A grain condition monitoring device and method for grain bins in a grain combine harvester

Abstract

This invention discloses a grain condition monitoring device and method for the grain bin of a combine harvester, comprising a mobile device, a sampling device, a control box system, and a display system. The mobile device is installed inside the harvester's grain bin; the sampling device is installed on the mobile device; the control system is installed in the harvester's cab and is used to control the mobile device to move the sampling device laterally and longitudinally within the harvester's grain bin to collect data on the breakage rate, impurity content, moisture content, and grain level at different grain positions within the grain bin; the control system receives and analyzes the data transmitted by the sampling device and transmits the data to the display system; the display system displays this data in the form of regional distribution maps of breakage rate and impurity content, regional distribution maps of crop yield per acre, and regional distribution maps of crop moisture content. This invention can monitor the regional distribution of grain breakage rate, impurity content, and grain moisture content, as well as crop yield per acre, at multiple points within the grain bin in real time.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a grain condition monitoring device and method for the grain condition inside the grain bin of a grain combine harvester. Background Technology

[0002] Related technologies indicate that during harvester operation, the breakage rate and impurity content of grains in the grain bin, grain moisture content, and grain level all need to be monitored in real time. Users can adjust operating parameters such as the harvesting feed rate, concave plate gap, and blower speed based on indicators like breakage rate, impurity content, and grain moisture content to achieve optimal harvester operation. Simultaneously, in actual production, there is an urgent need for harvesters to generate regional grain yield distribution maps and regional grain moisture content distribution maps during harvesting. This allows users to adjust planting density and fertilization strategies for the next planting season based on these maps, achieving high-quality and high-yield crops. Therefore, how to generate regional grain yield distribution maps and regional grain moisture content distribution maps has become a pressing technical problem that needs to be solved. Summary of the Invention

[0003] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention provides a grain condition monitoring device inside the grain bin of a grain combine harvester, capable of real-time monitoring of the distribution of grain breakage rate, impurity content area, grain moisture content area, and crop yield per acre area within the grain bin.

[0004] The second aspect of this invention is to provide a method for monitoring the condition of grain inside the grain bin of a grain combine harvester.

[0005] According to a first aspect of the present invention, a grain condition monitoring device for a grain combine harvester includes a mobile device, a sampling device, a control system, and a display system. The mobile device is installed inside the harvester's grain bin; the sampling device is installed on the mobile device; the control system and the display system are installed in the harvester's cab. The control system controls the mobile device to move the sampling device laterally and longitudinally within the harvester's grain bin to collect the breakage rate, impurity content, and moisture content of grain at different grain positions within the harvester's grain bin; it receives data transmitted by the sampling device and analyzes the data to determine the grain breakage rate, impurity content, and moisture content; the display system receives the grain breakage rate, impurity content, and moisture content data transmitted by the control system and displays these data in the form of regional distribution maps of breakage rate and impurity content, regional distribution maps of crop yield per acre, and regional distribution maps of crop moisture content.

[0006] Staff can control the mobile device through the control system. The mobile device moves the sampling device up, down, left, and right inside the grain bin of the harvester to detect the breakage rate, impurity rate, and moisture content of the grain inside the grain bin.

[0007] In some embodiments, the moving device of the present invention includes a longitudinal lead screw, a longitudinal slide table, a transverse lead screw, a transverse slide table, a transverse slide table motor, and a longitudinal slide table motor; wherein, two longitudinal lead screws are provided, respectively disposed next to opposite side walls inside the grain bin of the harvester; both ends of the transverse lead screw are mounted on the longitudinal lead screw via the longitudinal slide table, the longitudinal lead screw slide table is threaded onto the longitudinal lead screw, the longitudinal lead screw and the transverse lead screw form an "H" shaped structure, the upper end of the longitudinal lead screw is mounted on the top wall of the grain bin of the harvester, and the lower end of the longitudinal lead screw is mounted on the bottom wall inside the grain bin of the harvester via the longitudinal lead screw motor; the transverse slide table motor is mounted on one of the longitudinal slide tables, and the output end of the transverse slide table motor is connected to the transverse lead screw; one end of the longitudinal lead screw is mounted on the side wall of the grain bin of the harvester via the longitudinal slide table motor, and the output end of the longitudinal slide table motor is connected to the longitudinal lead screw; the transverse slide table is threaded onto the transverse lead screw, and the sampling device is mounted on the bottom of the transverse slide table. In this embodiment, the longitudinal slide table motor and the longitudinal lead screw work together to drive the longitudinal slide table to move up and down, thereby driving the transverse lead screw to move up and down, and in turn driving the sampling device to move up and down. The linkage between the transverse slide table motor and the transverse lead screw can drive the sampling device to move left and right, thus realizing the sampling device to move up, down, left and right in the grain box of the harvester to collect the breakage rate, impurity rate and moisture content of grain at different points.

[0008] In some embodiments, the sampling device of the present invention includes LED lights, a camera, a sampling cover, a dustproof plate servo motor, a dustproof plate, a vibration damping gimbal, a temperature sensor, a grain level tracking photoelectric through-beam sensor, a photoelectric position sensor, and capacitor plates; wherein, the sampling cover is installed at the bottom of the horizontal slide table, the LED lights and the camera are installed on the inner top wall of the sampling cover, the LED lights are evenly distributed around the camera, the capacitor plates are respectively installed at the bottom of opposite side walls of the sampling cover, the photoelectric position sensor is installed inside the capacitor plates, the dustproof plate is disposed at the bottom of the sampling cover for sealing the sampling cover, one side of the dustproof plate is installed on the side wall of the sampling cover via a dustproof plate servo motor, and the temperature sensor and the grain level tracking photoelectric through-beam sensor are installed at the bottom of the sampling cover.

[0009] In some embodiments, the LED lamp of the present invention is a light source with several set wavelengths, and the camera is a single-wavelength photosensitive element or a multispectral camera. The moisture content, nitrogen content, etc. of the grain are determined by monitoring the reflectance of the grain at a certain wavelength.

[0010] In some embodiments, the sampling cover of the present invention is mounted on the bottom of the horizontal slide table via the vibration damping gimbal to reduce vibration of the sampling device during movement.

[0011] In some embodiments, dust covers are sealed between one end of the longitudinal lead screw and one side of the longitudinal slide table, between the other end of the longitudinal lead screw and the other side of the longitudinal slide table, between one end of the transverse lead screw and one side of the transverse slide table, and between the other end of the transverse lead screw and the other side of the transverse slide table, so as to extend the service life of the lead screw and ensure the smooth operation of the equipment.

[0012] In some embodiments, the inner wall of the sampling hood of the present invention is coated with a reflective coating, which ensures stable illumination inside the sampling hood and guarantees the clarity of the camera images.

[0013] In some embodiments, the control system of the present invention is equipped with an SD card and a positioning module, which can store the collected data for later query, and the positioning module can obtain the real-time position of the harvester.

[0014] A method for monitoring the condition of grain inside the grain bin of a grain combine harvester according to a second aspect of the present invention includes the following steps:

[0015] 1) The control system controls the horizontal slide table motor to move the horizontal slide table to the set position;

[0016] 2) The control system controls the longitudinal slide table motor to work. The longitudinal slide table moves downward under the drive of the longitudinal slide table motor. At the same time, the photoelectric positioning sensors inside the two capacitor plates detect the position information of the grain in real time. When the photoelectric positioning sensor detects the grain signal, it sends a positioning signal to the control system. After receiving the positioning signal, the control system controls the capacitor plates to work, measures the capacitance value between the two capacitor plates and the grain temperature. Through the relationship between the grain moisture content and the capacitor plates, after temperature correction, the grain moisture content is obtained and transmitted to the control system.

[0017] 3) The control system controls the horizontal sliding table to move left and right. Under the action of the dustproof plate, the slope formed by the accumulation of grain is flattened. Then, the dustproof plate servo motor is controlled to open the dustproof plate, and the grain enters the sampling hood. Then, the LED light is turned on, and the camera is controlled to take pictures of the grain in the sampling hood and upload them to the control system. The control system uses its built-in boundary recognition algorithm to identify damaged grains, and then analyzes the pixel ratio of grain impurities in the whole picture. After correction, the damage rate and impurity rate of the grain at the current position are obtained and transmitted to the control system. Repeating the above actions on the same grain position plane can obtain the grain damage rate and impurity rate at each point on the grain position plane.

[0018] 4) The control system transmits the received data to the display system, which then displays the received data in the form of distribution maps of breakage rate and impurity content, regional distribution maps of crop yield per acre, and regional distribution maps of crop moisture content.

[0019] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] Figure 1 This is a grain condition monitoring device inside the grain bin of a grain combine harvester according to an embodiment of the present invention;

[0021] Figure 2 yes Figure 1 AA section view;

[0022] Figure 3 This is a diagram showing the breakage rate and impurity region distribution according to an embodiment of the present invention;

[0023] Figure 4 This is a regional distribution of crop yield per acre according to an embodiment of the present invention.

[0024] Figure label:

[0025] 100: Harvester grain bin; 1: Longitudinal lead screw; 2: Longitudinal slide table; 3: Transverse lead screw; 4: Transverse slide table; 5: Vibration damping gimbal; 6: LED light; 7: Camera; 8: Sampling cover; 9: Lead screw dust cover; 10: Capacitor plate; 11: Temperature sensor; 12: Dustproof plate servo motor; 13: Reflective coating; 14: Photoelectric positioning sensor; 15: Grain level tracking photoelectric beam sensor; 16: Transverse slide table motor; 17: Longitudinal slide table motor; 18: Dustproof plate. Detailed Implementation

[0026] Embodiments of the present invention are described in detail below. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0027] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0028] The following is for reference. Figures 1 to 2 A grain condition monitoring device for a grain combine harvester 100 according to an embodiment of the present invention is described, comprising a mobile device, a sampling device, a control system, and a display system. The mobile device is installed inside the harvester's grain 100; the sampling device is installed on the mobile device.

[0029] The control system controls the moving device to move the sampling device laterally and longitudinally within the harvester's grain bin 100 to collect data on the breakage rate, impurity content, moisture content, and grain level of grain at different positions within the grain bin 100. It also receives data from the sampling device, analyzes it to determine the breakage rate, impurity content, moisture content, and grain level, and transmits this data to the display system. The display system shows the received data as a distribution map of breakage rate, impurity content, crop yield per acre, and crop moisture content. Both the control system and display system are installed in the harvester's cab. The main control chip in the control system is a K210.

[0030] In some embodiments, the moving device of the present invention includes a longitudinal lead screw 1, a longitudinal slide table 2, a transverse lead screw 3, a transverse slide table 4, a transverse slide table motor 16, and a longitudinal slide table motor 17; wherein, two longitudinal lead screws 1 are provided, respectively located next to opposite side walls inside the harvester's grain box 100; both ends of the transverse lead screw 3 are mounted on the longitudinal lead screw 1 via the longitudinal slide table 2, and the longitudinal lead screw slide table is threaded onto the longitudinal lead screw 1, the longitudinal lead screw 1 and the transverse lead screw 3 form an "H" shaped structure, the upper end of the longitudinal lead screw 1 is mounted on the top wall of the harvester's grain box 100, and the lower end of the longitudinal lead screw 1 is mounted on the bottom wall inside the harvester's grain box 100 via the longitudinal slide table motor 17;

[0031] A transverse slide motor 16 is installed on one of the longitudinal slides 2, and the output end of the transverse slide motor 16 is connected to the transverse lead screw 3; one end of the longitudinal lead screw 1 is installed on the side wall of the harvester grain box 100 through the longitudinal slide motor 17, and the output end of the longitudinal slide motor 17 is connected to the longitudinal lead screw 1; the transverse slide 4 is threaded onto the transverse lead screw 3, and the sampling device is installed at the bottom of the transverse slide 4.

[0032] Specifically, the operator controls the longitudinal slide table motor 17 via the control system. The longitudinal lead screw 1 rotates, which in turn controls the longitudinal slide table 2 to move up and down along the lead screw 1. This, in turn, drives the transverse lead screw 3 to move up and down within the grain bin. The movement of the transverse lead screw 3 then moves the sampling device up and down, allowing the device to collect data on the grain condition (breakage rate, impurity content, and moisture content) at different heights. When the transverse slide table 4 moves, it can move the sampling device to the same grain height to collect data on the grain condition at that same height.

[0033] In some embodiments, the sampling device of the present invention includes an LED light 6, a camera 7, a sampling cover 8, a dustproof plate servo motor 12, a dustproof plate 18, a vibration damping gimbal 5, a temperature sensor 11, a grain level tracking photoelectric through-beam sensor 15, a photoelectric positioning sensor 14, and a capacitor plate 10. The sampling cover 8 is installed at the bottom of the horizontal slide table 4. The LED light 6 and the camera 7 are installed on the inner top wall of the sampling cover 8, with the LED light 6 evenly distributed around the camera 7. Two capacitor plates 10 are provided, respectively installed at the bottom of opposite side walls of the sampling cover 8. The photoelectric positioning sensor 14 is installed inside the capacitor plate 10. The photoelectric positioning sensor 14 ensures that the capacitor plate 10 is filled with grain, reducing measurement capacitance error and improving data acquisition accuracy. Furthermore, it ensures that the distance between the grain plane and the camera 7 plane is equal before each sampling, i.e., before taking a picture, reducing photographic error. A dustproof plate 18 is installed at the bottom of the sampling cover 8 to seal it. One side of the dustproof plate 18 is mounted on the side wall of the sampling cover 8 via a dustproof plate servo motor 12. The dustproof plate servo motor 12 can rotate the dustproof plate 18 to open or close the sampling cover 8, thus protecting it and ensuring that the grain inside the sampling cover is flat before sampling (i.e., before taking a picture). A temperature sensor 11 and a grain level tracking photoelectric sensor 15 are installed at the bottom of the sampling cover 8. The control system can revise the capacitance value of the capacitor plates 10 based on the data collected by the temperature sensor 11, thereby reducing the error in the collected data. In this embodiment, the dustproof plate 18 and the dustproof plate servo motor 12 protect the sampling cover 8 and ensure that the grain inside the sampling cover 8 is flat before taking a picture, thanks to the movement of the horizontal slide 4. The photoelectric positioning sensor 14 ensures that the capacitor plates 10 are filled with grain, reducing capacitance measurement error, and also ensures that the distance between the grain plane and the camera 7 plane is relatively equal before each picture is taken, reducing picture error. Meanwhile, the temperature sensor detects the temperature of the grain in real time. Based on the value of the temperature sensor 11, the capacitance value of the capacitor plate 10 can be revised, further reducing the error.

[0034] Preferably, in some embodiments, the LED light 6 of the present invention can be a single-spectrum or multi-spectrum light source, and the LED light 6 can be a light source with several set wavelengths. The operator can select the wavelength of the light source according to the actual situation. The camera 7 can be a single-wavelength photosensitive element or a multi-spectral camera. By monitoring the reflectance of the grain at a certain wavelength, the moisture content, nitrogen content, etc. of the grain can be determined. If it is necessary to measure the nitrogen content of the grain crop in the grain tank, the light source of the LED light 6 is an infrared light source (wavelength 800nm) and the camera 7 is an infrared photosensitive element. Based on the spectral characteristics of the crop research target under different spectra, the nitrogen content measurement value of the research target can be derived.

[0035] In some embodiments, the sampling cover 8 of the present invention is mounted on the bottom of the horizontal slide table 4 by a vibration damping gimbal 5, which effectively reduces the vibration generated by the sampling cover 8 during movement, thereby ensuring the stability of the camera 7 when collecting data.

[0036] In some embodiments, to prevent dust, grains, etc. from entering the inside of the lead screw, the longitudinal lead screw 1, the longitudinal slide table 2, the transverse lead screw 3, and the transverse slide table 4 are sealed. In this invention, a lead screw dust cover 9 is sealed between one end of the longitudinal lead screw 1 and one side of the longitudinal slide table 2, between the other end of the longitudinal lead screw 1 and the other side of the longitudinal slide table 2, between one end of the transverse lead screw 3 and one side of the transverse slide table 4, and between the other end of the transverse lead screw 3 and the other side of the transverse slide table 4, so as to protect the cleanliness of the lead screw, thereby extending the service life of the transverse lead screw 3 and the longitudinal lead screw 1 and reducing the enterprise's operating costs.

[0037] In some embodiments, the inner wall of the sampling cover 8 of the present invention is coated with a reflective coating 13. The reflective layer can reflect the light emitted by the LED lamp 6, ensuring the stability of the illumination inside the sampling cover 8, thereby ensuring the clarity of the image acquired by the camera 7.

[0038] In some embodiments, the control system of the present invention includes an SD card and a positioning module, which can be a Beidou or GPS module. The positioning module provides the current location information of the harvester. After each data collection, the grain moisture content, breakage rate, impurity rate, grain level, positioning coordinates, and collection time are recorded on the SD card, and the data is simultaneously sent to the display system. This allows the driver to promptly understand the grain condition within the harvester's grain bin 100 and facilitates future data retrieval.

[0039] Based on the above embodiments, the monitoring method of the present invention includes the following steps:

[0040] 1) The staff controls the horizontal slide table motor 16 through the control system to move the horizontal slide table 4 to a certain position;

[0041] 2) The operator controls the longitudinal slide table motor 17 through the control system. Driven by the longitudinal slide table motor 17, the longitudinal slide table 2 begins to descend. Simultaneously, the photoelectric positioning sensors 14 inside the two capacitor plates 10 detect the grain's position in real time. When both photoelectric positioning sensors 14 are in position (i.e., the output signal of the photoelectric positioning sensor 14 is a positioning signal, indicating that grain has been detected), a positioning signal is sent to the control system. Upon receiving the positioning signal, the control system controls the capacitor plates 10 to work, measuring the capacitance between the two capacitor plates 10 and the grain temperature. Based on the relationship between the grain moisture content and the capacitor plates 10, and after temperature correction, the grain moisture content is obtained and transmitted to the control system. Since the calculation of grain moisture content is a well-known technique, it will not be elaborated further. It should be noted that the relationship between moisture content and capacitance differs for different crops. For example, the moisture content yi of wheat is:

[0042] y i =4.31m i -1.03t i +7.10

[0043] Where: m i Let t be the dielectric constant of the grain. i The temperature of the grain.

[0044] 3) The operator then controls the horizontal slide table 4 to move left and right through the control system. Under the action of the dustproof plate 18, the slope caused by the accumulation of grain is flattened. Then, the dustproof plate servo motor 12 is controlled to open the dustproof plate 18, and the LED light 6 is turned on. At this time, the distance between the grain surrounding the sampling hood 8 and the camera 7 is relatively fixed each time. The grain is distributed flat in the sampling hood 8 and is not affected by external light sources. The control system controls the camera 7 to take pictures of the grain in the sampling hood 8 and uploads them to the control system. The control system uses its built-in boundary recognition algorithm (which is existing technology) to obtain the damaged grain, and then analyzes the pixel ratio of grain impurities in the whole picture. After correction, the damage rate and impurity rate of the current position are obtained and transmitted to the control system. Repeating this step on the same grain position plane can obtain the point values ​​of the damage rate and impurity rate of the grain position plane, so as to obtain the damage rate and impurity rate of the grain in the grain box 100 of the harvester more accurately.

[0045] 4) The control system transmits the received data to the display system, which displays the received data in the form of a distribution map of breakage rate and impurity content, a distribution map of crop yield per acre, and a distribution map of crop moisture content, so that the driver can understand the breakage rate, impurity content, and moisture content of the grain in the grain bin, as well as the distribution of crop yield per acre.

[0046] This invention utilizes a longitudinal sliding table 2 and a grain level tracking photoelectric sensor 15 to track the grain level inside the grain bin. When the grain level tracking photoelectric sensor 15 detects the current grain level, it can control the longitudinal sliding table 2 to rise a certain distance. Upon receiving the next grain level arrival signal, a measurement is performed. By adjusting the step length of the longitudinal sliding table 2, the resolution of the grain breakage rate, impurity content, and moisture content in the grain bin profile can be controlled. The grain level arrival signal indicates that grain is blocking the laser signal, preventing the grain level tracking photoelectric sensor 15 from receiving the signal, thus indicating that grain has accumulated at the position of the grain level tracking photoelectric sensor 15.

[0047] The display system of this invention is a monitor. The data transmitted by the control system is displayed on the monitor in the form of breakage rate, impurity area distribution map, crop yield area distribution map, and crop moisture content area distribution map. The specific display method is as follows:

[0048] ① For a combine harvester with a cutting width of L and a travel distance of S between two measurements, the positioning mapping on the display during the sampling interval can be represented as: pixel length S / K. Y (The length of the entire display interface), pixel width is L / K x (The width of the entire acquaintance interface), where K Y K represents the travel distance represented by a single pixel. x This represents the slit width represented by a single pixel; the position is the relative position of the region mapped from the midpoint of the combine harvester at the first two sampling times to the display.

[0049] ② Crushing rate and impurity distribution map: The crushing rate matrix of a combine harvester at a certain location is as follows: The impurity matrix is ,in, , These represent the measured values ​​of breakage rate and impurity content of the first layer of the grain bin, respectively. , These represent the measured values ​​of breakage rate and impurity content in the nth layer of the grain bin, respectively. The position of the harvester's breakage rate and impurity content distribution map at a certain moment is shown as described in step ①, using color intensity to represent the magnitude of the breakage rate and impurity content; the darker the color, the larger the number. (Refer to...) Figure 3 As shown, the driver needs to pay attention to adjusting the harvester's operating status.

[0050] ③ Regional distribution of crop yield per mu, let the yield per mu at time i be m:

[0051] m=

[0052] in: At time i, the grain level The corresponding grain volume;

[0053] Food level at time i-1 The corresponding grain volume;

[0054] Grain density;

[0055] Grain moisture content;

[0056] The path traveled by the harvester between the two measurements;

[0057] Harvester cutting width;

[0058] In this embodiment, the combination of the longitudinal slide table 2 and the grain level tracking photoelectric photoelectric sensor 15 can track the grain level in the grain bin. Combined with the grain moisture content, the weight of the grain in the grain bin can be obtained. By comparing the difference between the two grain weights and the working position, as well as the harvester's cutting width, the harvester's yield per acre data can be obtained.

[0059] The location on the yield distribution map of a certain plot is represented as described in step ①, using color depth to represent yield per acre; the darker the color, the higher the yield per acre. (Refer to...) Figure 4 As shown.

[0060] ④ The location of the crop moisture content distribution map at a certain location is represented as described in step ①, and the moisture content can be represented by the shade of color.

[0061] The present invention combines the longitudinal slide table 2 and the grain level tracking photoelectric photoelectric sensor 15 to track the grain level in the grain bin, and the transverse slide table 4 can perform multiple measurements on a certain plane and record them separately.

[0062] To increase measurement accuracy, 2-4 monitoring devices of this invention can be arranged inside the grain bin 100 of the harvester.

[0063] Other components of the grain condition monitoring device inside the grain bin 100 of the grain combine harvester according to embodiments of the present invention, such as capacitor plate 10, photoelectric position sensor 14, dustproof plate servo motor 12, etc., and their operation are known to those skilled in the art and will not be described in detail here.

[0064] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0066] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0067] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0068] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0069] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A grain condition monitoring device inside the grain bin of a grain combine harvester, characterized in that, include Mobile device, which is installed inside the grain bin of the harvester; A sampling device, which is mounted on the mobile device; The control system is installed in the cab of the harvester. The control system is used to control the moving device to drive the sampling device to move laterally and longitudinally in the grain bin of the harvester, so as to collect the breakage rate, impurity rate and moisture content of the grain at different grain positions in the grain bin of the harvester; and to receive the data transmitted by the sampling device and analyze the data to determine the breakage rate, impurity rate, moisture content and crop yield per acre of the grain. The display system is used to receive data information on grain breakage rate, impurity content, moisture content and crop yield per mu transmitted by the control system, and to display these data in the form of regional distribution maps of breakage rate and impurity content, regional distribution maps of crop yield per mu and regional distribution maps of crop moisture content. The moving device includes a longitudinal lead screw, a longitudinal slide table, a transverse lead screw, a transverse slide table, a transverse slide table motor, and a longitudinal slide table motor; The longitudinal lead screw is provided in two parts, respectively located on opposite side walls inside the grain bin of the harvester; the two ends of the transverse lead screw are mounted on the longitudinal lead screw via the longitudinal slide table, and the longitudinal lead screw slide table is threaded onto the longitudinal lead screw. The longitudinal lead screw and the transverse lead screw form an "H" shaped structure. The upper end of the longitudinal lead screw is mounted on the top wall of the grain bin of the harvester, and the lower end of the longitudinal lead screw is mounted on the bottom wall inside the grain bin of the harvester via the longitudinal lead screw motor. The transverse slide motor is mounted on one of the longitudinal slides, and the output end of the transverse slide motor is connected to the transverse lead screw; one end of the longitudinal lead screw is mounted on the side wall of the grain box of the harvester through the longitudinal slide motor, and the output end of the longitudinal slide motor is connected to the longitudinal lead screw; the transverse slide is threaded onto the transverse lead screw, and the sampling device is mounted on the bottom of the transverse slide; The sampling device includes an LED light, a camera, a sampling cover, a dustproof plate servo motor, a dustproof plate, a vibration damping gimbal, a temperature sensor, a grain level tracking photoelectric through-beam sensor, a photoelectric position sensor, and capacitor plates. The sampling cover is installed at the bottom of the horizontal sliding table. The LED lights and the camera are installed on the inner top wall of the sampling cover. The LED lights are evenly distributed around the camera. Two capacitor plates are provided and installed at the bottom of opposite side walls of the sampling cover. The photoelectric positioning sensor is installed inside the capacitor plates. The dustproof plate is located at the bottom of the sampling cover to seal it. One side of the dustproof plate is installed on the side wall of the sampling cover via a dustproof plate servo motor. This protects the sampling cover and ensures that the grain inside the sampling cover is flat before sampling. The temperature sensor and the grain level tracking photoelectric beam sensor are installed at the bottom of the sampling cover.

2. The grain condition monitoring device in the grain bin of a grain combine harvester according to claim 1, characterized in that, The LED lights are light sources with several set wavelengths, and the camera is a multispectral camera.

3. The grain condition monitoring device in the grain bin of a grain combine harvester according to claim 1, characterized in that, The sampling cover is mounted on the bottom of the horizontal slide table via the vibration damping gimbal.

4. The grain condition monitoring device in the grain bin of a grain combine harvester according to claim 3, characterized in that, The inner wall of the sampling hood is coated with a reflective coating.

5. A grain condition monitoring device in the grain bin of a grain combine harvester according to claim 3 or 4, characterized in that, The control system is equipped with an SD card and a positioning module.

6. A method for monitoring the condition of grain inside the grain bin of a grain combine harvester, characterized in that, The monitoring device as described in any one of claims 1-5 includes the following steps: 1) The control system controls the horizontal slide table motor to move the horizontal slide table to the set position; 2) The control system controls the longitudinal slide table motor to work. The longitudinal slide table moves downward under the drive of the longitudinal slide table motor. At the same time, the photoelectric positioning sensor inside the capacitor plate detects the position information of the grain in real time. When the photoelectric positioning sensor detects the grain information, it sends a positioning signal to the control system. After receiving the positioning signal, the control system controls the capacitor plate to work, measures the capacitance value between the capacitor plates and the grain temperature. Through the relationship between the grain moisture content and the capacitor plates, after temperature correction, the grain moisture content is obtained and transmitted to the control system. 3) The control system controls the horizontal sliding table to move left and right. Under the action of the dustproof plate, the slope created by the grain accumulation is leveled. Then, the dustproof plate servo motor is controlled to open the dustproof plate, and the grain enters the sampling hood. The LED light is then turned on, and the camera is controlled to take pictures of the grain in the sampling hood and upload them to the control system. The control system uses its built-in boundary recognition algorithm to identify damaged grains. Then, by analyzing the pixel ratio of grain impurities in the whole image, the damage rate and impurity content of the grain at the current position are obtained after correction and transmitted to the control system. Repeating this step on the same grain position plane can obtain the grain damage rate and impurity content at each point on this grain position plane. 4) The control system transmits the received data to the display system, which then displays the received data in the form of regional distribution maps of breakage rate and impurity content, regional distribution maps of crop yield per acre, and regional distribution maps of crop moisture content.

7. A method for monitoring the condition of grain in the grain bin of a grain combine harvester according to claim 6, characterized in that, The display system displays the received data in the form of regional distribution maps of breakage rate and impurity content, regional distribution maps of crop yield per acre, and regional distribution maps of crop moisture content. The specific representation method is as follows: ① For a combine harvester with a cutting width of L and a travel distance of S between two measurements, the positioning mapping on the display system during the sampling interval can be represented as: pixel length S / K. Y The pixel width is L / K x , where K Y K represents the travel distance represented by a single pixel. x This represents the slit width represented by a single pixel; the position is the relative position of the region mapped from the midpoint of the combine harvester at the first two sampling times to the display system. ② Representation method of regional distribution map of breakage rate and impurity content: The breakage rate matrix of a combine harvester at a certain location is as follows: The impurity matrix is ,in, , These represent the measured values ​​of breakage rate and impurity content of the first layer of the grain bin, respectively. , The values ​​of breakage rate and impurity content of the nth layer of the grain bin are respectively represented. The position of the distribution map of breakage rate and impurity content of the harvester at a certain moment is represented as described in step ①. The intensity of the color indicates the magnitude of the breakage rate and impurity content. The darker the color, the larger the number. ③ Regional distribution of crop yield per mu, yield per mu at time i: m= ； in: At time i, the grain level The corresponding grain volume; At time i-1, the grain level The corresponding grain volume; Grain density; Grain moisture content; The path traveled by the harvester between the two measurements; Harvester cutting width; The location on the crop yield distribution map at a certain location is represented as described in step ①, with the yield data per mu represented by the shade of color. The darker the color, the higher the yield per mu. ④ The location of the crop moisture content distribution map at a certain location is represented as described in step ①, with the color intensity indicating the moisture content.

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