:
E＝H2-H0
wherein: h0-setting the height of the target terrain, and mm;
the set target terrain height is set by an operator according to the field condition before the harvester starts working;
step 5, outputting a cutter height adjustment instruction:
judging the height error calculation result, wherein the judging steps are as follows:
step S51, judging whether the height error E is in the range of the control precision requirement or not, and if the height error E is smaller than the control precision requirement, meeting the termination requirement, and not outputting a control instruction, wherein the termination requirement is as follows:
E＜E0
wherein: e0-setting the precision requirement, mm;
otherwise, go to step S52;
step S52, inputting the height error calculation result into a fuzzy control algorithm, outputting a height motion control instruction of a corresponding cutter according to the calculation of the fuzzy control algorithm and outputting the height motion control instruction;
FIG. 6 is a flow chart of a control algorithm that outputs calculated control commands by inputting altitude errors in combination with a fuzzy rule table;
when the termination condition is met, the system realizes the self-adaptive adjustment of the height of the cutting knife;
fig. 8 shows different models of the tool height adaptive control system passing the test on the slope model indoors, this example using model 1, and fig. 9 is calculated height data of the tool from the ground during the test.
(A) The invention breaks through the problem that the existing terrain detection method can not be well adapted to complex terrain, realizes complex terrain detection based on the terrain sensing device, and can provide basis for terrain detection similar to complex scenes.
(B) The invention realizes the self-adaptive regulation and control of the height of the cutter based on terrain detection, utilizes a plurality of inclination sensors to detect the posture of the vehicle body and the ground slope angle, further improves the control precision, and solves the problem of low harvesting quality caused by manual operation of the existing driver.
(D) The method provided by the invention can realize the implementation of terrain detection and the height self-adaptive regulation and control of the operation device in a complex environment, so that the method can provide basis for the terrain detection of similar complex terrain in the later period and the design of an automatic operation device.
Comparative example 1:
this comparative example presents a terrain sensing method based on an angle sensor and a method for adaptive regulation and control of the height of the tool, the other steps of which are identical to those of example 1, with the difference that only the terrain adopted by the test is different.
The test terrain model 1 adopted in example 1 is a slope type terrain, and the test is carried out by adopting different terrain models 2, 3 and 4 in the comparative example. Fig. 10, 11 and 12 show the results of the comparative example 1.
Comparative example 2:
the comparative example shows a terrain sensing method based on an angle sensor and a cutter height self-adaptive regulation and control method, and other steps of the method are the same as those of the embodiment 1, and the difference is only that the travelling speed of a model in a test is different so as to verify the difference of the control system under different speeds.
The test performed in example 1 simulates the normal operating travel rate of a cane harvester of 1.8km/h, and the comparative example uses slower (1 km/h) and faster (2 km/h) travel rates. Fig. 13 and 14 show the results of the test corresponding to comparative example 2.
Example 2:
the embodiment provides a terrain sensing method based on an angle sensor and a cutter height self-adaptive control method, other steps of the method are the same as those of the embodiment 1, the difference is that the sugarcane harvester which is put into use is modified, a protective shell 22 and a protective wire sleeve 23 are additionally arranged, the sensor is prevented from being damaged in the experimental process, the modification result is as shown in fig. 15, the field test of the sugarcane harvester is carried out in a farmland, and meanwhile, the difference exists in the step 2:
step 2, system parameter adjustment:
in step S21, the cab inclination sensor 3 installed in the cab of the vehicle body is used for feeding back the angle of the vehicle body along with the terrain, and the output of the cab inclination sensor 3 is 0 when the vehicle body is calibrated to be horizontal, the rise of the vehicle body is positive, and the fall of the vehicle body is negative when the vehicle body is down and down. The inclination sensor 4 of the installed tool rest device is calibrated to be zero when the hydraulic cylinder 12 is completely contracted, and the angle is increased to be positive when the hydraulic cylinder 12 extends;
step S22, selecting a proper current value of the PWM electromagnetic proportional reversing valve 10, and adjusting the action speed of the hydraulic cylinder 12 to meet the requirement;
because the structure of the test prototype is more complete than the bench, the weight of the cutter part is increased, the resistance of the telescopic oil cylinder is different, the characteristics of the hydraulic system of the test prototype and the characteristics of the hydraulic system of the indoor test prototype are different, the field test shows that when PWMcon is larger than 11000 (1.35A), the hydraulic cylinder 12 can start to act slowly, the action speed of the hydraulic cylinder 12 is increased along with the increase of the value, and the hydraulic cylinder 12 can act quickly when PWMcon is 13000 (1.59A), so that the requirement of the lifting speed of the cutter is met, therefore, the output range of PWM duty ratio parameters is determined as [11000, 13000] in the test process, and the corresponding output current is [1.35,1.59] A.
FIGS. 16-19 show the results of the corresponding tests of example 2.
Effect test comparison:
the final value errors of the cutting knife ground-leaving heights H2 of different model theories are controlled within 10mm, the steady-state errors are small, and the control precision is high; the mean error is controlled within 20mm, which indicates that the overall dynamic accuracy of the control system is higher.
The comparison of control performance under different speeds is carried out in comparative example 2, and the result shows that for the terrain change under different speeds, namely under different complexity degrees, the final value error of the theoretical cutting knife ground-leaving height H2 is controlled within 10mm, the average value error is controlled within 20mm, namely the cutting knife ground-leaving height is kept unchanged, and the control system can maintain better control precision. However, under the condition that the terrain change is complex and frequent, namely the vehicle speed is high, the control error is large, namely the rapidly-changed terrain has a certain influence on the terrain following performance of the self-adaptive control system, and the overall control performance is still good.
Through the field test of the embodiment 2, the test results of various different terrains on the sugarcane field shown in fig. 16-19 are obtained, the final value error of the theoretical cutting knife ground-leaving height H2 in the test process is controlled within 20mm, the mean value error is controlled within 25mm, and the self-adaption following performance of the whole body along with the change of terrains is good. The downhill slope test does not show obvious difference from the uphill slope test, and the slow test error in different vehicle speed tests is smaller than that in the fast test, so that the local terrain gradient inclination direction has no great influence on the performance of the control system. Because of the multiple continuous terrain changes of the actual terrain, the overall control performance test result of the control system has larger error compared with the step model test in the indoor test.
Experiments show that the terrain detection and cutter height self-adaptive regulation and control method based on the contact type terrain sensing device can effectively realize cutter height self-adaptive regulation and control in the working process of the sugarcane harvester, and provides an effective method for terrain sensing of similar scenes and self-adaptive control of the working device.
Although the method is verified in a sugarcane harvester, the method is not limited to the case, and the method is used for sensing the topography of other construction machines or agricultural machines and adaptively regulating and controlling the working device, and is also within the protection scope of the invention.
The modification, calculation model and fuzzy control method described in example 1 and example 2 are the same; the method of the embodiment can carry out terrain detection and cutter height self-adaptive adjustment under different complex scenes; the method solves the problems of low harvesting efficiency and low quality caused by manual driving operation of the conventional sugarcane harvester, and truly realizes automatic and intelligent crop harvesting.
Claims (5)
1. A topography perception device for cutter height self-adaptation adjustment mainly comprises angle sensor, connecting plate, pivot, carriage flange, carriage and shaft coupling, its characterized in that, angle sensor pass through the bolt with the connecting plate fixed, connecting plate and sugarcane harvester body fixed, angle sensor's output shaft pass through holding screw with the pivot fixed, the carriage flange fix in the pivot on, the carriage pass through the bolt with the carriage flange fixed, the shaft coupling with two the pivot connect.
2. The regulating and controlling method for the self-adaptive adjustment of the cutter height is characterized in that the method senses the change of the terrain height according to a terrain sensing device and self-adaptively regulates and controls the cutter height of the sugarcane harvester, and the method is carried out according to the following steps:
step 1, installing a terrain sensing device and an inclination sensor: a terrain sensing device is arranged at a proper position below the machine body in a rotary hinged mode to acquire height change information of a target point and the ground, a tool rest device inclination sensor is fixedly arranged at a tool rest device of the car body to acquire an included angle between the tool rest device and the horizontal direction in the working process, and a cab inclination sensor is fixedly arranged at a cab position of the car body to acquire the whole posture change condition of the car body;
step 2, system parameter adjustment: calibrating each sensor, selecting a proper current value of a PWM electromagnetic proportional reversing valve, and adjusting the action speed of the hydraulic cylinder to meet the requirement;
step 3, taking terrain variation data and calculating: collecting and inputting the data of each sensor acquired in the advancing process into a data processing model, and outputting the detected terrain height H2 after operation;
step 4, outputting a terrain error: performing post-processing on the output result of the processing model in the third step, comparing the output result with the set target terrain height, and outputting a terrain error E;
step 5, outputting a cutter height adjustment instruction: judging the height error calculation result, wherein the judging steps are as follows: step S51, judging whether the height error E is in the range of the control precision requirement or not, and if the height error E is smaller than the control precision requirement, meeting the termination requirement, and not outputting a control instruction, wherein the termination requirement is as follows: e is less than E0, otherwise, step S52 is carried out; step S52, inputting the height error calculation result into a fuzzy control algorithm, outputting a height motion control instruction of a corresponding cutter according to the calculation of the fuzzy control algorithm and outputting the height motion control instruction; when the termination condition is met, the system realizes the self-adaptive adjustment of the height of the cutting knife.
3. A method for adjusting the height of a tool according to claim 2, wherein the method comprises: the method comprises the steps of obtaining the ground height change condition by adopting a terrain sensing device, and combining the vehicle body posture change and the terrain gradient change detected by a cab inclination sensor arranged on a vehicle body, and calculating the ground height by utilizing a data processing model.
4. The method for adaptively adjusting the height of a tool according to claim 2, wherein the data processing model is: a kinematic model obtained by theoretical modeling and kinematic analysis of a sugarcane harvester.
5. The method for adaptively adjusting the height of a cutter according to claim 2, wherein in the process of on-site data acquisition, the running speed of the vehicle is 1.8km/h-3km/h, and the sampling time interval is 0.05s.
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