Abstract: In order to improve the harvesting quality of sugarcane harvesters in hilly areas, it is particularly important to study the technology that can adjust the height of the harvesting cutter head according to the fluctuation of the terrain. The key to solving this problem is the detection of the ground height of the sugarcane field. Therefore, this paper designs a sugarcane field ridge height map robot. The robot can adapt to the topography of sugarcane fields planted according to standardization. It collects topographical contour information of sugarcane fields through airborne two‑dimensional laser radar scanning. The remote computer analyzes the data in multi‑dimensional morphological characteristics, extracts data points of sugarcane fields and establishes three‑dimensional topography of sugarcane fields picture. The results show that the robot can map the sugarcane field terrain with a resolution of 0.005 m and an accuracy rate of 96.4%, which can provide reliable data support for the height adjustment of the cutter head of the harvester.

Key words:  two?dimensional LiDAR, sugarcane harvester, detection of ridge height, image processing

摘要： 为提高丘陵地带甘蔗收割机收割质量，研究能够跟随地形的起伏变化而调节收割刀盘高度的技术显得尤为重要，解决该问题的关键是对于蔗田地面高度的检测，因此设计一台蔗田垄高建图机器人。该机器人能适应按标准化种植的蔗田地形，通过机载二维激光雷达扫描收集蔗田地形轮廓信息，远程计算机对数据进行多维度形态学特征分析，提取蔗田数据点并建立蔗田三维地形图。仿真结果表明：该机器人能够对蔗田地形进行建图，建图分辨率为0.005 m，准确率为96.4%，为收割机的刀盘高度调节提供可靠的数据支持。

关键词: 二维激光雷达, 甘蔗收割, 垄高检测, 图像处理