Grain yield calculation method and device, electronic equipment and medium

Abstract

The application provides a grain yield calculation method and device, electronic equipment and medium, and relates to the field of intelligent agricultural data processing. The method comprises the following steps: acquiring all current triggered detection points in the grain tank at the current moment; converting the pressure value of each thin film pressure sensor under all current triggered detection points according to the gravity acceleration value of the grain tank and the inclination value of the grain tank, determining the grain weight corresponding to each thin film pressure sensor, and determining the average grain weight at the current moment according to each grain weight corresponding to all thin film pressure sensors; and determining the grain yield according to the average grain weight at the current moment, the average grain weight at the previous moment, the time difference value, the harvesting speed of the harvester and the harvesting width. The application only sets a single type of sensor, can realize the estimation of the grain yield in the real-time harvesting state, can be applied to the long-time use of the harvester in the continuous state, and greatly improves the informatization and intelligent level of grain harvesting.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent agricultural data processing, and particularly relates to a grain yield calculation method and device, electronic equipment and medium. BACKGROUND

[0002] At present, related technologies monitor the volume of grain in the grain tank through a photoelectric sensor matrix, monitor the real-time flow of grain at the elevator and other parts through a single sensor such as a photoelectric sensor and a pressure sensor, and perform real-time estimation of yield. However, this method is highly dependent on various sensors, and multiple calibrations are required daily to ensure the accuracy of grain flow detection. Calibration is difficult and not suitable for long-term use of the harvester. SUMMARY

[0003] The present application provides a grain yield calculation method, device, electronic equipment and medium to solve the technical problem that existing yield estimation is complicated and difficult to implement.

[0004] In a first aspect, the present application provides a grain yield calculation method, comprising:

[0005] Obtaining all current triggered detection points in the grain tank at the current time, wherein the current triggered detection point is determined according to the position of any thin film pressure sensor provided in the grain tank after the pressure value of the thin film pressure sensor is greater than a preset threshold for the first time;

[0006] Converting the pressure value of each thin film pressure sensor under all current triggered detection points according to the gravitational acceleration value of the grain tank and the inclination value of the grain tank, determining the corresponding grain weight of each thin film pressure sensor, and determining the average grain weight at the current time according to the corresponding grain weight of all thin film pressure sensors;

[0007] Determining the grain yield according to the average grain weight at the current time, the average grain weight at the previous time, the time difference, the harvesting speed of the harvester, and the harvesting width;

[0008] The time difference is determined according to the current time and the previous time.

[0009] According to the grain yield calculation method provided by the present application, the two sides of the relative position or the two sides of the adjacent position inside the grain tank are respectively provided with matrix-arranged thin film pressure sensors;

[0010] After obtaining all current triggered detection points in the grain tank at the current time, the method further comprises:

[0011] For the two sides of the relative position or the two sides of the adjacent position inside the grain tank, connecting the current triggered detection points on the two sides to determine all connecting lines;

[0012] For each connection line, determine the two current triggered detection points corresponding to the connection line in the vertical direction, and the partition piece area formed by the bottom of the grain tank, traverse all connection lines, and obtain all partition piece areas;

[0013] According to all partition piece areas, determine the total volume of the grain in the grain tank;

[0014] According to the total volume of the grain in the grain tank and the volume of the grain tank, determine the current grain tank loading percentage.

[0015] According to the grain yield calculation method provided by the application, the two current triggered detection points on the two sides are connected to determine all connection lines, including:

[0016] According to the area of the two sides inside the grain tank, determine the matrix layout corresponding to each side, and set different numbers of film pressure sensors according to the matrix layout corresponding to different sides;

[0017] In the case that the number of film pressure sensors corresponding to each side is the same, the single-point-to-single-point connection mode is used to connect the two current triggered detection points on the two sides to determine all connection lines;

[0018] In the case that the number of film pressure sensors corresponding to each side is different, the multi-point-to-single-point connection mode is used to connect the two current triggered detection points on the two sides to determine all connection lines.

[0019] According to the grain yield calculation method provided by the application, after obtaining all current triggered detection points in the grain tank at the current time, the method further comprises:

[0020] According to the horizontal height, all film pressure sensors arranged in the grain tank are layered to obtain all layers corresponding to the grain tank;

[0021] Obtain each grain weight measured by the film pressure sensor corresponding to each layer;

[0022] For each layer, according to the grain weight corresponding to the next layer of the layer and the grain weight corresponding to the layer, determine the grain quality corresponding to the layer;

[0023] According to the grain quality corresponding to the layer, the volume of the layer, and the bulk density when the moisture content of the same grain is 0%, determine the moisture content of the layer;

[0024] Traverse all layers until the moisture content corresponding to each layer is determined.

[0025] According to the grain yield calculation method provided by the application, after obtaining all current triggered detection points in the grain tank at the current time, the method further comprises:

[0026] determining a volume difference according to the total volume of the grain in the grain tank and the bulk density of the same grain with a water content of 0%;

[0027] determining a first ratio according to the average weight of the grain at the current time and the volume difference;

[0028] determining a second ratio according to the average weight of the grain at the current time and the total volume of the grain in the grain tank;

[0029] determining the average water content of the grain in the grain tank according to the first ratio and the second ratio.

[0030] According to the grain yield calculation method provided by the present application, before all the current triggered detection points in the grain tank at the current time are obtained, the method further comprises:

[0031] determining a vertical relative distance of the thin film pressure sensors arranged in the matrix form in the vertical direction;

[0032] in the case that the vertical relative distance is less than or equal to the short axis diameter of the grain, generating an obtaining instruction every interval of a preset time length, the obtaining instruction being used to obtain all the current triggered detection points in the grain tank at the current time;

[0033] in the case that the vertical relative distance is greater than the short axis diameter of the grain, generating the obtaining instruction in the case that the pressure values of all the thin film pressure sensors arranged on the same horizontal plane in the grain tank are greater than the preset threshold value for the first time.

[0034] According to the grain yield calculation method provided by the present application, the grain yield is determined according to the average weight of the grain at the current time, the average weight of the grain at the last time, a time difference, the harvesting speed of the harvester and the harvesting width, which comprises:

[0035] determining a weight difference according to the average weight of the grain at the current time and the average weight of the grain at the last time;

[0036] determining a harvesting area according to the time difference, the harvesting speed of the harvester and the harvesting width;

[0037] determining the grain yield according to the weight difference and the harvesting area.

[0038] In a second aspect, a grain yield calculation device is provided, comprising:

[0039] an obtaining unit, the obtaining unit being used to obtain all the current triggered detection points in the grain tank at the current time, the current triggered detection point being determined according to the position of any thin film pressure sensor arranged in the grain tank after the pressure value of the grain on the thin film pressure sensor is greater than a preset threshold value for the first time.

[0040] a conversion unit configured to convert the pressure value of each thin film pressure sensor under all current triggered detection points according to the gravity acceleration value of the grain tank and the inclination value of the grain tank, determine the corresponding grain weight of each thin film pressure sensor, and determine the average grain weight at the current time according to each grain weight corresponding to all thin film pressure sensors;

[0041] a determination unit configured to determine the grain yield according to the average grain weight at the current time, the average grain weight at the previous time, the time difference value, the harvesting speed of the harvester, and the harvesting width;

[0042] The time difference value is determined according to the current time and the previous time.

[0043] In a third aspect, the present application further provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the grain yield calculation method when executing the program.

[0044] In a fourth aspect, the present application further provides a non-transitory computer readable storage medium, which stores a computer program, and the computer program is executable on a processor to implement the grain yield calculation method.

[0045] The present application provides a grain yield calculation method, device, electronic device, and medium. After the pressure value of any thin film pressure sensor arranged in the grain tank is greater than a preset threshold value for the first time, the current triggered detection point is determined according to the position of the thin film pressure sensor, all current triggered detection points in the grain tank at the current time are obtained, the pressure value of each thin film pressure sensor under all current triggered detection points is converted, the corresponding grain weight of each thin film pressure sensor is determined, the average grain weight at the current time is determined according to each grain weight corresponding to all thin film pressure sensors, and the grain yield is determined according to the average grain weight at the current time, the average grain weight at the previous time, the time difference value, the harvesting speed of the harvester, and the harvesting width. The present application only sets a single type of sensor, and can realize the grain yield estimation in the real-time harvesting state, can be applied to the long-time use of the harvester in the continuous state, and greatly improves the informatization and intelligent level of grain harvesting. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0047] Figure 1 is one of the flowcharts of the grain yield calculation method provided by the present application;

[0048] Figure 2 is one of the flowcharts of the grain yield calculation method provided by the present application;

[0049] Figure 3 is one of the flowcharts of the grain yield calculation method provided by the present application;

[0050] Figure 4 is a structural schematic diagram of the grain yield calculation device provided by the present application;

[0051] Figure 5 is a structural schematic diagram of the electronic device provided by the present application. DETAILED DESCRIPTION

[0052] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0053] Figure 1 is one of the flowcharts of the grain yield calculation method provided by the present application, the grain yield calculation method comprises:

[0054] Step 101, acquiring all current triggered detection points in the grain tank at the current moment, the current triggered detection point being determined according to the position of any thin film pressure sensor provided in the grain tank after the pressure value of the grain to the thin film pressure sensor is greater than a preset threshold value for the first time.

[0055] In step 101, the harvester will continuously harvest the grain into the grain tank during the driving process. The grain tank can be a cube, an inverted half-cone, an inverted ladder, etc. A plurality of thin film pressure sensors are provided on the inner wall of the grain tank. During the continuous accumulation of the grain, the grain will extrude the inner wall of the grain tank, especially for the structure from bottom to top with gradually increasing cross-sectional area, which is more likely to form extrusion to the inner wall.

[0056] Optionally, the film pressure sensor arranged in the grain tank can be arranged in a matrix form, can be arranged in a wave form, can be arranged in a circular array, etc. The present application takes the matrix form as an embodiment. The matrix form can be a 10*10 matrix, a 20*30 matrix, or a 30*50 matrix. The arrangement of the film pressure sensor can be specifically set according to actual needs, which is not described here.

[0057] Optionally, the present application aims to realize real-time yield calculation of the grain. In the case that there is a triggered detection point at a historical moment, the present application can calculate the grain yield from the historical moment to the current moment. At this time, for the current moment, the pressure value of the grain on any film pressure sensor arranged in the grain tank is greater than the preset threshold value for the first time, and it is considered that the height of the grain reaches the height of the film pressure sensor. That is, the current triggered detection point corresponding to the film pressure sensor in the grain tank at the current moment is determined according to the position of the film pressure sensor, and then all current triggered detection points in the grain tank at the current moment are obtained.

[0058] Optionally, if the pressure value of the grain on any film pressure sensor arranged in the grain tank is not greater than the preset threshold value, but the pressure value measured by the film pressure sensor vertically below the film pressure sensor is greater than the preset threshold value, it is considered that the grain is currently between the film pressure sensor and the film pressure sensor vertically below the film pressure sensor.

[0059] In step 102, the pressure value of each film pressure sensor below all current triggered detection points is converted according to the gravity acceleration value of the grain tank and the inclination value of the grain tank, the grain weight corresponding to each film pressure sensor is determined, and the average grain weight at the current moment is determined according to each grain weight corresponding to all film pressure sensors.

[0060] In step 102, the present application can read the pressure value of all film pressure sensors covered by the grain below any current triggered detection point reached by the grain. At the same time, the gravity acceleration of the grain tank is measured by the accelerometer, and the inclination value of the grain tank is measured by the gyroscope. The pressure value is converted to the gravity direction to obtain the force of the grain applied to the film pressure sensor in the gravity direction, and the gravity acceleration is converted to the weight, that is, the pressure value of each film pressure sensor below all current triggered detection points is converted, and the grain weight corresponding to each film pressure sensor is determined.

[0061] Optionally, the average weight of grain at the current moment is determined by dividing the sum of the weights of each grain corresponding to all the membrane pressure sensors by the number of membrane pressure sensors. If the grain bin is arranged in a matrix form and layered, the present invention can also determine the weight of grain corresponding to all membrane pressure sensors in each layer based on the membrane pressure sensors set in each layer, average the weight of grain in each layer, and then obtain the average weight of grain in each layer. If the grain bin is tilted and the grain reaches the corresponding layer of the membrane pressure sensors on both sides as measured by the gyroscope does not correspond due to the tilt of the grain bin, the measurement layers of the sensors on both sides can be re-corresponded from top to bottom, and the data of the lower layer that cannot correspond to the other side can be deleted.

[0062] Optionally, if the grain arrival point height on both sides of the grain bin is inconsistent due to tilting or bumping, the present invention can also connect the highest points of the thin-film pressure sensors on both sides according to the vertical height of the matrix, and finally determine the grain weight at both ends of the connection point and average it to obtain the average grain weight.

[0063] Step 103: Determine the grain yield based on the average grain weight at the current moment, the average grain weight at the previous moment, the time difference, the harvesting speed of the harvester, and the harvesting width.

[0064] In step 103, the time difference is determined based on the time interval between the current moment and the previous moment, and the harvesting speed of the harvester can optionally be the travel speed of the harvester.

[0065] Optionally, determining the grain yield based on the average grain weight at the current moment, the average grain weight at the previous moment, the time difference, the harvesting speed of the harvester, and the harvesting width includes:

[0066] The weight difference is determined based on the average grain weight at the current moment and the average grain weight at the previous moment;

[0067] The harvesting area is determined based on the time difference, the harvesting speed of the harvester, and the harvesting width.

[0068] The grain yield is determined based on the weight difference and the harvested area.

[0069] Optionally, the formula for calculating the grain yield is:

[0070] GY i =(G k -G k-1 ) / (s k *t k *F) (1)

[0071] Among them, GY i The grain yield is given in real time, in kg / m³. 2 Gk G is the average weight of the grain at the current time, in Kg; G k-1 G is the average weight of the grain at the last time, in Kg; s k V is the harvesting speed of the harvester, i.e. the average harvesting speed of the harvester within the interval of two data sampling times, in m / s; t k T is the interval of two data sampling times, i.e. the time difference, in s; F is the width of the harvester, i.e. the harvesting width, in m.

[0072] The application provides a grain yield calculation method, wherein when the pressure value of any thin film pressure sensor arranged in a grain tank is greater than a preset threshold value for the first time, a current triggered detection point is determined according to the position of the thin film pressure sensor, all current triggered detection points in the grain tank at the current time are obtained, the pressure value of each thin film pressure sensor under all current triggered detection points is converted, the grain weight corresponding to each thin film pressure sensor is determined, and the average weight of the grain at the current time is determined according to each grain weight corresponding to all thin film pressure sensors. The average weight of the grain at the current time, the average weight of the grain at the last time, the time difference, the harvesting speed of the harvester and the harvesting width are used to determine the grain yield. The application only sets a single type of sensor, and the grain yield estimation in the real-time harvesting state can be realized, which can be applied to the long-time use of the harvester in the continuous state, and greatly improves the informatization and intelligent level of grain harvesting.

[0073] Figure 2 The application provides a grain yield calculation method, wherein when the pressure value of any thin film pressure sensor arranged in a grain tank is greater than a preset threshold value for the first time, a current triggered detection point is determined according to the position of the thin film pressure sensor, all current triggered detection points in the grain tank at the current time are obtained, the pressure value of each thin film pressure sensor under all current triggered detection points is converted, the grain weight corresponding to each thin film pressure sensor is determined, and the average weight of the grain at the current time is determined according to each grain weight corresponding to all thin film pressure sensors. The average weight of the grain at the current time, the average weight of the grain at the last time, the time difference, the harvesting speed of the harvester and the harvesting width are used to determine the grain yield. The application only sets a single type of sensor, and the grain yield estimation in the real-time harvesting state can be realized, which can be applied to the long-time use of the harvester in the continuous state, and greatly improves the informatization and intelligent level of grain harvesting.

[0074] After obtaining all current triggered detection points in the grain tank at the current time, the method further comprises:

[0075] Step 201, for the two sides of the grain tank in the relative position or the two sides in the adjacent position, connecting the current triggered detection points on the two sides to determine all the connecting lines.

[0076] In step 201, the application can symmetrically or asymmetrically install thin film pressure sensors on the side wall of the grain tank, the surface of the thin film pressure sensor is protected by a soft rubber layer, the real-time pressure of the thin film pressure sensor is read and recorded during the harvesting operation, the application can be installed on the opposite two sides or the adjacent two sides, and when installed on the adjacent two sides, the surface formed by all the connecting lines needs to be expanded to the entire grain tank.

[0077] Optionally, the connecting the current triggered detection points on the two sides to determine all the connecting lines comprises:

[0078] According to the two side areas inside the grain tank, the matrix layout corresponding to each side is determined, and different numbers of film pressure sensors are arranged according to the matrix layout corresponding to different sides;

[0079] In the case that the number of film pressure sensors corresponding to each side is the same, a single-point-to-single-point connection mode is adopted to connect the current triggered detection points on the two sides, and all the connection lines are determined.

[0080] In the case that the number of film pressure sensors corresponding to each side is different, a multi-point-to-single-point connection mode is adopted to connect the current triggered detection points on the two sides, and all the connection lines are determined.

[0081] Optionally, the same matrix layout of film pressure sensors can be arranged on different sides, or different matrix layouts of film pressure sensors can be arranged, for example, 30*50 matrix layout of film pressure sensors is arranged on the first side, and 30*50 matrix layout of film pressure sensors is also arranged on the second side, and at this time, a single-point-to-single-point connection mode is adopted to connect the current triggered detection points on the two sides, and all the connection lines are determined.

[0082] For example, 60*60 matrix layout of film pressure sensors is arranged on the first side, and 30*20 matrix layout of film pressure sensors is also arranged on the second side, and at this time, a multi-point-to-single-point connection mode is adopted to connect the current triggered detection points on the two sides, and all the connection lines are determined.

[0083] Optionally, for the pressure detection points corresponding to the film pressure sensors installed on the inner wall of the grain tank, the number of pressure detection points in each row can be different, and the number of pressure detection points in each row corresponding to the two sides can also be different, but the height of each row needs to be consistent. When the corresponding connection line reaches the grain reaching point, multiple points can be connected to one point, and the connection principle is that the side with more pressure detection points in the matrix layout is divided according to the side with less pressure detection points, and then the corresponding division points are connected to the side with less pressure detection points in the matrix layout.

[0084] In step 202, for each connection line, the two current triggered detection points corresponding to the connection line are determined in the vertical direction, and the division piece area formed by the bottom of the grain tank is obtained by traversing all the connection lines.

[0085] In step 202, for each connection line, the two end points of the connection line are current triggered detection points, and for each current triggered detection point, the bottom point of the bottom of the grain tank in the vertical direction is determined. According to the two current triggered detection points and the bottom point corresponding to each current triggered detection point, the division piece area is determined.

[0086] Optionally, the application connects the grain arrival points of the matrix sensors on both sides of the grain tank correspondingly, forms a segmentation area with the vertical matrix point distance as the width for the grain, traverses all the lines, and further obtains all the segmentation areas.

[0087] In step 203, the application accumulates and integrates all the segmentation areas to determine the total volume of the grain in the grain tank, and in other embodiments, digital modeling method or other methods that can render all two-dimensional areas into a three-dimensional body can also be used.

[0088] In step 203, the application accumulates and integrates all the segmentation areas to determine the total volume of the grain in the grain tank, and in other embodiments, digital modeling method or other methods that can render all two-dimensional areas into a three-dimensional body can also be used.

[0089] Those skilled in the art understand that the grain tank in the application can realize layering in the grain tank according to the matrix layout of the film pressure sensor, and in such embodiments, the application can also realize the acquisition of the total volume of the grain in the current layer during the grain accumulation process, and at this time, for each line, the segmentation area formed by the two currently triggered detection points corresponding to the line in the vertical direction and the two currently triggered detection points directly below them is determined, all current layer segmentation areas are obtained by traversing all lines, and the total volume of the grain in the current layer in the grain tank is determined according to all the current layer segmentation areas.

[0090] In step 204, the obtained total volume of the grain is compared with the total volume of the grain tank, and the current grain tank loading percentage is determined according to the quotient of the total volume of the grain in the grain tank and the volume of the grain tank, and the loading state of the current grain in the grain tank can be obtained according to the curved surface formed by the grain arrival point lines.

[0091] In step 204, the obtained total volume of the grain is compared with the total volume of the grain tank, and the current grain tank loading percentage is determined according to the quotient of the total volume of the grain in the grain tank and the volume of the grain tank, and the loading state of the current grain in the grain tank can be obtained according to the curved surface formed by the grain arrival point lines.

[0092] Optionally, for the current layer loading percentage in the grain tank, the application can also compare the total volume of the grain in the current layer in the grain tank with the total volume of the current layer, and determine the current layer loading percentage in the grain tank according to the quotient of the total volume of the grain in the current layer in the grain tank and the total volume of the current layer.

[0093] Optionally, the calculation formula of the current grain tank loading percentage is:

[0094] p = v / V*100 (2)

[0095] Wherein, p is the current grain tank loading percentage, unit is %; v is the total volume of the grain in the grain tank, unit is m 3 ; V is the volume of the grain tank, unit is m 3 .

[0096] Optionally, before acquiring all current triggered detection points in the grain tank at the current time, the method further comprises:

[0097] determining a vertical relative distance of the matrix-arranged thin film pressure sensors in the vertical direction;

[0098] in the case that the vertical relative distance is less than or equal to the short axis diameter of the grain, generating an acquisition instruction every preset time interval, the acquisition instruction being used to acquire all current triggered detection points in the grain tank at the current time;

[0099] in the case that the vertical relative distance is greater than the short axis diameter of the grain, generating the acquisition instruction in the case that the pressure values of all thin film pressure sensors arranged on the same horizontal plane in the grain tank are greater than the preset threshold value for the first time.

[0100] Optionally, in the matrix-arranged thin film pressure sensors, the distance between each thin film pressure sensor and its adjacent thin film pressure sensor is the same, the lateral interval distance of the matrix-arranged thin film pressure sensors can be the same as the longitudinal interval distance, or can be different, and the vertical relative distance between two adjacent thin film pressure sensors in the vertical direction of the matrix-arranged thin film pressure sensors is determined.

[0101] Optionally, in the case that the vertical relative distance is less than or equal to the short axis diameter of the grain, the matrix is a high-density matrix, and the current sampled grain volume and weight can be obtained at a fixed frequency, and the current sampled grain volume and weight are subtracted from the grain volume and weight at the last sampling time, so as to obtain the grain volume and weight obtained in unit time, i.e. the real-time grain yield in the sampling time. In other embodiments, the acquisition instruction is generated every preset time interval, the acquisition instruction is used to acquire all current triggered detection points in the grain tank at the current time, and then the pressure values of each thin film pressure sensor under all current triggered detection points are converted according to the gravitational acceleration value of the grain tank and the inclination value of the grain tank, the grain weight corresponding to each thin film pressure sensor is determined, the current average grain weight is determined according to each grain weight corresponding to all thin film pressure sensors, and the grain yield is determined according to the current average grain weight, the last average grain weight, the time difference value, the harvesting speed of the harvester and the harvesting width.

[0102] Optionally, in the case that the vertical relative distance is greater than the short axis diameter of the grain, the matrix form is a low-density matrix, and at this time, only when the grain reaches the thin film pressure sensor, the current volume and weight of the grain reaching the thin film pressure sensor are subtracted from the volume and weight of the grain reaching the thin film pressure sensor at the last time in the vertical direction, that is, the volume and weight of the grain obtained in unit time, that is, the real-time grain yield in the sampling time, is obtained, that is, in the case that the pressure value of the grain on the same horizontal plane provided in the grain tank to all thin film pressure sensors is greater than the preset threshold value for the first time, the acquisition instruction is generated, and the acquisition instruction is used to acquire all current triggered detection points in the grain tank at the current time.

[0103] Optionally, the application can also generate the acquisition instruction once in the case that the pressure value of the grain on the same horizontal plane provided in the grain tank to any thin film pressure sensor is greater than the preset threshold value for the first time, and the acquisition instruction is used to acquire all current triggered detection points in the grain tank at the current time, and thus for the current horizontal plane, multiple acquisition instructions can be generated, and thus in the case that the pressure value of the thin film pressure sensor is greater than the preset threshold value for the first time, the real-time calculation of the current grain yield can be performed once.

[0104] The application first discriminates the high-density matrix thin film pressure sensor or the low-density matrix thin film pressure sensor, and judges the distance of the adjacent detection points in the vertical direction in the matrix, and when the distance of the adjacent pressure sensor detection points in the vertical direction of the side of the grain tank is less than the short axis diameter of the grain particle, it is a high-density matrix thin film pressure sensor, otherwise it is a low-density matrix thin film pressure sensor, and for the matrix thin film pressure sensor under different densities, different detection trigger conditions can be used, and when the high-density matrix sensor is used for the calculation of the real-time yield of the grain, the parameters to be acquired are the latest collected weight of all the grain in the grain tank and the weight of all the grain in the grain tank collected last time, and when the low-density matrix sensor is used for the calculation of the real-time yield of the grain, the parameters to be acquired are the total weight of the grain when the grain reaches the latest detection point and the total weight of the grain when the grain reaches the last detection point. When the application records the data of the matrix sensor, it should be performed when the harvester is performing the grain harvesting operation, and data collection needs to be performed at a fixed frequency or a fixed harvesting distance. Through the above embodiments, two methods for realizing data collection and grain yield calculation are given.

[0105] The present application is based on the matrix arrangement of the thin film pressure sensor, which can not only realize the calculation of the real-time yield of the harvester, but also realize the detection and acquisition of the loading state of the grain box and the moisture content of the grain, specifically, the matrix arrangement of the thin film pressure sensor is pasted on the corresponding two sides of the grain box at the same position, and the grain will change the pressure of the thin film pressure sensor after being pasted on the thin film pressure sensor, the corresponding matrix points covered by the grain in the two sides of the matrix are connected into lines, and each line is connected into a plane, so that the volume of each layer, the total volume, the loading percentage of the grain box, the loading state, the pressure of each layer can be obtained, the weight can be converted, the bulk density of each layer and the overall bulk density can be obtained, and the moisture content of each layer and the overall moisture content can be obtained by comparing the bulk density of the dried grain with the bulk density of the grain, and the difference between the total volume and the total weight obtained by each sampling and the total volume and the total weight obtained by the last sampling is the yield of the grain in the sampling time and the current sampling point, and the present application can greatly improve the informatization and intelligent level of the grain harvesting.

[0106] Figure 3 The present application provides a flowchart of the grain yield calculation method, after obtaining all the current triggered detection points in the grain box at the current time, the method further comprises:

[0107] Step 301, according to the horizontal height, all the thin film pressure sensors arranged in the grain box are divided into layers, and all the layers corresponding to the grain box are obtained.

[0108] In step 301, the present application can determine the layer height according to all the thin film pressure sensors arranged in the vertical direction, for example, the layer height can be the interval between adjacent thin film pressure sensors in the vertical direction, or the sum of the intervals between four thin film pressure sensors in the vertical direction, the layer height can be considered comprehensively according to the setting density and setting requirements of the thin film pressure sensor, all the thin film pressure sensors arranged in the grain box are divided into layers according to the horizontal height, and all the layers corresponding to the grain box are obtained.

[0109] Step 302, obtaining each grain weight measured by the thin film pressure sensor corresponding to each layer.

[0110] In step 302, for each layer, all the thin film pressure sensors corresponding to the layer are determined, and the way of determining the average weight of the grain at the current time in step 102 is referred to, and each grain weight measured by the thin film pressure sensor corresponding to the layer is obtained, and then each grain weight measured by the thin film pressure sensor corresponding to all the layers is obtained.

[0111] Step 303, for each layer, the grain mass corresponding to the layer is determined according to the grain weight corresponding to the next layer of the layer and the grain weight corresponding to the layer.

[0112] In step 303, for the uppermost layer, the calculated determined grain weight is the grain mass corresponding to the layer, for the lowermost layer, the calculated determined grain weight is the grain mass corresponding to the layer, and for the intermediate layers, the grain mass corresponding to the next layer of the layer needs to be calculated, and the grain mass corresponding to the layer is calculated, and the grain mass corresponding to the layer is determined according to the difference between the grain mass corresponding to the next layer of the layer and the grain mass corresponding to the layer.

[0113] In step 304, the moisture content of the layer is determined according to the grain mass corresponding to the layer, the volume of the layer, and the bulk density when the moisture content of the same grain is 0%.

[0114] In step 304, the calculation formula of the moisture content of the layer can refer to the following formula:

[0115] W i = (G i / v i - p) / (G i / v i ) * 100 (3)

[0116] Wherein, W i is the average moisture content of the i-th layer in the grain tank, unit: %; G i is the weight of the i-th layer of grain in the grain tank, unit: Kg; v i is the volume of the i-th layer of grain in the grain tank, unit: m 3 ; p is the bulk density when the moisture content of the same grain is 0%, unit: Kg / m 3 .

[0117] In step 305, all layers are traversed until the moisture content corresponding to each layer is determined.

[0118] In step 305, for all intermediate layers, the moisture content corresponding to each layer is determined by referring to the method in step 304.

[0119] Optionally, after obtaining all current triggered detection points in the grain tank at the current time, the method further comprises:

[0120] According to the total volume of the grain in the grain tank and the bulk density when the moisture content of the same grain is 0%, a volume difference is determined;

[0121] According to the average weight of the grain at the current time and the volume difference, a first ratio is determined;

[0122] According to the average weight of the grain at the current time and the total volume of the grain in the grain tank, a second ratio is determined;

[0123] The average moisture content of the grain in the grain tank is determined according to the first ratio and the second ratio.

[0124] Optionally, the average moisture content of the grain in the grain tank can be referred to the following formula:

[0125] W=(G / v-ρ) / (G / v)*100 (4)

[0126] Wherein, W is the average moisture content of the grain in the grain tank, unit is %; G is the average weight of the grain at the current moment, unit is Kg; v is the total volume of the grain in the grain tank, unit is m 3 ; ρ is the bulk density of the same grain with moisture content of 0%, unit is Kg / m 3 .

[0127] The present application can be in the process of harvesting operation, through the uniform distribution in the grain tank both sides of the matrix form arranged film pressure sensor, judge the real-time position of the grain in the granary, and through the matrix film pressure sensor of the grain pressure realizes to the gravity measurement, uses the accelerometer and the gyroscope to carry out the measurement of the granary posture, carries out the correction of the gravity of the grain, when the grain reaches the detection point of the film pressure sensor each time, simultaneously obtains the position and gravity data, the gravity is corrected after the accelerometer and the gyroscope and obtains the weight of the grain, and then obtains the volume and weight of each layer of the grain in the grain tank, with the total volume and total weight of the grain tank, and then obtains the bulk density of each layer of the grain, by comparing the bulk density of different dry grains, the comprehensive moisture content of the whole granary grain can be obtained, and the moisture content of each layer of grain can also be obtained. When the low-density matrix film pressure sensor is used in the present application, when the grain capacity reaches the middle of the two layers of the matrix pressure sensor, the real-time yield of the grain is obtained through the change of gravity.

[0128] Figure 4 It is the structure schematic view of the grain yield calculation device provided by the present application, the grain yield calculation device comprises an acquisition unit 1, the acquisition unit is used for acquiring all current triggered detection points in the grain tank at the current moment, the current triggered detection point is the pressure value of the grain to any film pressure sensor arranged in the grain tank first greater than the preset threshold value, and is determined according to the position of the film pressure sensor, the working principle of the acquisition unit 1 can refer to the preceding step 101, and here is not described in detail.

[0129] The grain yield calculation device further comprises a conversion unit 2, the conversion unit is used for converting the pressure value of each film pressure sensor under all current triggered detection points according to the gravity acceleration value of the grain tank and the inclination value of the grain tank, determining the corresponding grain weight of each film pressure sensor, and determining the average weight of the grain at the current moment according to each grain weight corresponding to all film pressure sensors, the working principle of the conversion unit 2 can refer to the preceding step 102, and here is not described in detail.

[0130] The grain yield calculation device further comprises a determination unit 3 for determining the grain yield according to the current time grain average weight, the last time grain average weight, the time difference value, the harvesting speed of the harvester and the harvesting width.

[0131] The time difference value is determined according to the current time and the last time.

[0132] The present application provides a kind of grain yield calculation device, and grain is greater than the pressure value of any film pressure sensor arranged in grain tank first after the pressure value of any film pressure sensor arranged in grain tank, determines current triggered detection point according to the position of the film pressure sensor, obtains all current triggered detection points in grain tank at current time, converts the pressure value of each film pressure sensor under all current triggered detection points, determines the grain weight corresponding to each film pressure sensor, determines the current time grain average weight according to each grain weight corresponding to all film pressure sensors;According to the current time grain average weight, the last time grain average weight, the time difference value, the harvesting speed of the harvester and the harvesting width, determine the grain yield.The present application only sets up single type sensor, can realize the grain yield estimation under the real-time harvesting state, can be applicable to the continuous state under the harvester long time use, greatly improve the informatization and intelligent level of grain harvesting.

[0133] In order to verify the grain yield of the present application, the present application presets the harvester, and the cutting width is 3 meters, the capacity of the grain depot is 2.8m 3 32*32 matrix film pressure sensors are pasted on the two sides parallel to the grain tank and the distributor, the range of each element point is 10Kg, the distance between the bottom and the bottom of the grain tank is 0.3m, and the size is 400mm*400mm.

[0134] Optionally, the film pressure sensor is calibrated before the experiment, and the weighed wheat is first placed at the lowermost part of the film pressure sensor and flattened in the grain tank, the weighed wheat is poured into the grain depot and flattened each time, and the data of the film pressure sensor is recorded, the weight of the wheat is linearly fitted with the average value of each row of the film pressure sensor data to obtain the relationship between the film pressure sensor data and the weight.

[0135] Optionally, the weighed wheat is first placed at the lowermost part of the film pressure sensor and flattened in the grain tank before the experiment.In the wheat harvesting experiment, the harvesting operation is carried out at a speed of 4km / h, and the data of the film pressure sensor is collected in real time. Specifically, the grain tank is observed, and the harvesting is stopped when the wheat reaches half of the sensor;The data read is saved;All the grain in the grain tank is unloaded and weighed.

[0136] Optionally, the weight of the grain in the bin before the experiment is 320 Kg, and the total weight in the bin after the experiment is 567.3 Kg, which just covers the 21st layer of the matrix-arranged film pressure sensor, the average analog signal of the 19th layer of the film pressure sensor increases by 20, the average data of the 20th layer has no change, and the volume of the wheat is calculated as 0.3443 m 3 according to the height of the 19th layer, the actual volume is 0.3806 m 3 , the actual weight is 247.3 Kg, the weight measured by the film pressure sensor is 217.1 Kg, and the error is 12.2%.

[0137] Optionally, the actual moisture content is 7.8%, the actual dry wheat bulk density is 599.08 Kg / m 3 , the calculated moisture content according to the formula is 4.99%. The actual operation is 128.66 s, and the actual average yield is 0.577 Kg / m 2 , the average yield calculated according to the formula is 0.507 Kg / m 2 ;

[0138] Figure 5 is a structural schematic diagram of an electronic device provided by the application. As Figure 5 shown, the electronic device can include a processor 510, a communications interface 520, a memory 530, and a communications bus 540, wherein the processor 510, the communications interface 520, and the memory 530 communicate with each other through the communications bus 540. The processor 510 can call the logical instructions in the memory 530 to execute the grain yield calculation method, which includes: obtaining all current triggered detection points in the grain bin at the current time, the current triggered detection point being determined according to the position of any film pressure sensor set in the grain bin after the pressure value of the grain on the film pressure sensor is greater than a preset threshold value for the first time; converting the pressure value of each film pressure sensor under all current triggered detection points according to the gravitational acceleration value of the grain bin and the inclination value of the grain bin, determining the grain weight corresponding to each film pressure sensor, and determining the average grain weight at the current time according to the grain weight corresponding to each film pressure sensor of all film pressure sensors; determining the grain yield according to the average grain weight at the current time, the average grain weight at the previous time, the time difference, the harvesting speed of the harvester, and the harvesting width.

[0139] In addition, the logic instructions in the memory 530 described above can be implemented in the form of software function units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various program code storage media.

[0140] In another aspect, the present application also provides a computer program product, which comprises a computer program, the computer program can be stored on a non-transitory computer readable storage medium, and the computer program can be executed by a processor, so that the computer can execute a grain yield calculation method provided by the above-mentioned method, the method comprises: obtaining all current triggered detection points in the grain tank at the current time, the current triggered detection point is determined according to the position of any thin film pressure sensor arranged in the grain tank after the pressure value of the grain to the thin film pressure sensor is greater than the preset threshold value for the first time; converting the pressure value of each thin film pressure sensor under all current triggered detection points according to the gravity acceleration value of the grain tank and the inclination value of the grain tank, determining the corresponding grain weight of each thin film pressure sensor, and determining the average weight of the grain at the current time according to each grain weight corresponding to all thin film pressure sensors; determining the grain yield according to the average weight of the grain at the current time, the average weight of the grain at the last time, the time difference value, the harvesting speed of the harvester and the harvesting width.

[0141] In yet another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements a grain yield calculation method provided by any of the above methods, the method comprising: obtaining all current triggered detection points in the grain tank at the current time, the current triggered detection point being determined according to the position of any thin film pressure sensor arranged in the grain tank after the pressure value of the grain on the thin film pressure sensor is greater than a preset threshold value for the first time; converting the pressure value of each thin film pressure sensor under all current triggered detection points according to the gravity acceleration value of the grain tank and the inclination value of the grain tank, determining the grain weight corresponding to each thin film pressure sensor, and determining the average grain weight at the current time according to each grain weight corresponding to all thin film pressure sensors; and determining the grain yield according to the average grain weight at the current time, the average grain weight at the previous time, the time difference value, the harvesting speed of the harvester, and the harvesting width.

[0142] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0143] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software and necessary general hardware platforms, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0144] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for calculating grain yield, characterized in that, include: The current trigger detection points in the grain tank are obtained. The current trigger detection points are determined based on the location of the thin film pressure sensor after the pressure value of the grain on any thin film pressure sensor installed in the grain tank first exceeds a preset threshold. Based on the gravitational acceleration value and the tilt value of the grain bin, the pressure value of each membrane pressure sensor under all currently triggered detection points is converted to determine the grain weight corresponding to each membrane pressure sensor. Based on the grain weight corresponding to all membrane pressure sensors, the average grain weight at the current moment is determined. The grain yield is determined based on the average grain weight at the current moment, the average grain weight at the previous moment, the time difference, the harvesting speed of the harvester, and the harvesting width. The time difference is determined based on the current time and the previous time. Thin-film pressure sensors are arranged in a matrix on two opposite sides or two adjacent sides inside the grain tank. Before acquiring all currently triggered detection points within the grain bin at the current moment, the method further includes: Determine the vertical relative distances in the vertical direction of the matrix-arranged thin-film pressure sensors; When the vertical relative distance is less than or equal to the minor axis diameter of the grain, an acquisition instruction is generated at preset time intervals. The acquisition instruction is used to acquire all currently triggered detection points in the grain bin at the current moment. When the vertical relative distance is greater than the short axis diameter of the grain, and when the pressure values ​​of all thin-film pressure sensors on the same horizontal plane inside the grain bin are greater than the preset threshold for the first time, the acquisition command is generated. The process of determining grain yield based on the current average grain weight, the previous average grain weight, the time difference, the harvester's harvesting speed, and the harvesting width includes: The weight difference is determined based on the average grain weight at the current moment and the average grain weight at the previous moment; The harvesting area is determined based on the time difference, the harvesting speed of the harvester, and the harvesting width. The grain yield is determined based on the weight difference and the harvested area.

2. The method for calculating grain yield according to claim 1, characterized in that, After obtaining all currently triggered detection points within the grain bin at the current moment, the method further includes: For two sides of the grain tank that are in opposite or adjacent positions, connect the currently triggered detection points on the two sides to determine all connections. For each line, determine the segmented area formed by the two currently triggered detection points corresponding to the line in the vertical direction and the bottom of the grain bin; traverse all lines to obtain all segmented areas. Determine the total volume of grain in the grain bin based on all the partition areas; The current grain loading percentage is determined based on the total volume of grain in the grain bin and the volume of the grain bin.

3. The method for calculating grain yield according to claim 2, characterized in that, The connection points on the two sides that have been triggered are used to determine all connections, including: The matrix layout corresponding to each side is determined based on the area of ​​the two sides inside the grain tank, and a different number of thin-film pressure sensors are set according to the matrix layout corresponding to different sides. When the number of thin-film pressure sensors on each side is the same, the currently triggered detection points on the two sides are connected by a point-to-point connection method to determine all the connections. When the number of thin-film pressure sensors corresponding to each side is different, a multi-point to single-point connection method is used to connect the currently triggered detection points on the two sides to determine all connections.

4. The method for calculating grain yield according to claim 1, characterized in that, After obtaining all currently triggered detection points within the grain bin at the current moment, the method further includes: Based on the horizontal height, all the thin-film pressure sensors installed in the grain tank are distinguished, the grain tank is divided into layers, and all the corresponding layers of the grain tank are obtained; Obtain the weight of each grain as measured by the thin-film pressure sensor corresponding to all layers; For each layer, the grain mass corresponding to the layer is determined based on the grain weight corresponding to the next layer and the grain weight corresponding to the layer. The moisture content of the layer is determined based on the grain mass corresponding to the layer, the volume of the layer, and the bulk density of the same grain when the moisture content is 0%. Iterate through all layers until the moisture content of each layer is determined.

5. The method for calculating grain yield according to claim 2, characterized in that, After obtaining all currently triggered detection points within the grain bin at the current moment, the method further includes: The volume difference is determined based on the total volume of grain in the grain bin and the bulk density of the same grain when the moisture content is 0%. A first ratio is determined based on the difference between the average weight of the grain at the current moment and the volume. The second ratio is determined based on the average weight of the grain at the current moment and the total volume of the grain in the grain bin. The average moisture content of the grains in the grain bin is determined based on the first ratio and the second ratio.

6. A grain yield calculation device, characterized in that, include: The acquisition unit is used to acquire all currently triggered detection points in the grain tank at the current moment. The currently triggered detection points are determined based on the location of the thin-film pressure sensor after the pressure value of the grain on any thin-film pressure sensor installed in the grain tank first exceeds a preset threshold. The conversion unit is used to convert the pressure value of each membrane pressure sensor below all currently triggered detection points according to the gravitational acceleration value and the tilt value of the grain tank, determine the grain weight corresponding to each membrane pressure sensor, and determine the average grain weight at the current moment according to the grain weight corresponding to all membrane pressure sensors. The determining unit is used to determine the grain yield based on the average grain weight at the current moment, the average grain weight at the previous moment, the time difference, the harvesting speed of the harvester, and the harvesting width. The time difference is determined based on the current time and the previous time. Thin-film pressure sensors are arranged in a matrix on two opposite sides or two adjacent sides inside the grain tank. Before acquiring all currently triggered detection points within the grain bin at the current moment, the device is also used to: Determine the vertical relative distances in the vertical direction of the matrix-arranged thin-film pressure sensors; When the vertical relative distance is less than or equal to the minor axis diameter of the grain, an acquisition instruction is generated at preset time intervals. The acquisition instruction is used to acquire all currently triggered detection points in the grain bin at the current moment. When the vertical relative distance is greater than the short axis diameter of the grain, and when the pressure values ​​of all thin-film pressure sensors on the same horizontal plane inside the grain bin are greater than the preset threshold for the first time, the acquisition command is generated. The determining unit is specifically used for: The weight difference is determined based on the average grain weight at the current moment and the average grain weight at the previous moment; The harvesting area is determined based on the time difference, the harvesting speed of the harvester, and the harvesting width. The grain yield is determined based on the weight difference and the harvested area.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the grain yield calculation method as described in any one of claims 1-5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the grain yield calculation method as described in any one of claims 1-5.

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