Yield measurement method and system based on agricultural harvester, agricultural harvester

Abstract

The present invention discloses a yield measurement method and system based on an agricultural harvester, and an agricultural harvester. The method determines whether the vehicle is in a harvesting state according to the pressure signal of the harvesting platform, and then calculates the effective harvesting area, effectively eliminating the non-harvesting path of the agricultural machinery when operating in the field, and greatly improving the accuracy of the harvesting area calculation. Based on the opening angle of the seedling supporting mechanism, the number of pulses of the material feeding harvesting platform and the material conveying width, the volume of the fed plant can be accurately calculated, and the effective measurement of the plant volume is achieved. In addition, the tension weighing method is adopted to measure the overall fruit weight and the high-quality fruit weight, and the conveying mechanism and the conveyed fruit are regarded as a whole for weighing force analysis, which greatly improves the accuracy of fruit weighing. Finally, the yield analysis is performed based on the effective harvesting area, plant volume, overall fruit weight and high-quality fruit weight, and the obtained yield measurement results are more comprehensive, providing targeted help for crop yield increase research.

Description

Technical Field

[0001] The present invention relates to the technical field of crop yield measurement, and in particular, to a yield measurement method and system based on an agricultural harvester. In addition, the present invention also particularly relates to an agricultural harvester using the above-mentioned yield measurement system. Background Art

[0002] In the agricultural harvesting process, accurate measurement of crop yields can be used to analyze issues related to crop origin, fertilizers, varieties, and agronomy, which is very helpful for studying how to increase crop yields. Precision agriculture is a key development direction for sustainable agricultural development in the future. At present, most of the domestic crop harvesting machinery does not have the ability to measure acres and yields, and crop harvesting work does not integrate farmland information enough. Most growers only focus on crop yield information, and rely on manual subjective experience to judge information such as the growth, fruit setting, and results of crop plants. It is difficult to form quantitative systematic statistical data, and it is very difficult to judge the adverse factors that affect crop yields.

[0003] With the continuous advancement of my country's agricultural modernization, people are increasingly in need of intelligent agricultural machinery and equipment with refined yield measurement functions to replace manual harvesting operations for more efficient harvesting. However, the farmland area and yield information collected by agricultural machinery during the harvesting process is not enough to accurately evaluate the growth of field crops, and it is difficult to achieve a one-time systematic measurement of crop yield, results, proportion of inferior fruits, and plant growth. It is not enough to make specific analysis and adjustments to soil, fertilizer, variety, agronomy and other issues. Harvesting machinery cannot provide targeted assistance for crop yield increase research, which is not conducive to achieving the long-term goals of rationally utilizing resources, saving inputs, reducing agricultural costs, increasing crop yields, and improving the ecological environment.

[0004] In summary, in view of the above problems faced in the actual harvesting process of crops, it is very necessary to study a yield measurement method and system based on a tomato harvester that can synchronously detect the harvesting area, yield, fruit rate, and plant growth parameters during the harvesting operation. Summary of the invention

[0005] The present invention provides a yield measurement method and system based on an agricultural harvester, and an agricultural harvester, so as to solve the technical problem that the existing agricultural harvesters cannot achieve one-time systematic measurement of crop yield, fruit condition, inferior fruit ratio, and plant growth.

[0006] According to one aspect of the present invention, a yield measurement method based on an agricultural harvester is provided, comprising the following contents:

[0007] Obtain the pressure signal of the harvesting platform to determine whether the vehicle is in the harvesting state. If the vehicle is in the harvesting state, detect the driving speed of the vehicle and calculate the effective harvesting area;

[0008] Detect the opening angle of the seedling supporting mechanism and the number of pulses of the material feeding into the harvesting platform, and calculate the volume of the plant fed in combination with the material conveying width;

[0009] The force analysis of the first conveying mechanism and the second conveying mechanism is carried out respectively by means of tensile weighing. During the weighing process, the tilt angle of the vehicle body and the number of pulses of the material fed into the first conveying mechanism and the second conveying mechanism are detected to calculate the total fruit weight and the quality fruit weight.

[0010] The yield measurement results were obtained by conducting a yield analysis based on the effective harvesting area, plant volume, overall fruit weight and high-quality fruit weight.

[0011] Furthermore, the volume of the plant fed was calculated based on the following formula:

[0012] V=γ1*∑[(d max -L1*cosα)*b*d t ]

[0013] Where V represents the volume of the plant fed, d max represents the maximum opening and closing amount of the supporting mechanism, L1 represents the length of the supporting mechanism, α represents the opening angle of the supporting mechanism, b represents the material conveying width, d t represents the material flow stroke under unit pulse, and γ1 represents the first correction coefficient.

[0014] Furthermore, the total fruit weight or high-quality fruit weight is calculated based on the following formula:

[0015]

[0016] Where G represents the total weight of harvested fruits or the weight of high-quality fruits, γ2 represents the second correction coefficient, n represents the number of pulses triggered by the fruit during the entire transportation process of the conveying mechanism, and F B It represents the pulling force value measured by the pulling force measuring end of the conveying mechanism, L2 represents the conveying length of the conveying mechanism, θ represents the angle between the pulling force and the conveying mechanism, W represents the deadweight of the conveying mechanism, β represents the inclination angle of the vehicle body during the weighing process, and S represents the force arm of the conveyed material.

[0017] Furthermore, after obtaining the pressure signal of the harvesting platform, the following contents are also included:

[0018] The obtained pressure signal is compared with the preset feeding pressure. If the obtained pressure signal is greater than the preset feeding pressure, the seedling supporting mechanism is controlled to rise. If the obtained pressure signal is less than the preset feeding pressure, the seedling supporting mechanism is controlled to fall.

[0019] Furthermore, when the obtained pressure signal is not equal to the preset feeding pressure, the fed plant volume is calculated based on the following formula:

[0020] V=γ1*α F *∑[(d max -L1*cosα)*b*d t ]

[0021] Where V represents the volume of the plant fed, d max represents the maximum opening and closing amount of the supporting mechanism, L1 represents the length of the supporting mechanism, α represents the opening angle of the supporting mechanism, b represents the material conveying width, d t represents the material flow stroke under unit pulse, γ1 represents the first correction coefficient, α F Indicates the pressure compensation coefficient.

[0022] Further, when considering the effect of plant moisture content on plant volume measurement, the fed plant volume was calculated based on the following formula:

[0023] V=γ1*α F *α W *∑[(d max -L1*cosα)*b*d t ]

[0024] Among them, α W Indicates the moisture compensation coefficient.

[0025] Furthermore, before the stress analysis is carried out, the following contents are also included:

[0026] The tilt angle of the vehicle body is detected to determine the vehicle posture. If the vehicle posture is not in a horizontal state, the leveling cylinder is controlled to extend and retract to adjust the vehicle body posture to a horizontal state.

[0027] Furthermore, the following contents are also included:

[0028] The test results are sent to a display screen of the vehicle for display; and / or, the test results are transmitted to a remote platform.

[0029] In addition, the present invention also provides a yield measurement system based on an agricultural harvester, which adopts the yield measurement method as described above, and comprises:

[0030] Pressure sensor for detecting the compaction pressure of the material flow in the harvesting platform;

[0031] Vehicle speed sensor, used to detect the vehicle's speed;

[0032] A first angle sensor is used to detect the opening angle of the seedling supporting mechanism;

[0033] The first speed sensor is used to detect the speed of the feeding roller to obtain the number of pulses of the material feeding into the harvesting platform;

[0034] Tension sensor, used to measure the tension applied to the conveying mechanism during weighing;

[0035] A second angle sensor is used to detect the angle between the pulling force and the conveying mechanism during weighing;

[0036] Inclination sensor, used to detect the tilt angle of the vehicle body;

[0037] The second speed sensor is used to detect the speed of the first conveying mechanism to obtain the number of pulses of the material fed into the first conveying mechanism;

[0038] The third speed sensor is used to detect the speed of the second conveying mechanism to obtain the number of pulses of the material fed into the second conveying mechanism;

[0039] The controller is used to determine whether the vehicle is in a harvesting state based on the pressure signal of the harvesting platform. If the vehicle is in a harvesting state, the effective harvesting area is calculated in combination with the vehicle's driving speed; it is used to calculate the volume of the fed plants based on the opening angle of the seedling supporting mechanism, the number of pulses of material feeding and the material conveying width; it is used to perform force analysis on the first conveying mechanism and the second conveying mechanism, and calculate the total fruit weight and the weight of high-quality fruits; it is used to perform yield analysis based on the effective harvesting area, plant volume, total fruit weight and high-quality fruit weight, and obtain yield measurement results.

[0040] In addition, the present invention also provides an agricultural harvester, which adopts the yield measurement system as described above.

[0041] The present invention has the following effects:

[0042] The yield measurement method based on the agricultural harvester of the present invention first obtains the pressure signal of the harvesting platform. If there is a material flow being transported in the harvesting platform, the compaction pressure of the material flow can be detected, so that it can be judged that the vehicle is in a harvesting state, and then the effective harvesting area is calculated. Compared with the existing method of calculating the harvesting area based on the vehicle travel, the non-harvesting path of the agricultural machinery during field operation is effectively eliminated, and the accuracy of the harvesting area calculation is greatly improved. Then, based on the opening angle of the seedling supporting mechanism, the number of pulses of the material feeding harvesting platform and the material conveying width, the volume of the fed plant can be accurately calculated, and the effective measurement of the plant volume is achieved. In addition, the tension weighing method is adopted to measure the overall fruit weight and the high-quality fruit weight, and the conveying mechanism and the conveyed fruit are regarded as a whole for weighing force analysis. Compared with the existing method of measuring the weight of the fruit using a weighing sensor, the error influence caused by the bumping and jumping of the fruit during the transportation process is effectively reduced, and the accuracy of the fruit weighing is greatly improved. Finally, yield analysis is performed based on the effective harvesting area, plant volume, total fruit weight and high-quality fruit weight. Further analysis can be performed to obtain comprehensive yield information such as the correlation between fruit weight and plant volume, the proportion of high-quality fruit to total fruit, crop yield information, and plant growth information. The yield measurement results obtained are more comprehensive, providing targeted help for crop yield increase research.

[0043] In addition, the yield measurement system based on the agricultural harvester of the present invention also has the above advantages.

[0044] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0046] Figure 1 It is a schematic diagram of the structural layout of an existing agricultural harvester.

[0047] Figure 2 It is a flow chart of a yield measurement method based on an agricultural harvester according to a preferred embodiment of the present invention.

[0048] Figure 3 It is a schematic diagram of the principle of measuring the feeding thickness of the material flow in the preferred embodiment of the present invention.

[0049] Figure 4 It is a schematic diagram of the fitting relationship curve between the daily maximum shrinkage of the tomato plant stem and the relative water loss rate of the soil in the preferred embodiment of the present invention.

[0050] Figure 5It is a schematic diagram of the principle of weighing and force analysis of a conveying device in a preferred embodiment of the present invention.

[0051] Figure 6 It is another flow chart of the yield measurement method based on the agricultural harvester according to the preferred embodiment of the present invention.

[0052] Figure 7 It is a schematic diagram of the module structure of a yield measurement system based on an agricultural harvester according to another embodiment of the present invention.

[0053] Description of Reference Numerals

[0054] 1. Harvesting platform; 2. Driving cab; 3. Primary conveying mechanism; 4. Secondary conveying mechanism; 5. Vehicle body; 11. Rice seedling lifter and cutter; 12. Rice seedling supporting mechanism; 13. Adjusting cylinder; 14. Conveyor belt; 15. Fixed support. DETAILED DESCRIPTION

[0055] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0056] It is understandable that Figure 1 As shown, the agricultural harvester used in the present invention includes a harvesting platform 1, a cab 2, a primary conveying mechanism 3, a secondary conveying mechanism 4 and a vehicle body 5, wherein the harvesting platform 1 is used to harvest crops and cut off the stalks of crops to harvest the fruits of the crops, and the harvested fruits are transported to the primary conveying mechanism 3, and the cab 2 is used for operators to operate the agricultural harvester. In addition, a vibrating screen or other coarse screening mechanism is also provided behind the harvesting platform 1 to separate the stalks of the crops, and the separated fruits are transported to the primary conveying mechanism 3. The primary conveying mechanism 3 is used to transport the fruits of the crops, and a fruit screening device is also provided between the primary conveying mechanism 3 and the secondary conveying mechanism 4 to screen out qualified high-quality fruits, and the secondary conveying mechanism 4 is used to transport the screened high-quality fruits to the storage bin of the vehicle body 5 or other receiving and transporting vehicles for storage. Among them, the agricultural harvester belongs to existing agricultural machinery, and the specific structures of its various parts are not repeated here. For example, existing tomato harvesters, potato harvesters, etc. can be used. It can be understood that the primary conveying mechanism 3 can include two sets of continuous conveyor belts and screening devices to improve the fruit screening effect, and the screening times can be adjusted according to actual conditions, and the secondary conveying mechanism 4 only conveys high-quality fruits after screening. Of course, in other embodiments of the present invention, the primary conveying mechanism 3 can also adopt a single-stage conveyor belt.

[0057] It is understandable that Figure 2 As shown, a preferred embodiment of the present invention provides a yield measurement method based on an agricultural harvester, comprising the following contents:

[0058] Step S1: Obtaining a pressure signal from the harvesting platform to determine whether the vehicle is in a harvesting state. If the vehicle is in a harvesting state, detecting the vehicle's travel speed and calculating the effective harvesting area;

[0059] Step S2: detecting the opening angle of the seedling supporting mechanism and the pulse number of the material feeding into the harvesting platform, and calculating the volume of the fed plants in combination with the material conveying width;

[0060] Step S3: using a tensile weighing method to perform force analysis on the first conveying mechanism and the second conveying mechanism respectively, detecting the inclination angle of the vehicle body and the number of pulses of the material fed into the first conveying mechanism and the second conveying mechanism during the weighing process, and calculating the total fruit weight and the high-quality fruit weight;

[0061] Step S4: Perform yield analysis based on the effective harvesting area, plant volume, total fruit weight and high-quality fruit weight to obtain yield measurement results.

[0062] It can be understood that the yield measurement method based on the agricultural harvester of this embodiment first obtains the pressure signal of the harvesting platform. If there is a material flow being transported in the harvesting platform, the compaction pressure of the material flow can be detected, so that it can be judged that the vehicle is in a harvesting state, and then the effective harvesting area is calculated. Compared with the existing method of calculating the harvesting area based on the vehicle travel, the non-harvesting path of the agricultural machinery during field operation is effectively eliminated, and the accuracy of the harvesting area calculation is greatly improved. Then, based on the opening angle of the seedling supporting mechanism, the number of pulses of the material feeding into the harvesting platform and the material conveying width, the volume of the fed plant can be accurately calculated, and the effective measurement of the plant volume is achieved. In addition, the tension weighing method is adopted to measure the overall fruit weight and the high-quality fruit weight, and the conveying mechanism and the conveyed fruit are regarded as a whole for weighing force analysis. Compared with the existing method of measuring the weight of the fruit using a weighing sensor, the error caused by the bumping and jumping of the fruit during transportation is effectively reduced, and the accuracy of the fruit weighing is greatly improved. Finally, yield analysis is performed based on the effective harvesting area, plant volume, total fruit weight and high-quality fruit weight. Further analysis can be performed to obtain comprehensive yield information such as the correlation between fruit weight and plant volume, the proportion of high-quality fruit to total fruit, crop yield information, and plant growth information. The yield measurement results obtained are more comprehensive, providing targeted help for crop yield increase research.

[0063] It can be understood that in step S1, by setting a pressure sensor in the harvesting platform to detect the compaction pressure of the material flow, when the vehicle is harvesting, materials enter the harvesting platform, so that the pressure sensor can detect the compaction pressure of the material flow, thereby judging that the agricultural harvester is in the harvesting state at this time. Compared with the existing method of calculating the harvesting area based on the vehicle travel, the non-harvesting path of the agricultural machinery during field operation is effectively eliminated, greatly improving the accuracy of the harvesting area calculation. Among them, the effective harvesting area is specifically calculated based on the vehicle's driving speed, the width of the harvesting platform's material opening, and the duration of the pressure signal.

[0064] It is understandable that in the actual harvesting process, due to the large differences in plant characteristics of various crops, the pressures that fruits bear are different. Even for the same type of crops, the plant characteristics change accordingly due to the difference in harvesting time. Therefore, in step S1, before the harvesting operation, the operator can pre-set the corresponding feeding pressure on the display screen of the agricultural harvester according to the type of harvested crop, thereby effectively reducing the fruit breakage rate, protecting the fruit quality, and improving the accuracy of plant volume measurement.

[0065] Optionally, in step S1, after obtaining the pressure signal of the harvesting platform, the following contents are also included:

[0066] The obtained pressure signal is compared with the preset feeding pressure. If the obtained pressure signal is greater than the preset feeding pressure, the seedling supporting mechanism is controlled to rise. If the obtained pressure signal is less than the preset feeding pressure, the seedling supporting mechanism is controlled to fall.

[0067] It can be understood that the present invention detects the real-time compaction pressure of the feeding material flow and compares it with the preset feeding pressure, and controls the lifting and lowering of the seedling supporting mechanism according to the comparison result, thereby realizing automatic adjustment of the feeding amount. Compared with the traditional method of relying on manual experience to judge the growth of crops and then making manual adjustments, the operation is simple, the control accuracy is higher, and the cutting table operation is more stable.

[0068] It is understandable that Figure 3As shown, the harvesting platform 1 includes a seedling lifter and cutter 11, a seedling supporting mechanism 12, an adjusting cylinder 13, a conveyor belt 14 and a fixed support 15. The seedling lifter and cutter 11 are used to harvest crops and cut off the seedling stems of crops, the seedling supporting mechanism 12 is used to compact the conveyed material flow, the adjusting cylinder 13 is used to adjust the opening angle of the seedling supporting mechanism 12, the conveyor belt 14 is used to transport the harvested crop fruits, and the fixed support 15 is used to support one end of the seedling supporting mechanism 12. Among them, the specific structure of the harvesting platform 1 belongs to the prior art, so it will not be repeated here. The improvement of the present invention lies in: an angle sensor is installed at the axial end of the fixed support 15, which is used to detect the opening angle α of the seedling supporting mechanism 12, that is, the angle between the seedling supporting mechanism 12 and the fixed support 15; a pressure sensor is installed at the front end of the conveyor belt 14, which is used to detect the compaction strength of the material flow between the conveyor belt 14 and the seedling supporting mechanism 12; a speed sensor is installed on the feeding roller, which is used to detect the speed of the feeding roller, so that the number of pulses of the material feeding into the harvesting platform can be detected.

[0069] It can be understood that in step S2, the opening angle of the supporting mechanism is first detected by the angle sensor, and the angle signal is transmitted to the controller. The controller filters and converts the angle signal to obtain the feeding material flow cross-sectional area S under the current set pressure. t The specific calculation process of the cross-sectional area of ​​the feed material flow is as follows: the feed thickness d of the feed material flow 物料 The relationship between the maximum opening and closing amount and length of the supporting mechanism is:

[0070] d 物料 =d max -L1*cosα

[0071] Among them, d max represents the maximum opening and closing amount of the seedling supporting mechanism, L1 represents the length of the seedling supporting mechanism, and α represents the opening angle of the seedling supporting mechanism.

[0072] Then, after calculating the feed thickness, combined with the material conveying width b (i.e. the conveying width of the conveyor belt), the feed material flow cross-sectional area under the current set pressure can be calculated: S t =d 物料 * b.

[0073] Then, the speed of the feeding roller is detected by the speed sensor, and the speed signal is transmitted to the controller. The controller uses the collected material flow stroke information d under the unit pulse t , combined with the feed material flow cross-sectional area S t Then the plant volume V under unit pulse can be calculated t , V t =S t *d t, and then the measurement result V of the volume of the fed plants is obtained by cumulative calculation. The specific calculation formula is: V = ∑S t d t =∑[(d max -L1*cosα)*b*d t ]. In addition, the above calculation results are theoretical calculation results. Considering the influence of the actual harvesting environment, there will be deviations between the theoretical value and the actual value. Therefore, the present invention also introduces a first correction coefficient γ1 to correct the theoretical calculation results. The specific value of the first correction coefficient γ1 is obtained by comparing and analyzing the theoretical calculation results and the actual harvesting results of multiple harvesting experiments. Therefore, the present invention calculates the fed plant volume based on the following formula:

[0074] V=γ1*∑[(d max -L1*cosα)*b*d t ]

[0075] Where V represents the volume of the plant fed, d max represents the maximum opening and closing amount of the supporting mechanism, L1 represents the length of the supporting mechanism, α represents the opening angle of the supporting mechanism, represents the material conveying width, d t represents the material flow stroke under unit pulse, and γ1 represents the first correction coefficient.

[0076] It is understandable that in the process of agricultural production inspection, it is necessary to calculate the plant volume with the same compaction intensity in order to objectively analyze the growth of the plant. However, affected by the maturity of the fruit, in order to protect the integrity of the fruit, the actual harvest will automatically adjust the feed amount according to the compaction pressure of the material flow detected by the pressure sensor. It is necessary to introduce a pressure compensation coefficient for pressure compensation based on the actual compaction pressure detected to improve the accuracy of the plant volume calculation. Optionally, when the acquired pressure signal is not equal to the preset feeding pressure, the fed plant volume is calculated based on the following formula:

[0077] V=γ1*α F *∑[(d max -L1*cosα)*b*d t ]

[0078] Where V represents the volume of the plant fed, d max represents the maximum opening and closing amount of the supporting mechanism, L1 represents the length of the supporting mechanism, α represents the opening angle of the supporting mechanism, b represents the material conveying width, d t represents the material flow stroke under unit pulse, γ1 represents the first correction coefficient, α F Represents the pressure compensation coefficient. Among them, the pressure compensation coefficient α FIt can be obtained based on the results of multiple harvesting experiments, or by fitting the relationship curve between compaction pressure and plant volume through sample learning methods, so as to analyze and obtain the pressure compensation coefficient corresponding to different compaction pressures. By introducing the pressure compensation coefficient, the influence of non-standard compaction strength on plant volume measurement is restored, and the accuracy of plant volume measurement is improved.

[0079] It is understandable that the water content of the plant will also affect the plant volume measurement, so it is necessary to introduce a water compensation coefficient α W To restore the impact of plant water content on plant volume measurement. A certain tomato variety was used as the test material to analyze the relationship between the change in stem diameter of tomato plants under different weather conditions and soil moisture conditions. The analysis results showed that: in a drought cycle, as the soil moisture content decreases, the daily change in tomato stem diameter gradually increases, and the change in stem diameter can sensitively, timely and accurately reflect the moisture status of the plant. Among them, the fitting relationship curve between the daily maximum shrinkage of the tomato plant stem and the relative water loss rate of the soil is shown in the figure below: Figure 4 shown.

[0080] Therefore, optionally, in conjunction with the effect of plant moisture content on plant volume measurement, the fed plant volume is calculated based on the following formula:

[0081] V=γ1*α F *α W *∑[(d max -L1*cosα)*b*d t ]

[0082] Among them, α W It represents the moisture compensation coefficient. The specific value can be determined by analyzing the relationship between different plant water contents and plant volume measurement results to obtain the moisture compensation coefficient corresponding to different plant water contents.

[0083] It can be understood that in step S3, the total fruit weight or the high-quality fruit weight is calculated based on the following formula:

[0084]

[0085] Where G represents the total weight of harvested fruits or the weight of high-quality fruits, γ2 represents the second correction coefficient, n represents the number of pulses triggered by the fruit during the entire transportation process of the conveying mechanism, and F B It represents the pulling force value measured by the pulling force measuring end of the conveying mechanism, L2 represents the conveying length of the conveying mechanism, θ represents the angle between the pulling force and the conveying mechanism, W represents the deadweight of the conveying mechanism, β represents the inclination angle of the vehicle body during the weighing process, and S represents the force arm of the conveyed material.

[0086] Specifically, Figure 5As shown, taking the force analysis of one of the conveying devices of the conveying mechanism as an example, the length of the conveying device AB is L2, its A end is the support fixed end, and the B end is the pulling force measuring end. The weight of the conveying device is W, and the weight of the material flow to be tested is G t The pulling force measuring end is provided with a tension sensor and an angle sensor, wherein the tension sensor is used to measure the tension value, and the angle sensor is used to measure the angle θ between the tension direction and the conveying direction. There is a certain safety distance S between the material flow inlet and the feeding end of the conveying device, that is, the force arm of the conveying material is S, and the self-weight arm of the conveying device is L2 / 2. Therefore, according to the force balance equation, it can be known that:

[0087]

[0088] Among them, M AX (F) represents the horizontal moment at support point A, M AY (F) represents the vertical moment at support point A, M B (F) represents the moment at point B.

[0089] Further analysis revealed:

[0090] In addition, considering that during the fruit harvesting process, the inclination angle of the vehicle body changes continuously as the fruit is harvested, it is necessary to introduce the vehicle body inclination angle β for compensation, so the above formula is optimized as follows:

[0091]

[0092] The conveyor is equipped with a speed sensor to detect the speed of the conveyor, thereby obtaining the number of pulses of the material being fed. Whenever the controller reads the pulse number trigger, it collects the signal of the tension sensor and the angle sensor, and obtains the weight G of the material being transported at that moment through data filtering and conversion processing. t The fruit triggers n pulses during the whole transportation process of the conveying mechanism, and then it is filtered. Each time a new data is sampled, it is put into the end of the queue, and the original data at the head of the queue is discarded. That is, the first-in-first-out queue principle is adopted, and the n data in the queue are arithmetic averaged to obtain a new filtering result. The fruit weight calculated at time i is: Then, by cumulative calculation, the second correction coefficient γ2 is introduced for correction. The second correction coefficient γ2 is related to the vehicle body inclination angle β. The correction coefficient values ​​corresponding to different vehicle body inclination angles can be obtained by conducting multiple experiments in advance, so that the fruit weight can be obtained as follows:

[0093]

[0094] It is understandable that, since the crop fruits are affected by the vibration of the equipment itself and the vibration of the screening mechanism during the harvesting process, the fruits will bump and jump during the transmission process. At the same time, the working angle of the conveying mechanism during the operation is not horizontal. Therefore, it is not suitable to set a single weighing point under the conveying mechanism belt combined with speed integration for weighing. The high-frequency oscillation has a significant impact and the actual weighing error is large. Therefore, the weighing idea of ​​the present invention is to regard the conveying mechanism and the conveyed fruit as a weighing subject, and adopt the tension weighing method to perform force analysis. At the same time, a speed sensor is also installed on the conveying mechanism to detect the number of pulses of the material feeding. The weight of the material at this moment is calculated each time a pulse is triggered. Since the leveling of the vehicle body requires reaction time, it is also necessary to weigh in combination with the inclination angle of the vehicle body at this time. Compared with the existing method of using a weighing sensor to directly measure the weight of the fruit, the error caused by the bumping and jumping of the fruit during transportation is effectively reduced, and the accuracy of fruit weighing is greatly improved.

[0095] It can be understood that the fruit weight calculated by force analysis of the first conveying mechanism is the total weight of harvested fruits, which includes the weight of high-quality fruits and the weight of low-quality fruits, while the fruit weight calculated by force analysis of the second conveying mechanism is the weight of high-quality fruits finally harvested.

[0096] Optionally, the following may also be included before performing a stress analysis:

[0097] The tilt angle of the vehicle body is detected to determine the vehicle posture. If the vehicle posture is not in a horizontal state, the leveling cylinder is controlled to extend and retract to adjust the vehicle body posture to a horizontal state.

[0098] It can be understood that before weighing, the body posture is adjusted to a horizontal state to eliminate the influence of the initial body posture on the weighing, thereby further improving the accuracy of fruit weighing.

[0099] It can be understood that in step S4, the growth of the plant can be analyzed based on the measured plant volume, the correlation between the plant volume and the weight of high-quality fruits can be analyzed based on the two, the proportion of high-quality fruits can be analyzed based on the total fruit weight and the weight of high-quality fruits, and the fruit yield can be analyzed based on the effective harvesting area and the weight of high-quality fruits. In this way, during the crop harvesting process, the harvesting area, harvest yield, plant growth, proportion of high-quality fruits and other information of farmland crops can be systematically collected simultaneously, and the yield measurement results obtained by analysis are conducive to improving the level of agricultural situation analysis.

[0100] It is understandable that Figure 6 As shown, the yield measurement method based on the agricultural harvester also includes the following contents:

[0101] Step S5: sending the production measurement result to the display screen of the vehicle for display; and / or transmitting the production measurement result to a remote platform.

[0102] It can be understood that after analyzing the yield measurement results, the controller can send the yield measurement results to the display screen in the cab for display, and can also remotely transmit them to the big data platform. The big data platform can also receive the real-time position parameters of the vehicle during the harvesting process, thereby obtaining the vehicle's harvesting path, and set different depths of color in different sections of the harvesting path according to the numerical changes of the harvesting parameters (i.e., plant volume, total fruit weight, and high-quality fruit weight) during the harvesting process, thereby generating corresponding crop yield maps, plant growth maps, and high-quality fruit ratio maps, etc. It can also display fruit yield information maps, plant growth maps, and high-quality fruit ratio maps within a unit area, greatly improving the level of agricultural situation analysis.

[0103] In addition, if Figure 7 As shown, another embodiment of the present invention further provides a yield measurement system based on an agricultural harvester, preferably using the yield measurement method as described above, including:

[0104] Pressure sensor for detecting the compaction pressure of the material flow in the harvesting platform;

[0105] Vehicle speed sensor, used to detect the vehicle's speed;

[0106] A first angle sensor is used to detect the opening angle of the seedling supporting mechanism;

[0107] The first speed sensor is used to detect the speed of the feeding roller to obtain the number of pulses of the material feeding into the harvesting platform;

[0108] Tension sensor, used to measure the tension applied to the conveying mechanism during weighing;

[0109] A second angle sensor is used to detect the angle between the pulling force and the conveying mechanism during weighing;

[0110] Inclination sensor, used to detect the tilt angle of the vehicle body;

[0111] The second speed sensor is used to detect the speed of the first conveying mechanism to obtain the number of pulses of the material fed into the first conveying mechanism;

[0112] The third speed sensor is used to detect the speed of the second conveying mechanism to obtain the number of pulses of the material fed into the second conveying mechanism;

[0113] The controller is used to determine whether the vehicle is in a harvesting state based on the pressure signal of the harvesting platform. If the vehicle is in a harvesting state, the effective harvesting area is calculated in combination with the vehicle's driving speed; it is used to calculate the volume of the fed plants based on the opening angle of the seedling supporting mechanism, the number of pulses of material feeding and the material conveying width; it is used to perform force analysis on the first conveying mechanism and the second conveying mechanism, and calculate the total fruit weight and the weight of high-quality fruits; it is used to perform yield analysis based on the effective harvesting area, plant volume, total fruit weight and high-quality fruit weight, and obtain yield measurement results.

[0114] It can be understood that the yield measurement system based on the agricultural harvester of this embodiment first obtains the pressure signal of the harvesting platform. If there is a material flow being transported in the harvesting platform, the compaction pressure of the material flow can be detected, so that it can be judged that the vehicle is in a harvesting state, and then the effective harvesting area is calculated. Compared with the existing method of calculating the harvesting area based on the vehicle travel, the non-harvesting path of the agricultural machinery during field operation is effectively eliminated, and the accuracy of the harvesting area calculation is greatly improved. Then, based on the opening angle of the seedling supporting mechanism, the number of pulses of the material feeding into the harvesting platform and the material conveying width, the volume of the fed plant can be accurately calculated, and the effective measurement of the plant volume is achieved. In addition, the tension weighing method is adopted to measure the overall fruit weight and the high-quality fruit weight, and the conveying mechanism and the conveyed fruit are regarded as a whole for weighing force analysis. Compared with the existing method of measuring the weight of the fruit using a weighing sensor, the error caused by the bumping and jumping of the fruit during transportation is effectively reduced, and the accuracy of the fruit weighing is greatly improved. Finally, yield analysis is performed based on the effective harvesting area, plant volume, total fruit weight and high-quality fruit weight. Further analysis can be performed to obtain comprehensive yield information such as the correlation between fruit weight and plant volume, the proportion of high-quality fruit to total fruit, crop yield information, and plant growth information. The yield measurement results obtained are more comprehensive, providing targeted help for crop yield increase research.

[0115] It can be understood that the controller is also connected to the driving cylinder of the seedling supporting mechanism, and is used to compare the compaction pressure detected by the pressure sensor with the preset feeding pressure. If the compaction pressure is greater than the preset feeding pressure, the driving cylinder of the seedling supporting mechanism is controlled to extend to drive the seedling supporting mechanism to rise; if the compaction pressure is less than the preset feeding pressure, the driving cylinder of the seedling supporting mechanism is controlled to contract to drive the seedling supporting mechanism to descend.

[0116] It can be understood that the controller is also connected to the body posture driving cylinder, which is used to judge the vehicle posture according to the tilt angle of the vehicle body. If the vehicle posture is not in a horizontal state, the body posture driving cylinder (i.e., the leveling cylinder) is controlled to extend and retract to adjust the body posture to a horizontal state.

[0117] In addition, the controller is also connected to a display screen so that the production measurement results can be sent to the display screen for display. The controller is also connected to a positioning module so that the location information of the vehicle can be obtained in real time to generate the driving path of the vehicle. The positioning module is a GPS module or a Beidou module. In addition, the controller is also connected to a communication module so that the production measurement results can be remotely transmitted to a cloud platform through the communication module. The communication module is a 4G module or a 5G module. It can be understood that in other embodiments of the present invention, the positioning module has data remote communication capabilities, and the production measurement results can be transmitted to a cloud platform through the positioning module.

[0118] In addition, another embodiment of the present invention further provides an agricultural harvester, which adopts the yield measurement system as described above, wherein the agricultural harvester is a tomato harvester, a potato harvester, etc.

[0119] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A yield measurement method based on an agricultural harvester, characterized in that: Includes the following: Obtain the pressure signal of the harvesting platform to determine whether the vehicle is in the harvesting state. If the vehicle is in the harvesting state, detect the driving speed of the vehicle and calculate the effective harvesting area; Detect the opening angle of the seedling supporting mechanism and the number of pulses of the material feeding into the harvesting platform, and calculate the volume of the plant fed in combination with the material conveying width; The force analysis of the first conveying mechanism and the second conveying mechanism is carried out respectively by means of tensile weighing. During the weighing process, the tilt angle of the vehicle body and the number of pulses of the material fed into the first conveying mechanism and the second conveying mechanism are detected to calculate the total fruit weight and the quality fruit weight. Yield analysis was conducted based on effective harvesting area, plant volume, total fruit weight and quality fruit weight to obtain yield measurement results; The volume of the plant fed was calculated based on the following formula: V=γ1*∑[(d max -L1*cosα)*b*d t ] Where V represents the volume of the plant fed, d max represents the maximum opening and closing amount of the supporting mechanism, L1 represents the length of the supporting mechanism, α represents the opening angle of the supporting mechanism, b represents the material conveying width, d t represents the material flow stroke under unit pulse, γ1 represents the first correction coefficient; The total fruit weight or quality fruit weight was calculated based on the following formula: Where G represents the total weight of harvested fruits or the weight of high-quality fruits, γ2 represents the second correction coefficient, n represents the number of pulses triggered by the fruit during the entire transportation process of the conveying mechanism, and F B It represents the pulling force value measured by the pulling force measuring end of the conveying mechanism, L2 represents the conveying length of the conveying mechanism, θ represents the angle between the pulling force and the conveying mechanism, W represents the deadweight of the conveying mechanism, β represents the inclination angle of the vehicle body during the weighing process, and S represents the force arm of the conveyed material.

2. The yield measurement method based on an agricultural harvester according to claim 1, characterized in that: Also include the following after getting the pressure signal from the header: The obtained pressure signal is compared with the preset feeding pressure. If the obtained pressure signal is greater than the preset feeding pressure, the seedling supporting mechanism is controlled to rise. If the obtained pressure signal is less than the preset feeding pressure, the seedling supporting mechanism is controlled to fall.

3. The yield measurement method based on an agricultural harvester according to claim 2, characterized in that: When the acquired pressure signal is not equal to the preset feeding pressure, the fed plant volume is calculated based on the following formula: V=γ1*α F *∑[(d max -L1*cosα)*b*d t ] Where V represents the volume of the plant fed, d max represents the maximum opening and closing amount of the supporting mechanism, L1 represents the length of the supporting mechanism, α represents the opening angle of the supporting mechanism, b represents the material conveying width, d t represents the material flow stroke under unit pulse, γ1 represents the first correction coefficient, α F Indicates the pressure compensation coefficient.

4. The yield measurement method based on an agricultural harvester according to claim 3, characterized in that: When considering the effect of plant moisture content on plant volume measurements, the fed plant volume was calculated based on the following formula: V=γ1*α F *α W *∑[(d max -L1*cosα)*b*d t ] Among them, α W Indicates the moisture compensation coefficient.

5. The yield measurement method based on an agricultural harvester according to claim 1, characterized in that: Before carrying out stress analysis, the following contents are also included: The tilt angle of the vehicle body is detected to determine the vehicle posture. If the vehicle posture is not in a horizontal state, the leveling cylinder is controlled to extend and retract to adjust the vehicle body posture to a horizontal state.

6. The yield measurement method based on an agricultural harvester according to claim 1, characterized in that: Also included are the following: The test results are sent to a display screen of the vehicle for display; and / or, the test results are transmitted to a remote platform.

7. A yield measurement system based on an agricultural harvester, using the yield measurement method according to any one of claims 1 to 6, characterized in that: include: Pressure sensor for detecting the compaction pressure of the material flow in the harvesting platform; Vehicle speed sensor, used to detect the vehicle's speed; A first angle sensor is used to detect the opening angle of the seedling supporting mechanism; The first speed sensor is used to detect the speed of the feeding roller to obtain the number of pulses of the material feeding into the harvesting platform; Tension sensor, used to measure the tension applied to the conveying mechanism during weighing; A second angle sensor is used to detect the angle between the pulling force and the conveying mechanism during weighing; Inclination sensor, used to detect the tilt angle of the vehicle body; The second speed sensor is used to detect the speed of the first conveying mechanism to obtain the number of pulses of the material fed into the first conveying mechanism; The third speed sensor is used to detect the speed of the second conveying mechanism to obtain the number of pulses of the material fed into the second conveying mechanism; The controller is used to determine whether the vehicle is in a harvesting state based on the pressure signal of the harvesting platform. If the vehicle is in a harvesting state, the effective harvesting area is calculated in combination with the vehicle's driving speed; it is used to calculate the volume of the fed plants based on the opening angle of the seedling supporting mechanism, the number of pulses of material feeding and the material conveying width; it is used to perform force analysis on the first conveying mechanism and the second conveying mechanism, and calculate the total fruit weight and the weight of high-quality fruits; it is used to perform yield analysis based on the effective harvesting area, plant volume, total fruit weight and high-quality fruit weight, and obtain yield measurement results.

8. An agricultural harvester, characterized in that: The production measurement system as claimed in claim 7 is adopted.

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