Combine harvester grain mass flow and yield monitoring method and device

Abstract

The present invention discloses a method and device for monitoring grain mass flow and yield of a combine harvester, relating to the technical field of flow monitoring. The method includes regularly collecting the duration T of a high level in a pulse signal per unit time; the pulse signal is used to detect whether there is grain obstruction on the combine harvester's scraper; the pulse signal includes a high level and a low level; when there is grain obstruction, the pulse signal is at a high level; when there is no grain obstruction, the pulse signal is at a low level; the rotational speed ω of the combine harvester's scraper sprocket is obtained; a first constant and a second constant are preset; based on the duration T of the high level per unit time, the rotational speed ω, the first constant, and the second constant, the grain mass flow M per unit time is calculated using a grain mass flow calculation formula; based on the grain mass flow M per unit time, the cumulative grain yield Y during the operation is calculated using a yield calculation formula. The present invention improves the monitoring accuracy of grain mass flow and yield.

Description

Technical Field

[0001] The present invention relates to the technical field of flow monitoring, and in particular to a method and device for monitoring grain mass flow and yield of a combine harvester. Background Art

[0002] The prior art (publication number CN113317032A) discloses a global cumulative calculation of grain mass flow, which has the problem of large memory requirements for the detection system and data overflow.

[0003] The prior art (publication numbers CN115031821A and CN114902860A) discloses the accumulation of volume calculations per cycle, which has the problems of large system calculation amount, high CPU load, data omission, and low detection accuracy of sensor data. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a method and device for monitoring grain mass flow and yield of a combine harvester, so as to reduce the amount of data calculation, meet the memory requirements of the detection system, reduce data overflow, and improve the monitoring accuracy of grain mass flow and yield.

[0005] To achieve the above objectives, the present invention provides the following solutions:

[0006] A method for monitoring grain mass flow and yield of a combine harvester, comprising:

[0007] The duration T of the high level in a unit time of the pulse signal is regularly collected; the pulse signal is used to detect whether there is grain obstruction on the scraper of the combine harvester; the pulse signal includes a high level and a low level; when there is grain obstruction, the pulse signal is a high level; when there is no grain obstruction, the pulse signal is a low level;

[0008] Obtain the rotation speed ω of the scraper sprocket of the combine harvester; preset a first constant k1 and a second constant k2;

[0009] According to the duration T of the high level in the unit time, the rotation speed ω, the first constant k1 and the second constant k2, the grain mass flow M per unit time is obtained by the grain mass flow calculation formula;

[0010] According to the grain mass flow M per unit time, the cumulative grain yield Y during the operation process is obtained by the yield calculation formula.

[0011] Optionally, according to the grain mass flow M per unit time, the cumulative grain yield Y during the operation is obtained by the yield calculation formula, and further includes:

[0012] Obtain the real-time longitude coordinates, latitude coordinates, heading θ and GPS antenna coordinates P(x,y) of the combine harvester;

[0013] Get the first distance l1 from the center of the combine harvester's header to the GPS antenna, and the second distance l2 from the center of the combine harvester's header to the GPS antenna; based on the first distance l1, the second distance l2 and the header width w, get the left coordinate point P of the combine harvester's header hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr );

[0014] According to the left coordinate point P hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr ), and the area S covered by the combine harvester per unit time is obtained k ; The unit time is from k-1 seconds to k seconds;

[0015] According to the area S traveled per unit time k , we can get the operating area η of the combine harvester per hour at time k R ;

[0016] According to the area S traveled per unit time k and the grain mass flow M at time k k , we can get the unit area output Ya(k) at time k;

[0017] The unit area output Ya(k) at different times corresponds to different colors, and a color index table is created based on the timetable;

[0018] Draw a production chart based on the timetable and color index table.

[0019] Optionally, according to the grain mass flow M per unit time, the cumulative grain yield Y during the operation is obtained by a yield calculation formula, specifically including:

[0020] Calculate the volume of grain using the formula:

[0021] V = S × (d0 - d1);

[0022] The sum of the thickness of a single scraper of a combine harvester and the distance between two adjacent scrapers:

[0023] d2=vT;

[0024] The sum of the height of the scraper and the grain on the scraper:

[0025] d0 = vt′;

[0026] Thickness of a single scraper:

[0027] d1=vt;

[0028] The cumulative volume of grain per unit time is:

[0029]

[0030] The mass flow M of grain lifted by the scraper of the combine harvester per unit time is:

[0031]

[0032] The cumulative grain production Y is:

[0033]

[0034] Where S is the cross-sectional area of ​​the combine harvester blade, v is the blade's velocity, t is the time it takes for the blade to pass the infrared sensor's centerline during one cycle, L is the d2 value obtained directly through measurement, t' is the time it takes for the blade and the grain on it to pass the infrared sensor's centerline during one cycle, ω is the speed of the blade elevator's drive sprocket, the weight of grain per unit volume is η, and the sampling numbers n and z are constant values.

[0035] Optionally, the unit area yield Ya(k) at different times corresponds to different colors, and a color index table is created according to the time table, specifically including:

[0036] Constructing 256 color index arrays; the 256 color index arrays respectively store RGB values ​​of 256 colors; the RGB values ​​of the 256 colors correspond one-to-one to data between 0 and 255;

[0037] According to the unit area yield Ya(k) at different times, the maximum value Ya of the unit area yield Ya is obtained. mxa and minimum value Ya min ;

[0038] According to the 256 color index arrays, the maximum value Ya mxa and minimum value Ya min , calculate the scaling factor I scale =256 / (Ya mxa -Ya min );

[0039] According to the scaling scale, the unit area yield Ya(k) at different times is numerically converted to obtain a corresponding value Yc; the corresponding value is projected into the range of 0-255; the calculation formula is:

[0040] Yc=[Ya(k)*I scale ].

[0041] Optionally, drawing a production map according to the timetable and the color index table specifically includes:

[0042] Obtain a blank image with a width of W and a height of H; and establish a two-dimensional coordinate system with the lower left corner of the blank image as the origin;

[0043] Get point set Z; the point set Z includes all left coordinate points P of the combine harvester header hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr ); According to the point set Z, the maximum value X of the horizontal coordinates of all coordinate points in the point set Z is obtained max and minimum value X min , the maximum value Y of the ordinate of all coordinate points in the point set Z max and minimum value Y min ;

[0044] Calculate the scaling ratio of all coordinate points in the point set Z to the two-dimensional coordinate system of the blank image; where X scale Indicates the conversion ratio of the horizontal coordinate of any positioning point in the point set Z to the horizontal coordinate of the two-dimensional coordinate system of the blank image, Y scale Represents the conversion ratio of the ordinate of any positioning point in the point set Z to the ordinate of the two-dimensional coordinate system of the blank image; the calculation formula is:

[0045] X scale =W / (X max -X min );

[0046] Y scale =H / (Y max -Y min );

[0047] Project all coordinate points in the point set Z into the two-dimensional coordinate system of the blank image; all coordinate points in the point set Z include: longitude coordinates and latitude coordinates; (q, w) represents the actual coordinates of the positioning point in the point set Z, and (u, v) represents the coordinates of the positioning point in the two-dimensional coordinate system of the blank image; the calculation formula is:

[0048] u=(qX min )*X scale ;

[0049] v=(wY min )*Yscale ;

[0050] Count the number N of all coordinate points in the point set Z, and cyclically draw the triangle Δ(Pz(k-2)Pz(k-1)Pz(k)) corresponding to any coordinate point from k=2 to k=N; and fill the color of the triangle Δ with the color represented by the corresponding value Yc;

[0051] According to the operating area η of the combine harvester per hour at time k R , get the image corresponding to the total area covered by the operation; traverse the image corresponding to the total area covered by the operation, if the pixel values ​​of the pixel points are not [255,255,255], then the pixel area statistics value S of the image corresponding to the total area covered by the operation img =S img +1;

[0052] Convert the pixel area into the field area S true ; The calculation formula is: S true =S img / (X scale *X scale )*666.667;

[0053] According to the grain mass flow M and the field area S true , calculate the average yield per unit area The calculation formula is:

[0054]

[0055] Optionally, the left coordinate point P of the harvester header is obtained according to the first distance l1, the second distance l2 and the header width w. hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr ), specifically including:

[0056] The calculation formula for the coordinate point on the right is:

[0057]

[0058] The calculation formula for the left coordinate point is:

[0059]

[0060] Optionally, according to the left coordinate point P hl (x hl ,y hl ) and the right coordinate point P hr (x hr,y hr ), and the area S covered by the combine harvester per unit time is obtained k , specifically including:

[0061] S k =S Δ (P hl (k-1),P hr (k-1),P hl (k))+S Δ (P hr (k-1),P hl (k),P hr (k));

[0062] S Δ is the area of ​​the triangle formed by the three points in the plane;

[0063] The operating area of ​​the combine harvester per hour at time k η R The calculation formula is:

[0064]

[0065] According to the area S traveled per unit time k and the grain mass flow M at time k k , the calculation formula of unit area output Ya(k) at time k is:

[0066]

[0067] Optionally, the duration T of the high level per unit time in the timing acquisition pulse signal is:

[0068] A sampling counter and an A-second timer are preset, and when the timer overflows, the timer interrupt state is entered, and the pulse signal collected at the time is processed; the sampling counter starts counting;

[0069] Read the level attribute of the pulse signal and determine whether it is a rising edge; if the last read record of the level attribute is a high level and the current read record of the level attribute is a low level, it is determined to be a falling edge; if the last read record of the level attribute is a low level and the current read record of the level attribute is a high level, it is determined to be a rising edge;

[0070] If it is a rising edge, the current count value of the sampling counter is stored in the variable Start;

[0071] If it is a falling edge, the difference between the current count value of the sampling counter and the variable Start is calculated to obtain the difference; the difference is stored in the variable HT;

[0072] Determine whether the variable HT is greater than a threshold; if so, add the variable HT to the duration T of the high level in the unit time, and add 1 to the current count value of the sampling counter;

[0073] If the accumulated value of the sampling counter is greater than or equal to 1 / A, the step of "obtaining the rotation speed ω of the scraper sprocket of the combine harvester" is executed.

[0074] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the method for monitoring grain mass flow and yield of a combine harvester is implemented.

[0075] A non-transitory computer-readable storage medium stores a computer program, which, when executed, implements the method for monitoring grain mass flow and yield of a combine harvester.

[0076] In an embodiment of the present invention, the duration T of a high level in a pulse signal per unit time is regularly collected; the pulse signal is used to detect whether there is grain obstruction on the scraper of a combine harvester; the pulse signal includes a high level and a low level; when there is grain obstruction, the pulse signal is a high level; when there is no grain obstruction, the pulse signal is a low level; the rotational speed ω of the scraper sprocket of the combine harvester is obtained; a first constant and a second constant are preset; based on the duration T of the high level per unit time, the rotational speed ω, the first constant and the second constant, the influence of the scraper thickness on the monitoring results is resolved, and preset data calibration can be achieved even when the scraper size is unknown; the amount of data calculation is reduced, and the grain mass flow M per unit time is obtained, which meets the memory requirements of the detection system and reduces data overflow. Based on the grain mass flow M per unit time, the cumulative grain yield Y during the operation process is obtained, thereby improving the monitoring accuracy of the grain mass flow and yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0078] Figure 1 A schematic flow chart of a method for monitoring grain mass flow and yield of a combine harvester provided in an embodiment of the present invention;

[0079] Figure 2 A detailed structural diagram of the grain mass flow and yield monitoring system provided by an embodiment of the present invention;

[0080] Figure 3 A schematic diagram of the scraper structure provided by an embodiment of the present invention;

[0081] Figure 4 A schematic diagram of sensor output signals provided by an embodiment of the present invention;

[0082] Figure 5 A schematic diagram of the lower computer program flow provided in an embodiment of the present invention;

[0083] Figure 6 A schematic diagram of header positioning calculation provided by an embodiment of the present invention;

[0084] Figure 7 A schematic diagram of a method for calculating an operating area provided by an embodiment of the present invention;

[0085] Figure 8 A schematic diagram of the first stage production map drawing process provided by an embodiment of the present invention;

[0086] Figure 9 A schematic diagram of the second-stage yield map drawing process provided by an embodiment of the present invention;

[0087] Figure 10 A schematic diagram of the third stage production map drawing process provided by an embodiment of the present invention;

[0088] Figure 11 A schematic diagram of the fourth stage production map drawing process provided by an embodiment of the present invention;

[0089] Figure 12 A schematic diagram of the execution flow of the lower computer provided in an embodiment of the present invention;

[0090] Figure 13 A schematic diagram of the execution flow of the host computer provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0091] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0092] The purpose of the present invention is to provide a method and device for monitoring grain mass flow and yield of a combine harvester, so as to solve the existing problems of data computing volume, data overflow, large memory demand of the detection system and low monitoring accuracy.

[0093] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0094] Figure 1 An exemplary process of the above-mentioned method for monitoring grain mass flow and yield of a combine harvester is shown. Each step is described in detail below.

[0095] Step 1: Timed acquisition of the duration T of the high level in a pulse signal per unit time; the pulse signal is used to detect whether there is grain obstruction on the scraper of the combine harvester; the pulse signal includes a high level and a low level; when there is grain obstruction, the pulse signal is at a high level; when there is no grain obstruction, the pulse signal is at a low level;

[0096] In one example, the combine harvester scraper may be a scraper elevator. Figure 3 As shown, the scraper elevator rises at a speed v. (The scraper elevator is the grain transport device in a combine harvester, transporting harvested grain to the grain tank. It is driven by the engine.) The header height sensor determines whether the harvester is in harvesting operation. The infrared transmitter transmits infrared pulse signals, which are received by the infrared receiver. The speed sensor measures the scraper elevator's speed v.

[0097] The duration T of the high level per unit time in the pulse signal is collected regularly, specifically including:

[0098] Step 11: Preset a sampling counter and a timer of A seconds, and when the timer overflows, enter the timer interrupt state and start processing the pulse signal collected at the time; the sampling counter starts counting;

[0099] Step 12: Read the level attribute of the pulse signal and determine whether it is a rising edge; if the last read record of the level attribute is a high level and the current read record of the level attribute is a low level, it is determined to be a falling edge; if the last read record of the level attribute is a low level and the current read record of the level attribute is a high level, it is determined to be a rising edge;

[0100] If it is a rising edge, the current count value of the sampling counter is stored in the variable Start;

[0101] If it is a falling edge, the difference between the current count value of the sampling counter and the variable Start is calculated to obtain the difference; the difference is stored in the variable HT;

[0102] Step 13: Determine whether the variable HT is greater than a threshold; if so, add the variable HT to the duration T of the high level within the unit time, and add 1 to the current count value of the sampling counter;

[0103] If the accumulated value of the sampling counter is greater than or equal to 1 / A, the step of "obtaining the rotation speed ω of the scraper sprocket of the combine harvester" is executed.

[0104] See Figure 2 When the harvester is operating, the grain on the scraper elevator blocks the infrared light emitted by the infrared transmitter. The infrared receiver generates a pulse signal based on whether it receives the infrared light. By analyzing the width of the pulse signal, the height of the grain on the scraper is calculated, thereby measuring the grain volume. When the infrared light is blocked by grain, the infrared receiver generates a high level. When the infrared light is not blocked by grain, the infrared receiver receives the infrared light and generates a low level.

[0105] See Figure 4 , with time as the horizontal axis and electrical level as the vertical axis. During system operation, the infrared receiver will output the following pulse signal as the height of the grain on the scraper changes. The signal analysis process is the time occupied by the high level within the timed acquisition time of 1 second. The detailed calculation process is as follows:

[0106] To achieve sampling, the sampling time is set to 0.1ms (0.0001s). After 10,000 cycles, it is determined to be 1 second. Each cycle runs the same timing pulse signal acquisition process.

[0107] In one example, the sampling counter may be a microcontroller unit (MCU). The MCU collects pulse signals at regular intervals, and a 100 μs timer is set in the MCU to execute a pulse signal collection program in the timer.

[0108] Pulse signal sampling procedure see Figure 5The program runs at a 0.1ms interval, or 10,000 times per second. When the sampling counter reaches 10,000, the unit time is exactly 1 second. The voltage signal is read and scanned for rising edges (voltage transitions from low to high). If a rising edge occurs, the starting sample count is recorded. A falling edge scan is performed (voltage transitions from high to low). If a falling edge occurs and the number of continuous high-level samples exceeds the threshold, the number of high-level samples is counted, and the cumulative high-level samples per unit time are calculated as Rse1 = Rse1 + Hlevel. An empirical value for the threshold has been determined to be 2 to 7. The sample count is accumulated. If the sample count exceeds 10,000, the sample count is reset, the high-level time is accumulated, and the unit time collector Rse1 is reset. Since the grain mass flow per unit time is M = k2((Res1 / 10,000) - k1 / ω), the cumulative total yield is Y = Y + M. If the reset command is true, the sampling number Count is reset to zero, and the high-level count value Res1 and the total value Res2 per unit time are reset to zero. This part is implemented based on the microcontroller unit and is used for sensor signal acquisition and processing. The signal is read through the IO port of the microcontroller unit, and the processing logic is written and implemented in C language.

[0109] Step 2: Obtain the speed ω of the scraper sprocket of the combine harvester; preset a first constant k1 and a second constant k2; the calculation method of the corrected first constant k1 is: k1 = ω × T; preset the second constant k2 to 1;

[0110] In one example, the specific process of correcting the first constant k1 is as follows:

[0111] Engage the main clutch, adjust the engine speed to 2000 RPM, maintain it for 1 minute, and collect 20 sets of k1 values.

[0112] The engine speed was adjusted to 2500 RPM, maintained for 1 minute, and 20 sets of k1 values ​​were collected.

[0113] The engine speed was adjusted to 3000 RPM, maintained for 1 minute, and 20 sets of k1 values ​​were collected.

[0114] The collected k1 values ​​are averaged to obtain the final value, which is the first constant k1 after the preset correction. K1 parameter calibration is related to the machine structure and only needs to be calibrated once during installation.

[0115]

[0116] In the no-load condition, M=0. Since k2 will not be 0, we have:

[0117]

[0118] Therefore, the k1 parameter can be obtained by no-load operation, and the parameter can be obtained by taking the average value of multiple measurements.

[0119] In one example, the specific process of presetting the second constant k2 is as follows:

[0120] Engage the main clutch, adjust the engine speed to 2000RPM, maintain it for 1 minute, and collect 20 sets of k2 values.

[0121] The engine speed was adjusted to 2500 RPM, maintained for 1 minute, and 20 sets of k2 values ​​were collected.

[0122] The engine speed was adjusted to 3000 RPM, maintained for 1 minute, and 20 sets of k2 values ​​were collected.

[0123] Take the average of all k2 values ​​to get the final value. K2 is related to the grain bulk density. After changing the crop variety, it needs to be calibrated again. Based on experience, first assign k2 a value of 1. After a period of measurement, the true value Y is obtained. t With the measured value Y m . It can be seen from the following formula:

[0124]

[0125] The measurement error is due to k2 and has nothing to do with other values, so it can be calculated:

[0126]

[0127] The above steps can be repeated to obtain multiple k2 values ​​and then take the average value to obtain the calibrated preset second constant k2.

[0128] Step 3: According to the duration T of the high level in the unit time, the rotation speed ω, the first constant k1 and the second constant k2, the grain mass flow M in the unit time is obtained by the grain mass flow calculation formula;

[0129] Step 4: See Figure 12 According to the grain mass flow M per unit time, the cumulative grain yield Y during the operation is obtained through the yield calculation formula.

[0130] In other embodiments of the present invention, while obtaining the cumulative grain yield Y during the operation process using the yield calculation formula, the following is also included:

[0131] Step 41: Obtain the real-time longitude coordinates, latitude coordinates, heading θ, and GPS antenna coordinates P (x, y) of the combine harvester;

[0132] Step 42: Obtain a first distance l1 from the center of the combine harvester's header to the GPS antenna, and a second distance l2 from the center of the combine harvester's header to the GPS antenna; obtain the left coordinate point P of the combine harvester's header based on the first distance l1, the second distance l2, and the header width w. hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr );

[0133] In one example, the GPS antenna (satellite positioning terminal) can be specifically a GPS sensor. The GPS sensor is generally installed on the upper end of the harvester cab and has a certain distance error from the center of the harvesting platform. Figure 6 In order to achieve accurate positioning, the coordinate change method is used to calculate the leftmost end P of the header. hl With the rightmost P hr The coordinates of two points. This facilitates calculation of the operating area and construction of yield maps.

[0134] In other embodiments of the present invention, see Figure 7 According to the first distance l1, the second distance l2 and the header width w, the left coordinate point P of the header of the combine harvester is obtained. hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr ), specifically including:

[0135] The calculation formula for the coordinate point on the right is:

[0136]

[0137] The calculation formula for the left coordinate point is:

[0138]

[0139] Step 43: According to the left coordinate point P hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr ), and the area S covered by the combine harvester per unit time is obtained k ; The unit time is from k-1 seconds to k seconds; specifically includes:

[0140] S k =S Δ (P hl (k-1),Phr (k-1),P hl (k))+S Δ (P hr (k-1),P hl (k),P hr (k));

[0141] S Δ is the area of ​​the triangle formed by the three points in the plane;

[0142] Step 44: See Figure 13 , according to the area S passed in the unit time k and the grain mass flow M at time k k , the calculation formula of unit area output Ya(k) at time k is:

[0143]

[0144] Step 45: According to the area S traveled in the unit time k , we can get the operating area η of the combine harvester per hour at time k R The calculation formula is:

[0145]

[0146] Step 46: The unit area yield Ya(k) at different times corresponds to different colors, and a color index table is created according to the time table; specifically, the following steps are included:

[0147] Step 461: constructing 256 color index arrays; the 256 color index arrays respectively store RGB values ​​of 256 colors; the RGB values ​​of the 256 colors correspond one-to-one to data between 0 and 255;

[0148] Step 462: Obtain the maximum value Ya of the unit area yield Ya(k) according to the unit area yield Ya(k) at different times. mxa and minimum value Ya min ;

[0149] Step 463: According to the 256 color index arrays, the maximum value Ya mxa and minimum value Ya min , calculate the scaling factor I scale =256 / (Ya mxa -Ya min );

[0150] Step 464: According to the scaling scale, the unit area yield Ya(k) at different times is converted into a corresponding value Yc; the corresponding value is projected into the range of 0-255; the calculation formula is:

[0151] Yc=[Ya(k)*I scale ].

[0152] Step 47: Draw a production chart based on the timetable and color index table. This includes:

[0153] Step 471: Acquire a blank image with a width of W and a height of H; and establish a two-dimensional coordinate system with the lower left corner of the blank image as the origin;

[0154] Step 472: Obtain point set Z; the point set Z includes all left coordinate points P of the combine harvester header hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr ); According to the point set Z, the maximum value X of the horizontal coordinates of all coordinate points in the point set Z is obtained max and minimum value X min , the maximum value Y of the ordinate of all coordinate points in the point set Z max and minimum value Y min ;

[0155] Step 473: Calculate the scaling ratio of all coordinate points in the point set Z to the two-dimensional coordinate system of the blank image; where X scale Indicates the conversion ratio of the horizontal coordinate of any positioning point in the point set Z to the horizontal coordinate of the two-dimensional coordinate system of the blank image, Y scale Represents the conversion ratio of the ordinate of any positioning point in the point set Z to the ordinate of the two-dimensional coordinate system of the blank image; the calculation formula is:

[0156] X scale =W / (X max -X min );

[0157] Y scale =H / (Y max -Y min );

[0158] Step 474: Project all coordinate points in the point set Z onto the two-dimensional coordinate system of the blank image. The coordinate points in the point set Z include longitude and latitude coordinates. (q, w) represents the actual coordinates of the positioning point in the point set Z, and (u, v) represents the coordinates of the positioning point in the two-dimensional coordinate system of the blank image. The calculation formula is:

[0159] u=(qX min )*X scale ;

[0160] v=(wY min )*Yscale ;

[0161] Step 475: Count the number N of all coordinate points in the point set Z, and cyclically draw the triangle Δ(Pz(k-2)Pz(k-1)Pz(k)) corresponding to any coordinate point from k=2 to k=N; and fill the color of the triangle Δ with the color represented by the corresponding value Yc;

[0162] Step 476: Based on the operating area η of the combine harvester per hour at time k R , get the image corresponding to the total area covered by the operation; traverse the image corresponding to the total area covered by the operation, if the pixel values ​​of the pixel points are not [255,255,255] (initial blank image value), then the pixel area statistics value S of the image corresponding to the total area covered by the operation img =S img +1;

[0163] Step 477: Convert the pixel area into a field area S true ; The calculation formula is: S true =S img / (X scale *X scale )*666.667;

[0164] Step 478: Based on the grain mass flow M and the field area S true , calculate the average yield per unit area The calculation formula is:

[0165]

[0166] In one example, a grain moisture sensor is used to collect grain moisture content and calculate the grain's dry weight. A satellite positioning terminal records the longitude and latitude coordinates of the grain yield and moisture content data. A display shows the harvester's operating status, current sensor data, and a yield map.

[0167] For ease of understanding and classification, the grain mass flow and yield monitoring system for combine harvesters is divided into two parts: the upper computer (processor) and the lower computer (infrared transmitter, infrared receiver, speed sensor, header height sensor, grain moisture sensor, satellite positioning terminal). The lower computer is responsible for collecting and processing sensor signals to obtain grain mass flow M and yield Y. The upper computer is responsible for the operation area S. k , the operating area of ​​the combine harvester per hour η R (operation efficiency), unit area output Ya (k), average unit area output Calculation and yield map drawing.

[0168] See Figure 8 、 Figure 9 、 Figure 10 and Figure 11 ,The effect diagram of the production map construction process. This part is implemented on the Windows platform and uses the OpenCV image processing library for data visualization. It also removes duplicate operation paths and obtains the actual operation area.

[0169] In summary, in an embodiment of the present invention, the duration T of the high level in a unit time of a pulse signal is regularly collected; the pulse signal is used to detect whether there is grain obstruction on the scraper of the combine harvester; the pulse signal includes a high level and a low level; when there is grain obstruction, the pulse signal is a high level; when there is no grain obstruction, the pulse signal is a low level; the rotational speed ω of the scraper sprocket of the combine harvester is obtained; a first constant and a second constant are preset; based on the duration T of the high level in the unit time, the rotational speed ω, the first constant and the second constant; the influence of the scraper thickness on the monitoring results is solved, and the preset data calibration can be achieved without knowing the scraper size; the amount of data calculation is reduced, and the grain mass flow M per unit time is obtained, which meets the memory requirements of the detection system and reduces data overflow. Based on the grain mass flow M per unit time, the cumulative grain yield Y during the operation process is obtained, thereby improving the monitoring accuracy of the grain mass flow and yield.

[0170] In other embodiments of the present invention, the cumulative grain yield Y during the operation is obtained according to the grain mass flow M per unit time using a yield calculation formula, specifically including:

[0171] Step 48: Calculate the volume of the grain using the formula:

[0172] V = S × (d0 - d1);

[0173] The sum of the thickness of a single scraper of a combine harvester and the distance between two adjacent scrapers:

[0174] d2=vT;

[0175] The sum of the height of the scraper and the grain on the scraper:

[0176] d0 = vt′;

[0177] Thickness of a single scraper:

[0178] d1=vt;

[0179] The cumulative volume of grain per unit time is:

[0180]

[0181] The mass flow M of grain lifted by the scraper of the combine harvester per unit time is:

[0182]

[0183] The cumulative grain production Y is:

[0184]

[0185] Where S is the cross-sectional area of ​​the combine harvester blade, v is the blade's velocity, t is the time it takes for the blade to pass the infrared sensor's centerline during one cycle, L is the d2 value obtained directly through measurement, t' is the time it takes for the blade and the grain on it to pass the infrared sensor's centerline during one cycle, ω is the speed of the blade elevator's drive sprocket, obtained through a speed sensor; the weight of grain per unit volume is η, and the sampling numbers n and z are constant values.

[0186] Furthermore, the present invention provides an electronic device, which may include: a processor, a communication interface, a memory, and a communication bus. The processor, the communication interface, and the memory communicate with each other via the communication bus. The processor may invoke a computer program in the memory to execute the method for monitoring grain mass flow and yield in a combine harvester when the processor executes the computer program.

[0187] In addition, when the computer program in the above-mentioned memory is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.

[0188] Furthermore, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed, the method for monitoring grain mass flow and yield of a combine harvester is implemented.

[0189] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0190] This document uses specific examples to illustrate the principles and implementation methods of the embodiments of the present invention. The description of the above embodiments is only intended to help understand the methods and core concepts of the embodiments of the present invention. At the same time, for those skilled in the art, based on the concepts of the embodiments of the present invention, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the embodiments of the present invention.

Claims

1. A method for monitoring grain mass flow and yield of a combine harvester, characterized in that: include: The duration T of the high level in a unit time of the pulse signal is regularly collected; the pulse signal is used to detect whether there is grain obstruction on the scraper of the combine harvester; the pulse signal includes a high level and a low level; when there is grain obstruction, the pulse signal is a high level; when there is no grain obstruction, the pulse signal is a low level; Obtain the rotation speed ω of the scraper sprocket of the combine harvester; preset a first constant k1 and a second constant k2; According to the duration T of the high level in the unit time, the rotation speed ω, the first constant k1 and the second constant k2, the grain mass flow M per unit time is obtained by the grain mass flow calculation formula; According to the grain mass flow M per unit time, the cumulative grain yield Y during the operation is obtained by the yield calculation formula; According to the grain mass flow M per unit time, the cumulative grain yield Y during the operation is obtained by the yield calculation formula, which specifically includes: Calculate the volume of grain using the formula: V = S × (d0 - d1); The sum of the thickness of a single scraper of a combine harvester and the distance between two adjacent scrapers: d2=vT; The sum of the height of the scraper and the grain on the scraper: d0 = vt′; Thickness of a single scraper: d1=vt; The first constant k1: The cumulative volume of grain per unit time is: The mass flow M of grain lifted by the scraper of the combine harvester per unit time is: The second constant k2: k2=ηSL; The cumulative grain production Y is: Where S is the cross-sectional area of ​​the combine harvester blade, v is the blade's velocity, t is the time it takes for the blade to pass the infrared sensor's centerline in one cycle, L is the d2 value directly obtained through measurement, t' is the time it takes for the blade and the grain on it to pass the infrared sensor's centerline in one cycle, ω is the speed of the blade elevator's drive sprocket; R is the drive sprocket's diameter, the weight of grain per unit volume is η, and the sampling numbers n and z are constant values.

2. The method for monitoring grain mass flow and yield of a combine harvester according to claim 1, characterized in that: Based on the grain mass flow M per unit time, the cumulative grain yield Y during the operation is obtained by the yield calculation formula, which also includes: Obtain the real-time longitude coordinates, latitude coordinates, heading θ and GPS antenna coordinates P(x,y) of the combine harvester; Get the first distance l1 from the center of the combine harvester's header to the GPS antenna, and the second distance l2 from the center of the combine harvester's header to the GPS antenna; based on the first distance l1, the second distance l2 and the header width w, get the left coordinate point P of the combine harvester's header hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr ); According to the left coordinate point P hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr ), and the area S covered by the combine harvester per unit time is obtained k ; The unit time is from k-1 seconds to k seconds; According to the area S traveled per unit time k , we can get the operating area η of the combine harvester per hour at time k R ; According to the area S traveled per unit time k and the grain mass flow M at time k k , we can get the unit area output Ya(k) at time k; The unit area output Ya(k) at different times corresponds to different colors, and a color index table is created based on the timetable; Draw a production chart based on the timetable and color index table.

3. The method for monitoring grain mass flow and yield of a combine harvester according to claim 2, characterized in that: The unit area yield Ya(k) at different times corresponds to different colors, and a color index table is created according to the timetable, specifically including: Constructing 256 color index arrays; the 256 color index arrays respectively store RGB values ​​of 256 colors; the RGB values ​​of the 256 colors correspond one-to-one to data between 0 and 255; According to the unit area yield Ya(k) at different times, the maximum value Ya of the unit area yield Ya is obtained. mxa and minimum value Ya min ; According to the 256 color index arrays, the maximum value Ya mxa and minimum value Ya min , calculate the scaling factor I scale =256 / (Ya mxa -Ya min ); According to the scaling scale, the unit area yield Ya(k) at different times is numerically converted to obtain a corresponding value Yc; the corresponding value is projected into the range of 0-255; the calculation formula is: Yc=[Ya(k)*I scale ]。 4. The method for monitoring grain mass flow and yield of a combine harvester according to claim 2, characterized in that: Drawing a production map according to the timetable and the color index table specifically includes: Obtain a blank image with a width of W and a height of H; and establish a two-dimensional coordinate system with the lower left corner of the blank image as the origin; Get point set Z; the point set Z includes all left coordinate points P of the combine harvester header hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr ); According to the point set Z, the maximum value X of the horizontal coordinates of all coordinate points in the point set Z is obtained max and minimum value X min , the maximum value Y of the ordinate of all coordinate points in the point set Z max and minimum value Y min ; Calculate the scaling ratio of all coordinate points in the point set Z to the two-dimensional coordinate system of the blank image; where X scale Indicates the conversion ratio of the horizontal coordinate of any positioning point in the point set Z to the horizontal coordinate of the two-dimensional coordinate system of the blank image, Y scale Represents the conversion ratio of the ordinate of any positioning point in the point set Z to the ordinate of the two-dimensional coordinate system of the blank image; the calculation formula is: X scale =W / (X max -X min ); AND scale =H / (Y max -AND min ); Project all coordinate points in the point set Z into the two-dimensional coordinate system of the blank image; all coordinate points in the point set Z include: longitude coordinates and latitude coordinates; (q, w) represents the actual coordinates of the positioning point in the point set Z, and (u, v) represents the coordinates of the positioning point in the two-dimensional coordinate system of the blank image; the calculation formula is: u=(q-X min )*X scale ; v=(w-Y min )*Y scale ; Count the number N of all coordinate points in the point set Z, and cyclically draw the triangle Δ(Pz(k-2)Pz(k-1)Pz(k)) corresponding to any coordinate point from k=2 to k=N; and fill the color of the triangle Δ with the color represented by the corresponding value Yc; According to the operating area η of the combine harvester per hour at time k R , get the image corresponding to the total area covered by the operation; traverse the image corresponding to the total area covered by the operation, if the pixel values ​​of the pixel points are not [255,255,255], then the pixel area statistics value S of the image corresponding to the total area covered by the operation img =S img +1; Convert the pixel area into the field area S true ; The calculation formula is: S true =S img / (X scale *X scale )*666.667; According to the grain mass flow M and the field area S true , calculate the average yield per unit area The calculation formula is:

5. The method for monitoring grain mass flow and yield of a combine harvester according to claim 2, characterized in that: According to the first distance l1, the second distance l2 and the header width w, the left coordinate point P of the header of the combine harvester is obtained. hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr ), specifically including: The calculation formula for the coordinate point on the right is: The calculation formula for the left coordinate point is:

6. The method for monitoring grain mass flow and yield of a combine harvester according to claim 2, characterized in that: According to the left coordinate point P hl (x hl ,y hl ) and the right coordinate point P hr (x hr ,y hr ), and the area S covered by the combine harvester per unit time is obtained k , specifically including: S k =S Δ (P hl (k-1),P hr (k-1),P hl (k))+S Δ (P hr (k-1),P hl (k),P hr (k)); S Δ is the area of ​​the triangle formed by the three points in the plane; The operating area of ​​the combine harvester per hour at time k η R The calculation formula is: According to the area S traveled per unit time k and the grain mass flow M at time k k , the calculation formula of unit area output Ya(k) at time k is:

7. The method for monitoring grain mass flow and yield of a combine harvester according to claim 1, characterized in that: The duration T of the high level per unit time in the timing acquisition pulse signal specifically includes: A sampling counter and an A-second timer are preset, and when the timer overflows, the timer interrupt state is entered, and the pulse signal collected at the time is processed; the sampling counter starts counting; Read the level attribute of the pulse signal and determine whether it is a rising edge; if the last read record of the level attribute is a high level and the current read record of the level attribute is a low level, it is determined to be a falling edge; if the last read record of the level attribute is a low level and the current read record of the level attribute is a high level, it is determined to be a rising edge; If it is a rising edge, the current count value of the sampling counter is stored in the variable Start; If it is a falling edge, the difference between the current count value of the sampling counter and the variable Start is calculated to obtain the difference; the difference is stored in the variable HT; Determine whether the variable HT is greater than a threshold; if so, add the variable HT to the duration T of the high level in the unit time, and add 1 to the current count value of the sampling counter; If the accumulated value of the sampling counter is greater than or equal to 1 / A, the step of "obtaining the rotational speed ω of the scraper sprocket of the combine harvester" is executed.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for monitoring grain mass flow and yield of a combine harvester as described in claims 1-7 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the method for monitoring grain mass flow and yield of a combine harvester according to claims 1-7 is implemented.

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