A harvester operation progress dynamic monitoring system and method

Abstract

The present invention discloses a harvester operation progress dynamic monitoring system, including: a data acquisition module, a positioning module, a data processing module, an alarm module, a communication module and a terminal; the angle sensor of the data acquisition module collects angle data to determine whether the harvester is in a harvesting operation state, and receives the positioning information of the Beidou satellite through the positioning module, performs real-time positioning monitoring of the harvester, sends data to the terminal through the communication module, and then calculates the harvester operation progress through the progress monitoring algorithm, completes the dynamic monitoring task, and performs a fault alarm through the alarm module. The harvester operation progress dynamic monitoring system of the present invention is easy to assemble and disassemble, easy to maintain, low in cost, high in monitoring accuracy, high in real-time efficiency, and easy to promote and apply.

Description

Technical Field

[0001] The present invention relates to a harvester operation progress dynamic monitoring system and method Background Art

[0002] In recent years, the mechanization of crop harvesting in my country has developed rapidly, and machine harvesting has become the main operation mode, which has greatly improved the operation efficiency and reduced the labor intensity. There are nearly 1 million rice and wheat harvesters in stock, and harvesters generally operate across regions. In order to improve the utilization efficiency of harvesters in the three summers and three autumns, new agricultural operators need to grasp the real-time main progress of each harvester in order to scientifically and rationally dispatch the harvesters. How to monitor the operation progress of the harvester has become a new problem.

[0003] Traditional methods of monitoring harvester operation progress mainly rely on drivers' regular reports or managers' estimates, which are inefficient, inaccurate, and inefficient in real time. The academic community has begun to study the use of electronic information technology to achieve remote automatic monitoring.

[0004] Existing literature 1: Zhang Donghong, et al. Agricultural machinery operation area and trajectory monitoring and management system based on GPS [J]. Geospatial Information, 2018, 19(2): 68-70) Design and develop an agricultural machinery operation supervision system based on Android, which records the operation trajectory through the GPS longitude and latitude of a handheld mobile device terminal, and calculates the corresponding operation area through the trajectory length and the onboard width. The system can only calculate the area after the driver interacts with the mobile terminal, and the real-time performance is poor; the system also cannot identify invalid trajectories in the trajectory, and the accuracy is poor.

[0005] Existing document 2: Lu Zhixiong, et al. Farmland area measurement based on tractor operation trajectory [J]. Transactions of the Chinese Society of Agricultural Engineering, 2015, 31(19): 169-176. A dual-star positioning (GPS satellite and Galileo satellite) receiver is used to collect positioning data, an adaptive Kalman filter algorithm is used to improve the single-point positioning accuracy of the receiver, and a Gaussian projection algorithm is used to convert the longitude and latitude collected by the GPS receiver into plane coordinates to calculate the area. The method described in this document also lacks effective trajectory discrimination, and its accuracy is questionable.

[0006] In view of the problems existing in the above technical solutions, a dynamic monitoring system for harvester operation progress is studied, which can collect data remotely and automatically and identify the effective operation trajectory of the harvester, thereby effectively solving the problems of real-time and accuracy of remote monitoring. Summary of the invention

[0007] The invention provides a harvester operation progress dynamic monitoring system to solve the technical problems of poor real-time performance, poor accuracy and low efficiency of remote operation progress monitoring in the prior art.

[0008] A harvester operation progress dynamic monitoring system, characterized in that it comprises: a data acquisition module, a positioning module, a data processing module, an alarm module, a communication module and a terminal;

[0009] The data acquisition module is configured as an angle sensor, which is disposed on the bridge of the harvester and is used to collect the bridge angle data of the harvester and send the collected angle data to the data processing module;

[0010] The positioning module is arranged on the harvester, and the positioning module is arranged to receive positioning position data and transmit the data to the data processing module or the terminal;

[0011] The alarm module is arranged on the harvester, and the alarm module is arranged to receive the alarm instruction of the data processing module to send out an alarm signal;

[0012] The communication module is arranged on the harvester, and the communication module is arranged to communicate with the data acquisition module and / or the positioning module, and transmit the communication data to the terminal;

[0013] The terminal is configured to receive and process communication data transmitted by the communication module;

[0014] The data processing module is arranged on the harvester, and is configured to receive and process the angle data collected by the data collection module and / or the positioning position data of the positioning module, send the processed information to the terminal through the communication module, and send an alarm instruction to the alarm module.

[0015] Preferably, the positioning module is configured as a Beidou positioning module.

[0016] Preferably, the communication module is configured as a wireless communication module.

[0017] Preferably, the alarm module is configured as an LED display light.

[0018] Preferably, the terminal is configured as a computer or a mobile terminal.

[0019] Preferably, the positioning module, the data processing module and the communication module are integrated into one body.

[0020] Preferably, the data acquisition module, positioning module, data processing module, alarm module and communication module are all powered by an onboard power supply of the harvester.

[0021] Preferably, the positioning module is also provided with a backup power supply.

[0022] The present invention also provides a method for dynamically monitoring the operation progress of a harvester, comprising the following steps:

[0023] Angle sensors are used to collect the bridge crossing angle data of the harvester, and the angle data is used to determine whether the harvester is in the harvesting state;

[0024] If it is in the harvesting state, the positioning module is used to receive Beidou satellite positioning data in real time, collect the harvester's positioning position data, and calculate the harvester's dynamic harvesting progress based on the positioning position data.

[0025] Preferably, the method for determining whether the harvester is in a harvesting operation state is:

[0026] Using the collected harvester bridge angle α data, combined with the fixed height H of the harvester bridge connecting the body and the rotating shaft, and the bridge length L, the harvester header ground height h is calculated by formula (1).

[0027] h=HL sinα (1)

[0028] Formula (2) is used to identify whether the harvester is in the harvesting state;

[0029]

[0030] In formula (2), θ is the discriminant coefficient of the harvester trajectory. When θ=1, the harvester is in the harvesting operation state and the motion trajectory is valid; when θ=0, the harvester is in the non-harvesting operation state and the motion trajectory is invalid.

[0031] The method for calculating the dynamic harvesting progress of the harvester is:

[0032] The positioning module is used to collect the longitude and latitude of the harvester in real time, and then the longitude and latitude of the geodetic coordinates (B, L) are converted into Gaussian projection coordinates (X, Y) through the Gaussian projection algorithm. The positioning data is transmitted to the data processing module or terminal in real time. The harvester's cumulative operating area S at time i i represents the dynamic progress of the harvester, which can be calculated by formula (3):

[0033]

[0034] In formula (3), B represents the working width of the harvester, which is a constant; θ i represents the discriminant coefficient of the harvester trajectory at time i, x i With y i represents the coordinate value of the harvester's position at time i, Represents the distance traveled by the harvester between time i and time i-1.

[0035] The harvester operation progress dynamic monitoring system of the present invention is easy to assemble and disassemble, convenient to maintain, low in cost, high in monitoring accuracy, high in real-time efficiency, and easy to promote and apply. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 This is a schematic diagram of the structure of a harvester operation progress dynamic monitoring system of the present invention;

[0038] Figure 2 This is a schematic diagram of the installation of an angle sensor of a harvester operation progress dynamic monitoring system of the present invention;

[0039] Figure 3 The present invention is a schematic structural diagram of a specific embodiment of a system for dynamically monitoring the operation progress of a harvester. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the following will connect the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are partial embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] like Figure 1 As shown, a system for dynamically monitoring the operation progress of a harvester according to the present invention comprises: a data acquisition module, a positioning module, a data processing module, an alarm module, a communication module and a terminal.

[0042] The data acquisition module is configured as an angle sensor, which is disposed on the bridge of the harvester and is used to collect the bridge angle α data of the harvester and send the collected angle data to the data processing module.

[0043] The positioning module is arranged on the harvester, and the positioning module is arranged to receive positioning position data and transmit the information to the data processing module or the terminal.

[0044] The alarm module is arranged on the harvester and is arranged to receive instructions from the data processing module to send out an alarm signal.

[0045] The communication module is arranged on the harvester, and is arranged to communicate with the data acquisition module and / or the positioning module, and transmit the communication data to the terminal.

[0046] The terminal is configured to receive and process the communication data transmitted by the communication module.

[0047] The data processing module is arranged on the harvester, and is configured to receive and process the angle data collected by the data acquisition module and / or the positioning position data of the positioning module, send the processed information to the terminal through the communication module, and send an alarm instruction to the alarm module.

[0048] In this embodiment, the positioning module is set to a Beidou positioning module to ensure the security of the data.

[0049] In this embodiment, the communication module is configured as a wireless communication module, thereby enabling remote communication and improving its application scope.

[0050] In this embodiment, the alarm module is configured as an LED display light, which displays different states through different colors for easy identification.

[0051] In this embodiment, the terminal is a computer or a mobile terminal (mobile phone, tablet computer, etc.).

[0052] In this embodiment, the positioning module, the data processing module and the communication module are integrated to facilitate installation.

[0053] In this embodiment, the angle data collected by the data acquisition module and the positioning position data received by the positioning module can be transmitted to the data processing module for processing and then transmitted to the terminal through the communication module. In this way, the terminal directly receives the processed data, and the harvester operation progress can be obtained without subsequent processing or simple data processing.

[0054] Alternatively, the data processing module and the positioning module transmit the processed angle data and positioning position data to the terminal through the communication module respectively. In this way, the terminal can know the progress of the harvester operation after integrating the data of the two.

[0055] In this embodiment, the data acquisition module, positioning module, data processing module, alarm module, and communication module are all powered by the harvester's onboard power supply, so that the harvester operation can ensure a stable power supply.

[0056] In this embodiment, the positioning module is also provided with a backup power supply, which can achieve positioning in any situation and can also play an anti-theft role.

[0057] Combine the following Figure 2-Figure 3 The principle and detailed implementation of this embodiment are described as follows. Figure 2 As shown, the angle sensor is installed on the harvester bridge to collect the harvester bridge angle α. Combined with the fixed height H of the harvester bridge and the connecting shaft of the vehicle body, and the bridge length L, the harvester header ground height h is calculated by formula (1).

[0058] h=HL sina (1)

[0059] Then, the h value is used to determine whether the harvester is in the harvesting state or the non-harvesting state. When the harvester is in the harvesting state, the height of the header will be lowered to adapt to the height of the crop ear. Generally, when a rice combine harvester is harvesting, the header height will not exceed 30 cm. When the harvester is turning or driving on the road, the header height will be raised to protect the safety of the cutter and avoid collision with the ear head. At this time, the header height will be greater than 30 cm. Therefore, the effective trajectory of the harvester can be identified by formula (2).

[0060]

[0061] In formula (2), θ is the discriminant coefficient of the harvester trajectory. When θ = 1, the harvester is operating and the motion trajectory is valid; when θ = 0, the harvester is not operating and the motion trajectory is invalid.

[0062] Secondly, the Beidou positioning module receives Beidou satellite positioning data in real time, collects the longitude and latitude (geodetic coordinates) of the harvester, and then converts the longitude and latitude of the geodetic coordinates (B, L) into Gaussian projection coordinates (X, Y) through the Gaussian projection algorithm. The positioning data is transmitted to the data processing module in real time and then transmitted to the terminal through the communication module or directly transmitted to the terminal through the communication module (for example, the positioning position data information is transmitted in sequence every 5 seconds). The harvester i accumulates the operating area S at time i represents the dynamic progress of the harvester and can be calculated by formula (3).

[0063]

[0064] In formula (3), B represents the working width of the harvester, which is a constant; θ i represents the discriminant coefficient of the harvester trajectory at time i, x i With y i represents the coordinate value of the harvester's position at time i, It represents the distance traveled by the harvester between time i and time i-1. Therefore, the operation progress of the harvester can be accurately known.

[0065] Figure 3 This is a detailed embodiment of the present embodiment, in which specifically, the data acquisition module is an angle sensor, the data processing module is a CPU, the alarm module is an LED light display system, the communication module is a GPRS communication module, the positioning module is a Beidou positioning module, the terminal is a computer, the angle sensor is installed on the bridge of the harvester, and other devices except the terminal are installed in a safe position of the harvester to ensure that the Beidou positioning module can receive the positioning information of the Beidou satellite.

[0066] The harvester's 12V power supply supplies power to all modules of the entire system in series. The angle sensor is connected to the CPU through the CAN bus. The CPU communicates with the GPRS communication module to transmit the angle data obtained by the angle sensor to the computer. The Beidou positioning module receives Beidou satellite positioning data in real time through the Beidou antenna. The Beidou positioning module sends the positioning data to the computer through the GPRS communication module. The GPRS communication module can send data to the remote computer through the base station. The CPU can also control the LED light display system. The GPU controls the LED light display system to display different colors for reminders and warnings according to the sensor status, positioning status, and power status. The LEDLED light display system includes a power light, a positioning light, and a sensor light. The power light is on when the power is turned on and off when the power is turned off. When the positioning module receives data, the positioning light is green, and when the received data is abnormal, the positioning light is red. When the sensor data is input normally, the sensor light is green, and when the data input is abnormal, the sensor light is red.

[0067] A monitoring method of a harvester operation progress dynamic monitoring system in this embodiment is as follows:

[0068] The angle sensor collects the bridge crossing angle data of the harvester and determines whether the harvester is in the harvesting state based on the angle data;

[0069] The positioning module receives Beidou satellite positioning data in real time, collects the harvester's positioning data, and calculates the harvester's dynamic harvesting progress based on the positioning data.

[0070] The judgment method and calculation method adopt the formula recorded above in the article.

[0071] The present invention has the following advantages:

[0072] (1) The present invention can effectively improve monitoring efficiency through sensing technology, Beidou positioning technology and computer technology.

[0073] (2) The present invention uses an angle sensor to obtain the height of the harvester's header, identify the harvester's operating status, and improve monitoring accuracy.

[0074] (3) The present invention uses the Beidou satellite positioning module, and data security can be effectively guaranteed.

[0075] (4) The present invention only needs to collect and transmit data fully automatically, which greatly reduces the workload.

[0076] (5) The system of the present invention can all use domestic electronic components, which greatly reduces the cost.

[0077] (6) The present invention can monitor the failure of the positioning, sensing, power supply and other modules of the system itself, thus facilitating system maintenance.

[0078] (7) The monitoring system provided by the present invention can be freely assembled and disassembled and is convenient to carry.

[0079] In summary, a system for dynamically monitoring the operation progress of a harvester of the present invention collects angle data through an angle sensor to determine whether the harvester is in a harvesting operation state, and receives positioning information of Beidou satellites through a Beidou positioning module, performs real-time positioning monitoring of the harvester, transmits data to a computer through a communication module, and then calculates the operation progress of the harvester through a progress monitoring algorithm to complete the dynamic monitoring task. In addition, a light display system displays different colors for fault alarms. The system for dynamically monitoring the operation progress of a harvester of the present invention is easy to assemble and disassemble, easy to maintain, low in cost, high in monitoring accuracy, high in real-time efficiency, and easy to promote and apply.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified or some of the technical features may be replaced by equivalents in the specification, and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A harvester operation progress dynamic monitoring system, characterized in that: include: Data acquisition module, positioning module, data processing module, alarm module, communication module and terminal; The data acquisition module is configured as an angle sensor, which is configured on the bridge of the harvester and is used to collect bridge angle data of the harvester and send the collected angle data to the data processing module. The bridge angle data is used to determine whether the harvester is in a harvesting state. By collecting the bridge angle data α of the harvester in real time, combined with the fixed height H of the shaft connecting the harvester bridge and the vehicle body, and the bridge length L, the height h of the harvester header from the ground is calculated by formula (1); h=H-Lsinα (1) The h value is used to determine whether the harvester is in the harvesting state or the non-harvesting state, and the effective trajectory of the harvester is identified by formula (2); In formula (2), θ is the discriminant coefficient of the harvester trajectory. When θ=1, the harvester is operating and the motion trajectory is valid; when θ=0, the harvester is not operating and the motion trajectory is invalid. The positioning module is arranged on the harvester, and the positioning module is arranged to receive positioning position data and transmit the data to the data processing module or the terminal; The alarm module is arranged on the harvester, and the alarm module is arranged to receive the alarm instruction of the data processing module to send out an alarm signal; The communication module is arranged on the harvester, and the communication module is arranged to communicate with the data acquisition module and / or the positioning module, and transmit the communication data to the terminal; The terminal is configured to receive and process communication data transmitted by the communication module; The data processing module is arranged on the harvester, and is configured to receive and process the angle data collected by the data collection module and / or the positioning position data of the positioning module, send the processed information to the terminal through the communication module, and send an alarm instruction to the alarm module.

2. A harvester operation progress dynamic monitoring system according to claim 1, characterized in that: The positioning module is configured as a Beidou positioning module.

3. A harvester operation progress dynamic monitoring system according to claim 2, characterized in that: The communication module is configured as a wireless communication module.

4. A harvester operation progress dynamic monitoring system according to claim 3, characterized in that: The alarm module is configured as an LED display light.

5. A harvester operation progress dynamic monitoring system according to claim 4, characterized in that: The terminal is configured as a computer or a mobile terminal.

6. A harvester operation progress dynamic monitoring system according to claim 5, characterized in that: The positioning module, data processing module and communication module are integrated into one unit.

7. A harvester operation progress dynamic monitoring system according to claim 6, characterized in that: The data acquisition module, positioning module, data processing module, alarm module and communication module are all powered by the harvester's onboard power supply.

8. A harvester operation progress dynamic monitoring system according to claim 7, characterized in that: The positioning module is also provided with a backup power supply.

9. A method for dynamically monitoring the operation progress of a harvester, wherein the method is implemented by using the dynamic monitoring system for the operation progress of a harvester as claimed in any one of claims 1 to 8, and is characterized in that: The following steps are involved: Angle sensors are used to collect the bridge crossing angle data of the harvester, and the angle data is used to determine whether the harvester is in the harvesting state; If it is in the harvesting state, the positioning module is used to receive Beidou satellite positioning data in real time, collect the harvester's positioning position data, and calculate the harvester's dynamic harvesting progress based on the positioning position data.

10. A method for dynamically monitoring the operation progress of a harvester according to claim 9, characterized in that: The method for judging whether the harvester is in the harvesting operation state is: Using the collected harvester bridge angle α data, combined with the fixed height H of the harvester bridge connecting the body and the rotating shaft, and the bridge length L, the harvester header ground height h is calculated by formula (1). h=H-Lsinα (1) It is determined whether the harvester is in the harvesting state by formula (2); In formula (2), θ is the discriminant coefficient of the harvester trajectory. When θ=1, the harvester is in the harvesting operation state and the motion trajectory is valid; when θ=0, the harvester is in the non-harvesting operation state and the motion trajectory is invalid. The method for calculating the dynamic harvesting progress of the harvester is: The positioning module is used to collect the longitude and latitude of the harvester in real time, and then the longitude and latitude of the geodetic coordinates (B, L) are converted into Gaussian projection coordinates (X, Y) through the Gaussian projection algorithm. The positioning data is transmitted to the data processing module or terminal in real time. The harvester's cumulative operating area S at time i i represents the dynamic progress of the harvester, which can be calculated by formula (3): In formula (3), B represents the working width of the harvester, which is a constant; θi represents the discriminant coefficient of the harvester trajectory at time i, xi and yi represent the position coordinates of the harvester at time i, Represents the distance traveled by the harvester between time i and time i-1.

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