Impulse and weighing combined grain flow monitoring device and method and harvester

Abstract

The present application provides a kind of impulse and weighing combination type grain flow monitoring device and method and harvester, including impulse monitoring device, weighing monitoring device, data acquisition module and control display module.Mathematical model of impulse monitoring flow and mathematical model of weighing monitoring flow are established respectively, and on this basis, two different yield measurement methods are fitted, and then the real-time monitoring of grain flow in the harvesting operation process is realized.The present application can be applied to the flow monitoring of various crop flows, and solves the problems of lack of yield measurement system and low yield measurement capacity of combine harvester in the application scene of auger elevator.

Description

Technical Field

[0001] This invention belongs to the field of grain flow monitoring technology, and particularly relates to a combined impulse and weighing grain flow monitoring device and method, and a harvester. Background Technology

[0002] Grain yield is one of the most crucial pieces of information for precision agriculture, reflecting the impact of factors such as soil structure, fertilizer use, topography, and pests and diseases. By acquiring crop yield data for farmland plots, corresponding yield distribution maps can be generated. These maps not only assess the quality of harvesting operations but also guide precise operations in the next season's cultivation, planting, management, and harvesting processes. Grain yield serves as both the basis for agricultural decision-making and a reflection of the ultimate benefits derived from those decisions; therefore, research into grain flow monitoring devices has significant scientific and practical value.

[0003] Based on measurement principles, grain flow monitoring systems can be categorized into mass flow, impact flow, volumetric flow, gamma-ray flow, and other types. Currently, grain flow monitoring systems are relatively mature in Europe and America, especially impulse flow sensors, which are widely used due to their simple structure and high cost-effectiveness. Large agricultural machinery manufacturers such as John Deere and Claas have adopted impulse flow sensors. Unlike the large wheeled harvesters equipped with scraper-type elevators used in Europe and America, the main harvesting machines for crops like rice, wheat, and oilseeds in southern my country, characterized by hilly and low-lying muddy terrain, are compact tracked combine harvesters that often use auger-type elevators. Scraper-type elevators are characterized by large grain flow and concentrated impact range, making signal acquisition relatively easy. However, the grain flow at the auger-type elevator's outlet is non-uniformly scattered in a fan shape, making signal acquisition relatively complex. Current domestic research cannot meet the yield monitoring needs of auger-type elevator application scenarios, and a mature grain flow monitoring system specifically designed for these scenarios is still lacking.

[0004] In the prior art, CN112020986A proposes an impulse-type grain combine harvester yield monitoring system and method, which uses the impact of grain flow on the impulse sensor to collect instantaneous grain flow rate. However, it is easily affected by vibration, and the difference between the measured yield and the actual yield will gradually increase over time, thus affecting the yield measurement accuracy. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a combined impulse and weighing grain flow monitoring device and method, which can be used for real-time monitoring of grain flow in combine harvesters using auger-type elevators, thereby improving the stability and yield measurement accuracy of existing combine harvester grain flow monitoring devices.

[0006] A harvester is also provided, the harvester including an impulse and weighing combined grain flow monitoring device.

[0007] To achieve the above objectives, the present invention provides the following technical solution:

[0008] A combined impulse and weighing grain flow monitoring device includes an impulse monitoring device, a weighing monitoring device, a data acquisition module, and a control module;

[0009] The impulse monitoring device is installed on the top plate of the grain box near the grain outlet of the auger-type elevator. The impulse monitoring device is used to detect the flow signal impacted by the grain flow and the vibration signal of the harvester itself.

[0010] The weighing monitoring device is installed on the baffle plate inside the grain bin, and is used to detect the quality signal of the grain flow.

[0011] The impulse monitoring device and the weighing monitoring device are respectively connected to the data acquisition module, which is connected to the control module. The weighing monitoring device transmits the mass signal of the grain flow to the data acquisition module, and the impulse monitoring device transmits the flow rate signal of the grain flow impact and the vibration signal of the harvester itself to the data acquisition module. The data acquisition module transmits the received signals to the control module. The control module is used to calculate the grain flow rate based on the received signals.

[0012] In the above scheme, the impulse monitoring device includes multiple sets of detection units evenly arranged on the top plate of the grain tank; each set of detection units includes a fixing plate, a monitoring pressure sensor, a monitoring index plate, a reference index plate, a reference pressure sensor, a mounting plate, and a connecting plate;

[0013] The fixing plate is installed on the top plate of the grain box near the grain outlet of the auger elevator. One end of the mounting plate is connected to the fixing plate via a connecting plate, and the other end is connected to the upper end of the monitoring pressure sensor and the reference pressure sensor. The monitoring pressure sensor is used to detect the flow signal impacted by the grain flow, and the reference pressure sensor is used to detect the vibration signal of the harvester itself.

[0014] The monitoring pressure sensor has a monitoring finger plate at its lower end, and the reference pressure sensor has a reference finger plate at its lower end. The monitoring finger plate and the reference finger plate are arranged in parallel front to back and have a gap between them.

[0015] Furthermore, the detection unit consists of three groups, including a left monitoring unit, a right monitoring unit, and a middle monitoring unit that are arranged sequentially and evenly on the top plate of the grain tank.

[0016] The monitoring index plate of the middle monitoring unit is directly opposite the grain outlet of the auger elevator. The left and right monitoring units are symmetrical about the middle monitoring unit, and the monitoring index plates of the middle, left and right monitoring units are all tangent to the circles formed with the auger rotation axis as the center.

[0017] The above solution also includes shock absorption damping; the fixed plate and the top plate of the grain tank are connected by shock absorption damping.

[0018] In the above scheme, the top plate of the grain tank has a window for installing the monitoring index plate and the reference index plate.

[0019] In the above scheme, the weighing monitoring device includes a weighing sensor and a mounting frame; the weighing sensor is mounted on the mounting frame, and the mounting frame is connected to the baffle plate inside the grain bin.

[0020] In the above scheme, the data acquisition module includes an amplifier circuit and an A / D conversion module;

[0021] The amplifier circuit amplifies the received analog signal, and the A / D conversion module converts the amplified analog signal into a digital signal, which is then transmitted to the control module.

[0022] In the above scheme, the control module includes a controller and a display screen;

[0023] The controller performs differential processing on the flow signal detected by the impulse monitoring device from the impact of the grain flow and the vibration signal of the harvester itself to eliminate signal interference caused by machine vibration, and calculates the impulse monitoring flow rate Q at the current moment through a mathematical model of the impulse monitoring flow rate. f ;

[0024] The controller analyzes the mass signal of the grain flow detected by the weighing monitoring device and calculates the current weighing monitoring flow rate Q using a mathematical model of the weighing monitoring flow rate. e ;

[0025] The controller calculates the actual grain flow rate Q by monitoring the flow rate through impulse and weighing, and displays it on the screen.

[0026] A harvester includes the aforementioned impulse and weighing combined grain flow monitoring device.

[0027] A monitoring method based on the impulse and weighing combined grain flow monitoring device includes the following steps:

[0028] A mathematical model for impulse monitoring flow rate is established, and the mathematical model for impulse monitoring flow rate is as follows:

[0029]

[0030] Among them, Q f Let α be the impulse monitoring flow rate at time t. j Here, Q represents the flow coefficient for different crops, j represents the crop type, and Q represents the flow coefficient for different crops. i Let k be the grain flow rate measured by the i-th monitoring unit. i Let be the weighting coefficient of the i-th monitoring board;

[0031] A mathematical model for the weighing monitoring flow rate is established, and the mathematical model for the weighing monitoring flow rate is as follows:

[0032] Q e =β j ·P t -P t-1

[0033] t = 1, 2, 3...n,

[0034]

[0035] Among them, Q e Let β be the weighing monitoring flow rate at time t. j Here, is the flow coefficient weight for different crops, j is the crop type, P is the pressure exerted on the weighing sensor, ρ is the bulk density of different crops, g is the gravitational acceleration, k is a constant related to the volume of the grain silo, h is the stacking height of the grain, t is time, and n is a positive integer.

[0036] Calculate grain flow:

[0037] The control module calculates the impulse monitoring flow rate Q using a mathematical model of the impulse monitoring flow rate. f The weighing monitoring flow rate Q is calculated using a mathematical model of the weighing monitoring flow rate. e The control module will monitor the impulse flow rate Q. f and weighing monitoring flow rate Q e A flow array is generated by merging and filtering. The flow array is then filtered by setting a filtering threshold. The average value of the flow data in the filtered flow array is taken as the grain flow Q at the current moment.

[0038] Compared with the prior art, the beneficial effects of the present invention are:

[0039] This invention utilizes the advantages of weighing sensors (sensitive to total grain mass and simple static calibration) and impulse sensors (sensitive to instantaneous grain flow rate and high measurement accuracy) to establish mathematical models for flow rate monitoring via impulse and flow rate monitoring via weighing, respectively. Based on these models, flow rate values ​​obtained from the two different yield measurement methods are fitted to derive the real-time monitored grain flow rate. This method is applicable to the accurate monitoring of flow rates for various crops and can effectively meet the grain flow rate monitoring needs of auger-type elevator operations, greatly improving the yield measurement accuracy and stability of combine harvesters. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the installation structure of an impulse sensor according to an embodiment of the present invention.

[0041] Figure 2 This is a schematic diagram of the installation structure of a weighing sensor inside a grain bin according to one embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram of a weighing sensor structure according to an embodiment of the present invention;

[0043] Figure 4 This is a side view of the monitoring unit in an impulse monitoring device according to an embodiment of the present invention;

[0044] Figure 5 A simulation of rice, wheat, and rapeseed being scattered at the grain outlet of an auger-type elevator;

[0045] Figure 6 This is a schematic diagram illustrating the monitoring principle of one embodiment of the present invention.

[0046] In the diagram, 1 is the grain bin, 2 is the weighing monitoring device, 3 is the chassis, 4 is the impulse monitoring device, 101 is the baffle plate, 201 is the weighing sensor, 202 is the mounting bracket, 401 is the fixing plate, 402 is the monitoring pressure sensor, 403 is the monitoring plate, 404 is the reference plate, 405 is the reference pressure sensor, 406 is the mounting plate, 407 is the connecting plate, and 5 is the shock absorption damping. Detailed Implementation

[0047] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0048] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] Example 1

[0051] Figure 1 and 2 The image shows a preferred embodiment of the impulse and weighing combined grain flow monitoring device of the present invention, which includes an impulse monitoring device 4, a weighing monitoring device 2, a data acquisition module, and a control module.

[0052] The impulse monitoring device 4 is installed on the top plate of the grain box 1 near the grain outlet of the auger-type elevator. The impulse monitoring device 4 is used to detect the flow signal impacted by the grain flow and the vibration signal of the harvester itself.

[0053] The weighing monitoring device 2 is installed on the baffle plate 101 inside the grain bin 1. The weighing monitoring device 2 is used to detect the quality signal of the grain flow.

[0054] The impulse monitoring device 4 and the weighing monitoring device 2 are respectively connected to the data acquisition module, which is connected to the control module. The weighing monitoring device 2 transmits the mass signal of the grain flow to the data acquisition module, and the impulse monitoring device 4 transmits the flow rate signal of the grain flow impact and the vibration signal of the harvester itself to the data acquisition module. The data acquisition module transmits the received signals to the control module. The control module is used to calculate the grain flow rate based on the received signals.

[0055] like Figure 3 As shown, according to this embodiment, preferably, the weighing monitoring device 2 includes a weighing sensor 201 and a mounting frame 202; the weighing sensor 201 is mounted on the mounting frame 202, and the mounting frame 202 is connected to the baffle plate 101 inside the grain bin 1. Preferably, the mounting frame 202 is welded to the baffle plate 101 inside the grain bin 1.

[0056] like Figure 4 As shown, according to this embodiment, preferably, the impulse monitoring device 4 includes multiple sets of detection units evenly arranged on the top plate of the grain tank 1; each set of detection units includes a fixing plate 401, a monitoring pressure sensor 402, a monitoring index plate 403, a reference index plate 404, a reference pressure sensor 405, a mounting plate 406, and a connecting plate 407.

[0057] The fixing plate 401 is installed on the top plate of the grain tank 1 near the grain outlet of the auger elevator. One end of the mounting plate 406 is connected to the fixing plate 401 via a connecting plate 407, and the other end is connected to the upper end of the monitoring pressure sensor 402 and the reference pressure sensor 405. The monitoring pressure sensor 402 is used to detect the flow signal impacted by the grain flow, and the reference pressure sensor 405 is used to detect the vibration signal of the harvester itself.

[0058] The lower end of the monitoring pressure sensor 402 is provided with a monitoring finger plate 403, and the lower end of the reference pressure sensor 405 is provided with a reference finger plate 404. The monitoring finger plate 403 and the reference finger plate 404 are arranged in parallel front to back and have a gap between them.

[0059] According to this embodiment, preferably, the detection unit has three groups, including a left monitoring unit, a right monitoring unit and a middle monitoring unit that are arranged in sequence and evenly on the top plate of the grain tank 1;

[0060] The monitoring index plate 403 of the middle monitoring unit is directly opposite the grain outlet of the auger elevator. The left and right monitoring units are symmetrical about the middle monitoring unit, and the monitoring index plates 403 of the middle, left and right monitoring units are all tangent to the circles formed with the auger rotation axis as the center.

[0061] According to this embodiment, preferably, it also includes a shock-absorbing damper 5; the fixed plate 401 is connected to the top plate of the grain tank 1 through the shock-absorbing damper 5. The shock-absorbing damper 5 is a universal shock-absorbing steel wire, which reduces contact points, and the vibration signals complement each other, reducing the impact of vibration. The shock absorption effect is better than that of traditional rubber dampers, which have more contact points, causing vibration signals to interfere with each other.

[0062] According to this embodiment, preferably, the top plate of the grain tank 1 has a window for installing the monitoring index plate 403 and the reference index plate 404.

[0063] The impulse monitoring device 4 of this invention features an optimized shock-absorbing damping unit, reducing the impact of vibration. The monitoring units are arranged in a circular array, rather than the original parallel arrangement. Since grains are scattered in a fan shape at the auger's outlet, a parallel arrangement would result in the reference plate being directly impacted by the grains, thus affecting yield measurement accuracy. The circular array prevents the reference plate from being impacted by the grains, thereby improving monitoring accuracy.

[0064] According to this embodiment, preferably, the data acquisition module includes an amplifier circuit and an A / D conversion module; the amplifier circuit amplifies the received analog signal, and the A / D conversion module converts the amplified analog signal into a digital signal and transmits it to the control module. Specifically, both the impulse monitoring device 4 and the weighing monitoring device 2 are connected to the data acquisition module, and the data acquisition module is connected to the control module; the weighing monitoring device 2 and the impulse monitoring device 4 transmit the signal from the weighing sensor 201, the flow signal from the monitoring pressure sensor 402, and the vibration signal from the reference pressure sensor 405 to the data acquisition module, which amplifies the received analog signal and converts it into a digital signal, then transmits it to the control module.

[0065] According to this embodiment, preferably, the control module includes a controller and a display screen;

[0066] The controller performs differential processing on the flow signal detected by the monitoring pressure sensor 402 of the impulse monitoring device 4 due to the impact of the grain flow and the vibration signal of the harvester itself detected by the reference pressure sensor 405, to eliminate signal interference caused by machine vibration, and calculates the impulse monitoring flow rate Q at the current moment through the mathematical model of the impulse monitoring flow rate. f ;

[0067] The controller analyzes the mass signal of the grain flow detected by the weighing sensor 201 of the weighing monitoring device 2, and calculates the current weighing monitoring flow rate Q using a mathematical model of the weighing monitoring flow rate. e ;

[0068] The controller calculates the actual grain flow rate Q by monitoring flow rate through impulse and weighing, and displays it on a screen. Figure 6 The monitoring principle diagram of one embodiment of the invention is shown.

[0069] The principle of the impulse monitoring device 4 in this invention is based on the fact that when grain is thrown out of the discharge port by centrifugal force, the impact force caused by different grain flows is converted into different analog voltage signals by the monitoring pressure sensor 402, thereby measuring the dynamic flow rate of the grain. In this embodiment, monitoring the total grain flow rate at the discharge port of the auger-type elevator at a certain moment can easily cause grain blockage, affecting the harvesting process and leading to reduced yield; single-plate monitoring of grain flow rate will result in a large flow error, and the vibration of the combine harvester will cause signal interference to the monitoring plate. Discrete element simulations of grain conveying for rice, rapeseed, and wheat were performed for different auger-type elevator application scenarios. Figure 5 As shown in the simulation, the grain is evenly scattered into the grain silo in a fan shape under the action of the auger-type elevator.

[0070] Divide the angle between the lines connecting the left and right boundaries of the grain outlet of the auger elevator and the auger blades into n evenly distributed sector regions. Calculate the grain flow rate in each sector region, denoted as Q1, Q2, Q3, ... Q. n The instantaneous grain flow rate at the current moment is Q1 + Q2 + Q3 + ... + Q n ;

[0071] Through simulation and comparison of statistical data, it can be seen that due to the obstruction of the grain flow at both sides of the grain outlet of the auger-type elevator, there is a certain difference between the grain flow on both sides and the grain flow without the obstruction. Therefore, in a preferred embodiment of the present invention, a method of monitoring yield is proposed by using three impulse monitoring devices in a circular array.

[0072] Harvesters inevitably generate vibrations during harvesting operations. To reduce signal interference caused by vibrations to the impulse sensor, the impulse monitoring device in this embodiment of the invention adopts a dual-plate differential signal method.

[0073] Furthermore, the three impulse monitoring units need to be calibrated for production monitoring. Through simulation combined with bench tests, it can be determined that the instantaneous grain flow rate monitored by the impulse at the current moment is Q. f = k1·Q1+k2·Q2+k3·Q3, where Q1, Q2, and Q3 are the grain flow rates measured by the 1st, 2nd, and 3rd monitoring units, respectively, and k1, k2, and k3 are the different weighting coefficients of the three monitoring plates;

[0074] Weighing sensors are easy to calibrate and have high accuracy for detecting large-mass objects, but they cannot meet the accuracy requirements for small-mass or mass-varying data. In Embodiment 1 of this invention, the weighing sensor is installed on the baffle plate 101 inside the grain tank 1. The grain yield is obtained through the relationship between grain flow rate and cumulative mass in the mathematical model of weighing monitoring flow rate. The cumulative weight of grain during the harvesting process can be directly collected, and it is not affected by factors such as grain type or changes in grain flow rate.

[0075] Furthermore, installing two weighing monitoring devices in different locations can compensate for the impact on yield measurement caused by uneven distribution of grain flow within the grain silo.

[0076] Weighing and impulse sensors each have their advantages in yield monitoring. This invention innovatively proposes a combined impulse and weighing method for precise grain flow monitoring. It leverages the advantages of weighing sensors (sensitivity to total grain mass and simple static calibration) and impulse sensors (sensitivity to instantaneous grain flow and high measurement accuracy) to establish mathematical models for both impulse and weighing flow monitoring. Based on these models, flow values ​​obtained from the two different yield measurement methods are fitted to derive the real-time grain flow rate. This method is applicable to accurate flow monitoring of various crops and effectively meets the grain flow monitoring needs of auger-type elevator operations, significantly improving the yield measurement accuracy and stability of combine harvesters.

[0077] A monitoring method based on the impulse and weighing combined grain flow monitoring device includes the following steps:

[0078] A mathematical model for impulse monitoring flow rate is established, and the mathematical model for impulse monitoring flow rate is as follows:

[0079]

[0080] Among them, Q f Let α be the impulse monitoring flow rate at time t. j Here, Q represents the flow coefficient for different crops, j represents the crop type, and Q represents the flow coefficient for different crops. i Let k be the grain flow rate measured by the i-th monitoring unit. i Let be the weighting coefficient of the i-th monitoring board;

[0081] A mathematical model for the weighing monitoring flow rate is established, and the mathematical model for the weighing monitoring flow rate is as follows:

[0082] Q e =β j ·(P t -P t-1 )

[0083] t = 1, 2, 3...n,

[0084]

[0085] Among them, Q e Let β be the weighing monitoring flow rate at time t. j Here, is the flow coefficient weight for different crops, j is the crop type, P is the pressure exerted on the weighing sensor, ρ is the bulk density of different crops, g is the gravitational acceleration, k is a constant related to the volume of the grain silo, h is the stacking height of the grain, t is time, and n is a positive integer.

[0086] After the harvesting operation begins, the controller of the control module simultaneously receives signals from the impulse monitoring device 4 and the weighing monitoring device 2. When the weight of the harvested grain exceeds the signal threshold of the weighing monitoring device 2, the grain flow monitoring system starts working, and the controller of the control module calculates the impulse monitoring flow rate Q using a mathematical model of the impulse monitoring flow rate. f The weighing monitoring flow rate Q is calculated using a mathematical model of the weighing monitoring flow rate. e The controller will monitor the flow rate Q. f and weighing monitoring flow rate Q e A flow array is generated by merging and filtering. The flow array is then filtered by setting a filtering threshold. The average value of the flow data in the filtered flow array is taken as the grain flow Q at the current moment.

[0087] In a preferred embodiment of the present invention, three sets of impulse monitoring units are provided. The monitoring method of the impulse and weighing combined grain flow monitoring device of the present invention includes the following steps:

[0088] Step 1: Establish a mathematical model for impulse monitoring flow rate;

[0089] The mathematical model for the impulse monitoring flow rate is as follows:

[0090]

[0091] Among them, Q f Let α be the impulse monitoring flow rate at time t. j Here, Q represents the flow coefficient for different crops, j represents the crop type, and Q represents the flow coefficient for different crops. i Let k be the grain flow rate measured by the i-th monitoring unit. i Let be the weighting coefficient of the i-th monitoring board;

[0092] Step 2: Establish a mathematical model for weighing and monitoring flow rate;

[0093] The mathematical model for the weighing monitoring flow rate is:

[0094] Q e =β j ·(P t -P t-1 ),

[0095] t = 1, 2, 3...n,

[0096]

[0097] Among them, Q e Let β be the weighing monitoring flow rate at time t. j Here, ρ represents the flow coefficient weights for different crops, j represents the crop type, P represents the pressure exerted on the weighing sensor, ρ represents the bulk density of different crops, g represents the gravitational acceleration, k represents a constant related to the volume of the grain silo, and h represents the height of the grain pile.

[0098] Step 3: After the harvesting operation begins, the controller simultaneously receives signals from the impulse sensor and the weighing sensor. When the weight of the harvested grain exceeds the signal threshold of the weighing sensor, the grain flow monitoring system starts working. The controller converts the signals from the impulse sensor and the weighing sensor into an impulse monitoring flow rate Q using the mathematical models from Steps 1 and 2. f and weighing monitoring flow rate Q e ;

[0099] Step 4: The controller will combine the monitored flow rates Q from both. f and Q e A flow array is generated by merging and filtering. The flow array is then filtered by setting a filtering threshold. The average value of the flow data in the filtered flow array is taken as the grain flow Q at the current moment.

[0100] After the combine harvester begins harvesting, the controller starts receiving signals from the impulse monitoring device 4 and the weighing monitoring device 2. When the weight of the grain accumulated in the grain bin exceeds the signal threshold of the weighing sensor, the flow monitoring system starts operating. The controller simultaneously monitors the flow rate of the grain entering the grain bin through the impulse monitoring device and the weighing monitoring device, acquiring the flow rate and vibration signals measured by the monitoring pressure sensor 402, the reference pressure sensor 405, and the weighing sensor 201 at each sampling moment.

[0101] The controller analyzes the flow data measured by the impulse monitoring device 4 and the weighing monitoring device 2. If, at sampling time t, the deviation between the flow data from the two sensors is less than the set verification threshold ε, then both sets of flow data are considered valid; conversely, if the deviation between the two flow data is greater than ε, then the smaller flow data is taken as the valid flow data. The controller then sets the valid monitored flow value Q within a certain sampling time period Δt. f and Q e The data is merged and generated into a flow array. The average flow rate of the data in the flow array is taken as the flow rate of the grain in the grain bin at the current moment. The effective monitored flow rate value is the flow rate value within the set threshold range.

[0102] Furthermore, a sampling time that is too short will result in an excessive amount of data, while a sampling time that is too long will result in low accuracy of the flow data. In this embodiment, the flow acquisition interval between the impulse monitoring device 4 and the weighing monitoring device 2 is 20ms, and the controller sampling time interval Δt is 1.5s, that is, the flow data is output once every 1.5s.

[0103] This invention establishes mathematical models for flow rate monitoring based on impulse and flow rate monitoring based on weighing, and then fits two different yield measurement methods to achieve real-time monitoring of grain flow rate during harvesting operations. This invention is applicable to flow rate monitoring of various crops and solves the problem of lack of yield measurement systems and low yield measurement capabilities in combine harvesters used in auger-type elevator applications.

[0104] Example 2

[0105] A harvester, based on a real-world operating scenario, includes the impulse and weighing combined grain flow monitoring device and method described in Example 1, and therefore has the beneficial effects described in Example 1, which will not be repeated here.

[0106] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0107] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A grain flow monitoring device combining impulse and weighing, characterized in that, It includes an impulse monitoring device (4), a weighing monitoring device (2), a data acquisition module, and a control module; The impulse monitoring device (4) is installed on the top plate of the grain box (1) near the grain outlet of the auger-type elevator. The impulse monitoring device (4) is used to detect the flow signal impacted by the grain flow and the vibration signal of the harvester itself. The weighing monitoring device (2) is installed on the baffle plate (101) inside the grain bin (1). The weighing monitoring device (2) is used to detect the quality signal of the grain flow. The impulse monitoring device (4) and the weighing monitoring device (2) are respectively connected to the data acquisition module, and the data acquisition module is connected to the control module; the weighing monitoring device (2) transmits the mass signal of the grain flow to the data acquisition module, and the impulse monitoring device (4) transmits the flow rate signal of the grain flow impact and the vibration signal of the harvester itself to the data acquisition module, and the data acquisition module transmits the received signals to the control module; the control module is used to calculate the grain flow rate based on the received signals; The impulse monitoring device (4) includes multiple sets of detection units evenly arranged on the top plate of the grain tank (1); each set of detection units includes a fixed plate (401), a monitoring pressure sensor (402), a monitoring index plate (403), a reference index plate (404), a reference pressure sensor (405), a mounting plate (406), and a connecting plate (407). The fixing plate (401) is installed on the top plate of the grain box (1) near the grain outlet of the auger elevator. One end of the mounting plate (406) is connected to the fixing plate (401) through the connecting plate (407), and the other end is connected to the upper end of the monitoring pressure sensor (402) and the reference pressure sensor (405). The monitoring pressure sensor (402) is used to detect the flow signal impacted by the grain flow, and the reference pressure sensor (405) is used to detect the vibration signal of the harvester itself. The lower end of the monitoring pressure sensor (402) is provided with a monitoring finger plate (403), and the lower end of the reference pressure sensor (405) is provided with a reference finger plate (404). The monitoring finger plate (403) and the reference finger plate (404) are arranged in parallel front to back and have a gap between them. The detection unit consists of three groups, including a left monitoring unit, a right monitoring unit, and a middle monitoring unit that are arranged in sequence and evenly on the top plate of the grain tank (1); The monitoring index plate (403) of the middle monitoring unit is directly opposite the grain outlet of the auger elevator. The left and right monitoring units are symmetrical about the middle monitoring unit, and the monitoring index plates (403) of the middle, left and right monitoring units are all tangent to the circles formed with the auger rotation axis as the center. The mathematical model for the impulse monitoring flow rate is as follows: ； in, The impulse monitoring flow rate at time t. Here, represents the flow coefficient for different crops, and j represents the type of crop. Let i be the grain flow rate measured by the i-th monitoring unit. Let be the weighting coefficient of the i-th monitoring board; A mathematical model for the weighing monitoring flow rate is established, and the mathematical model for the weighing monitoring flow rate is as follows: ； t=1、2、3 n, ； in, Let t be the weighing monitoring flow rate. Here, is the flow coefficient weight for different crops, j is the crop type, P is the pressure exerted on the weighing sensor, ρ is the bulk density of different crops, g is the gravitational acceleration, k is a constant related to the volume of the grain silo, h is the stacking height of the grain, t is time, and n is a positive integer. Calculate grain flow: The control module calculates the impulse monitoring flow rate using a mathematical model of the impulse monitoring flow rate. The weighing monitoring flow rate is calculated using a mathematical model of the weighing monitoring flow rate. The control module will monitor the flow rate. A flow array is generated by merging and filtering, and the flow array is filtered by setting a filtering threshold. The average value of the flow data in the filtered flow array is taken as the grain flow Q at the current moment. The weighing monitoring device (2) includes a weighing sensor (201) and a mounting frame (202); the weighing sensor (201) is mounted on the mounting frame (202), and the mounting frame (202) is connected to the baffle plate (101) inside the grain bin (1); The control module includes a controller and a display screen; The controller performs differential processing on the flow signal detected by the impulse monitoring device (4) under the impact of the grain flow and the vibration signal of the harvester itself to eliminate signal interference caused by machine vibration, and calculates the impulse monitoring flow at the current moment through the mathematical model of the impulse monitoring flow. ; The controller analyzes the mass signal of the grain flow detected by the weighing monitoring device (2) and calculates the weighing monitoring flow rate at the current moment through a mathematical model of the weighing monitoring flow rate. ; The controller obtains the actual grain flow rate Q by monitoring the flow rate through impulse and weighing, and displays it on the screen. The monitoring units are arranged in a circular array.

2. The impulse and weighing combined grain flow monitoring device according to claim 1, characterized in that, It also includes shock-absorbing damping (5); the fixed plate (401) is connected to the top plate of the grain tank (1) by shock-absorbing damping (5).

3. The impulse and weighing combined grain flow monitoring device according to claim 1, characterized in that, The top plate of the grain bin (1) has a window for installing the monitoring index plate (403) and the reference index plate (404).

4. The combined impulse and weighing grain flow monitoring device according to claim 1, characterized in that, The data acquisition module includes an amplifier circuit and an A / D conversion module; The amplifier circuit amplifies the received analog signal, and the A / D conversion module converts the amplified analog signal into a digital signal, which is then transmitted to the control module.

5. A harvester, characterized in that, The grain flow monitoring device comprising the combination of impulse and weighing as described in any one of claims 1-4.

6. A monitoring method for a grain flow monitoring device combining impulse and weighing according to any one of claims 1-4, characterized in that, Includes the following steps: A mathematical model for impulse monitoring flow rate is established, and the mathematical model for impulse monitoring flow rate is as follows: ； in, The impulse monitoring flow rate at time t. Here, represents the flow coefficient for different crops, and j represents the type of crop. Let i be the grain flow rate measured by the i-th monitoring unit. Let be the weighting coefficient of the i-th monitoring board; A mathematical model for the weighing monitoring flow rate is established, and the mathematical model for the weighing monitoring flow rate is as follows: ； t=1、2、3 n, ； in, Let t be the weighing monitoring flow rate. Here, is the flow coefficient weight for different crops, j is the crop type, P is the pressure exerted on the weighing sensor, ρ is the bulk density of different crops, g is the gravitational acceleration, k is a constant related to the volume of the grain silo, h is the stacking height of the grain, t is time, and n is a positive integer. Calculate grain flow: The control module calculates the impulse monitoring flow rate using a mathematical model of the impulse monitoring flow rate. The weighing monitoring flow rate is calculated using a mathematical model of the weighing monitoring flow rate. The control module will monitor the flow rate. A flow array is generated by merging and filtering. The flow array is then filtered by setting a filtering threshold. The average value of the flow data in the filtered flow array is taken as the grain flow Q at the current moment.

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