阅读说明：本技术 甘蔗收获机入土切割智能监控系统 (Intelligent monitoring system for cutting of sugarcane harvester into soil ) 是由 何冯光 李国杰 陈自宏 邓干然 王金山 郑爽 崔振德 李玲 覃双眉 于 2021-06-17 设计创作，主要内容包括：本发明公开了一种甘蔗收获机入土切割智能监控系统,包括：车载终端、深度相机、扭矩传感器、温度传感器、位移传感器、旋转编码器、微控制器、仿形检测机构和执行机构；所述控制系统由微控制器采集甘蔗收获机入土切割深度、刀具磨损情况、甘蔗破头率、刀具转速、车辆行驶速度、发动机油液温度六个参数；所述甘蔗收获机入土切割智能监控系统可以将采集数据进行处理并拟合曲线。该发明有效提高了甘蔗收获机信息化、自动化水平,解决了甘蔗收获机入土切割深度不能因地形变化进行自动调整,进而影响切割合格率、甘蔗破头率,提高了甘蔗收获机作业效率,为作业效率的监管提供了技术支持。(The invention discloses an intelligent monitoring system for cutting when sugarcane harvester enters the soil, comprising: 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. The invention effectively improves the informatization and automation level of the sugarcane harvester, solves the problem that the cutting depth of the sugarcane harvester cannot be automatically adjusted due to the change of terrain, further influences the cutting qualification rate and the sugarcane top-breaking rate, improves the operation efficiency of the sugarcane harvester, and provides technical support for the supervision of the operation efficiency.)

1. The utility model provides a sugarcane harvester cuts intelligent monitoring system that buries which characterized in that includes: the system comprises a vehicle-mounted terminal, a depth camera (5-5), a torque sensor (4-2), a temperature sensor, a displacement sensor (5-6), a rotary encoder (4-1), a microcontroller, a profiling detection mechanism and an execution mechanism;

the profiling detection mechanism is fixed on a rack of the sugarcane harvester through a fixed support (5-1) and is positioned in front of a cutter of the sugarcane harvester, the vehicle-mounted terminal is arranged in a cab of the sugarcane harvester,

the two depth cameras (5-5) are arranged, one depth camera (5-5) is arranged on the profiling detection mechanism, the other depth camera (5-5) is arranged on a rack of the sugarcane harvester, the rear part of a cutter of the sugarcane harvester, the torque sensor (4-2) is arranged on a cutter shaft (4-3) of the cutter of the sugarcane harvester, the temperature sensor is arranged in an oil tank of an engine of the sugarcane harvester, the displacement sensor (5-6) is arranged on the profiling detection mechanism, the two rotary encoders (4-1) are respectively arranged on a wheel shaft of the sugarcane harvester and the cutter shaft (4-3) of the cutter, and the microcontroller and the execution mechanism are both arranged on the sugarcane harvester;

the torque sensor (4-2), the temperature sensor, the displacement sensor (5-6) and the rotary encoder (4-1) are all connected with a microcontroller, the microcontroller is connected with a vehicle-mounted terminal, and the vehicle-mounted terminal is connected with the depth camera (5-5); the microcontroller is also connected with an execution mechanism, and the execution mechanism is connected with a cutter of the sugarcane harvester;

the torque sensor (4-2) is used for detecting torque data when a cutter of the sugarcane harvester is buried and cut, and monitoring the abrasion condition of the cutter of the sugarcane harvester through the change of the torque data;

the temperature sensor is used for detecting the temperature of the oil of the engine and sending the temperature to the microcontroller;

the two rotary encoders (4-1) are respectively used for detecting the rotating speed of the cutter shaft (4-3) and the rotating speed of the wheel shaft and sending the rotating speeds to the microcontroller;

the microcontroller is used for calculating the running speed of the vehicle according to the rotating speed of the wheel shaft and the wheel diameter;

the displacement sensor (5-6) is used for detecting the cutting depth of the soil and sending the collected data to the microcontroller,

the microcontroller is used for processing data and sending the data to the vehicle-mounted terminal, the vehicle-mounted terminal is used for displaying the received data in real time,

the depth camera (5-5) installed on the profiling detection mechanism is used for collecting ground image information and sending the collected ground image information to the vehicle-mounted terminal, the vehicle-mounted terminal receives the ground image information collected by the depth camera (5-5) installed on the frame of the sugarcane harvester and detects and identifies whether sugarcane lodging exists, when the sugarcane lodging is detected, the vehicle-mounted terminal identifies the diameter of the sugarcane and feeds back the information to the microcontroller, and the microcontroller performs displacement compensation according to the soil-entering cutting depth collected by the displacement sensor (5-6) and the diameter of the sugarcane identified by the vehicle-mounted terminal, so that the accuracy of the finally obtained soil-entering cutting depth is ensured;

the depth camera (5-5) mounted on the rack of the sugarcane harvester is used for collecting ground image information and sending the collected ground image information to the vehicle-mounted terminal, and the vehicle-mounted terminal is used for detecting the sugarcane top-breaking rate of the sugarcane harvester after operation according to the ground image information collected by the depth camera (5-5) mounted on the rack of the sugarcane harvester and sending the information of the sugarcane top-breaking rate to the microcontroller;

the microcontroller is used for receiving the information of the sugarcane top breaking rate, analyzing the information of the sugarcane top breaking rate and controlling the lifting of a cutter of the sugarcane harvester through the execution mechanism.

2. The intelligent monitoring system for cutting into the ground of a sugar cane harvester of claim 1, wherein the profiling detection mechanism comprises: a profiling pre-tightening spring rod (5-2), a profiling rod (5-3) with a chute and a profiling wheel (5-4);

the upper end of the profiling rod (5-3) with the sliding groove is connected with the fixed support (5-1), the lower end of the profiling rod (5-3) with the sliding groove is connected with the profiling wheel (5-4), one end of the profiling pre-tightening spring rod (5-2) is connected with the profiling rod (5-3) with the sliding groove, and the other end of the profiling pre-tightening spring rod (5-2) is connected with a rack of the sugarcane harvester.

3. An intelligent monitoring system for the cutting into the soil of a sugar cane harvester according to claim 2, characterized in that the displacement sensor (5-6) and the depth camera (5-5) are mounted on a profiled rod (5-3) with a sliding chute.

4. The intelligent monitoring system for the soil-entering cutting of the sugarcane harvester according to claim 1, wherein a computer vision and deep learning algorithm is arranged on the vehicle-mounted terminal, a sugarcane lodging image and sugarcane broken head image data are respectively obtained by identifying ground image information collected by two depth cameras (5-5), the sugarcane lodging image and sugarcane broken head image data are analyzed, and finally the diameter of the lodging sugarcane and the sugarcane broken head rate after the sugarcane harvester operates are detected.

5. The intelligent monitoring system for cutting into the ground of a sugar cane harvester of claim 1, wherein the actuating mechanism comprises: the hydraulic control system comprises a relay, an electromagnetic valve, an electromagnetic directional valve and a hydraulic cylinder; the microprocessor is connected with a relay, the relay is connected with an electromagnetic directional valve through an electromagnetic valve, and the electromagnetic directional valve is connected with a hydraulic cylinder;

the microcontroller is used for controlling the on-off of the relay so as to control the electromagnetic valve, and the electromagnetic valve controls the hydraulic cylinder through the electromagnetic directional valve so as to control the lifting of the cutter.

6. The intelligent monitoring system for the soil-entering cutting of the sugarcane harvester as claimed in claim 1, wherein the microcontroller calculates data of each sensor and sends the calculated data to the vehicle-mounted terminal, the vehicle-mounted terminal is used for receiving the calculated data and performing visual processing on the calculated data, and the microcontroller controls the action of the actuating mechanism after obtaining the feedback of the vehicle-mounted terminal.

7. The intelligent monitoring system for soil-entering cutting of the sugarcane harvester as claimed in claim 1, wherein the microcontroller further comprises an HC-05 module, and the microcontroller is wirelessly connected with the vehicle-mounted terminal through the HC-05 module and is used for sending data to the vehicle-mounted terminal through the HC-05 module.

8. The intelligent monitoring system for the soil-entering cutting of the sugarcane harvester as claimed in claim 1, characterized in that a data uploading module is further arranged on the vehicle-mounted terminal, and the data uploading module is used for uploading data to a database and generating a local file for storage.

9. The intelligent monitoring system for the soil-entering cutting of the sugarcane harvester as claimed in claim 1, wherein an API is further arranged on the vehicle-mounted terminal, and the API is used for acquiring geographic position and weather information and displaying local meteorological data on the vehicle-mounted terminal.

10. An intelligent monitoring system for the cutting of a sugar cane harvester into the earth as recited in claim 1, wherein the Depth Camera employs an Intel RealSense Depth Camera D435.

Technical Field

The invention relates to the field of information acquisition and visualization during field harvesting operation of a sugarcane harvester, in particular to an intelligent monitoring system for cutting of the sugarcane harvester into 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 planting area of the sugarcane is about 153.33 kilohm in China²And the position is at the 3 rd position in the world. Wherein the planting area of Guangxi sugarcane is about 87 kilohm²It accounts for over 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.

The visualization of the field operation information is not left in the mechanized and intelligent operation of the sugarcane harvesting, the field operation information of the sugarcane harvester is collected, the required information can be more clearly acquired, the acquired information can be processed, the adjustment of the mechanization of the whole machine is facilitated, and conditions are provided for subsequent intellectualization. The design of a monitoring system for the operation of the harvester has great significance for the mechanized and intelligent processes of the sugarcane harvester.

Disclosure of Invention

The invention aims to solve the technical problem of improving the operation quality of a sugarcane harvester and provides an intelligent monitoring system for the cutting-in and cutting of the sugarcane harvester, which monitors six parameters of the cutting-in and cutting depth of the sugarcane harvester, the abrasion condition of a cutter, the breakage rate of sugarcane, the rotating speed of the cutter, the driving speed of a vehicle and the oil temperature of an engine in real time, and meanwhile, the cutter of the sugarcane harvester can automatically adjust the height along with the fluctuation of a surface.

The invention solves the technical problems through the following technical scheme:

an intelligent monitoring system for cutting of sugarcane harvester into soil comprises: the system comprises a vehicle-mounted terminal, a depth camera 5-5, a torque sensor 4-2, a temperature sensor, a displacement sensor 5-6, a rotary encoder 4-1, a microcontroller, a profiling detection mechanism and an execution mechanism;

the profiling detection mechanism is fixed on a rack of the sugarcane harvester through a fixing bracket 5-1 and is positioned in front of a cutter of the sugarcane harvester, the vehicle-mounted terminal is arranged in a cab of the sugarcane harvester,

two depth cameras 5-5 are provided, one depth camera 5-5 is mounted on the profiling detection mechanism, the other depth camera 5-5 is mounted on a rack of the sugarcane harvester, the rear part of a cutter of the sugarcane harvester, the torque sensor 4-2 is mounted on a cutter shaft 4-3 of the cutter of the sugarcane harvester, the temperature sensor is mounted in an engine oil tank of the sugarcane harvester, the displacement sensor 5-6 is mounted on the profiling detection mechanism, two rotary encoders 4-1 are respectively arranged on a wheel shaft of the sugarcane harvester and the cutter shaft 4-3 of the cutter, and the microcontroller and the execution mechanism are both mounted on the sugarcane harvester;

the torque sensor 4-2, the temperature sensor, the displacement sensor 5-6 and the rotary encoder 4-1 are all connected with a microcontroller, the microcontroller is connected with a vehicle-mounted terminal, and the vehicle-mounted terminal is connected with the depth camera 5-5; the microcontroller is also connected with an execution mechanism, and the execution mechanism is connected with a cutter of the sugarcane harvester;

the torque sensor 4-2 is used for detecting torque data when a cutter of the sugarcane harvester is in soil and cut, and monitoring the abrasion condition of the cutter of the sugarcane harvester through the change of the torque data;

the temperature sensor is used for detecting the temperature of the oil of the engine and sending the temperature to the microcontroller;

the two rotary encoders 4-1 are respectively used for detecting the rotating speed of the cutter shaft 4-3 and the rotating speed of the wheel shaft and sending the rotating speeds to the microcontroller;

the microcontroller is used for calculating the running speed of the vehicle according to the rotating speed of the wheel shaft and the wheel diameter;

the displacement sensor 5-6 is used for detecting the cutting depth of the soil and sending the collected data to the microcontroller,

the microcontroller is used for processing data and sending the data to the vehicle-mounted terminal, the vehicle-mounted terminal is used for displaying the received data in real time,

the depth camera 5-5 installed on the profiling detection mechanism is used for collecting ground image information and sending the collected ground image information to the vehicle-mounted terminal, the vehicle-mounted terminal receives the ground image information collected by the depth camera 5-5 installed on the frame of the sugarcane harvester and detects and identifies whether sugarcane lodging exists, when the sugarcane lodging is detected, the vehicle-mounted terminal identifies the diameter of the sugarcane and feeds back the information to the microcontroller, and the microcontroller performs displacement compensation according to the soil-entering cutting depth collected by the displacement sensor 5-6 and the diameter of the sugarcane identified by the vehicle-mounted terminal, so that the accuracy of the finally obtained soil-entering cutting depth is ensured;

the depth camera 5-5 mounted on the frame of the sugarcane harvester is used for acquiring ground image information and sending the acquired ground image information to the vehicle-mounted terminal, and the vehicle-mounted terminal is used for detecting the breakage rate of the sugarcane after the sugarcane harvester operates according to the ground image information acquired by the depth camera 5-5 mounted on the frame of the sugarcane harvester and sending the breakage rate information of the sugarcane to the microcontroller;

the microcontroller is used for receiving the information of the sugarcane top-breaking rate, analyzing the information of the sugarcane top-breaking rate, controlling the lifting of a cutter of the sugarcane harvester through the execution mechanism, and controlling the descending of the cutter of the sugarcane harvester through the execution mechanism when the sugarcane top-breaking rate is increased rapidly.

In addition to the above aspect, the profile detection mechanism includes: 5-2 parts of profiling pre-tightening spring rods, 5-3 parts of profiling rods with sliding chutes and 5-4 parts of profiling wheels;

the upper end of the profiling rod 5-3 with the sliding groove is connected with the fixed support 5-1, the lower end of the profiling rod 5-3 with the sliding groove is connected with the profiling wheel 5-4, one end of the profiling pre-tightening spring rod 5-2 is connected with the profiling rod 5-3 with the sliding groove, and the other end of the profiling pre-tightening spring rod 5-2 is connected with a rack of the sugarcane harvester;

on the basis of the scheme, the displacement sensor 5-6 and the depth camera 5-5 are installed on a profiling rod 5-3 with a sliding chute.

On the basis of the scheme, a computer vision and deep learning algorithm is arranged on the vehicle-mounted terminal, the sugarcane lodging images and the sugarcane broken head image data are respectively obtained by identifying ground image information collected by the two depth cameras 5-5, the sugarcane lodging images and the sugarcane broken head image data are analyzed, and finally the diameter of the lodging sugarcane and the sugarcane broken head rate after the sugarcane harvester operates are detected.

On the basis of the above scheme, the actuating mechanism comprises: the hydraulic control system comprises a relay, an electromagnetic valve, an electromagnetic directional valve and a hydraulic cylinder; the microprocessor is connected with a relay, the relay is connected with an electromagnetic directional valve through an electromagnetic valve, and the electromagnetic directional valve is connected with a hydraulic cylinder;

the microcontroller is used for controlling the on-off of the relay so as to control the electromagnetic valve, and the electromagnetic valve controls the hydraulic cylinder through the electromagnetic directional valve so as to control the lifting of the cutter.

On the basis of the scheme, the microcontroller resolves data of each sensor and sends the resolved data to the vehicle-mounted terminal, the vehicle-mounted terminal is used for receiving the resolved data and performing visual processing on the resolved data, and the microcontroller controls the action of the actuating mechanism after obtaining feedback of the vehicle-mounted terminal.

On the basis of the scheme, the microcontroller further comprises an HC-05 module, and the microcontroller is in wireless connection with the vehicle-mounted terminal through the HC-05 module and is used for sending data to the vehicle-mounted terminal through the HC-05 module.

On the basis of the scheme, the vehicle-mounted terminal is further provided with a data uploading module, and the data uploading module is used for uploading data to a database, generating a local file and storing the local file.

On the basis of the scheme, the vehicle-mounted terminal is further provided with a data processing module, the data processing module is used for processing and analyzing the acquired data, and simulating a relevant parameter curve, and the method specifically comprises the following steps: and analyzing the data acquisition of each sensor and the action execution delay condition of the execution mechanism by taking the running speed of the vehicle as a reference, and feeding back the delay condition to the micro-control.

On the basis of the scheme, the vehicle-mounted terminal is further provided with an API (application program interface) which is used for acquiring the geographic position and the weather information and displaying the local meteorological data on the vehicle-mounted terminal.

On the basis of the scheme, the Depth Camera adopts Intel RealSense Depth Camera D435

The invention has the beneficial effects that:

the invention provides an intelligent monitoring system for the cutting-in-soil of a sugarcane harvester, which can realize real-time detection, display and storage of six parameters of the cutting-in-soil depth of the sugarcane harvester, the abrasion condition of a cutter, the head breaking rate of the sugarcane, the rotating speed of the cutter, the driving speed of a vehicle and the oil temperature of an engine, and can fit a real-time curve chart of related parameters through data analysis and processing, and simultaneously realize the function of high real-time early warning of the head breaking rate of the sugarcane. The microcontroller is responsible for resolving and then sending data collected by the sensor to the vehicle-mounted terminal, the vehicle-mounted terminal calculates according to data obtained by the depth camera 5-5 to obtain the current sugarcane top-breaking rate, when the sugarcane top-breaking rate is increased, the vehicle-mounted terminal feeds information back to the microcontroller, and the microcontroller controls the execution mechanism to further control the height of a cutter of the sugarcane harvester. The realization of these functions has effectually solved the driver and has known untimely to the sugarcane harvester operation condition, can't look over cutter cutting depth into the earth in real time, cutter height can't be according to the operation condition and can't follow the surface relief and in time adjust the scheduling problem, has improved the intelligent level of sugarcane harvester information.

Drawings

The invention has the following drawings:

fig. 1 is a frame diagram of an intelligent monitoring system for cutting into soil of a sugarcane harvester according to an embodiment of the invention.

Fig. 2 is a schematic diagram of machine vision and deep learning according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of the microcontroller controlling the actuator according to the embodiment of the present invention.

FIG. 4 is a schematic view of the installation positions of the rotary encoder and the torque sensor according to the embodiment of the present invention.

Fig. 5 is a schematic view of a profiling detection mechanism.

Reference numerals:

4-1 rotary encoder, 4-2 torque sensor, 4-3 cutter shaft, 4-4 blade, 5-1 fixed support, 5-2 pre-tightening spring rod, 5-3 profiling rod with chute, 5-4 profiling wheel, 5-5 depth camera and 5-6 displacement sensor.

Detailed Description

The invention is further explained below by way of an embodiment, which is an intelligent monitoring system for the cutting of the sugarcane harvester into the soil, and is shown in fig. 1 to 5.

The intelligent monitoring system for the soil-entering cutting of the sugarcane harvester is shown in figure 1 and comprises a vehicle-mounted terminal, a data acquisition sensor and a control system.

The data acquisition part comprises a displacement sensor 5-6, a torque sensor, a depth camera 5-5, a rotary encoder 4-1 and a temperature sensor.

The displacement sensor 5-6 is used for detecting the cutting depth of the buried part, the torque sensor is used for monitoring the abrasion condition of the cutter, the depth camera 5-5 is used for detecting the head breaking rate of the sugarcane, and the rotary encoder 4-1 is used for detecting the rotating speed of the cutter and the running speed of a vehicle; the temperature sensor is used for detecting the temperature of the oil liquid of the engine,

the control part mainly takes the microcontroller as a core, resolves data acquired by the 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 cutter to be adjusted in real time along with the change of the surface relief. The vehicle-mounted terminal is mainly responsible for processing data sent by the microcontroller and displaying the data on the vehicle-mounted terminal, so that the data visualization is realized, the acquired data are uploaded and stored locally, the data are processed by the vehicle-mounted terminal and then subjected to curve fitting and analysis on the vehicle-mounted terminal, the sensor data acquisition and execution mechanism action execution hysteresis condition is analyzed by taking the vehicle running speed as a reference, and the information is fed back to the microcontroller.

The intelligent monitoring system for the cutting of the sugarcane harvester into the soil not only realizes man-machine interaction, but also realizes the functions of monitoring and automatically adjusting the cutting depth of the sugarcane harvester into the soil, storing monitoring data and the like.

The machine vision and deep learning process for detecting and calculating the sugarcane top-breaking rate is completed by a depth camera 5-5 arranged on a sugarcane harvester frame as shown in figure 2, the depth camera 5-5 collects sugarcane top-breaking image data and transmits the sugarcane top-breaking image data to the vehicle-mounted terminal for processing, the vehicle-mounted terminal converts the acquired image data and tags into arrays, after simple processing, the test set and the training set are randomly selected, convolution operation is carried out by a convolution neural network, a convolution kernel is determined, and a characteristic diagram is selectively searched, because the full connection layer needs input with the same dimension, the sizes of the characteristic diagrams of different targets are different, therefore, a region-of-interest pooling layer is added to the last convolutional layer in order to pool all candidate regions into feature vectors of the same dimension, which are then fed to the fully-connected layer. Furthermore, a Softmax function is used for replacing an original SVM classifier, and meanwhile classification and regression are placed in a network for training. After training, a training model is generated, and the model is used for detecting and identifying the target.

The microcontroller controls the action process of the executing mechanism as shown in fig. 3, and 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 extends out, the cutter of the sugarcane harvester is lifted up to finish the action of height adjustment, and when the hydraulic cylinder contracts, the cutter of the sugarcane harvester is lowered to finish the action of height adjustment.

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.

The cutter of the sugarcane harvester comprises: a cutter shaft 4-3, a cutter connecting plate and a plurality of blades 4-4, wherein the blades 4-4 are uniformly arranged on one surface of the cutter connecting plate, the cutter shaft 4-3 is connected with the other surface of the cutter connecting plate,

the two rotary encoders 4-1 are mounted on the wheel shaft and the tool shaft, respectively, as shown in fig. 4. The rotary encoder 4-1 arranged on the cutter shaft can directly measure the rotating speed of the cutter shaft 4-3, and when the rotary encoder 4-1 arranged on the wheel shaft detects the running speed of the vehicle, the rotating speed of the wheel shaft connected with the detected wheel is firstly measured, and then the running speed of the vehicle is calculated through the diameter of the wheel.

The torque sensor 4-2 is arranged on the cutter shaft 4-3, and the torque variation range of the cutter with different abrasion degrees when the cutter enters the soil and the variation range of the cutter when the cutter enters the soil and cuts the sugarcane are obtained through experiments and calibration;

torque data information is displayed on the vehicle-mounted terminal in real time, and whether a tool needs to be replaced or not is selected through the change of torque data and the change of breakage rate data.

And taking the torque data when the brand-new cutter is buried as a standard value, and replacing the cutter when the torque data is increased to 150% of the standard value and the breakage rate of the sugarcane is sharply increased.

The profiling detection mechanism for detecting the depth of the cutter of the sugarcane harvester into the soil is shown in figure 5 and comprises a profiling pre-tightening spring rod 5-2, a profiling rod 5-3 with a sliding groove and a profiling wheel 5-4.

The profiling detection mechanism is fixed with a rack of the sugarcane harvester through a fixing support 5-1 and located in front of a cutter of the sugarcane harvester, a profiling pre-tightening spring rod 5-2 is used for providing elasticity for a profiling rod 5-3 with a sliding groove and a profiling wheel 5-4 to ensure that the profiling wheel 5-4 is tightly pressed on the ground, when the profiling wheel 5-4 passes through a high ground, the profiling pre-tightening spring rod 5-2 is compressed, the profiling rod 5-3 with the sliding groove moves upwards for a certain distance, when the profiling wheel 5-4 passes through a low road, the profiling pre-tightening spring rod 5-2 provides pressure for the profiling wheel 5-4, and the profiling rod 5-3 with the sliding groove moves downwards for a certain distance. The displacement data of the profiling rod 5-3 with the sliding groove is collected through the displacement sensor 5-6, whether lodging sugarcane exists on the ground surface or not is detected and identified through the depth camera 5-5, when the lodging sugarcane on the ground surface is detected, the vehicle-mounted terminal feeds back the information to the microcontroller, the microcontroller processes the data collected by the displacement sensor 5-6 and then performs displacement compensation according to the diameter of the identified sugarcane, and the accuracy of the data is ensured. In order to ensure the measurement accuracy and reduce the influence of vibration on the displacement sensor 5-6 as much as possible, the displacement sensor 5-6 is arranged on the profiling rod 5-3 with the sliding groove, the collected data is the displacement data of the profiling rod 5-3 with the sliding groove, and meanwhile, the profiling pre-tightening spring rod 5-2 can also play a role in damping and buffering. Providing more reliable data acquisition for the displacement sensors 5-6.

The invention adopts an indirect measuring method for the cutter depth of the sugarcane harvester, a profiling detection mechanism and the cutter are fixed on a rack of the sugarcane harvester, when the cutter is just inserted into the soil, the data of a displacement sensor 5-6 is marked as zero value, and the ground fluctuation information is simulated after calculation by measuring the displacement change information of the profiling mechanism, so that the depth of the cutter is obtained.

The microcontroller also comprises an HC-05 module, the HC-05 module carries out data communication through a short-distance transmission wireless protocol, 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 vehicle-mounted terminal is installed in the cab, and can respectively receive data from the microcontroller and the depth camera 5-5, display parameters detected by the microcontroller and display images acquired by the depth camera 5-5. Besides the function of realizing human-computer interaction, the image data of the depth cameras 5-5 can be processed, the detection and the identification of the broken end of the sugarcane are realized, and meanwhile, the received data of the microcontroller are analyzed and processed to fit a data curve. The vehicle-mounted terminal realizes the functions of data display, high head breaking rate early warning, automatic cutter soil penetration depth adjustment and the like.

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.

Those not described in detail in this specification are within the skill of the art.