CN115885686A - Intelligent acquisition system and method for cutting depth of cutter of sugarcane harvester during soil penetration - Google Patents
Intelligent acquisition system and method for cutting depth of cutter of sugarcane harvester during soil penetration Download PDFInfo
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- CN115885686A CN115885686A CN202211707125.9A CN202211707125A CN115885686A CN 115885686 A CN115885686 A CN 115885686A CN 202211707125 A CN202211707125 A CN 202211707125A CN 115885686 A CN115885686 A CN 115885686A
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Abstract
The invention relates to the technical field of automatic control of agricultural machinery, and particularly discloses an intelligent acquisition system for the cutting depth of a cutter of a sugarcane harvester, which comprises a profiling mechanism, wherein the profiling mechanism comprises a profiling mounting plate, the side wall of the profiling mounting plate is rotatably connected with a profiling rod, and a torsion spring is coaxially fixed on the profiling rod and the rotating shaft of the profiling mounting plate; one end of the profiling rod, which is far away from the profiling mounting plate, is rotatably connected with a profiling wheel; the position sensor is fixed on the side wall of the profiling mounting plate, and a detection head of the position sensor faces to one end close to the profiling rod; the position sensor is used for acquiring the displacement change of the detection end of the profiling mechanism; and the microcontroller is used for optimizing the proportional factor of the fuzzy PID for the displacement signal of the position sensor according to a genetic algorithm and sending the optimized control signal to the outside. The invention aims to provide an intelligent acquisition system for the cutting depth of the cutter of a sugarcane harvester, which aims to solve the technical problem that acquired data are easy to distort in the conventional profiling process for complex geology.
Description
Technical Field
The invention relates to the technical field of agricultural machine numerical control, and particularly discloses an intelligent acquisition system and method for the cutting depth of a cutter of a sugarcane harvester in soil.
Background
Sugarcane is used as an important sugar crop in China and is mainly planted in Guangdong, guangxi, yunnan and other places in China. In 2019, the sugarcane planting area of China is about 153.33 ten thousand hm & lt 2 & gt, and the sugarcane is located at the 3 rd position in the world. Wherein the planting area of the Guangxi sugarcane is about 87 ten thousand hm & lt 2 & gt, and accounts for more than 60% of the total planting area of the whole country. The mechanized process of the sugarcane harvester in China is slow, and mainly because the sugarcane is mostly planted in hilly and mountainous areas, the sugarcane land is uneven, rainwater is more in the harvesting season, and the operation quality and the operation time are greatly limited by the operation environment.
To hilly mountain area, the general ground recognition technology of prior art makes the high position of cutting knife realize dynamic adjustment function. For example, the Chinese patent discloses (publication number: CN 113589709A) an intelligent monitoring system for the cutting of the sugarcane harvester into the soil, which comprises: the system comprises a vehicle-mounted terminal, a depth camera, a torque sensor, a temperature sensor, a displacement sensor, a rotary encoder, a microcontroller, a profiling detection mechanism and an execution mechanism; the control system is characterized in that a microcontroller acquires six parameters of the sugarcane harvester, such as the cutting depth into the soil, the abrasion condition of a cutter, the breakage rate of the sugarcane, the rotating speed of the cutter, the running speed of a vehicle and the oil temperature of an engine; the intelligent monitoring system for the soil-entering cutting of the sugarcane harvester can process the collected data and fit a curve.
Although the above scheme can realize the profiling simulation of the ground topography by using the profiling detection mechanism, the depth camera is used for image recognition profiling in the profiling detection, so that the situations of blurring due to camera photographing or reduction of processing speed and the like can occur in the process of simulating data collection, and further the situation of data collection distortion is caused. The cutting knife is adjusted to the distortion data when the collection system is used for a long time, the position of the cut sugarcane is not consistent easily, the situation that the cutting knife is abraded in an accelerating mode is caused more easily, and the sugarcane harvesting efficiency is seriously influenced.
Disclosure of Invention
The invention aims to provide an intelligent acquisition system for the cutting depth of the cutter of a sugarcane harvester, which aims to solve the technical problem that acquired data are easy to distort in the conventional profiling process for complex geology.
In order to achieve the purpose, the basic scheme of the invention is as follows: an intelligent collection system for the cutting depth of a cutter of a sugarcane harvester during soil penetration comprises:
the profiling mechanism comprises a profiling mounting plate, the side wall of the profiling mounting plate is rotatably connected with a profiling rod, and a torsion spring is coaxially fixed on the profiling rod and the rotating shaft of the profiling mounting plate; one end of the profiling rod, which is far away from the profiling mounting plate, is rotatably connected with a profiling wheel; the position sensor is fixed on the side wall of the profiling mounting plate, and a detection head of the position sensor faces to one end close to the profiling rod;
the position sensor is used for acquiring the displacement change of the detection end of the profiling mechanism;
and the microcontroller is used for filtering the displacement signal of the position sensor, optimizing the scale factor of the fuzzy PID according to a genetic algorithm and sending an optimized control signal result to the outside.
The working principle and the beneficial effects of the basic scheme are as follows: when the contour wheel passes through a high ground, the torsion spring is compressed, the contour wheel rises and is tightly pressed on the ground through the elasticity of the torsion spring, and when the contour wheel passes through a low ground, the torsion spring provides pressure to enable the contour wheel to be tightly pressed on the ground. The attitude data of the profiling rod is collected through the position sensor and transmitted to the microcontroller, and the microcontroller performs resolving and outputs control quantity.
According to the technical scheme, the profiling mechanism is used for simulating the ground, and the data of the profiling mechanism simulating the ground is collected according to the position sensor and is compared with the target depth. Compared with the prior art, the technical scheme also adopts a genetic algorithm to optimize the proportional factor of the fuzzy PID, so as to achieve higher control precision. Ensure follow-up accurate regulation to cutting knife high position, guarantee to cut the inconsistent in sugarcane position, avoid the condition of cutting knife extra wearing and tearing to take place, effectively improve sugarcane results efficiency.
The technical scheme also adopts a genetic algorithm to optimize the proportional factor of the fuzzy PID, so as to achieve higher control precision. Ensure follow-up accurate regulation to cutting knife high position, guarantee to cut the inconsistent in sugarcane position, avoid the condition of cutting knife extra wearing and tearing to take place, effectively improve sugarcane results quality and results efficiency.
Further, the hydraulic control system also comprises an actuating mechanism, wherein the actuating mechanism comprises a relay, an electromagnetic directional valve and a hydraulic cylinder; the micro controller is used for controlling the opening and closing of the relay, the relay is used for controlling the opening and closing of the electromagnetic directional valve, the electromagnetic directional valve is used for controlling the telescopic displacement of the hydraulic cylinder, and the free end of the hydraulic cylinder is fixedly connected with a cutting knife for harvesting sugarcane.
Has the advantages that: according to the technical scheme, the microcontroller is used for obtaining the control quantity for controlling the actuating mechanism, and the microcontroller controls the actuating mechanism so as to control the height of the cutting knife of the sugarcane harvester.
The system further comprises a thermal imager, a camera and a display, wherein the thermal imager is used for acquiring and generating continuous infrared thermal imaging pictures;
the processing module is used for receiving the infrared thermal imaging picture and sending a signal to the microcontroller;
when the temperature of the infrared thermal imaging picture is lower than 20 ℃ and the infrared thermal imaging picture contains an image at 20 ℃, the processing module sends an electric signal for continuously receiving the position sensor to the microcontroller;
when the infrared thermal imaging picture has an image with the temperature of more than 20 ℃, the processing module sends an electric signal for stopping receiving the position sensor to the microcontroller.
Further, the thermal imager is fixed between the profiling mechanism and the cutting knife, and a monitoring area of the thermal imager faces to one side close to the cutting knife.
Further, when the received infrared thermal imaging picture has an image with the temperature below 0 ℃, the processing module judges that a frozen object exists, and sends an electric signal of the frozen object to the microcontroller; after the microcontroller receives the electric signal of the frozen object, the height of the cutting knife is uniformly reduced by 2mm on the original basis of controlling the height position of the cutting knife;
when the received infrared thermal imaging picture has an image with the temperature of more than 20-40 ℃, the processing module judges that living organisms invade, and sends a control signal for enabling the cutting knife to rise to the highest position to the microcontroller;
the processing module judges that the invasion of the comburent exists when the received infrared thermal imaging picture has an image with the temperature of more than 40 ℃, and the processing module sends a control signal for enabling the cutting knife to rise to the highest position and stopping the rotation of the cutting knife to the microcontroller.
And further, the system also comprises a vehicle-mounted terminal, wherein the vehicle-mounted terminal is used for visually displaying the signals optimized by the position sensor.
Further, the device comprises a torque sensor, the torque sensor is coaxially connected to the cutting knife, the torque sensor is used for monitoring the torque change condition of the cutting knife of the sugarcane harvester, the microprocessor judges the working condition of the cutting knife through a torque signal of the torque sensor, the microprocessor is further used for sending the torque signal of the torque sensor to the vehicle-mounted terminal, and the vehicle-mounted terminal generates a visual torque change curve of the torque signal.
A method is applied to any intelligent acquisition system for the cutting depth of the cutter of the sugarcane harvester.
Drawings
FIG. 1 is a schematic front view of a cane harvester according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a profiling mechanism according to an embodiment of the present invention;
FIG. 3 is a flowchart of genetic algorithm optimization according to an embodiment of the present invention
FIG. 4 is a schematic diagram of a genetic algorithm optimized fuzzy PID according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the microcontroller controlling the actuator according to the embodiment of the present invention.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: the device comprises a profiling mechanism 1, a profiling mounting plate 5-1, a positioning hole 5-2, a position sensor 5-3, a connecting shaft 5-4, a torsion spring 5-5, a rolling bearing 5-6, a curved profiling rod 5-7 and a profiling wheel 5-8.
Example one
Substantially as shown in figures 1 and 2: an intelligent collection system for the cutting depth of a cutter of a sugarcane harvester during soil penetration comprises:
the detection end of the profiling mechanism 1 is abutted against the ground, and the profiling mechanism 1 can perform corresponding displacement change in the process of passing through the ground. The profiling mechanism 1 is used for detecting the cutting knife penetration depth of the sugarcane harvester, and comprises a profiling mounting plate 5-1, a bent-arc profiling rod 5-7 and a profiling wheel 5-8 as shown in figure 5.
And the position sensor 5-3 is used for acquiring the displacement change of the detection end of the profiling mechanism 1, the position sensor 5-3 is fixed on the side wall of the profiling mounting plate 5-1, and a detection head of the position sensor 5-3 faces to one end close to the bent profiling rod 5-7.
As shown in the attached drawing 2, a profiling mechanism 1 is fixed with a rack of a sugarcane harvester through a positioning hole 5-2 on a profiling mounting plate 5-1 in a threaded mode, the profiling mechanism 1 is located in front of a cutting knife of the sugarcane harvester, a profiling connecting shaft 5-4 is used for connecting the profiling mounting plate 5-1 with a curved profiling rod 5-7, a rolling bearing 5-6 plays a supporting role, and a torsion spring 5-5 is coaxially fixed on the profiling connecting shaft 5-4. The torsion spring 5-5 is arranged between the connecting shaft 5-4 and the mounting plate 5-1 and used for providing elasticity for the bent profiling rod 5-7 and the profiling wheel 5-8 and ensuring that the profiling wheel 5-8 is tightly pressed on the ground. When the contour wheel 5-8 passes through the high ground, the torsion spring 5-5 compresses, the contour wheel 5-8 ascends and is pressed against the ground through the elasticity of the torsion spring 5-5, and when the contour wheel 5-8 passes through the low ground, the torsion spring 5-5 provides pressure to press the contour wheel 5-8 against the ground. The attitude data of the curved-arc profiling rod 5-7 is collected through the position sensor 5-3 and transmitted to the microcontroller, and the microcontroller performs calculation and outputs control quantity.
The microcontroller is used for controlling the actuating mechanism according to the signal of the position sensor so as to lead the height position change of the cutting knife to be synchronous with the height position change of the profiling mechanism 1; and the position sensor is also used for sending the acquired position sensor signal to the vehicle-mounted terminal. The device is used for filtering the displacement signal of the position sensor, optimizing the scale factor of the fuzzy PID according to a genetic algorithm and sending the optimized control signal result to the outside.
The control part mainly takes the microcontroller as a core, resolves data acquired by the position sensor, sends the data to the vehicle-mounted terminal through the HC-05 module, controls the action of the actuating mechanism after receiving feedback information of the vehicle-mounted terminal, and further controls the height of the cutting knife to be adjusted in real time along with the fluctuation of the ground surface. The HC-05 module carries out data communication through a wireless protocol of short-distance transmission, and the HC-05 module can be used as a wired serial port line after being paired. The HC-05 module can replace a traditional serial port line, so that wiring work is omitted, and the problem of short-distance wireless data transmission is solved.
The microcontroller controls the action process of the executing mechanism, and as shown in fig. 5, the executing mechanism comprises a double-acting hydraulic cylinder, a hydraulic synchronous motor, a three-position four-way electromagnetic directional valve, an overflow valve, a hydraulic oil tank, an oil pump and the like.
The microcontroller controls the on-off action of the relay, and further controls the oil flow direction of the electromagnetic directional valve through the electromagnetic valve, so that the telescopic action of the hydraulic cylinder is realized. When the hydraulic cylinder stretches out, the cutting knife of the sugarcane harvester is lifted up to finish the heightening action, and when the hydraulic cylinder contracts, the cutting knife of the sugarcane harvester is lowered to finish the lowering action.
The hydraulic oil is provided by a tractor oil pump, and the hydraulic oil from the oil pump passes through an overflow valve to keep the oil pressure of a hydraulic system constant. At the moment, the oil flows through the three-position four-way electromagnetic directional valve, one end of the oil flows through the oil circuit and then enters the overflow valve to control the oil outlet hydraulic flow, and the oil flows through the hydraulic synchronous motor and then enters the rod cavity, so that the hydraulic cylinder can realize the extending action of the oil cylinder; when the other end of the electromagnetic directional valve is electrified, the rodless cavity is fed with oil, the contraction action of the oil cylinder can be realized, and the function of controlling the cutting depth of the sugarcane harvester in the soil is further realized.
In the process of microcontroller resolving, the microcontroller adopts a genetic algorithm to optimize the fuzzy PID. As shown in fig. 3 and fig. 4, the genetic algorithm mainly adopts real number or binary coding to set the character string of the optimized object, and the coding mode adopts real number coding. And (3) regarding the scale factors in the fuzzy PID as genes in individuals, and continuously performing online parameter optimization on the system to optimize the performance of the fuzzy PID. The 3 variables in the model are formed into a code string (Kp, ki, kd), such string represents an individual in the population, each individual is a solution, and the initial population is generated according to the value range of the design variable. Calculating the fitness of the contemporary population and judging whether the population is an elite individual, if so, decoding and outputting an optimal solution of a fuzzy PID scale factor, otherwise, copying, crossing and mutating the individuals to obtain a new individual, merging the populations to form the contemporary population, and repeating the steps.
The cutting knife of the sugarcane harvester adopts an indirect measuring method for the depth of the cutting knife into the soil, the profiling mechanism and the cutting knife are fixed on a rack of the sugarcane harvester, when the cutting knife just enters the soil, data of the position sensor 5-3 are marked to be zero, and the position sensor 5-3 simulates ground fluctuation information after calculation by measuring displacement change information of the profiling mechanism 1, so that the depth of the cutting knife into the soil is obtained. Compared with the prior art, the technical scheme also adopts a genetic algorithm to optimize the proportional factor of the fuzzy PID, so as to achieve higher control precision. Ensure follow-up accurate regulation to cutting knife high position, guarantee to cut the inconsistent in sugarcane position, avoid the condition of cutting knife extra wearing and tearing to take place, effectively improve sugarcane results quality and results efficiency.
Example two
The difference between the embodiment and the embodiment one is that the thermal imaging device further comprises a thermal imager for collecting and generating continuous infrared thermal imaging pictures; the thermal imager is fixed between the profiling mechanism and the cutting knife, and a monitoring area of the thermal imager faces to one side close to the cutting knife;
the processing module is used for receiving the infrared thermal imaging picture and sending a signal to the microcontroller;
when the temperature of the infrared thermal imaging picture is lower than 20 ℃ and the infrared thermal imaging picture contains an image at 20 ℃, the processing module sends an electric signal for continuously receiving the position sensor to the microcontroller;
when the infrared thermal imaging picture has an image with the temperature of more than 20 ℃ and the temperature area is more than 5mm by 5mm, the processing module sends an electric signal for stopping receiving the position sensor to the microcontroller;
when the received infrared thermal imaging picture has an image with the temperature below 0 ℃ and the temperature area is more than 5mm and 5mm, the processing module judges that a frozen object exists, and the processing module sends an electric signal indicating that the frozen object exists to the microcontroller; after the microcontroller receives the electric signal of the frozen object, the height of the cutting knife is uniformly reduced by 2mm on the original basis. Because the cutting knife is in the in-process that lasts the cutting and is causing the cutter wearing and tearing ageing easily for a long time high temperature state, and this technical scheme and then can make and be in high temperature state cutting knife and be close more to the object that freezes, plays the cooling effect of certain degree to the surface of cutter, effectively prolongs the life of cutter.
When the received infrared thermal imaging picture has an image with the temperature of more than 20-40 ℃ and the temperature area is more than 5mm by 5mm, the processing module judges that living organisms invade, and sends a control signal for enabling the cutting knife to rise to the highest position to the microcontroller;
the processing module judges that the invasion of the combustion object exists when the received infrared thermal imaging picture has an image with the temperature of more than 40 ℃ and the temperature area is more than 5mm and 5mm, and the processing module sends a control signal for enabling the cutting knife to ascend to the highest position and stopping the rotation of the cutting knife to the microcontroller and sends alarm information.
The foregoing is merely an example of the present invention and common general knowledge of known specific structures and features of the embodiments is not described herein in any greater detail. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (8)
1. The utility model provides a sugarcane harvester cutterbar cutting depth intelligence collection system that buries which characterized in that includes:
the profiling mechanism comprises a profiling mounting plate, the side wall of the profiling mounting plate is rotatably connected with a profiling rod, and a torsion spring is coaxially fixed on the profiling rod and the rotating shaft of the profiling mounting plate; one end of the profiling rod, which is far away from the profiling mounting plate, is rotatably connected with a profiling wheel; the position sensor is fixed on the side wall of the profiling mounting plate, and a detection head of the position sensor faces to one end close to the profiling rod;
the position sensor is used for acquiring the displacement change of the detection end of the profiling mechanism;
and the microcontroller is used for filtering the displacement signal of the position sensor, optimizing the scale factor of the fuzzy PID according to a genetic algorithm and sending the optimized control signal result to the outside.
2. The intelligent acquisition system for the cutting depth of the cutter of the sugarcane harvester into the soil as recited in claim 1, wherein: the hydraulic cylinder is characterized by also comprising an actuating mechanism, wherein the actuating mechanism comprises a relay, an electromagnetic reversing valve and a hydraulic cylinder; the micro controller is used for controlling the opening and closing of the relay, the relay is used for controlling the opening and closing of the electromagnetic directional valve, the electromagnetic directional valve is used for controlling the telescopic displacement of the hydraulic cylinder, and the free end of the hydraulic cylinder is fixedly connected with a cutting knife for harvesting sugarcane.
3. The intelligent collection system for the cutting depth of the cutter of the sugarcane harvester into soil according to claim 1, characterized in that: the thermal imager is used for acquiring and generating continuous infrared thermal imaging pictures;
the processing module is used for receiving the infrared thermal imaging picture and sending a signal to the microcontroller;
when the temperature of the infrared thermal imaging picture is lower than 20 ℃ and the infrared thermal imaging picture contains an image at 20 ℃, the processing module sends an electric signal for continuously receiving the position sensor to the microcontroller;
when the infrared thermal imaging picture has an image with the temperature of more than 20 ℃, the processing module sends an electric signal for stopping receiving the position sensor to the microcontroller.
4. The intelligent collection system for the cutting depth of the cutter of the sugarcane harvester into soil according to claim 3, characterized in that: the thermal imager is fixed between the profiling mechanism and the cutting knife, and the monitoring area of the thermal imager faces to one side close to the cutting knife.
5. The system for intelligently acquiring the cutting depth of the cutter of the sugarcane harvester into the soil according to any one of the claims 4, wherein: when the received infrared thermal imaging picture has an image with the temperature below 0 ℃, the processing module judges that a frozen object exists, and sends an electric signal of the frozen object to the microcontroller; after the microcontroller receives the electric signal of the frozen object, the height of the cutting knife is reduced by 2mm on the original basis of controlling the height position of the cutting knife;
when the received infrared thermal imaging picture has an image with the temperature of more than 20-40 ℃, the processing module judges that living organisms invade, and sends a control signal for enabling the cutting knife to rise to the highest position to the microcontroller;
the processing module judges that the invasion of the comburent exists when the received infrared thermal imaging picture has an image with the temperature of more than 40 ℃, and the processing module sends a control signal for enabling the cutting knife to rise to the highest position and stopping the rotation of the cutting knife to the microcontroller.
6. The intelligent collection system for the cutting depth of the cutter of the sugarcane harvester into the soil as claimed in claim 2, characterized in that: the vehicle-mounted terminal is used for visually displaying the signals optimized by the position sensor.
7. The intelligent collection system for the cutting depth of the cutter of the sugarcane harvester into soil as claimed in claim 6, wherein: the sugarcane harvester cutting knife torque signal processing device is characterized by further comprising a torque sensor, the torque sensor is coaxially connected to the cutting knife, the torque sensor is used for monitoring the torque change condition of the cutting knife of the sugarcane harvester, the microprocessor judges the working condition of the cutting knife through a torque sensor torque signal, the microprocessor is further used for sending the torque signal of the torque sensor to the vehicle-mounted terminal, and the vehicle-mounted terminal generates a visual torque change curve of the torque signal.
8. A method, characterized by: the intelligent acquisition system for the cutting depth of the cutter of the sugarcane harvester in the soil is used in any one of the claims 1 to 7.
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| CN202211707125.9A CN115885686A (en) | 2022-12-27 | 2022-12-27 | Intelligent acquisition system and method for cutting depth of cutter of sugarcane harvester during soil penetration |
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| CN202211707125.9A CN115885686A (en) | 2022-12-27 | 2022-12-27 | Intelligent acquisition system and method for cutting depth of cutter of sugarcane harvester during soil penetration |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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