Hybrid rice seed production female parent seed harvester and control method thereof

Abstract

The invention provides a hybrid rice seed production female parent seed harvester and a control method thereof. Comprising a feeding quantity prediction device, a threshing device, a cleaning device flow guide strip angle adjusting device, a pressure monitoring plate, a scale sieve opening degree adjusting device, a seed loss monitoring sensor, a secondary residual seed quantity monitoring device, an air pressure monitoring device, an air inlet opening degree adjusting plate, an air distribution plate angle adjusting mechanism and a forward speed adjusting device. An entrainment loss monitoring sensor, a seed breakage rate monitoring sensor and a signal processing and control system are used for adjusting the angle of a flow guide strip, the opening degree of a scale sieve, the opening degree of an air inlet, the angle of an air distribution plate, the angle of a grass guide plate B and the advancing speed of the harvester, and the seed loss rate is reduced; the feeding quantity of the harvester at the next moment is obtained in advance through the feeding quantity prediction device, related working parameters of the cleaning device are adjusted in time, control lag is reduced, working parameters of the threshing device and the cleaning device are cooperatively adjusted, the threshing and separating performance is improved, and the seed loss rate is reduced.

Description

Technical Field

[0001] The invention belongs to the field of design and adaptive control of a threshing device and a cleaning device of a harvester, and in particular relates to a hybrid rice seed production female parent seed harvester and a control method thereof. Background Art

[0002] According to statistics, in 2022, China's hybrid rice seed production area reached 1.58 million mu, and the retail price of high-quality rice seeds was more than 30 yuan per catty. However, rice breeding and harvesting still mainly adopts manual harvesting, threshing with traditional threshing devices, and segmented harvesting methods of cleaning, which leads to large indirect losses and long working hours. There are many varieties of rice for breeding and harvesting. Due to different conditions such as varieties, soil environment, and sunlight exposure, the biological characteristics of rice plants are significantly different. The working parameters of the traditional harvester threshing device are difficult to adjust, and the angle of the guide strip in the top cover of the threshing device is fixed, resulting in the retention time of the grains inside the harvester. It cannot be adjusted in real time according to the characteristics of the crop, which ultimately leads to a high grain breakage rate and a large grain entrainment loss rate during the harvesting of breeding rice.

[0003] As an important part of the harvester, the operating quality of the cleaning device directly affects the operating performance of the harvester. The cleaning device on the existing harvester is mainly mechanical. When cleaning threshing mixtures with different characteristics, its operating performance is unstable. Experiments show that the traditional wind screen cleaning device has become the main bottleneck restricting the development of rice seed harvesting harvesters. The specific manifestations are: ① The threshing device has an eccentric effect, the threshing material is unevenly distributed on the screen surface, and the threshing mixture is quickly and evenly distributed in the cleaning chamber. ② The threshing material has complex components and high moisture content. It is easy to adhere in the cleaning chamber, resulting in a large local cleaning load and poor cleaning performance. ③ Some structures and motion parameters of the existing cleaning device can only be adjusted in stages by stopping, manually, and according to experience. There is a lack of cleaning device operation status monitoring and working parameter control system. It is impossible to adaptively adjust the working parameters of the cleaning device according to the changes in hybrid rice varieties and environment to ensure the cleaning performance, and its harvesting adaptability is poor. Existing research has mostly focused on adjusting the fish scale screen opening by studying the changes in the grain cleaning loss rate and the grain impurity rate, ignoring the changes in the material composition and material amount in the secondary impurity augers. The airflow pressure in the cleaning chamber is the main factor that determines the cleaning effect. Accurately monitoring the airflow pressure at key points to reflect the changes in the amount of material to be cleaned in the cleaning chamber and then timely adjusting the relevant working parameters is a prerequisite for obtaining better cleaning performance. Existing research on cleaning devices has not yet studied the relationship between the airflow pressure and feed amount in the cleaning chamber. In terms of the control model of the cleaning device, existing research has only preliminarily established a simple linear model or fuzzy control rule to adjust the fish scale screen opening based on the monitored changes in the grain loss rate, and the adaptability to crops with different characteristics is poor.

[0004] Therefore, it is of great significance and practical value to adopt modern control theories and methods and carry out research on harvesters and their control methods for harvesting hybrid rice female parent seeds based on variable working condition operation parameter optimization technology. Summary of the invention

[0005] The present invention aims to solve at least one of the above technical problems to a certain extent. To this end, the present invention provides a hybrid rice seed production female parent seed harvester and a control method thereof, which improves the threshing, separation and cleaning performance of hybrid rice female parent seeds during harvesting and reduces the grain loss rate and breakage rate.

[0006] The technical solution of the present invention is:

[0007] A hybrid rice seed production female parent seed harvester, comprising a feeding amount prediction device, a threshing device, a cleaning device, a guide strip angle adjustment device, a pressure monitoring plate, a fish scale screen opening adjustment device, a grain loss monitoring sensor, a secondary debris grain amount monitoring device, an air pressure monitoring device, an air inlet opening adjustment plate, an air distribution plate angle adjustment mechanism, a forward speed adjustment device, an entrainment loss monitoring sensor, a grain breakage rate monitoring sensor and a signal processing and control system;

[0008] The feeding amount prediction device is used to predict the feeding amount prediction value of the harvester at the next moment; the threshing device includes a grass guide plate B, an electric cylinder and a pull rod displacement sensor; the grass guide plate B is arranged on the lower surface area of ​​the cover plate, and the electric cylinder drives the connecting plate A to drive the grass guide plate B to rotate and adjust the angle of the grass guide plate B; the pull rod displacement sensor is used to monitor the extension amount of the electric cylinder extension rod of the electric cylinder; the cleaning device includes a shaking plate, a loosening tooth, a first fish scale screen, a second fish scale screen and a sawtooth tail screen installed on the cleaning screen frame from front to back; a woven screen is provided below the first fish scale screen and the second fish scale screen, and a grain agitator and a miscellaneous agitator are provided below the woven screen; a plurality of guide bars are provided on the shaking plate; the guide bar angle adjustment device is installed on the shaking plate and connected to the guide bar for adjusting the guide bar angle; the pressure monitoring plate is located at the end of the shaking plate and the lower part of the loosening tooth, and the pressure signal of the pressure monitoring plate is used to characterize the uniformity of the threshing mixture; the fish scale screen opening adjustment device includes a first fish scale screen opening adjustment device and a second fish scale screen opening adjustment device. Two fish scale screen opening adjustment devices; the first fish scale screen opening adjustment device is used to adjust the opening of the first fish scale screen; the second fish scale screen opening adjustment device is used to adjust the opening of the second fish scale screen; the seed loss monitoring sensor is installed on the cleaning screen frame and is located at the rear of the sawtooth tail screen, and is used to detect the loss of seeds; the space below the sawtooth tail screen and between the isolation frame and the cleaning screen frame is respectively provided with a secondary debris seed quantity monitoring device, which is used to monitor the number of seeds that pass through the sawtooth tail screen and enter the secondary debris auger; the air pressure monitoring device is installed on the cleaning screen frame, and is used to monitor the pressure in the cleaning chamber; a fan is provided below the cleaning screen frame, and the air inlet of the fan is provided with an air inlet opening adjustment plate, and the air outlet is provided with an air distributor and an air distributor angle adjustment mechanism; the forward speed adjustment device is used to adjust the forward speed of the harvester; the entrainment loss monitoring sensor is installed below the concave plate screen to monitor the entrainment loss of seeds; the seed breakage rate monitoring sensor is installed in the grain box to monitor the breakage rate of seeds entering the grain box;

[0009] The signal processing and control system are respectively connected with the feeding amount prediction device, the guide bar angle adjustment device, the pressure monitoring plate, the first fish scale screen opening adjustment device, the second fish scale screen opening adjustment device, the grain loss monitoring sensor, the secondary debris grain amount monitoring device, the air pressure monitoring device, the air inlet opening adjustment plate, the air distributor plate angle adjustment mechanism, the pull rod displacement sensor and the electric cylinder; the signal processing and control system processes the monitoring values ​​of the feeding amount prediction device, the pressure monitoring plate, the grain loss monitoring sensor, the secondary debris grain amount monitoring device, the air pressure monitoring device, the pull rod displacement sensor, the entrainment loss monitoring sensor and the grain breakage rate monitoring sensor, controls the guide bar angle adjustment device, the first fish scale screen opening adjustment device, the second fish scale screen opening adjustment device, the air inlet opening adjustment plate, the air distributor plate angle adjustment mechanism, the electric cylinder and the forward speed adjustment device, so as to adjust the guide bar angle, the fish scale screen opening, the air inlet opening, the air distributor plate angle, the angle of the grass guide plate B and the forward speed of the harvester.

[0010] In the above scheme, the threshing device also includes a drum top cover, a threshing drum, a concave plate screen and a control mechanism;

[0011] The concave screen is located directly below the drum cover, and the threshing drum is placed in the middle of the drum cover and the concave screen; the control mechanism is located on the top of the drum cover, and the control mechanism includes an electric cylinder, a pull rod displacement sensor and a connecting plate A;

[0012] A connecting plate A is provided on the upper surface of the cover plate of the drum top cover, and a grass guide plate A and a grass guide plate B are provided in sequence on the lower surface area of ​​the cover plate from front to back. The grass guide plates A and B keep their end faces parallel when they are not rotated; there are multiple grass guide plates B with a certain linear distribution, one end of a front group of grass guide plates B is rotatably connected to the slot of the cover plate, and the other end is connected to the connecting plate A. The electric cylinder drives the connecting plate A to drive the grass guide plate B to rotate in the slot, thereby realizing the angle adjustment of the group of grass guide plates B; the pull rod displacement sensor is used to monitor the extension amount of the electric cylinder extension rod of the electric cylinder.

[0013] In the above scheme, the air pressure monitoring device includes an air pressure monitoring module, a first rubber tube, a first support frame, a second rubber tube, a second support frame and a positioning bracket;

[0014] The air pressure monitoring module is installed on the positioning bracket, and the first support frame and the second support frame are installed on the positioning bracket in sequence from top to bottom. The air pressure monitoring module is provided with a first detection hole and a second detection hole, and the first detection hole is installed with a first rubber tube, and the second detection hole is installed with a second rubber tube, the first rubber tube passes through and is fixed on the first support frame, and the end of the first rubber tube is parallel to the screen surface of the fish scale screen, the second rubber tube passes through and is fixed on the second support frame, and the end of the second rubber tube is perpendicular to the screen surface of the fish scale screen. When working, the first detection hole monitors the static pressure change of the surrounding environment, and the second detection hole monitors the dynamic pressure change of the surrounding environment. The pressure change in the cleaning chamber is characterized by subtracting the static pressure monitoring value from the dynamic pressure monitoring value.

[0015] In the above scheme, the first fish scale screen opening adjustment device includes a driving shaft, an adjustment plate, a fixed shaft, a screen plate driving connecting plate, a first fish eye bearing, a connecting rod, a second fish eye bearing, a first driving motor, a displacement sensor, a direction conversion device, a third fish eye bearing, a first connecting shaft, a second connecting shaft and a connecting plate;

[0016] The displacement sensor is installed on the first drive motor through a connecting plate, and the displacement sensor is used to measure the extension length of the push rod of the first drive motor; one end of the third fisheye bearing is installed on the end of the push rod of the first drive motor, and the other end of the third fisheye bearing is connected to one side of the direction conversion device through the first connecting shaft, and the second fisheye bearing is connected to the other side of the direction conversion device through the second connecting shaft. The direction conversion device is installed on the harvester frame through a fixed shaft, one end of the connecting rod is connected to the second fisheye bearing, and the other end of the connecting rod is connected to the first fisheye bearing. The first fisheye bearing is connected to one end of the adjustment plate, and the driving shaft is respectively connected to the middle of the screen drive connecting plate and the adjustment plate, and the other end of the adjustment plate is installed on the harvester frame through a fixed shaft. When working, the direction conversion device converts the horizontal linear motion of the push rod of the first drive motor into linear motion in the vertical direction, and drives the adjustment plate to rotate around the fixed axis through the connecting rod. During the rotation process, the adjustment plate drives the screen drive connecting plate through the driving shaft to rotate the fish scale screen, thereby realizing stepless adjustment of the opening angle of the first fish scale screen;

[0017] The second fish scale screen opening adjustment device has the same structure as the first fish scale screen opening adjustment device.

[0018] In the above scheme, the grain loss monitoring sensor includes a first grain loss monitoring sensor and a second grain loss monitoring sensor;

[0019] Both ends of the first grain loss monitoring sensor and the second grain loss monitoring sensor are respectively mounted on the cleaning screen frame through a first mounting plate and a second mounting plate. The mounting height of the first grain loss monitoring sensor is greater than the mounting height of the second grain loss monitoring sensor, forming a stepped grain loss monitoring device to achieve regional measurement of grain loss. The first grain loss monitoring sensor is used to monitor grain cleaning losses caused by excessive cleaning material volume, and the second grain loss monitoring sensor is used to monitor grain cleaning losses caused by improper cleaning parameter settings and grains being blown out.

[0020] The first mounting plate and the second mounting plate are both provided with mounting holes and arc-shaped through grooves, one end of the first grain loss monitoring sensor and the second grain loss monitoring sensor are connected to the mounting holes and the arc-shaped through grooves, and the mounting angles of the first grain loss monitoring sensor and the second grain loss monitoring sensor can be adjusted through the arc-shaped through grooves.

[0021] In the above scheme, the fan includes a first air distribution plate, a second air distribution plate, a first electric push rod, a second electric push rod and a third electric push rod;

[0022] The first air distribution plate and the second air distribution plate are located at the air outlet of the fan, and the first air distribution plate and the second air distribution plate are movably connected to the inner wall of the air outlet of the fan; the air inlet of the fan is provided with an opening adjustment plate, the first electric push rod is connected to the opening adjustment plate, the first electric push rod can drive the opening adjustment plate to adjust the opening of the air inlet of the fan, the third electric push rod is connected to the first air distribution plate, the third electric push rod can drive the first air distribution plate to rotate around the connection point between the first air distribution plate and the inner wall of the air outlet, thereby realizing the angle adjustment of the first air distribution plate, the second electric push rod is connected to the second air distribution plate, the second electric push rod can drive the second air distribution plate to rotate around the connection point between the second air distribution plate and the inner wall of the air outlet, thereby realizing the angle adjustment of the second air distribution plate.

[0023] A control method according to the hybrid rice seed production female parent seed harvester comprises the following steps:

[0024] The feed amount prediction device predicts the harvester feed amount prediction value at the next moment; the pressure monitoring plate monitors the pressure signal to characterize the uniformity of the threshing mixture; the grain loss monitoring sensor detects the loss of grains; the secondary debris grain amount monitoring device monitors the number of grains that pass through the sawtooth tail screen and enter the secondary debris auger; the air pressure monitoring device monitors the pressure in the cleaning chamber; the pull rod displacement sensor monitors the extension amount of the electric cylinder extension rod of the electric cylinder; the entrainment loss monitoring sensor monitors the entrainment loss of grains; the grain breakage rate monitoring sensor monitors the breakage rate of grains entering the grain box;

[0025] The signal processing and control system processes the monitoring values ​​of the feed amount prediction device, the pressure monitoring plate, the grain loss monitoring sensor, the secondary impurity grain amount monitoring device, the air pressure monitoring device, the pull rod displacement sensor, the entrainment loss monitoring sensor and the grain breakage rate monitoring sensor, and controls the guide bar angle adjustment device, the first fish scale screen opening adjustment device, the second fish scale screen opening adjustment device, the air inlet opening adjustment plate, the air distributor plate angle adjustment mechanism, the electric cylinder and the forward speed adjustment device to achieve the adjustment of the guide bar angle, the fish scale screen opening, the air inlet opening, the air distributor plate angle, the angle of the grass guide plate B and the forward speed of the harvester.

[0026] In the above scheme, the control strategy of the signal processing and control system is as follows:

[0027] Taking the feed rate of 3kg / s as a benchmark, if the predicted value Q of the feed rate increases within 10%, the extension amount of the electric cylinder extension rod of the electric cylinder remains unchanged, so that the angle of the grass guide plate B of the threshing device remains unchanged, and the forward speed v of the harvester remains unchanged. After the effluent enters the cleaning chamber, the signal processing and control system first controls the guide bar angle adjustment device to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate, until the difference in the monitoring value of the pressure monitoring plate is less than 5%, so as to ensure the uniformity of the effluent entering the cleaning chamber through the shaking plate; then, if the monitoring value of the air pressure monitoring device of the first fish scale screen increases by more than 20% relative to the reference value, the first fish scale screen opening adjustment device is controlled to increase the first fish scale screen opening by 20%, so that the grains can pass through the screen quickly, and then, the effluent enters the second fish scale screen, and if the monitoring value of the air pressure monitoring device of the second fish scale screen increases by more than 20% relative to the reference value, the second fish scale screen opening adjustment device is controlled to increase the second fish scale screen opening by 20%;

[0028] If the feed amount prediction value Q increases by 10% to 20%, the forward speed v of the harvester decreases by 5%, so that the harvester reaches near the rated feed amount, and the prediction model is used to adjust the angle of the grass guide plate B of the threshing device; after the effluent enters the cleaning chamber, the signal processing and control system first controls the guide bar angle adjustment device to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate, until the difference in the monitoring value of the pressure monitoring plate is less than 10%, so as to ensure the uniformity of the effluent entering the cleaning chamber through the shaking plate; then, if the monitoring value of the air pressure monitoring device of the first fish scale screen increases by more than 20% relative to the reference value, the first fish scale screen opening adjustment device is controlled to increase the first fish scale screen opening by 30%, so that the grains can pass through the screen quickly, and then the effluent enters the second fish scale screen, and if the monitoring value of the air pressure monitoring device of the second fish scale screen increases by more than 20% relative to the reference value, the second fish scale screen opening adjustment device is controlled to increase the second fish scale screen opening by 30%;

[0029] If the feed amount prediction value Q increases by more than 20%, the forward speed v of the harvester decreases by 10%, the angle of the grass guide plate B of the threshing device is adjusted to the maximum setting value, and the cleaning device is at risk of overload. The signal processing and control system first controls the guide bar angle adjustment device to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate until the difference in the monitoring value of the pressure monitoring plate is less than 20%; then, adjust the fan speed to 1300 rpm, the angle of the first air distribution plate to 8° and the angle of the second air distribution plate to 30°, increase the opening of the first fish scale screen and the second fish scale screen to the maximum, and allow part of the escaping material to enter the secondary miscellaneous auger, and re-enter the cleaning device for secondary cleaning to avoid excessive grain loss, and control the maximum opening duration of the first fish scale screen and the second fish scale screen according to the changes in the monitoring values ​​of the air pressure monitoring device, the first grain loss monitoring sensor, the second grain loss monitoring sensor and the grain amount monitoring device. When the monitoring value of the grain amount monitoring device changes by less than 10%, reduce the opening of the first fish scale screen and the second fish scale screen by 30%;

[0030] If the predicted value Q of the feed amount becomes smaller, increase the forward speed v of the harvester to make the harvester reach near the rated feed amount, and adjust the angle of the grass guide plate B of the threshing device to the middle position. At this time, the threshed material tends to boil in the cleaning chamber, then adjust the first air distributor to 45°, the angle of the second air distributor to 25° and the fan speed to 1100 rpm, adjust the opening of the first fish scale screen and the second fish scale screen to the minimum set value, and then fine-tune the opening of the first fish scale screen and the second fish scale screen according to the changes in the monitoring values ​​of the air pressure monitoring device, the first grain loss monitoring sensor, the second grain loss monitoring sensor and the grain amount monitoring device to reduce the cleaning loss.

[0031] In the above scheme, the feed amount prediction value Q is:

[0032]

[0033] Among them, Q is the predicted value of feed volume, v is the forward speed, h is c is the height of the cutting platform, h is the height of the plant, w is the cutting width, ρ is the feeding density, m e is the average mass of rice panicle, and m is the mass per unit length of the stalk.

[0034] In the above scheme, a prediction model is used to adjust the angle of the grass guide plate B of the threshing device, and the prediction model is:

[0035] x(k+1)=Ax(k)+Bu(k) (1)

[0036] in, is the system state at time k, x1(k) is the grain entrainment loss, x2(k) is the grain breakage rate, u(k) is the input vector of the system, that is, the angle of the grass guide plate B, that is, the extension of the extension rod of the electric cylinder 43, A is the system state matrix, and B is the input matrix.

[0037] x(k) and u(k) should satisfy the following constraints:

[0038]

[0039]

[0040] Among them, x min (k) is the minimum value of the system state quantity, x max (k) is the maximum value of the system state quantity, u min (k) is the minimum value of the input vector of the system, u max (k) is the maximum value of the input vector of the system;

[0041] Let x1(k) and x2(k) satisfy the following constraints:

[0042] 0≤x1(k)≤Q·P·1%

[0043] 0≤x2(k)≤Q·P·2%

[0044] Among them, the grain entrainment loss x1(k) and the breakage rate x2(k) are used as system state quantities, Q is the predicted value of the harvester feeding amount, kg / s, and P is the proportion of grains in the feeding amount;

[0045] Let u(k) satisfy the following constraints:

[0046] 0≤u(k)≤100mm.

[0047] Compared with the prior art, the present invention has the following beneficial effects:

[0048] 1. The harvester of the present invention coordinately adjusts the working parameters of the threshing device and the cleaning device to improve the threshing and separation performance and reduce the grain loss rate and grain breakage rate when harvesting the seed production mother parent seeds.

[0049] 2. The present invention can obtain the feed amount of the harvester at the next moment in advance through the feed amount prediction device, and can adjust the relevant working parameters of the cleaning device in time to reduce control lag and ensure the cleaning effect.

[0050] 3. The present invention develops a multi-layer cleaning screen with a structure of "multi-guide strip shaking plate + loose teeth + segmented fish scale screen + woven screen + sawtooth tail screen" to increase the cleaning area and cleaning space, and guide the threshing mixture to flow evenly and stably in the cleaning space.

[0051] 4. The present invention processes the monitoring values ​​of the feed amount prediction device, the pressure monitoring plate 4, the grain loss monitoring sensor, the secondary impurity grain amount monitoring device, the air pressure monitoring device, the pull rod displacement sensor 42, the entrainment loss monitoring sensor and the grain breakage rate monitoring sensor to control the guide bar angle adjustment device 3, the first fish scale screen opening adjustment device 11, the second fish scale screen opening adjustment device 14, the air inlet opening adjustment plate 31, the air distributor plate angle adjustment mechanism, the electric cylinder 43 and the forward speed adjustment device to achieve the adjustment of the guide bar angle, the fish scale screen opening, the air inlet opening, the air distributor plate angle, the angle of the grass guide plate B 67 and the forward speed of the harvester, thereby reducing the grain loss rate.

[0052] 5. According to the flow characteristics of the plant group in the threshing space, the present invention optimizes the adjustment mechanism and the power source application method, develops a grass guide plate angle adjustment device with a self-locking function, realizes stepless adjustment of the grass guide plate angle, and optimizes the control strategy to adjust the working parameters such as the top cover guide plate angle, reasonably controls the internal residence time of the material in the harvester threshing device and makes the plant group flow stably and evenly in the threshing space, reduces the grain entrainment loss rate and grain breakage rate when harvesting the seed production mother seeds, and significantly improves the threshing and separation performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic side view of a cleaning device according to one embodiment of the present invention.

[0054] Figure 2 It is a schematic top view of a cleaning device according to one embodiment of the present invention.

[0055] Figure 3 It is a left side view of a cleaning device according to one embodiment of the present invention.

[0056] Figure 4 It is a front view of a cleaning system according to one embodiment of the present invention.

[0057] Figure 5 It is a front view of an air pressure monitoring system according to one embodiment of the present invention.

[0058] Figure 6 1 is a side view of an air pressure monitoring system according to an embodiment of the present invention.

[0059] Figure 7 It is an installation diagram of an air pressure monitoring system according to one embodiment of the present invention.

[0060] Figure 8 This is an installation diagram of a grain loss monitoring sensor according to one embodiment of the present invention.

[0061] Fig. 9 It is a side view of a mounting plate of a grain loss monitoring sensor according to one embodiment of the present invention.

[0062] Fig.10 This is a diagram of the installation position of a grain loss monitoring sensor mounting plate on a harvester according to one embodiment of the present invention.

[0063] Fig.11 It is a front view of a mounting plate of a grain loss monitoring sensor according to one embodiment of the present invention.

[0064] Fig.12 It is a side view of a device for monitoring the amount of grains in secondary debris according to one embodiment of the present invention.

[0065] Fig.13 It is a side view of a cleaning screen frame according to one embodiment of the present invention.

[0066] Fig.14 It is a side view of the installation position of the guide bar according to one embodiment of the present invention.

[0067] Fig.15 It is a top view of the installation position of the guide bar angle drive motor according to one embodiment of the present invention.

[0068] Fig.16 It is a front view of a fish scale screen opening adjustment device according to one embodiment of the present invention.

[0069] Fig.17 It is a front view of the driving connection of the fish scale screen opening adjustment device according to one embodiment of the present invention.

[0070] Fig.18 It is a schematic diagram of the installation of a driving motor for a fish scale screen opening adjustment device according to one embodiment of the present invention.

[0071] Fig.19 It is a schematic diagram of adjusting the air inlet opening and the angle of the air distributor plate of a fan according to one embodiment of the present invention.

[0072] Fig. 20 It is a schematic diagram of the appearance of a threshing device according to one embodiment of the present invention.

[0073] Fig.21 1 is a top view of a drum cover according to an embodiment of the present invention.

[0074] Fig. 22 It is a front view of a drum top cover according to one embodiment of the present invention.

[0075] Fig.23 It is a left side view of a drum top cover according to one embodiment of the present invention.

[0076] Fig.24 It is a bottom view of a drum top cover according to one embodiment of the present invention.

[0077] Fig.25 It is a rear end cross-sectional view of a drum top cover according to one embodiment of the present invention.

[0078] Fig.26 It is a schematic diagram of the installation of a control mechanism according to one embodiment of the present invention.

[0079] Fig. 27 It is a flow chart of plant density acquisition according to one embodiment of the present invention.

[0080] Fig.28 A flow chart of plant height acquisition according to one embodiment of the present invention.

[0081] Fig.29 A flow chart of obtaining cutting width according to an embodiment of the present invention.

[0082] Fig.30 A schematic diagram of cutting width detection according to an embodiment of the present invention.

[0083] Fig.31 A graph showing the training loss of an RBF neural network according to an embodiment of the present invention.

[0084] Fig.32 A graph showing the loss curve of an MLP neural network training according to an embodiment of the present invention.

[0085] Fig.33 A diagram of the structure of an RBF-MLP neural network according to an embodiment of the present invention.

[0086] Fig.34 RBF-MLP neural network training loss curve according to one embodiment of the present invention.

[0087] Fig.35 MPC workflow diagram.

[0088] Fig.36 Fuzzy PID control flow chart.

[0089] In the figure: 1-screen cleaning frame; 2-shaking plate; 3-guide bar device; 301-guide bar angle drive motor; 302-guide bar drive shaft; 303-guide bar; 304-second guide bar angle drive motor; 305-second guide bar drive shaft; 306-second guide bar; 307-third guide bar angle drive motor; 308-third guide bar drive shaft; 309-third guide bar; 4-pressure monitoring plate; 401-first pressure monitoring plate; 402-second pressure monitoring plate; 403-third pressure monitoring plate; 404-fourth pressure monitoring plate; 5-loose teeth; 6-first air pressure monitoring device; 601-air pressure parameter monitoring module; 602-first detection hole; 603-first rubber tube; 604-first support Support frame; 605-second detection hole; 606-second rubber tube; 607-second support frame; 608-positioning bracket; 609-positioning bracket mounting hole; 610-rectangular mounting plate; 7-first fish scale screen; 8-second air pressure monitoring device; 9-second fish scale screen; 10-serrated tail screen; 11-first fish scale screen opening adjustment device; 1101-driving shaft; 1102-adjusting plate; 1103-first adjusting plate connecting hole; 1104-fixed shaft; 1105-screen drive connecting plate; 1106-first fish eye bearing; 1107-connecting rod; 1108-second fish eye bearing; 1109-first driving motor; 1110-displacement sensor; 1111-direction conversion device; 1112-third fish eye bearing; 1113-first connecting shaft; 1114-second connecting shaft; 1115-fixed shaft; 1116-connecting plate; 12-first seed loss monitoring sensor; 13-second seed loss monitoring sensor; 14-second fish scale screen opening adjustment device; 15-third air pressure monitoring device; 16-fourth air pressure monitoring device; 17-first seed quantity monitoring device; 1701-first double-stud rubber shock absorber; 1702-mounting plate of the first seed quantity monitoring device in the secondary residue; 1703-first sensitive plate; 1704-second double-stud rubber shock absorber; 1705-second sensitive plate; 1706-third double-stud rubber shock absorber; 18-second seed quantity monitoring device; 19-isolation frame; 1901-first isolation frame; 19 02-second isolation frame; 20-first mounting plate; 21-second mounting plate; 2101-fixing plate; 2102-first seed loss monitoring sensor mounting hole; 2103-first seed loss monitoring sensor mounting angle adjustment hole; 2104-second seed loss monitoring sensor mounting hole; 2105-second seed loss monitoring sensor mounting angle adjustment hole; 22-fourth double-stud rubber shock absorber; 23-signal processing and control system; 24-fan; 25-first air distribution plate; 26-second air distribution plate; 27-seed auger; 28-residue auger; 29-secondary residue outlet; 30-cleaning device drive connection block; 31-fan air inlet opening adjustment plate; 32-first electric push rod; 33-second electric push rod I;34-first fisheye rod end joint bearing; 35-direction conversion member; 36-second air distributor connecting piece; 37-second air distributor hinge point; 38-first air distributor hinge point; 39-second fisheye rod end joint bearing; 40-third electric push rod; 41-woven screen; 42-pull rod displacement sensor; 43-electric cylinder; 44-electric cylinder fixing member; 45-bolt A; 46-grain unloading barrel bracket; 47-front cover plate; 48-connector welding 1; 49-electric cylinder extension rod; 50-fisheye rod end bearing; 51-bolt B; 52-welding of the second connecting piece; 53-cover plate; 54-left reinforcing plate; 55-manual adjustment rod; 56-left beam; 57-welding of the third connecting piece; 58-rear cover plate; 59-connecting plate B; 60-upper reinforcing plate; 61-right reinforcing plate; 62-right beam; 63-connecting plate A; 64-connecting ring B; 65-connecting ring A; 66-grass guide plate A; 67-grass guide plate B; 68-steel sleeve; 69-control mechanism; 70-drum top cover; 71-threshing drum; 72-concave screen. ; DETAILED DESCRIPTION

[0090] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0091] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0092] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0093] A hybrid rice seed production female parent seed harvester, comprising a feeding amount prediction device, a threshing device, a cleaning device, a guide strip angle adjustment device 3, a pressure monitoring plate 4, a fish scale screen opening adjustment device, a grain loss monitoring sensor, a secondary residual grain amount monitoring device, an air pressure monitoring device, an air inlet opening adjustment plate 31, an air distribution plate angle adjustment mechanism, a forward speed adjustment device, an entrainment loss monitoring sensor, a grain breakage rate monitoring sensor and a signal processing and control system 23;

[0094] like Figure 1-4 The cleaning device shown includes a cleaning screen frame 1, a shaking plate 2, loose teeth 5, a fish scale screen, a serrated tail screen 10, a fan 24, a grain agitator 27, a debris agitator 28 and a woven screen 41; the fish scale screen includes a first fish scale screen 7 and a second fish scale screen 9; the shaking plate 2, the loose teeth 5, the first fish scale screen 7, the second fish scale screen 9, and the serrated tail screen 10 are sequentially installed on the cleaning screen frame 1 from front to back; a plurality of guide strips are provided on the shaking plate 2; the woven screen 41 is located below the first fish scale screen 7 and the second fish scale screen 9, and the first fish scale screen 7 and the second fish scale screen 9 and the woven screen 41 together constitute a double-layer vibrating screen; the grain agitator 27 and the debris agitator 28 are located below the woven screen 41, and the fan 24 is located below the cleaning screen frame 1. The fan 24 , the seed auger 27 , and the secondary miscellaneous auger 28 are arranged in sequence. The longitudinal position of the seed auger 27 corresponds to the fish scale screen, and the longitudinal position of the secondary miscellaneous auger 28 corresponds to the sawtooth tail screen 10 .

[0095] The feed amount prediction device is used to predict the harvester feed amount prediction value at the next moment; the guide bar angle adjustment device 3 is installed on the shaking plate 2 and connected to the guide bar, and is used to adjust the guide bar angle; the pressure monitoring plate 4 is located at the end of the shaking plate 2 and the lower part of the loosening teeth 5, and the pressure signal of the pressure monitoring plate 4 is used to characterize the uniformity of the threshing mixture; the fish scale screen opening adjustment device includes a first fish scale screen opening adjustment device 11 and a second fish scale screen opening adjustment device 14; the first fish scale screen opening adjustment device 11 is used to adjust the opening of the first fish scale screen 7; the second fish scale screen opening adjustment device 14 is used to adjust the opening of the second fish scale screen 9; the grain loss monitoring sensor is installed on the cleaning screen frame 1 and is located at the rear of the sawtooth tail screen 10, and is used to detect the loss of grains; A secondary debris seed quantity monitoring device is respectively provided below the sawtooth tail screen 10 and in the space between the isolation frame 19 and the cleaning screen frame 1, for monitoring the number of seeds that pass through the sawtooth tail screen 10 and enter the secondary debris augers 28; an air pressure monitoring device is installed on the cleaning screen frame 1, for monitoring the pressure in the cleaning chamber; an air inlet opening adjustment plate 31 is provided at the air inlet of the fan 24, and an air distributor plate and an air distributor plate angle adjustment mechanism are provided at the air outlet; the forward speed adjustment device is used to adjust the forward speed of the harvester; an entrainment loss monitoring sensor is installed below the concave plate screen 72 to monitor the entrainment loss of seeds; a seed breakage rate monitoring sensor is installed in the grain box to monitor the breakage rate of seeds entering the grain box; a pull rod displacement sensor 42 is used to monitor the extension amount of the electric cylinder extension rod 49 of the electric cylinder 43;

[0096] The signal processing and control system 23 is respectively connected to the feeding amount prediction device, the guide strip angle adjustment device 3, the pressure monitoring plate 4, the first fish scale screen opening adjustment device 11, the second fish scale screen opening adjustment device 14, the grain loss monitoring sensor, the secondary impurities grain amount monitoring device, the air pressure monitoring device, the air inlet opening adjustment plate 31, the air distribution plate angle adjustment mechanism, the pull rod displacement sensor 42 and the electric cylinder 43; the signal processing and control system 23 is connected to the feeding amount prediction device, the pressure monitoring plate 4, the grain loss monitoring sensor The monitoring values ​​of the measuring sensor, the secondary debris grain amount monitoring device, the air pressure monitoring device, the pull rod displacement sensor 42, the entrainment loss monitoring sensor and the grain breakage rate monitoring sensor are processed to control the guide bar angle adjustment device 3, the first fish scale screen opening adjustment device 11, the second fish scale screen opening adjustment device 14, the air inlet opening adjustment plate 31, the air distributor plate angle adjustment mechanism, the electric cylinder 43 and the forward speed adjustment device to achieve the adjustment of the guide bar angle, the fish scale screen opening, the air inlet opening, the air distributor plate angle, the angle of the grass guide plate B 67 and the forward speed of the harvester.

[0097] like Fig.14As shown, the guide bar angle adjustment device 3 includes a guide bar angle driving motor and a guide bar driving shaft, one end of the guide bar driving shaft is connected to the guide bar angle driving motor, and the other end of the guide bar driving shaft 302 is connected to the guide bar, so that the guide bar angle driving motor can drive the guide bar 3 to rotate, thereby changing the angle of the guide bar 3.

[0098] like Fig.14 , 15 As shown, in one embodiment of the present invention, preferably, there are three guide bars, and the guide bar angle adjustment device 3 includes a first guide bar angle drive motor 301, a first guide bar drive shaft 302, a first guide bar 303, a second guide bar angle drive motor 304, a second guide bar drive shaft 305, a second guide bar 306, a third guide bar angle drive motor 307, a third guide bar drive shaft 308 and a third guide bar 309.

[0099] The first guide bar 303, the second guide bar 306, and the third guide bar 309 are installed on the side of the shaking plate 2 with the corrugated plate. The first guide bar angle driving motor 301, the second guide bar angle driving motor 304, and the third guide bar angle driving motor 307 are fixedly installed on the back of the corrugated plate of the shaking plate 2. One end of the first guide bar driving shaft 302 is installed in the driving output hole of the first guide bar angle driving motor 301 and fixed with a set screw. The other end of the first guide bar driving shaft 302 passes through the shaking plate 2. The first guide bar 303 is welded on the first guide bar driving shaft 302 to realize the function of the first guide bar 303 changing the angle under the drive of the first guide bar angle driving motor 301. The angle adjustment method of the second guide bar 306 and the third guide bar 309 is the same as that of the first guide bar 303. After installation, the center of the first guide bar drive shaft 302 is 346 mm away from the cleaning screen frame 1 at the front of the cleaning screen and perpendicular to the forward direction of the harvester, and the distance to the left side of the cleaning screen frame 1 is 535 mm; the center of the second guide bar drive shaft 305 is 460 mm away from the cleaning screen frame 1 at the front of the cleaning screen and perpendicular to the forward direction of the harvester, and the distance to the left side of the cleaning screen frame 1 is 355 mm; the center of the first guide bar drive shaft 308 is 275 mm away from the cleaning screen frame 1 at the front of the cleaning screen and perpendicular to the forward direction of the harvester, and the distance to the left side of the cleaning screen frame 1 is 125 mm; the adjustable angles of the first guide bar 303, the second guide bar 306 and the third guide bar 309 are ±40°, and the center line is adjusted to be parallel to the forward direction of the harvester.

[0100] like Fig.15As shown, in one embodiment of the present invention, preferably, the pressure monitoring plate 4 includes 4 pressure monitoring plates of the same size: a first pressure monitoring plate 401, a second pressure monitoring plate 402, a third pressure monitoring plate 403, and a fourth pressure monitoring plate 404, and the length of the pressure monitoring plate is 65 mm and the width is 100 mm. The four pressure monitoring plates are installed at the end of the shaking plate 2, perpendicular to the forward direction of the harvester, and at the lower part of the loose teeth 5 along the width direction of the cleaning screen. The distance between the center of the first pressure monitoring plate 401 and the right side of the cleaning screen frame 1 is 150 mm, and the center distance between the first pressure monitoring plate 401 and the second pressure monitoring plate 402 in the width direction of the cleaning screen is 200 mm; the distance between the center of the third pressure monitoring plate 403 and the left side of the cleaning screen frame 1 is 150 mm, and the center distance between the fourth pressure monitoring plate 404 and the third pressure monitoring plate 403 in the width direction of the cleaning screen is 200 mm. The uniformity of the threshing mixture entering the cleaning chamber is characterized by monitoring the pressure signals of the first pressure monitoring plate 401, the second pressure monitoring plate 402, the third pressure monitoring plate 403, and the fourth pressure monitoring plate 404.

[0101] like Figure 5-7 As shown, the air pressure monitoring device includes an air pressure monitoring module 601, a first rubber tube 603, a first support frame 604, a second rubber tube 606, a second support frame 607 and a positioning bracket 608;

[0102] The air pressure monitoring module 601 is installed on the positioning bracket 608, and the first support frame 604 and the second support frame 607 are installed on the positioning bracket 608 in sequence from top to bottom. The air pressure monitoring module 601 is provided with a first detection hole 602 and a second detection hole 605. The first detection hole 602 is installed with a first rubber tube 603, and the second detection hole 605 is installed with a second rubber tube 606. The first rubber tube 603 passes through and is fixed on the first support frame 604, and the end of the first rubber tube 603 is parallel to the screen surface of the fish scale screen. The second rubber tube 606 passes through and is fixed on the second support frame 607, and the end of the second rubber tube 606 is perpendicular to the screen surface of the fish scale screen. When working, the first detection hole 602 monitors the static pressure change of the surrounding environment, and the second detection hole 605 monitors the dynamic pressure change of the surrounding environment. The pressure change in the cleaning chamber is characterized by subtracting the static pressure monitoring value from the dynamic pressure monitoring value.

[0103] The air pressure monitoring devices include four, and the four air pressure monitoring devices are symmetrically arranged along the center plane perpendicular to the screen surface. Preferably, the air pressure monitoring device includes a first air pressure monitoring system 6, a second air pressure monitoring device 8, a third air pressure monitoring device 15, and a fourth air pressure monitoring device 16, which have the same structure and the same monitoring principle. In a specific embodiment of the present invention, the distance from the center of the rectangular mounting plate 610 of the first air pressure monitoring device 6 to the front end of the cleaning screen frame 1 is 1024 mm, and the distance from the center of the rectangular mounting plate 610 of the first air pressure monitoring device 6 to the rectangular mounting plate of the second air pressure monitoring device 8 is 480 mm. The third air pressure monitoring device 15 and the fourth air pressure monitoring device 16 are symmetrical with the second air pressure monitoring device 8 and the first air pressure monitoring device 6 along the center plane perpendicular to the screen surface. Figure 16-18 As shown, the first fish scale screen opening adjustment device 11 includes a driving shaft 1101, an adjustment plate 1102, a fixed shaft 1104, a screen drive connecting plate 1105, a first fish eye bearing 1106, a connecting rod 1107, a second fish eye bearing 1108, a first driving motor 1109, a displacement sensor 1110, a direction conversion device 1111, a third fish eye bearing 1112, a first connecting shaft 1113, a second connecting shaft 1114 and a connecting plate 1116; the displacement sensor 1110 is connected to the The third fisheye bearing 1112 is installed on the first drive motor 1109 through the connecting plate 1116, and the displacement sensor 1110 is used to measure the extension length of the push rod of the first drive motor 1109; one end of the third fisheye bearing 1112 is installed at the end of the push rod of the first drive motor 1109, and the other end of the third fisheye bearing 1112 is connected to one side of the direction conversion device 1111 through the first connecting shaft 1113, and the second fisheye bearing 1108 is connected to the other side of the direction conversion device 1111 through the second connecting shaft 1114. The direction conversion device 1111 is installed on the harvester frame through the fixed shaft 1115, one end of the connecting rod 1107 is connected to the second fisheye bearing 1108, the other end of the connecting rod 1107 is connected to the first fisheye bearing 1106, the first fisheye bearing 1106 is connected to one end of the adjustment plate 1102, the driving shaft 1101 is respectively connected to the screen drive connecting plate 1105 and the middle part of the adjustment plate 1102, and the other end of the adjustment plate 1102 is installed on the harvester frame through the fixed shaft 1104. The direction conversion device 1111 converts the horizontal linear motion of the push rod of the first drive motor 1109 into linear motion in the vertical direction, and drives the adjustment plate 1102 to rotate around the fixed axis 1104 through the connecting rod 1107. During the rotation process, the adjustment plate 1102 drives the screen drive connecting plate 1105 through the driving shaft 1101 to rotate the fish scale screen, thereby realizing stepless adjustment of the opening angle of the first fish scale screen 7; the second fish scale screen opening adjustment device 14 has the same structure as the first fish scale screen opening adjustment device 11.

[0104] like Figure 8-11As shown, the grain loss monitoring sensor includes a first grain loss monitoring sensor 12 and a second grain loss monitoring sensor 13; both ends of the first grain loss monitoring sensor 12 and the second grain loss monitoring sensor 13 are respectively mounted on the cleaning screen frame 1 through a first mounting plate 20 and a second mounting plate 21, and the mounting height of the first grain loss monitoring sensor 12 is greater than the mounting height of the second grain loss monitoring sensor 13, forming a stepped grain loss monitoring device to achieve regional measurement of grain loss; the first grain loss monitoring sensor 12 is used to monitor the grain cleaning loss caused by excessive amount of cleaning material, and the second grain loss monitoring sensor 13 is used to monitor the grain cleaning loss caused by improper setting of cleaning parameters and grains being blown out; the first mounting plate 20 and the second mounting plate 21 are both provided with mounting holes and arc-shaped through grooves, one end of the first grain loss monitoring sensor 12 and the second grain loss monitoring sensor 13 are connected to the mounting holes and the arc-shaped through grooves, and the mounting angles of the first grain loss monitoring sensor 12 and the second grain loss monitoring sensor 13 can be adjusted through the arc-shaped through grooves.

[0105] The function of the secondary debris auger is mainly to deal with the ears that have not been threshed cleanly. No grains should enter it. On the other hand, there should not be too many debris such as short stems in the secondary debris auger. As for the grain cleaning loss, the existing research has not distinguished the source of grain loss. Grain cleaning loss is directly related to the amount and distribution of the airflow field and material inside the cleaning device. If the amount of material is small, most of the material will be blown out by the airflow in the cleaning chamber. At this time, the grain loss at a distance from the tail of the cleaning screen is more. When the amount of material in the cleaning chamber is too much, the material cannot be effectively blown by the airflow, resulting in most of the material being thrown out of the machine with the vibration of the vibrating screen. At this time, more grains are lost near the tail of the cleaning screen. Therefore, according to the distribution law of cleaning loss, a stepped grain loss monitoring sensor is arranged at the tail of the cleaning screen. The cause of cleaning loss can be analyzed according to the monitoring values ​​of different grain loss monitoring sensors, and then appropriate measures can be taken to reduce grain loss.

[0106] like Fig. 9As shown, specifically, both ends of the first grain loss monitoring sensor 12 are respectively mounted on the first mounting plate 20 and the second mounting plate 21 through two double-stud rubber shock absorbers, one end of the second mounting plate 21 is mounted on the cleaning screen frame 1 through a fixing plate 2101, and the two fourth double-stud rubber shock absorbers at one end are respectively inserted into the first grain loss monitoring sensor mounting hole 2102 and the first grain loss monitoring sensor mounting angle adjustment hole 2103, and the two fourth double-stud rubber shock absorbers at the other end are respectively inserted into the corresponding positions of the first mounting plate 20, and the mounting angle of the first grain loss monitoring sensor 12 can be adjusted through the first grain loss monitoring sensor mounting angle adjustment hole 2103. After the mounting angle is adjusted, the fourth double-stud rubber shock absorber is fixed by a nut. Each end of the second grain loss monitoring sensor 13 is mounted on the first mounting plate 20 and the second mounting plate 21 through two fourth double-stud rubber shock absorbers, and the two fourth double-stud rubber shock absorbers are respectively inserted into the second grain loss monitoring sensor mounting hole 2104 and the third grain loss monitoring sensor mounting angle adjustment hole 2105, and the two fourth double-stud rubber shock absorbers at the other end are respectively inserted into the corresponding positions of the first mounting plate 20. The mounting angle of the second grain loss monitoring sensor 13 can be adjusted through the third grain loss monitoring sensor mounting angle adjustment hole 2105. After the mounting angle is adjusted, the fourth double-stud rubber shock absorber is fixed by a nut.

[0107] In a specific embodiment of the present invention, the horizontal center distance between the first grain loss monitoring sensor installation hole 2102 and the second grain loss monitoring sensor installation hole 2104 is 100 mm, and the vertical center distance is 35 mm; the first grain loss monitoring sensor 12, the second grain loss monitoring sensor 13, the first mounting plate 20 and the second mounting plate 21 together form a stepped grain loss monitoring device to achieve regional measurement of grain loss. The first grain loss monitoring sensor 12 is used to monitor the grain cleaning loss caused by excessive cleaning material volume, and the second grain loss monitoring sensor 13 is used to monitor the grain cleaning loss caused by improper cleaning parameter settings and grains being blown out.

[0108] The seed quantity monitoring device includes a first seed quantity monitoring device 17 and a second seed quantity monitoring device 18, which are installed below the sawtooth tail screen 10 and in the space between the isolation frame 19 and the left and right cleaning screen frames 1, and are used to monitor the number of seeds that pass through the sawtooth tail screen 10 and enter the secondary debris auger. Shock absorbers are provided at the connection between the first seed quantity monitoring device 17 and the second seed quantity monitoring device 18 and the cleaning screen frame 1.

[0109] like Fig.12 , 13As shown, the first grain quantity monitoring device 17 includes a mounting plate 1702 of the first grain quantity monitoring device, a first sensitive plate 1703, a second double-stud rubber vibration damper 1704, a second sensitive plate 1705, and a third double-stud rubber vibration damper 1706. The first grain quantity monitoring device 17 is respectively installed in the positioning holes on the first isolation frame 1901 through the two first double-stud rubber vibration dampers 1701 and the two third double-stud rubber vibration dampers 1706 at both ends and fixed on the outside of the cleaning screen frame 101 and the first isolation frame 1901 with nuts. The second grain quantity monitoring device 18 is installed on the cleaning screen frame 101 and the second isolation frame 1902 with the first grain quantity monitoring device 17, and fixed by nuts. The first grain quantity monitoring device 17 and the second grain quantity monitoring device 18 have the same structure, and the first grain quantity monitoring device 17 and the second grain quantity monitoring device 18 are symmetrically installed, and the symmetry plane is the center plane of the cleaning screen parallel to the forward direction of the cleaning screen harvester.

[0110] like Fig.19As shown, the fan 24 includes a first air distribution plate 25, a second air distribution plate 26, a first electric push rod 32, a second electric push rod 33 and a third electric push rod 40; the first air distribution plate 25 and the second air distribution plate 26 are located at the air outlet of the fan, and the first air distribution plate 25 and the second air distribution plate 26 are movably connected to the inner wall of the air outlet of the fan; an opening adjustment plate 31 is provided at the air inlet of the fan 24, and the first electric push rod 32 is connected to the opening adjustment plate 31, and the first electric push rod 32 can drive the opening adjustment plate 31 to adjust The air inlet opening of the air saver 24, the third electric push rod 40 is connected to the first air divider plate 25, the third electric push rod 40 can drive the first air divider plate 25 to rotate around the connection point between the first air divider plate 25 and the inner wall of the air outlet, thereby realizing the angle adjustment of the first air divider plate 25, the second electric push rod 33 is connected to the second air divider plate 26, the second electric push rod 33 can drive the second air divider plate 26 to rotate around the connection point between the second air divider plate 26 and the inner wall of the air outlet, thereby realizing the angle adjustment of the second air divider plate 26. The driving shaft of the fan 24 is connected to the hydraulic motor, and by controlling the opening of the hydraulic solenoid valve, the fan speed can be steplessly adjusted within the range of 1100 to 1500 rpm; the first electric push rod 32 is connected to the fan inlet opening adjustment plate 31, and driven by the first electric push rod 32, the fan inlet opening can be adjusted within the range of 0 to 5 levels, and the larger the number, the larger the inlet area and the larger the fan inlet volume; the third electric push rod 40 is connected to the first air distribution plate 25 through the second fisheye rod end joint bearing 39, and the first air distribution plate 25 is rotated around the first air distribution plate hinge point 38 under the push of the third electric push rod 40, thereby realizing the angle of the first air distribution plate 25 to be adjusted between 13° and 45°. The second electric push rod 33 is connected to one end of the half-moon shaped direction conversion member 35 through the first fisheye rod end joint bearing 34, and the other end of the direction conversion member 35 is connected to the second air distribution plate connecting piece 36. Driven by the second electric push rod 33, the second air distribution plate 26 rotates around the second air distribution plate hinge point 37, thereby realizing the angle adjustment of the second air distribution plate 26 between 13° and 45°.

[0111] like Figure 20-21The threshing device includes a drum top cover 70, a threshing drum 71, a concave plate screen 72 and a control mechanism 69; the concave plate screen 72 is located directly below the drum top cover 70, and the threshing drum 71 is placed in the middle of the drum top cover 70 and the concave plate screen 72; the control mechanism 69 is located on the top of the drum top cover 70, and the control mechanism 69 includes an electric cylinder 43, a pull rod displacement sensor 42 and a connecting plate A63; a connecting plate A63 is provided on the upper surface of the cover plate 53 of the drum top cover 70, and a grass guide plate A66 and a grass guide plate B67 are provided on the lower surface area of ​​the cover plate 53 from front to back, and the grass guide plate A66 and the grass guide plate B67 keep their end faces parallel when they are not rotated; there are multiple grass guide plates B67 distributed in a certain linear manner, one end of a front group of grass guide plates B67 is rotatably connected to the notch of the cover plate 53, and the other end is connected to the connecting plate A63, and the electric cylinder 43 drives the connecting plate A63 to drive the grass guide plate B66 to rotate. 67 rotates in the slot, thereby achieving angle adjustment of the grass guide plate group B 67; the pull rod displacement sensor 42 is used to monitor the extension amount of the electric cylinder extension rod 49 of the electric cylinder 43.

[0112] According to the flow characteristics of the plant group in the threshing space, the angle of the grass guide plate B 67 is preferably adjusted as follows: the electric cylinder 43 drives the connecting plate A63 to drive the grass guide plate B 67 to rotate, thereby adjusting the angle of the grass guide plate B 67; the pull rod displacement sensor 42 is used to monitor the extension amount of the electric cylinder extension rod 49 of the electric cylinder 43, to achieve stepless adjustment of the angle of the grass guide plate, and to achieve a self-locking function that can be fixed at the adjusted angle after adjustment. The preferred control strategy is used to adjust the working parameters such as the angle of the top cover guide plate, so that the plant group can flow stably and evenly in the threshing space, and the threshing separation performance is significantly improved.

[0113] Specifically, the top of the concave screen 72 is in contact with the lower planes of the left beam 56 and the right beam 62 below the drum top cover 70 , and the threshing drum 71 is placed right in the middle of the drum top cover 70 and the concave screen 72 .

[0114] like Figure 21-25As shown, in a specific embodiment of the present invention, the drum top cover 70 includes a grain unloading drum bracket 46, a front cover plate 47, a first connecting member welded 48, a second connecting member welded 52, a third connecting member welded 57, a cover plate 53, a left reinforcing plate 54, a manual adjustment rod 55, a left beam 56, a right beam 62, a rear cover plate 58, a connecting plate B 59, an upper reinforcing plate 60, a right reinforcing plate 61, a connecting plate A 63, a grass guide plate A 66, a grass guide plate B 67, and a steel sleeve 68. The upper reinforcing plate 60, the left reinforcing plate 54, and the right reinforcing plate 61 are respectively welded to the upper side, the left side, and the right side of the upper surface of the cover plate 53. The upper reinforcing plate 60 is completely attached to the upper area of ​​the cover plate 53, and its front end face and rear end face are both flush with the front and rear end faces of the cover plate 53. Similarly, the front and rear end faces of the left reinforcing plate 54 and the right reinforcing plate 61 are also flush with the front and rear end faces of the cover plate. The upper reinforcing plate 60, the left reinforcing plate 54, and the right reinforcing plate 61 all serve to increase the bearing capacity of the cover plate 53. The front cover plate 47 and the rear cover plate 58 are welded to the front and rear sides of the cover plate 53, respectively. The grain unloading drum bracket 46 is welded to the front of the front cover plate 47. The left beam 56 is located at the lower left of the cover plate 53, and the right beam 62 is located at the lower right of the cover plate 53. The distance between the farthest edges of the left beam 56 and the right beam 62 is 865 mm, which is consistent with the width of the front and rear cover plates 47 and 58, and the lengths of the left beam 56 and the right beam 62 are both 2204 mm, which is consistent with the length of the cover plate 53. The left beam 56 and the right beam 62 are welded to the lower side of the cover plate 53, and the lower plane height is consistent, so they can be placed flat on the frame to bear the weight of the entire top cover. Three threaded holes are opened on the right beam 62, and bolts can be used to pass through the threaded holes to fix the drum top cover on the frame. There are three welded connectors, which are fixed on the left side of the left beam at equal intervals. Each welded connector can be connected to the frame by bolts through the round holes provided. The left end face of the first welded connector 48 on the far left is 97 mm away from the end face of the front cover plate 47. The center distance between the second welded connector 52 and the first welded connector 48 is 1003.5 mm. Similarly, the distance between the third welded connector 57 and the second one is also 1003.5 mm. The drum top cover 70 is welded to the frame through these three connectors to realize the flip cover operation. The grass guide plate A66 is welded to the lower surface area of ​​the cover plate 53, and its front end is fixed at the intersection of the front cover plate 47 and the cover plate 43, and its rear end is fixed at the bend on the left side of the cover plate, wherein the bend of the grass guide plate A66 fits the bend from the upper side of the cover plate 43 to the left side, and the end faces of the grass guide plate A66 and the grass guide plate B67 are kept parallel when they are not rotated. The grass guide plate B 67 is also located in the lower area of ​​the cover plate 53 and has a certain linear distribution. The left end of its upper side is connected to the cover plate 53 and the upper reinforcing plate 60 by bolts, and the right end of its upper side is connected to the connecting plates A 63 and B 59 and the steel sleeve 68 by bolts passing through the grooves of the cover plate 53 and the upper reinforcing plate 60.The grass guide plates B 67 are counted from the front to the back, and the first to the sixth are spaced 180 mm apart, and the third grass guide plates B 67 are spaced 240 mm apart from the sixth grass guide plates. The first six grass guide plates B 67 are driven by the connecting plate A 63 to form the same rotation, and the third grass guide plates B 67 are driven by the connecting plate B 59 to form the same rotation. The connecting plate A 63 is located above the cover plate 53 and the upper reinforcing plate 60, and has 6 openings at equal intervals. There are six steel sleeves 68 between the connecting plate A 63 and the upper reinforcing plate 60, and the steel sleeves 68 correspond to the openings on the connecting plate A 63 one by one. From then on, the bolts pass through the openings of the connecting plate A 63, the steel sleeves 68, the notches of the upper reinforcing plate 60, the notches of the cover plate 53, and the openings on the right side of the grass guide plates B 67 from top to bottom, so that the connecting plate A 63 and the first six grass guide plates B 67 form a linkage. The connecting plate B 59 is similar to the connecting plate A 63. There are three equally spaced openings on the connecting plate B 59, which are also located above the cover plate 53 and the upper reinforcing plate 60. At the rear of the connecting plate A 63, it is linked with the three grass guide plates B 67 through bolts. The linkage is slightly different from the linkage at the connecting plate A 63. There is no steel sleeve 68 between the connecting plate B59 and the upper reinforcing plate 60. The connection plate B 59 is designed to be one high and one low, which is to avoid interference between the connecting plate A 63 and the connecting plate B 59 during the process of adjusting the angle of the grass guide plate B 67. There is also a manual adjustment rod 55 above the connecting plate B 59, which is located directly above the first of the three grass guide plates B 67. The manual adjustment rod 55 can manually adjust the angle of the three grass guide plates B 67 according to the operator's work experience. The manual adjustment rod 55 is hollow in the middle, and the three angle lines engraved on the upper reinforcing plate 60 can be seen, so as to know the current rotation angle.

[0115] like Fig.26As shown, the control mechanism 69 is located at the upper right corner of the upper plane of the drum top cover 70, and mainly includes a pull rod displacement sensor 42, an electric cylinder 43, an electric cylinder fixing part 44, an electric cylinder extension rod 49, a fisheye rod end bearing 50, a connecting ring A63, and a connecting ring B64. The electric cylinder fixing part 44 is fixed to the upper side of the cover plate 53 and the upper reinforcing plate 60 by bolts, and is located at the upper right corner of the upper reinforcing plate 60, and its front end face coincides with the front end face of the upper reinforcing plate 60, and its right end face coincides with the right end face of the upper reinforcing plate 60. The function of this part is to fix the electric cylinder 43 and the pull rod displacement sensor 42 on the drum top cover 81, so that the electric cylinder 43 as the power source of the control mechanism 69 can continuously and stably output power. There is a convex structure on the horizontal surface of the electric cylinder fixing part 44, and the center spacing of the convex structure is 25mm. There are several threaded holes on the horizontal surface, which are fixed to the cover plate 53 and the upper reinforcing plate 60 by bolts. In addition, there is a large circular hole and 4 small circular holes on the vertical surface. The central large hole is a large circular hole with a diameter of 44mm. The large circular hole is used to pass the electric cylinder extension rod 49. There are 4 small circular holes with a diameter of 8mm distributed around the large circular hole at equal circumferential angles. The distance between the center of the small circular hole and the center of the large circular hole is 1 / 4 of the center of the small circular hole. In addition, there is a square opening with a side length of 19 mm on the right side of the large circular hole in the center of the vertical plane. This square opening is used to place the front end of the pull rod displacement sensor 42, so as to better fix the pull rod displacement sensor 42 to the side wall of the electric cylinder 43 through hot melt adhesive. The electric cylinder 43 is the power source of the control mechanism 80, and its interior is a two-phase 6-wire 57 stepper motor controlled by a pulse signal. The electric cylinder 43 matches the convex structure of the electric cylinder fixing part 44 through the groove, and then the electric cylinder 43 is fastened to the electric cylinder fixing part 44 through the threaded hole on the vertical plane with bolts A. There is a groove at the bottom of the electric cylinder, and a convex structure is designed on the electric cylinder fixing part, which is just riveted and fixed, thus limiting the up, down, left, and right movements of the electric cylinder 43. Then, four bolts A are connected to the electric cylinder fixing part 44 through four threaded holes on the electric cylinder 43, further limiting the up, down, left, and right movements of the electric cylinder 43 and the front and back movements, so that the electric cylinder 43 is completely fixed. Secondly, the electric cylinder extension rod 49 extends through the opening on the electric cylinder fixing member 44, and the front end is connected to the fisheye rod end bearing 50, and a connecting ring A 65 is fixed between the front end of the electric cylinder extension rod 49 and the fisheye rod end bearing 50, and the other end of the connecting ring A 65 is connected to the pull rod of the pull rod type displacement sensor 42. There is a hole at both ends of the connecting ring A 65, one hole with a diameter of 14.5mm is connected to the electric cylinder extension rod 49, and the other hole with a diameter of 5.5mm is connected to the pull rod of the pull rod type displacement sensor 42. The connecting ring A 65 is fixed to the electric cylinder extension rod 49 and the pull rod of the pull rod type displacement sensor 42 by using a nut, and the end face is kept parallel to the front end face of the electric cylinder 43 and the pull rod type displacement sensor 42. In addition, the fixing position of the connecting ring A 65 should make the initial position of the electric cylinder extension rod 49 and the pull rod of the pull rod type displacement sensor 42 flush, so as to synchronize the displacement of the electric cylinder extension rod 49 and the displacement of the pull rod of the pull rod type displacement sensor 42. One end of the fisheye rod end bearing 50 is connected to the electric cylinder extension rod 49 through its own threaded hole, and the other end is connected to one end of the connecting ring B 64 through a bolt B 51, and the other end of the connecting ring B 64 is connected to the bolt on the connecting plate A 63. The connecting ring B 64 also has a hole at both ends, one hole with a diameter of 14.5 mm is connected to the bolt B 51 in the hole of the fisheye rod end bearing 50, and the other hole with a diameter of 12.5 mm is connected to the bolt of the first hole at the front end of the connecting plate A 63. The function of the connecting ring B 64 is mainly to transmit the thrust or tension of the electric cylinder extension rod 49 to the connecting plate A 63, thereby driving the rotation of the grass guide plate B 67. The connecting plate A 63 can drive the first six grass guide plates B 67 to rotate 50° to 80° in the notches of the cover plate 53 and the upper reinforcing plate 60 under the drive of the electric cylinder 43. The extension amount of the electric cylinder extension rod 49 is 100 mm, and the extension amount of the pull rod type displacement sensor 42 is 150 mm.

[0116] In a specific embodiment of the present invention, the entrainment loss monitoring sensor is installed under the concave screen 72 to monitor the entrainment loss of grains (refer to CN101611670A for specific methods), and the grain breakage rate monitoring sensor is installed in the grain box (refer to CN116482101A for specific methods) to monitor the breakage rate of grains entering the grain box. The feed amount prediction device is provided with a feed amount prediction model for predicting the feed amount prediction value at the next moment;

[0117] The feed amount prediction device includes an image acquisition unit, a detection unit, and a feed amount prediction unit; the image acquisition unit is used to acquire images in the area to be harvested; the detection unit is used to acquire the forward speed of the harvester and the height of the cutting table; the feed amount prediction unit extracts plant height, plant density, and cutting width from the images acquired by the image acquisition unit, and inputs the plant density, plant height, cutting width, cutting table height, and forward speed of the area to be harvested into a feed amount prediction model constructed based on the RBF-MLP multi-layer neural network to predict the feed amount of the harvester at the next moment;

[0118] like Fig. 27 As shown, preferably, the feeding amount prediction unit processes the RGB images collected by the image acquisition unit 1 at different times during the operation of the harvester through the YoloX target detection algorithm to obtain the plant density and feeding density of the plants, which specifically includes the following steps:

[0119] S1.1: Collect RGB images of the area to be harvested at different times during the actual harvesting process of the harvester, and use Labelimg software to annotate them one by one to mark all the rice ears in the image;

[0120] S1.2: After obtaining enough image samples, all images are randomly divided into 80% as training sets and 20% as test sets;

[0121] S1.3: The training set is imported into the YoloX training program for training. After the training is completed, a rice ear detection model is obtained. The rice ear detection model is tested using the test set to ensure the detection effect of the plant ear detection model.

[0122] S1.4: Use a checkerboard to calibrate the size of the sampled image and determine the actual size of the camera sampling area;

[0123] S1.5: During actual detection, the RGB image collected by the image acquisition unit 1 is input into the rice ear detection model, and the rice ear detection model detects the number of rice ears in the RGB image and obtains the plant density p according to the actual area of ​​the sampling area;

[0124] S1.6: Collect some complete and mature rice plant samples in the area where rice is growing evenly, and use these samples to analyze the plant height h and cutting height h c The influence of the change of the mass M of a single rice plant is used to obtain the rice plant mass equation and determine the plant height h and cutting height h. c The mathematical relationship between the mass M of a single rice plant is as follows:

[0125]

[0126] Among them, m e is the average mass of rice spike, kg, h is the plant height, m ​​is the mass per unit length of the stalk, kg / m;

[0127] S1.7: According to the plant density p in the sampling area and the rice plant mass equation M, the feeding density ρ (kg / m 2 ).

[0128] ρ=p·M

[0129] In S1.6, in order to determine the effect of cutting height on the quality of rice plants, in one embodiment of the present invention, preferably, 100 groups of complete rice plant samples are taken, and the height of each plant is measured; they are cut at a position 5 cm above the ground, and the quality of each plant is measured. From each plant, 30 1 cm long stems are cut upward from the cutting position as samples, and the quality of each sample is measured respectively, so that the quality of rice plants at different cutting heights can be obtained. In order to reduce the error caused by the morphological differences of rice ears, the quality of the rice ears of each sample plant is measured respectively, and the average quality is taken as the rice ear quality m. e , the rice plant mass equation was fitted based on the measured data.

[0130] like Fig.28 As shown, in one embodiment of the present invention, preferably, collecting images in the area to be harvested and extracting plant heights from the images specifically includes the following steps:

[0131] S2.1: Initialize the image acquisition unit 1, collect the depth image and RGB image of the area to be harvested in front of the harvester, and align them;

[0132] S2.2: Set a 200×150 ROI in the middle of the RGB image, perform HSV transformation on the ROI, extract pixel regions in the range of [10, 50, 100] and [40, 120, 250], and project the regions into the corresponding depth image;

[0133] S2.3: Call the get_intrinsics function and get_extrinsics_to function to obtain the intrinsic and extrinsic parameters of the camera, and call the rs2_get_depth_scale function to obtain the depth scale of the depth sensor. According to the intrinsic and extrinsic parameters of the camera, the coordinates of the corresponding pixel points are obtained, and the depth values ​​of the corresponding pixel points are extracted from the depth image, and the extracted pixel depth values ​​are saved;

[0134] S2.4: average the depth values ​​of each pixel point in the storage, multiply the average depth value by the depth scale, and obtain the straight-line distance l from the plant ear head to the camera in the area of ​​interest x The installation position of the depth camera is the high point on the front side of the harvester. Since the image acquisition unit 1 is installed with a certain pitch angle θ, the vertical distance h2 from the image acquisition unit 1 to the crop contour boundary can be obtained by trigonometric calculation;

[0135] S2.5: Subtract the installation height h1 of the image acquisition unit 1 from the vertical distance h2 from the camera to the crop contour boundary to obtain the plant height h in the area to be harvested;

[0136] h=h1-l x sinθ

[0137] Among them, l x sinθ is the height from the camera to the panicle layer of the plant.

[0138] Preferably, the flow chart for obtaining the cutting width of the area to be harvested is as follows: Fig.29 As shown, it includes the following steps:

[0139] S3.1: Read a frame of depth image from the data stream of the RealSense depth camera, use the linear scanning algorithm to traverse all pixels in the depth image, find the two adjacent pixels with the largest depth difference, and save them in a list;

[0140] S3.2: Call the get_intrinsics and get_extrinsics_to methods to obtain the intrinsic and extrinsics parameters of the camera, convert the two adjacent pixels with the largest depth difference into points in the camera coordinate system, and convert the pixel coordinates into point coordinates in the camera coordinate system, and extract the coordinate information of all points on the x-axis;

[0141] S3.3: Cutting width detection diagram as shown Fig.30 As shown, the x-axis coordinate information of all points obtained is averaged, which is the vertical distance between the harvest boundary and the camera. According to the installation position of the camera, the cutting width w of the harvester at that moment can be obtained.

[0142] Specifically, to obtain the cutting width of the harvester during operation, it is only necessary to convert the extracted boundary pixel points into coordinates in the camera coordinate system. The coordinates of the boundary points on the x-axis in the camera coordinate system are the distance of the harvest boundary points relative to the camera. Since the installation position of the camera is fixed relative to the harvester, the sum of this distance and the distance of the camera relative to the other side of the header divider is the current cutting width of the harvester.

[0143] like Fig.31 As shown, preferably, establishing the RBF-MLP multi-layer neural network includes the following steps:

[0144] In a similar way to how perceptrons are combined to form a multilayer perceptron, RBF approximation is incorporated in each hidden layer, aiming to combine the advantages of the nonlinear approximation ability of RBF neural networks with the ability of multilayer perceptrons to capture complex features;

[0145] S4.1: Introducing nonlinear transformations into existing RBF-MLP networks: In each hidden layer of the RBF-MLP network except the first layer, each component of the output of the previous hidden layer is processed by a trainable univariate RBF with a scalar center, and then RBF approximation is performed to generate the output of the current layer to enhance the representation ability and adaptability of the network;

[0146] In addition, in RBF-MLP, the input data is transformed nonlinearly through RBF approximation instead of linear transformation as in traditional MLP. This introduces additional nonlinearity to the multilayer perceptron, enabling the use of fewer hidden layers and neurons, thus reducing the cost of training.

[0147] Compared with the traditional multi-layer perceptron, RBF-MLP uses a Gaussian basis function with trainable center and width as the activation function of hidden neurons.

[0148] S4.2: Multiple hidden layers are set between the input layer and the output layer of the RBF-MLP network that introduces nonlinear transformation, so that the RBF-MLP has the ability of deep learning;

[0149] S4.3: Compute the output of the first hidden layer in S4.2; each hidden layer involves two operations, but the operations for the first hidden layer are different from those for subsequent hidden layers:

[0150] S4.3.1: In the first hidden layer, the input variables are first sent to the same Gaussian basis function a as in the RBF neural network. (1) middle,

[0151]

[0152] The Gaussian basis function is multivariate, and the dimension of its center is the same as the dimension of the input variable x.

[0153] x is the input variable, is a multivariate Gaussian basis function;

[0154] S4.3.2: Perform RBF approximation; that is, apply the linear weighted sum of all Gaussian basis functions given in the formula of S4.3.1.

[0155] S4.3.3: Calculate the output of the hidden layer:

[0156]

[0157] Among them, W (1) is the weight matrix of the first hidden layer, z (1) is the output of the first hidden layer, is a multivariate Gaussian basis function, is the weight node in the first layer of the network, n0 is the number of kernels in the neural network layer, j and i are identifiers, and their range is any integer from 1 to n0;

[0158] S4.4: Calculate the output of all hidden layers except the first hidden layer in S4.2:

[0159] S4.4.1: The j-th feature of layer l-1 is input to a univariate radial basis function a l middle:

[0160]

[0161] is the jth feature of the l-1 hidden layer, L is the number of hidden layers, and l is the number of hidden layers;

[0162] S4.4.2: Perform RBF approximation by applying the linear weighted sum of all Gaussian basis functions given in the above equation;

[0163] S4.4.3: Calculate the output z of all hidden layers except the first hidden layer l .

[0164]

[0165] Finally, the output layer outputs

[0166]

[0167] Among them, a (L-1) is the output of the neurons in the L-1 hidden layer, W (L) is the weight matrix of the output layer, b (L) is the bias of the output layer.

[0168] The RBF-MLP multi-layer neural network utilizes RBF approximation in the hidden layer and simplifies the basis function by replacing the original multivariable Gaussian basis function with a univariate radial basis function. This greatly reduces the dimension of the basis function and the complexity of the network, thereby simplifying the training process.

[0169] Preferably, establishing a harvester feed rate prediction model comprises the following steps:

[0170] S5.1: Constructing the data set required for training: The plant height, plant density, and cutting width obtained by the image acquisition unit 1 at different times during the operation of the harvester, and the forward speed of the harvester and the height of the harvesting table obtained by the detection unit constitute a data set;

[0171] S5.2: Import the data set into the RBF-MLP multi-layer neural network for training to obtain the feed amount prediction model: Import the constructed data set into the established RBF-MLP multi-layer neural network for training. The training process of the feed amount prediction model uses the mean square error as the loss function MSE:

[0172]

[0173] Where n is the number of samples, y i is the true value of the i-th sample, is the corresponding predicted value;

[0174] Get a batch of training data from the data loader, including input features and corresponding target labels;

[0175] First, the input feature x passes through the RBF layer, which contains multiple radial basis function kernels. represents the i-th kernel function. Each kernel function calculates the distance between the input data x and the kernel, using the Euclidean distance d i :

[0176] d i =||xu i ||2

[0177] Among them, u i is the center of the i-th kernel, x is the input feature, d i is the Euclidean distance;

[0178] Then, a Gaussian kernel function is applied to calculate the output value of each kernel:

[0179]

[0180] Among them, σ i is the standard deviation of the ith kernel, RBF i is the output value of the Gaussian kernel, d iis the Euclidean distance;

[0181] Output RBF of RBF layer i Become the input of the first layer of MLP. These values ​​pass through the fully connected layer and are processed by the ReLU activation function. Suppose the first layer of MLP has N neurons, where z i represents the input of the i-th neuron, then:

[0182]

[0183] Where M is the number of kernels in the RBF layer, and w ij is the weight connecting the jth kernel of the RBF layer and the ith neuron of the first layer of the MLP, b i is the bias of the ith neuron;

[0184] Next, the ReLU activation function is applied to obtain the intermediate representation h i :

[0185] h i =max(0, z i )

[0186] h i is the input of the subsequent layers of MLP, h i is an intermediate transition function, called an intermediate representation. i represents the input of the i-th neuron;

[0187] The intermediate representation of MLP is mapped to the final output through the second layer of MLP, the network output is compared with the actual target label, and the mean square error (MSE) loss is calculated.

[0188] Calculate the gradient of the loss relative to the model parameters, and pass the gradient from the loss back to each layer of the network through back propagation. If the error of the l+1th hidden layer has been obtained, then the error of the lth hidden layer is:

[0189]

[0190] δ l is the error of the lth hidden layer, z l is the input of the lth hidden layer neuron, δ l+1 is the error of the l+1th hidden layer, z l+1 is the input of the l+1th hidden layer neuron;

[0191] again

[0192] z l+1 =W l+1 σ(W l a l-1 +b l )+bl+1

[0193] W l+1 is the weight matrix of the l+1th hidden layer, b l+1 is the bias of the l+1th hidden layer, a l-1 It is the output of the result of the l-1th hidden layer after the activation function;

[0194] therefore

[0195] δ l =(W l+1 ) T δ l+1 ⊙σ′(W l a l-1 +b l )

[0196] According to the error δ of the output layer L , through the above formula, we can get δ L-1 , δ L-2 , …, δ 2 , the first layer is the input layer, there is no error. After obtaining the error of each layer, the gradient of the error function C for each layer parameter is solved:

[0197]

[0198]

[0199] Where T is the transposition symbol;

[0200] Finally, the parameters of each layer are updated by gradient descent:

[0201]

[0202]

[0203] Among them, η is the learning rate during training, W l is the weight matrix of the lth hidden layer, b l is the bias of the lth hidden layer, C is the mean square error function MSE;

[0204] Use the Adam optimizer to update the model parameters according to the calculated gradient to reduce the value of the loss function;

[0205] Repeat the above steps to traverse all batches in the dataset until an epoch is completed;

[0206] After each epoch, the loss value of the last batch of the epoch is recorded for subsequent drawing of the loss curve, such as Fig.32 , 33As shown in Figures 34, compared with single RBF-nn and MLP, RBF-MLP converges faster, which means that the model can reach a lower training loss value in a shorter time, saving training time and computing resources, and faster convergence helps avoid overfitting on the training data. Fig.34 The curve shown shows that the loss value decreases rapidly in the same time period, and it is concluded that the RBF-MLP neural network has better approximation accuracy and faster training convergence speed.

[0207] The feed amount prediction model is:

[0208]

[0209] Among them, Q is the predicted value of feed volume, v is the forward speed, h is c is the height of the cutting platform, h is the height of the plant, w is the cutting width, and ρ is the feeding density;

[0210] ρ=p·M

[0211] Among them, p is the plant density, M is the rice plant mass equation;

[0212]

[0213] Among them, m e is the average mass of rice spike; h is the plant height, and m is the mass per unit length of the stem.

[0214] The height h of the plants in the area to be harvested is:

[0215] h=h1-l x sinθ

[0216] Where, h1 is the installation height of the image acquisition unit, l x is the straight-line distance from the plant spike to the camera in the area of ​​interest, θ is the pitch angle of the image acquisition unit, and l x sinθ is the height from the camera to the panicle layer of the plant.

[0217] The plant density p of the area to be harvested is obtained based on the YoloX target detection algorithm.

[0218] Preferably, the detection unit includes an angle sensor and a Hall sensor; the angle sensor is used to measure the height of the harvester header; the Hall sensor is used to measure the forward speed of the harvester.

[0219] Preferably, the feed amount prediction unit includes a JetsonNX embedded processor.

[0220] The Jetson NX embedded processor is used to predict the harvester's next feed amount and transmit this data to the signal processing and control system23.

[0221] Preferably, the image acquisition unit includes a RealSense depth camera 11.

[0222] The feeding amount prediction device obtains the plant density of the to-be-harvested area based on the YoloX target detection algorithm, obtains the plant height and cutting width of the to-be-harvested area based on the deep visual perception technology, obtains the cutting table height based on the angle sensor, and obtains the forward speed of the harvester based on the Hall sensor monitoring. The angle sensor and the Hall sensor signals are processed by the CAN communication module and sent to the JetsonNX embedded processor. The forward speed, cutting table height, plant height, cutting width and feeding density information are called in the JetsonNX embedded processor, and the feeding amount prediction model constructed based on the RBF-MLP multi-layer neural network is used to predict the feeding amount information of the harvester at the next moment.

[0223] The feed amount prediction model is a model obtained by training a data set consisting of the forward speed, header height, plant height, cutting width, feeding density collected during the actual operation and the feeding amount information under the corresponding parameters measured manually through the RBF-MLP multi-layer neural network. When the feed amount prediction model is called for prediction, it is only necessary to input the forward speed, header height, plant height, cutting width, and feeding density obtained at the same time into the system, and the system calculates the corresponding feed amount prediction value.

[0224] The program of the feeding amount prediction unit, the plant height collection program, and the cutting width collection program run in the Jetson NX embedded processor.

[0225] A control method according to the hybrid rice seed production female parent seed harvester comprises the following steps:

[0226] The feed amount prediction device predicts the harvester feed amount prediction value at the next moment; the pressure monitoring plate 4 monitors the pressure signal to characterize the uniformity of the threshing mixture; the grain loss monitoring sensor detects the loss of grains; the secondary debris grain amount monitoring device monitors the number of grains that pass through the sawtooth tail screen 10 and enter the secondary debris auger 28; the air pressure monitoring device monitors the pressure in the cleaning chamber; the pull rod displacement sensor 42 monitors the extension amount of the electric cylinder extension rod 49 of the electric cylinder 43; the entrainment loss monitoring sensor monitors the entrainment loss of grains; the grain breakage rate monitoring sensor monitors the breakage rate of grains entering the grain box;

[0227] The signal processing and control system 23 processes the monitoring values ​​of the feed amount prediction device, the pressure monitoring plate 4, the grain loss monitoring sensor, the secondary impurities grain amount monitoring device, the air pressure monitoring device, the pull rod displacement sensor 42, the entrainment loss monitoring sensor and the grain breakage rate monitoring sensor, and controls the guide strip angle adjustment device 3, the first fish scale screen opening adjustment device 11, the second fish scale screen opening adjustment device 14, the air inlet opening adjustment plate 31, the air distribution plate angle adjustment mechanism, the electric cylinder 43 and the forward speed adjustment device.

[0228] Specifically, in one embodiment of the present invention, the signal processing and control system 23 receives the feed amount prediction value Q output by the JetsonNX embedded processor, the first grain loss monitoring sensor 12, the second grain loss monitoring sensor 13, the second fish scale screen 9 opening adjustment device 14, the first grain amount monitoring device 17, the second grain amount monitoring device 18, the first air pressure monitoring device 6, the second air pressure monitoring device 8, the third air pressure monitoring device 15, the fourth air pressure monitoring device 16, the first pressure monitoring plate 401, the second pressure monitoring plate 402, the third pressure monitoring plate 403, the fourth pressure monitoring plate 404 monitoring values, the entrainment loss monitoring sensor monitoring value, the grain breakage rate monitoring sensor monitoring value, and the grass guide plate B 67 angle monitoring value. The signal processing and control system 23 outputs a signal to control the opening of the hydraulic motor speed regulating solenoid valve, the first electric push rod 32 adjusts the opening of the fan air inlet, the second electric push rod 33 adjusts the angle of the second air distributor plate, the third electric push rod 40 adjusts the angle of the air distributor plate, the extension of the first drive motor 1109 adjusts the opening of the first fish scale screen 7, the electric cylinder 43 adjusts the angle of the grass guide plate B67 and the opening of the electronically controlled HST through the electric cylinder extension rod 49 to adjust the forward speed.

[0229] The control strategy of the signal processing and control system 23 is as follows:

[0230] In the signal processing and control system 23, the self-organizing map neural network algorithm is applied. Based on batch training, a sensor monitoring abnormal data detection program is constructed to timely detect abnormal data in each monitoring signal. The self-organizing map neural network SOM is set to a 20×10 structure, with 10 rough training times and 20 fine-tuning training times, and the number of clustering categories is 3. When abnormal data is found in each monitoring signal, it is replaced with the normal data monitored previously, and then pre-processed by filling in the missing data of some sensors and removing noise from the data to eliminate the influence of random and uncertain factors on subsequent data analysis;

[0231] According to the present embodiment, preferably, taking the feed rate of 3kg / s as the benchmark, if the predicted value Q of the feed rate increases within 10%, the extension amount of the electric cylinder extension rod 49 of the electric cylinder 43 remains unchanged, so that the angle of the grass guide plate B 67 of the threshing device remains unchanged, and the forward speed v of the harvester remains unchanged. After the off-gassing enters the cleaning chamber, the signal processing and control system 23 first controls the guide bar angle adjustment device 3 to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate 4, until the difference in the monitoring value of the pressure monitoring plate 4 is less than 5%, so as to ensure the uniformity of the off-gassing entering the cleaning chamber through the shaking plate 2; then, if the monitoring value of the air pressure monitoring device of the first fish scale screen 7 increases by more than 20% relative to the benchmark value, the first fish scale screen opening adjustment device 11 is controlled to increase the opening of the first fish scale screen 7 by 20%, so that the seed The grains quickly pass through the screen, and then the outflowing materials enter the second fish scale screen 9. If the monitoring value of the air pressure monitoring device of the second fish scale screen 9 increases by more than 20% relative to the reference value, the second fish scale screen opening adjustment device 14 is controlled to increase the opening of the second fish scale screen 9 by 20%. Then, according to the monitoring values ​​of the first grain loss monitoring sensor 12, the second grain loss monitoring sensor 13 and the first grain amount monitoring device 17 and the second grain amount monitoring device 18 are used to fine-tune the fan speed, the first air distribution plate angle and the second air distribution plate angle, so as to reduce the grain amount in the secondary miscellaneous auger and the grain cleaning loss;

[0232] If the feed amount prediction value Q increases by 10% to 20%, the forward speed v of the harvester decreases by 5%, so that the harvester reaches near the rated feed amount, and the prediction model is used to adjust the angle of the grass guide plate B 67 of the threshing device; after the sap enters the cleaning chamber, the signal processing and control system 23 first controls the guide bar angle adjustment device 3 to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate 4, until the difference in the monitoring value of the pressure monitoring plate 4 is less than 10%, so as to ensure the uniformity of the sap entering the cleaning chamber through the shaking plate 2; then, if the monitoring value of the air pressure monitoring device of the first fish scale screen 7 increases by more than 20% relative to the reference value, the first fish scale screen opening adjustment device 11 is controlled to increase the opening of the first fish scale screen 7 by 30%, so that the grains can pass through the screen quickly, and then , the discharged matter enters the second fish scale screen 9. If the monitoring value of the air pressure monitoring device of the second fish scale screen 9 increases by more than 20% relative to the reference value, the second fish scale screen opening adjustment device 14 is controlled to increase the opening of the second fish scale screen 9 by 30%. Then, according to the monitoring values ​​of the first grain loss monitoring sensor 12, the second grain loss monitoring sensor 13 and the first grain amount monitoring device 17 and the second grain amount monitoring device 18 are used to fine-tune the fan speed, the angle of the air distribution plate I and the angle of the second air distribution plate to reduce the amount of grains in the secondary miscellaneous auger and the grain cleaning loss;

[0233] If the feed amount prediction value Q increases by more than 20%, the forward speed v of the harvester decreases by 10%, and the grass guide plate B of the threshing device The angle of 67 is adjusted to the maximum setting value. In this embodiment, the extension amount of the electric cylinder extension rod 49 is 100mm, and there is a risk of overloading the cleaning device. The signal processing and control system 23 first controls the guide bar angle adjustment device 3 to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate 4, until the difference in the monitoring value of the pressure monitoring plate 4 is less than 20%; then, the speed of the fan 24 is adjusted to 1300 rpm, the angle of the first air distribution plate 25 is adjusted to 8° and the angle of the second air distribution plate 26 is adjusted to 30°, the opening of the first fish scale screen 7 and the second fish scale screen 9 is increased to the maximum, and part of the detached material enters the secondary miscellaneous agitator and re-enters the cleaning device for secondary cleaning to avoid excessive grain loss, and according to the changes in the monitoring values ​​of the air pressure monitoring device, the first grain loss monitoring sensor 12, the second grain loss monitoring sensor 13 and the grain amount monitoring device, the maximum opening duration of the first fish scale screen 7 and the second fish scale screen 9 is controlled. When the monitoring value of the grain amount monitoring device changes by less than 10%, the opening of the first fish scale screen 7 and the second fish scale screen 9 is reduced by 30%;

[0234] If the predicted value Q of the feed amount becomes smaller, the forward speed v of the harvester is increased to make the harvester reach near the rated feed amount, and the angle of the grass guide plate B 67 of the threshing device is adjusted to the middle position (in this embodiment, the extension amount of the electric cylinder extension rod 49 is 50mm). At this time, the threshed material has a tendency to boil in the cleaning chamber, so the first air distribution plate 25 to 45°, the angle of the second air distribution plate 26 to 25° and the speed of the fan 24 are adjusted to 1100 rpm, and the opening of the first fish scale screen 7 and the second fish scale screen 9 are adjusted to the minimum set value. Thereafter, according to the changes in the monitoring values ​​of the air pressure monitoring device, the first grain loss monitoring sensor 12, the second grain loss monitoring sensor 13 and the grain amount monitoring device, the opening of the first fish scale screen 7 and the second fish scale screen 9 are fine-tuned to reduce the cleaning loss.

[0235] The feed amount prediction value Q is:

[0236]

[0237] Among them, Q is the predicted value of feed volume, v is the forward speed, h is c is the height of the cutting platform, h is the height of the plant, w is the cutting width, ρ is the feeding density, m e is the average mass of rice panicle, and m is the mass per unit length of the stalk.

[0238] The prediction model is:

[0239] x(k+1)=Ax(k)+Bu(k)

[0240] in, is the system state at time k, x1(k) is the grain entrainment loss, x2(k) is the grain breakage rate, u(k) is the input vector of the system, that is, the angle of the grass guide plate B, that is, the extension of the extension rod of the electric cylinder 43, A is the system state matrix, and B is the input matrix.

[0241] x(k) and u(k) should satisfy the following constraints:

[0242]

[0243]

[0244] Among them, x min (k) is the minimum value of the system state quantity, x max (k) is the maximum value of the system state quantity, u min (k) is the minimum value of the input vector of the system, u max (k) is the maximum value of the input vector to the system.

[0245] Let x1(k) and x2(k) satisfy the following constraints:

[0246] 0≤x1(k)≤Q·P·1%

[0247] 0≤x2(k)≤Q·P·2%

[0248] Among them, the grain entrainment loss x1(k) and the breakage rate x2(k) are used as system state quantities, Q is the predicted value of the harvester feeding amount, kg / s, and P is the proportion of grains in the feeding amount;

[0249] Let u(k) satisfy the following constraints:

[0250] 0≤u(k)≤100mm.

[0251] like Fig.35 As shown, the angle adjustment process of the grass guide plate B 67 of the threshing device can be mainly divided into three steps:

[0252] The first step is to measure and read the current system state x(k). If the system state cannot be measured, it needs to be estimated.

[0253] The second step is based on u k ,u k+1 ,.....u k+N-1 To optimize, where u k is the value at the current moment, u k+1 is the value at the next moment;

[0254] The third step is to only take u within a prediction interval. k As the control input this time.

[0255] The prediction model is given a discrete system described by a state space method.

[0256] x(k+1)=Ax(k)+Bu(k) (1)

[0257] in, is the system state at time k, x1(k) and x2(k) are the grain entrainment loss and grain breakage rate respectively, u(k) is the input vector of the system, that is, the angle of the grass guide plate B, that is, the extension amount of the extension rod of the electric cylinder 43, A is the system state matrix, and B is the input matrix.

[0258] N is the prediction interval, the state vector prediction matrix X(k) and the input vector prediction matrix U(k) at time k:

[0259]

[0260]

[0261] Cost function:

[0262]

[0263] Where Q x R and F are weight coefficient matrices.

[0264] When the state variable x(k) of the system at time k is measured, the state of the system in the entire prediction time domain is predicted as follows:

[0265] x(k|k)=x k

[0266] x(k+1|k)=Ax(k|k)+Bu(k|k)

[0267] x(k+2|k)=Ax(k+1|k)+Bu(k+1|k)

[0268] =A 2 x k +ABu(k|k)+Bu(k+1|k)

[0269] Similarly,

[0270] x(k+N|k)=A N x k +A N-1 Bu(k|k)+Bu(k+N-1|k) (5)

[0271] So we can make

[0272] X(k)=Mx(k)+CU(k) (6)

[0273] in,

[0274] M=[I,A,A 2 ,…,A N ] T (7)

[0275]

[0276] I is the identity matrix, A is the system state matrix, B is the input matrix, and N is the prediction interval.

[0277] Next, the cost function is optimized:

[0278]

[0279] in,

[0280]

[0281] Among them, Q x , R, F are weight coefficient matrices, and T represents matrix transpose.

[0282] Then further optimize formula (9):

[0283] J = x(k) T Gx(k)+U(k) T HU(k)+2x(k) T EU(k) (10)

[0284] in,

[0285]

[0286] Where T represents the matrix transpose.

[0287] And the system should satisfy the following constraints:

[0288]

[0289]

[0290] In this control system, the grain entrainment loss x1(k) and the breakage rate x2(k) are used as system state variables. min (k) is the minimum value of the system state quantity, x max (k) is the maximum value of the system state quantity, u min (k) is the minimum value of the input vector of the system, u max (k) is the maximum value of the input vector to the system.

[0291] make:

[0292] 0≤x1(k)≤Q·P·1%

[0293] 0≤x2(k)≤Q·P·2%

[0294] Where Q is the feed amount of the harvester, kg / s, and P is the proportion of grains in the feed amount. P is manually measured in advance, and the constraint interval of the state quantity x(k) at time k can be obtained.

[0295] u(k) is the input vector of the system, that is, the angle of the grass guide plate B 67, that is, the extension amount of the extension rod of the electric cylinder 43.

[0296] 0≤u(k)≤100

[0297] In the cost function above, there are two variables, x(k) is the state at time k, and now there is only the input vector U k is an unknown quantity, which can be solved by solving the minimum value of J. Finally, the target value of u(k) is obtained, and the state quantity x(k) at time k is input into the prediction model to predict the input vector u of the control system at the next moment. k , to control the target value of the mechanism, so that the state quantity x(k+1) at the next moment is as small as possible, that is, the grain entrainment loss and grain breakage rate are optimal, and the threshing and separation performance is improved. At this time, U k As the input of the entire model predictive control system, that is, the extension of the electric cylinder extension rod, it is controlled by the fuzzy pid controller.

[0298] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0299] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hybrid rice seed production female parent seed harvester, characterized in that: It comprises a feeding amount prediction device, a threshing device, a cleaning device, a guide strip angle adjustment device (3), a pressure monitoring plate (4), a fish scale screen opening adjustment device, a seed loss monitoring sensor, a secondary residual seed amount monitoring device, an air pressure monitoring device, an air inlet opening adjustment plate (31), an air distribution plate angle adjustment mechanism, a forward speed adjustment device, an entrainment loss monitoring sensor, a seed breakage rate monitoring sensor and a signal processing and control system (23); The feed amount prediction device is used to predict the harvester feed amount prediction value at the next moment; the threshing device includes a grass guide plate B (67), an electric cylinder (43) and a pull rod type displacement sensor (42); the grass guide plate B (67) is arranged on the lower surface area of ​​the cover plate (53), and the electric cylinder (43) drives the connecting plate A (63) to drive the grass guide plate B (67) to rotate and adjust the angle of the grass guide plate B (67); the pull rod type displacement sensor (42) is used to monitor the extension amount of the electric cylinder extension rod (49) of the electric cylinder (43); the cleaning device includes a shaking device installed on the cleaning screen frame (1) from front to back in sequence The shaking plate (2) comprises a first fish scale screen (7), a second fish scale screen (9) and a sawtooth tail screen (10); a woven screen (41) is provided below the first fish scale screen (7) and the second fish scale screen (9), and a seed agitator (27) and a miscellaneous agitator (28) are provided below the woven screen (41); a plurality of guide bars are provided on the shaking plate (2); the guide bar angle adjustment device (3) is installed on the shaking plate (2) and connected to the guide bar, and is used to adjust the guide bar angle; the pressure monitoring plate (4) is located at the end of the shaking plate (2) and the lower part of the loosening teeth (5), and the pressure signal of the pressure monitoring plate (4) is used to The device is characterized in that the uniformity of the threshing mixture is characterized; the fish scale screen opening adjustment device comprises a first fish scale screen opening adjustment device (11) and a second fish scale screen opening adjustment device (14); the first fish scale screen opening adjustment device (11) is used to adjust the opening of the first fish scale screen (7); the second fish scale screen opening adjustment device (14) is used to adjust the opening of the second fish scale screen (9); the seed loss monitoring sensor is installed on the cleaning screen frame (1) and is located at the rear of the sawtooth tail screen (10) to detect seed loss; the space below the sawtooth tail screen (10) and between the isolation frame (19) and the cleaning screen frame (1) A secondary debris seed quantity monitoring device is provided inside the cleaning screen frame (1) for monitoring the quantity of seeds entering the debris auger (28) through the sawtooth tail screen (10); the air pressure monitoring device is installed on the cleaning screen frame (1) for monitoring the pressure in the cleaning chamber; a fan (24) is provided below the cleaning screen frame (1), the air inlet of the fan (24) is provided with an air inlet opening adjustment plate (31), and the air outlet is provided with an air distributor and an air distributor angle adjustment mechanism; the forward speed adjustment device is used to adjust the forward speed of the harvester; the entrainment loss monitoring sensor is installed below the concave plate screen (72) for monitoring seed entrainment loss; The seed breakage rate monitoring sensor is installed in the grain box to monitor the breakage rate of seeds entering the grain box; The signal processing and control system (23) processes the monitoring values ​​of the feed amount prediction device, the pressure monitoring plate (4), the seed loss monitoring sensor, the secondary impurity seed amount monitoring device, the air pressure monitoring device, the pull rod displacement sensor (42), the entrainment loss monitoring sensor and the seed breakage rate monitoring sensor, and controls the guide bar angle adjustment device (3), the first fish scale screen opening adjustment device (11), the second fish scale screen opening adjustment device (14), the air inlet opening adjustment plate (31), the air distributor plate angle adjustment mechanism, the electric cylinder (43) and the forward speed adjustment device, so as to adjust the guide bar angle, the fish scale screen opening, the air inlet opening, the air distributor plate angle, the angle of the grass guide plate B (67) and the forward speed of the harvester.

2. The hybrid rice seed production female parent seed harvester and control method thereof according to claim 1, characterized in that: The threshing device also includes a drum top cover (70), a threshing drum (71), a concave plate screen (72) and a control mechanism (69); The concave plate screen (72) is located directly below the drum top cover (70), and the threshing drum (71) is placed directly between the drum top cover (70) and the concave plate screen (72); the control mechanism (69) is located on the top of the drum top cover (70), and the control mechanism (69) includes an electric cylinder (43), a pull rod displacement sensor (42) and a connecting plate A (63); The upper surface of the cover plate (53) of the drum top cover (70) is provided with a connecting plate A (63), and the lower surface area of ​​the cover plate (53) is provided with a grass guide plate A (66) and a grass guide plate B (67) in sequence from front to back. When the grass guide plate A (66) and the grass guide plate B (67) are not rotated, their end faces are kept parallel; there are a plurality of grass guide plates B (67) distributed in a certain linear manner, one end of a front group of grass guide plates B (67) is rotatably connected to the notch of the cover plate (53), and the other end is connected to the connecting plate A (63), and the electric cylinder (43) drives the connecting plate A (63) to drive the grass guide plate B (67) to rotate in the notch, thereby realizing the angle adjustment of the group of grass guide plates B (67); the pull rod displacement sensor (42) is used to monitor the extension amount of the electric cylinder extension rod (49) of the electric cylinder (43).

3. The hybrid rice seed production female parent seed harvester and control method thereof according to claim 1, characterized in that: The air pressure monitoring device comprises an air pressure monitoring module (601), a first rubber tube (603), a first support frame (604), a second rubber tube (606), a second support frame (607) and a positioning bracket (608); The air pressure monitoring module (601) is mounted on a positioning bracket (608), a first support bracket (604) and a second support bracket (607) are mounted on the positioning bracket (608) in order from top to bottom, a first detection hole (602) and a second detection hole (605) are provided on the air pressure monitoring module (601), a first rubber tube (603) is mounted on the first detection hole (602), a second rubber tube (606) is mounted on the second detection hole (605), and the first rubber tube (603) passes through The first rubber tube (603) passes through and is fixed on the first support frame (604), the end of the first rubber tube (603) is parallel to the screen surface of the fish scale screen, the second rubber tube (606) passes through and is fixed on the second support frame (607), the end of the second rubber tube (606) is perpendicular to the screen surface of the fish scale screen. When working, the first detection hole (602) monitors the static pressure change of the surrounding environment, and the second detection hole (605) monitors the dynamic pressure change of the surrounding environment. The pressure change in the cleaning chamber is characterized by subtracting the static pressure monitoring value from the dynamic pressure monitoring value.

4. The hybrid rice seed production female parent seed harvester and control method thereof according to claim 1, characterized in that: The first fish scale screen opening adjustment device (11) comprises a driving shaft (1101), an adjustment plate (1102), a fixed shaft (1104), a screen plate driving connecting plate (1105), a first fish eye bearing (1106), a connecting rod (1107), a second fish eye bearing (1108), a first driving motor (1109), a displacement sensor (1110), a direction conversion device (1111), a third fish eye bearing (1112), a first connecting shaft (1113), a second connecting shaft (1114) and a connecting plate (1116); The displacement sensor (1110) is installed on the first drive motor (1109) through a connecting plate (1116), and the displacement sensor (1110) is used to measure the extension length of the push rod of the first drive motor (1109); one end of the third fisheye bearing (1112) is installed on the end of the push rod of the first drive motor (1109), the other end of the third fisheye bearing (1112) is connected to one side of the direction conversion device (1111) through a first connecting shaft (1113), the second fisheye bearing (1108) is connected to the other side of the direction conversion device (1111) through a second connecting shaft (1114), the direction conversion device (1111) is installed on the harvester frame through a fixed shaft (1115), one end of the connecting rod (1107) is connected to the second fisheye bearing (1108), and the connecting rod (1107) The other end is connected to the first fisheye bearing (1106), the first fisheye bearing (1106) is connected to one end of the adjustment plate (1102), the driving shaft (1101) is respectively connected to the screen drive connecting plate (1105) and the middle part of the adjustment plate (1102), the other end of the adjustment plate (1102) is installed on the harvester frame through the fixed shaft (1104), when working, the direction conversion device (1111) converts the horizontal linear motion of the push rod of the first drive motor (1109) into the linear motion in the vertical direction, and drives the adjustment plate (1102) to rotate around the fixed shaft (1104) through the connecting rod (1107), and during the rotation process, the adjustment plate (1102) drives the screen drive connecting plate (1105) through the driving shaft (1101) to rotate the fish scale screen, thereby realizing the stepless adjustment of the opening angle of the first fish scale screen (7); The second fish scale screen opening adjustment device (14) has the same structure as the first fish scale screen opening adjustment device (11).

5. The hybrid rice seed production female parent seed harvester according to claim 1, characterized in that: The seed loss monitoring sensor comprises a first seed loss monitoring sensor (12) and a second seed loss monitoring sensor (13); Both ends of the first seed loss monitoring sensor (12) and the second seed loss monitoring sensor (13) are respectively mounted on the cleaning screen frame (1) via a first mounting plate (20) and a second mounting plate (21); the mounting height of the first seed loss monitoring sensor (12) is greater than the mounting height of the second seed loss monitoring sensor (13), thereby forming a stepped seed loss monitoring device to achieve regional measurement of seed loss; the first seed loss monitoring sensor (12) is used to monitor seed cleaning losses caused by excessive cleaning material volume, and the second seed loss monitoring sensor (13) is used to monitor seed cleaning losses caused by improper cleaning parameter settings and seeds being blown out; The first mounting plate (20) and the second mounting plate (21) are both provided with mounting holes and arc-shaped through grooves, one end of the first seed loss monitoring sensor (12) and the second seed loss monitoring sensor (13) are connected to the mounting holes and the arc-shaped through grooves, and the mounting angles of the first seed loss monitoring sensor (12) and the second seed loss monitoring sensor (13) can be adjusted through the arc-shaped through grooves.

6. The hybrid rice seed production female parent seed harvester according to claim 1, characterized in that: The fan (24) comprises a first air distribution plate (25), a second air distribution plate (26), a first electric push rod (32), a second electric push rod (33) and a third electric push rod (40); The first air distribution plate (25) and the second air distribution plate (26) are located at the air outlet of the fan, and the first air distribution plate (25) and the second air distribution plate (26) are movably connected to the inner wall of the air outlet of the fan; the air inlet of the fan (24) is provided with an opening adjustment plate (31), the first electric push rod (32) is connected to the opening adjustment plate (31), the first electric push rod (32) can drive the opening adjustment plate (31) to adjust the opening of the air inlet of the fan (24), and the third electric push rod (40) is connected to the first air distribution plate (25), the third electric push rod (40) can drive the first air distribution plate (25) to rotate around the connection point between the first air distribution plate (25) and the inner wall of the air outlet, thereby realizing the angle adjustment of the first air distribution plate (25), and the second electric push rod (33) is connected to the second air distribution plate (26), and the second electric push rod (33) can drive the second air distribution plate (26) to rotate around the connection point between the second air distribution plate (26) and the inner wall of the air outlet, thereby realizing the angle adjustment of the second air distribution plate (26).

7. A control method for a hybrid rice seed production female parent seed harvester according to any one of claims 1 to 6, characterized in that: The following steps are involved: The feed amount prediction device predicts the harvester feed amount prediction value at the next moment; the pressure monitoring plate (4) monitors the pressure signal for characterizing the uniformity of the threshing mixture; the seed loss monitoring sensor detects the seed loss; the secondary debris seed amount monitoring device monitors the amount of seeds that pass through the sawtooth tail screen (10) and enter the secondary debris agitator (28); the air pressure monitoring device monitors the pressure in the cleaning chamber; the pull rod displacement sensor (42) monitors the extension amount of the electric cylinder extension rod (49) of the electric cylinder (43); the entrainment loss monitoring sensor monitors the seed entrainment loss; the seed breakage rate monitoring sensor monitors the breakage rate of seeds entering the grain box; The signal processing and control system (23) processes the monitoring values ​​of the feed amount prediction device, the pressure monitoring plate (4), the seed loss monitoring sensor, the secondary impurity seed amount monitoring device, the air pressure monitoring device, the pull rod displacement sensor (42), the entrainment loss monitoring sensor and the seed breakage rate monitoring sensor, and controls the guide bar angle adjustment device (3), the first fish scale screen opening adjustment device (11), the second fish scale screen opening adjustment device (14), the air inlet opening adjustment plate (31), the air distributor plate angle adjustment mechanism, the electric cylinder (43) and the forward speed adjustment device, so as to adjust the guide bar angle, the fish scale screen opening, the air inlet opening, the air distributor plate angle, the angle of the grass guide plate B (67) and the forward speed of the harvester.

8. The control method of the hybrid rice seed production female parent seed harvester according to claim 7, characterized in that: The control strategy of the signal processing and control system (23) is as follows: If the feed amount prediction value Q increases within 10%, the extension amount of the electric cylinder extension rod (49) of the electric cylinder (43) remains unchanged, so that the angle of the grass guide plate B (67) of the threshing device remains unchanged, and the forward speed v of the harvester remains unchanged. After the threshed material enters the cleaning chamber, the signal processing and control system (23) first controls the guide bar angle adjustment device (3) to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate (4) until the difference in the monitoring value of the pressure monitoring plate (4) is less than 5%, ensuring that the threshed material enters the cleaning chamber after passing through the shaking plate (2). The discharge from the cleaning chamber is uniform; subsequently, if the monitoring value of the air pressure monitoring device of the first fish scale screen (7) increases by more than 20% relative to the reference value, the first fish scale screen opening adjustment device (11) is controlled to increase the opening of the first fish scale screen (7) by 20% to allow the seeds to pass through the screen quickly, and then the discharge enters the second fish scale screen (9). If the monitoring value of the air pressure monitoring device of the second fish scale screen (9) increases by more than 20% relative to the reference value, the second fish scale screen opening adjustment device (14) is controlled to increase the opening of the second fish scale screen (9) by 20%; If the feed amount prediction value Q increases by 10% to 20%, the forward speed v of the harvester is reduced by 5%, so that the harvester reaches the rated feed amount, and the prediction model is used to adjust the angle of the grass guide plate B (67) of the threshing device; after the threshed material enters the cleaning chamber, the signal processing and control system (23) first controls the guide bar angle adjustment device (3) to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate (4) until the difference in the monitoring value of the pressure monitoring plate (4) is less than 10%, ensuring that the threshed material enters the cleaning chamber after passing through the shaking plate (2). The separation of the material from the selection chamber is uniform; subsequently, if the monitoring value of the air pressure monitoring device of the first fish scale screen (7) increases by more than 20% relative to the reference value, the first fish scale screen opening adjustment device (11) is controlled to increase the opening of the first fish scale screen (7) by 30%, so that the seeds can quickly pass through the screen; subsequently, the material enters the second fish scale screen (9); if the monitoring value of the air pressure monitoring device of the second fish scale screen (9) increases by more than 20% relative to the reference value, the second fish scale screen opening adjustment device (14) is controlled to increase the opening of the second fish scale screen (9) by 30%; If the feed amount prediction value Q increases by more than 20%, the forward speed v of the harvester decreases by 10%, the angle of the grass guide plate B (67) of the threshing device is adjusted to the maximum setting value, and the cleaning device is at risk of overloading, the signal processing and control system (23) first controls the guide bar angle adjustment device (3) to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate (4) until the difference in the monitoring value of the pressure monitoring plate (4) is less than 20%; then, the fan (24) speed is adjusted to 1300 rpm, the angle of the first air distributor (25) to 8° and the angle of the second air distributor (26) to 30°, and the second air distributor (26) is increased. The first fish scale screen (7) and the second fish scale screen (9) are opened to the maximum, and part of the escaping material enters the secondary debris auger and re-enters the cleaning device for secondary cleaning to avoid excessive seed loss. The maximum opening duration of the first fish scale screen (7) and the second fish scale screen (9) is controlled according to the changes in the monitoring values ​​of the air pressure monitoring device, the first seed loss monitoring sensor (12), the second seed loss monitoring sensor (13) and the seed quantity monitoring device. When the monitoring value of the seed quantity monitoring device changes by less than 10%, the opening of the first fish scale screen (7) and the second fish scale screen (9) is reduced by 30%; If the feed amount prediction value Q becomes smaller, the forward speed v of the harvester is increased to make the harvester reach near the rated feed amount, and the angle of the grass guide plate B (67) of the threshing device is adjusted to the middle position. At this time, the threshed material has a tendency to boil in the cleaning chamber. Then, the first air distribution plate (25) is adjusted to 45°, the angle of the second air distribution plate (26) is adjusted to 25°, and the speed of the fan (24) is adjusted to 1100 rpm, and the opening of the first fish scale screen (7) and the second fish scale screen (9) is adjusted to the minimum setting value.

9. The control method of the hybrid rice seed production female parent seed harvester according to claim 7, characterized in that: The feed amount prediction value Q is: Among them, Q is the predicted value of feed volume, v is the forward speed, h is c is the height of the cutting platform, h is the height of the plant, w is the cutting width, ρ is the feeding density, m e is the average mass of rice panicle, and m is the mass per unit length of the stalk.

10. The control method of the hybrid rice seed production female parent seed harvester according to claim 7, characterized in that: The prediction model is used to adjust the angle of the grass guide plate B (67) of the threshing device, and the prediction model is: x(k+1)=Ax(k)+Bu(k) (1) in, is the system state at time k, x1(k) is the seed entrainment loss, x2(k) is the seed breakage rate, u(k) is the input vector of the system, that is, the angle of the grass guide plate B, that is, the extension of the extension rod of the electric cylinder 43, A is the system state matrix, and B is the input matrix; x(k) and u(k) should satisfy the following constraints: x min (k)≤x(k)≤x max (k), you min (k)≤u(k)≤u max (k), Among them, x min (k) is the minimum value of the system state quantity, x max (k) is the maximum value of the system state quantity, u min (k) is the minimum value of the input vector of the system, u max (k) is the maximum value of the input vector of the system; Let x1(k) and x2(k) satisfy the following constraints: 0≤x1(k)≤Q·P·1% 0≤x2(k)≤Q·P·2% Among them, seed entrainment loss x1(k) and breakage rate x2(k) are used as system state quantities, Q is the predicted value of the harvester feeding amount, kg / s, and P is the proportion of seeds in the feeding amount; Let u(k) satisfy the following constraints: 0≤u(k)≤100mm.

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