Device and method for detecting corn ears during threshing

Abstract

The present invention discloses a device for detecting corn ears during a threshing process, comprising a simulated electronic corn ear, a UWB base station, and a host computer system, wherein: the simulated electronic corn ear comprises a UWB positioning module, an IMU module, an AD acquisition module, a base layer shell, a lithium battery, a flexible thin film pressure sensor, simulated corn kernels, and a flexible rubber layer; the UWB positioning module, the IMU module, the AD acquisition module, and the lithium battery are mounted on a circuit board, the circuit board is mounted in the base layer shell, the flexible rubber layer is wrapped around the outside of the base layer shell, and the flexible thin film pressure sensor is arranged between the base layer shell and the flexible rubber layer.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent agricultural equipment, and in particular relates to a device and method for detecting corn ears during threshing. Background Art

[0002] The threshing and separation device is a core component of a corn harvester. The quality of the threshing process directly impacts corn quality and yield. Existing corn threshing and separation devices often suffer from high kernel breakage rates when harvesting high-moisture corn ears (≥25%), severely restricting the development of corn harvesting technology.

[0003] After entering the threshing device, corn ears undergo high-speed circumferential motion, driven by the threshing elements—namely, a spiral motion along the axis of the threshing drum. During this motion, they are subjected to various forces, including squeezing, rubbing, and impact from the threshing elements and threshing concave plates, causing the kernels to fall off. The forces acting on the ears vary at different positions within the threshing drum, and excessive force can easily cause kernel breakage. Therefore, studying the forces acting on corn ears at different positions within the threshing drum can pinpoint the locations where kernel breakage occurs, allowing for refined segmentation improvements to the threshing device structure at these locations to reduce the forces exerted by the mechanical structure on the ears and achieve low-loss threshing.

[0004] However, since the corn ears are in a closed space and are constantly moving, rotating, and colliding during threshing, it is difficult to accurately detect the position and force of the corn ears. Summary of the Invention

[0005] To this end, the present invention proposes a device and method for detecting corn ears during threshing, which can realize real-time detection of the position of corn ears and the squeezing force exerted on corn kernels during threshing.

[0006] In order to achieve the purpose of the present invention, the following technical solutions are adopted:

[0007] A device for detecting corn ears during threshing comprises a simulated electronic corn ear, a UWB base station, and a host computer system, wherein: the simulated electronic corn ear comprises a UWB positioning module, an IMU module, an AD acquisition module, a base layer shell, a lithium battery, a flexible thin film pressure sensor, simulated corn kernels, and a flexible rubber layer; the UWB positioning module, the IMU module, the AD acquisition module, and the lithium battery are mounted on a circuit board, the circuit board is mounted in the base layer shell, the flexible rubber layer is wrapped around the outside of the base layer shell, and the flexible thin film pressure sensor is arranged between the base layer shell and the flexible rubber layer.

[0008] The device, wherein: the flexible rubber layer is provided with a groove array, each groove is provided with a plurality of mounting holes, and the simulated corn kernels are mounted in the mounting holes.

[0009] The device, wherein: the flexible film pressure sensor includes a plurality of sensor units, and the sensor units are arranged in a 4*4 manner.

[0010] The device is characterized in that: silica gel is applied between the gap between the simulated corn kernels and the flexible rubber layer.

[0011] The device is characterized in that: a conical boss is provided at the bottom of the simulated corn kernel, and the simulated corn kernel is installed in the installation hole of the flexible rubber layer using the conical boss.

[0012] A method for detecting corn ears during threshing, wherein the method uses the above-mentioned device for detection; the method:

[0013] Simultaneously feeding the simulated electronic corn ears and the real corn ears into a corn threshing device for threshing;

[0014] The UWB positioning module measures the distance with the UWB base station;

[0015] The IMU module detects the acceleration and angular velocity of the simulated electronic corn ear;

[0016] The AD acquisition module and the flexible film pressure sensor jointly detect the squeezing force exerted on the simulated electronic corn ear.

[0017] The method, wherein: based on the ranging results between the UWB positioning module and the UWB base station, the motion trajectory of the simulated electronic corn ear is calculated according to the following calculation method:

[0018] The discrete state space model of the UWB / IMU tightly integrated positioning system is established as follows:

[0019] Equation of state: X k =FX k-1 +W k-1

[0020] Measurement equation: Z k =h(X k )+V k

[0021] in δd i 2 =(d i IMU ) 2 -(d i UWB ) 2 , i is the number of UWB positioning base stations, di IMU Indicates the distance between the IMU solution position and the i-th base station, d i UWB represents the measurement distance of the i-th UWB base station, h(X k ) represents the nonlinear measurement function, δP N ,δP E ,δP C They represent the north, east and celestial position errors of the carrier solved by IMU, δV N , δV E , δV C Denote the north, east, and celestial velocity errors respectively; k is the current sampling time; T is the sampling period; W is the process noise of the system, set as a white noise sequence with covariance Q; V is the measurement noise of the system, set as a white noise sequence with covariance R; W and V are independent of each other;

[0022] h(X k )The solution process is as follows:

[0023] Assume d i is the actual distance between the i-th base station and the tag, then:

[0024] d i =d i UWB -η i

[0025] where η i is the measurement noise of the th base station, let (p N , p E , p C ) is the actual position of the label, is the position of the i-th base station, then:

[0026]

[0027] Further sorting out:

[0028]

[0029] in Corresponding to the measurement equation of the system model, we can get h i The expression of (·):

[0030]

[0031] The EKF measures the function h i The Jacobian matrix of (·) is used as the approximate measurement matrix H, and then the approximate measurement matrix H is used for Kalman filtering. The EKF filtering equation is as follows:

[0032] Prediction status:

[0033] Predicted state covariance: P k|k-1 =FP k-1 F T +Q

[0034] Filter gain: K k =P k|k-1 H T (HP k|k-1 H T +R) -1

[0035] Update status:

[0036] Update state covariance: P k =P k|k-1 -K k HP k|k-1 .

[0037] The method, wherein:

[0038] Before data fusion, the UWB ranging value is preprocessed using the outlier elimination algorithm, that is, a threshold d is set. l = 0.3m, compare the current distance value d k and the distance value d at the previous moment k-1 The difference Δd, if Δd>d l , it means that the UWB base station 2 is in an obstructed state at this moment. The ranging value at this moment is eliminated and interpolated and smoothed, that is:

[0039]

[0040] The method, wherein: the dynamic impact force calculation formula is as follows:

[0041] The measured acceleration information of the simulated electronic corn ear is converted to the earth coordinate system (n system), and then the impact force F is calculated:

[0042] Assume that the acceleration vector detected by the IMU module is [a rx ,a ry ,a rz ] T , then eliminate the linear acceleration vector [a bx ,a by ,a bz ] T The calculation formula is:

[0043] [a bx , a by , a bz] T =[a rx , a ry , a rz ] T -[a gx , a gy , a gz ] T

[0044] In the formula [a gx ,a gy ,a gz ] T is the component of gravitational acceleration g on each axis in system b, and the calculation formula is:

[0045] BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 Schematic diagram of the method for detecting the spatial position and force of corn ears during threshing according to the present invention;

[0047] Figure 2 Schematic diagram of the human-computer interaction interface of the host computer system of the present invention;

[0048] Figure 3 This is a flow chart of the present invention for detecting the spatial position and force of corn ears during threshing;

[0049] Figure 4 Schematic diagram of the combined positioning algorithm of the present invention;

[0050] Figure 5 Schematic diagram of the impact force analysis algorithm of the present invention

[0051] Figure 6 This is a schematic diagram of the structure of a simulated electronic corn ear according to the present invention;

[0052] Figure 7 This is a schematic structural diagram of the flexible film pressure sensor of the present invention;

[0053] Figure 8 This is a schematic diagram of the base layer shell structure of the present invention;

[0054] Figure 9 Schematic diagram of the flexible rubber layer structure of the present invention;

[0055] Figure 10 This is a schematic diagram of the structure of simulated corn kernels according to the present invention. DETAILED DESCRIPTION

[0056] The following is combined with Figure 1-10, the specific embodiments of the present invention are described in detail. The embodiments are exemplary and are only used to explain the present invention, and should not be understood as limiting the present invention. Obviously, the embodiments described in the present invention are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative work shall fall within the scope of protection of the present invention.

[0057] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of the present invention include the specific features, structures, or characteristics described in conjunction with that embodiment. Thus, the terms "including," "comprising," "having," and their variations throughout this specification mean "including but not limited to," unless otherwise specifically stated.

[0058] like Figure 1 As shown, the device for detecting corn ears during threshing of the present invention includes a simulated electronic corn ear 1, a UWB base station 2, a host computer system 5, and further includes a corn threshing device 4.

[0059] The simulated electronic corn ear 1 includes a UWB positioning module (ultra-wideband positioning module) 1-1, an IMU module (inertial measurement module) 1-2, an AD acquisition module 1-3, a base shell 1-4, a lithium battery 1-5, a flexible thin-film pressure sensor 1-6, simulated corn kernels 1-7, and a flexible rubber layer 1-8. The UWB positioning module, also known as a tag, is embedded within the electronic ear and is used to communicate with an external UWB base station and perform ranging.

[0060] The UWB positioning module 1-1, the IMU module 1-2, the AD acquisition module 1-3, and the lithium battery 1-5 are installed on the circuit board, the circuit board is installed in the base layer shell 1-4, the flexible rubber layer 1-8 is wrapped around the outside of the base layer shell 1-4, the simulated corn kernels 1-7 are densely installed on the flexible rubber layer 1-8, and the flexible film pressure sensor 1-6 is arranged between the base layer shell 1-4 and the flexible rubber layer 1-8.

[0061] like Figure 6 As shown, the simulated electronic corn ear includes a UWB positioning module 1-1, an IMU module 1-2, an AD acquisition module 1-3, a base layer shell 1-4, a lithium battery 1-5, a flexible film pressure sensor 1-6, a simulated corn kernel 1-7, and a flexible rubber layer 1-8.

[0062] The simulated electronic corn cob 1 replaces the corn kernels on a real corn cob 3 with simulated corn kernels 1-7. The corn cob in a real corn cob 3 is replaced by a base shell 1-4. The connection layer between the corn kernels and the cob is replaced by a flexible rubber layer 1-8. The conical bosses at the bottom of the simulated corn kernels 1-7 insert into the small holes on the surface of the flexible rubber layer 1-8, creating a certain connection force between the simulated corn kernels 1-7 and the flexible rubber layer 1-8. To ensure that the connection force is similar to that between the kernels and the cob of a real corn cob 3, an appropriate amount of silicone is applied between the simulated corn kernels 1-7 and the flexible rubber layer 1-8. The simulated electronic corn cob 1 can simulate the threshing process of a real corn cob 3. A flexible thin film pressure sensor 1-6 is embedded between the base shell 1-4 and the flexible rubber layer 1-8 to detect the compressive force exerted on the simulated corn kernels 6 during the threshing process. Embedded within the base shell 1-4 are the UWB positioning module 1-1, IMU module 1-2, AD acquisition module 1-3, and lithium battery 1-5. The lithium battery 1-5 outputs a 3.7V voltage to power the UWB positioning module 1-1, IMU module 1-2, and AD acquisition module 1-3. The UWB positioning module 1-1 and IMU module 1-2 are used to detect the spatial position, posture, and dynamic impact force of the simulated electronic corn ear 1 during threshing. The AD acquisition module 1-3 collects the piezoelectric signal output by the flexible thin film pressure sensor 1-6 and transmits it to the host computer system 5 after AD conversion and amplification.

[0063] like Figure 7 As shown, flexible thin film pressure sensor 1-6 comprises 16 sensor units, arranged in a 4x4 pattern. Each sensor unit measures 10mm x 10mm. These 16 sensor units are evenly distributed across the surface of base shell 1-4. Each sensor unit detects the compressive force applied to a corresponding position on simulated electronic corn cob 1, and each sensor unit does not interfere with the others. Flexible thin film pressure sensor 1-6 is rolled into a cylindrical shape with the same diameter as base shell 1-4 and adhered to the surface of base shell 1-4 using nano-adhesive.

[0064] like Figure 8As shown, the base shell 1-4 is manufactured using 3D printing and consists of two parts, upper and lower, secured at both ends by bolts. A rectangular hole is provided in the center to facilitate insertion of the signal output terminal of the flexible thin film pressure sensor 1-6 into the base shell 1-4 and connection to the AD acquisition module 1-3. The interior of the base shell 1-4 is designed based on the dimensions of the UWB positioning module 1-1, IMU module 1-2, AD acquisition module 1-3, and lithium battery 1-5 to prevent movement of the modules within the base shell 1-4 during the threshing process. A charging port and a DIP switch are located at one end of the base shell 1-4 to facilitate management of the lithium battery 1-5.

[0065] like Figure 9 As shown, the flexible rubber layer 1-8 is manufactured using 3D printing. Based on the arrangement of kernels on a real corn ear 5, the surface of the flexible rubber layer 1-8 is arrayed with eight U-shaped grooves to restrict the movement of the simulated corn kernels 1-7 along the tangential direction of the flexible rubber layer 1-8. At the bottom of each U-shaped groove, there are 30 small holes with a diameter of 1.5 mm, which serve as mounting holes for the simulated corn kernels 1-7. Both ends of the flexible rubber layer 1-8 have 2 mm protrusions that wrap around the ends of the base layer shell 1-4 to prevent the base layer shell 1-4 from sliding out of the flexible rubber layer 1-8 during the threshing process.

[0066] like Figure 10 As shown, the simulated corn kernel 1-7 resembles a real corn kernel and is manufactured using 3D printing. A 1.5mm-tall conical boss is designed at the bottom of the simulated corn kernel 1-7, with diameters of 1mm and 2mm at each end. The simulated corn kernel 1-7 is tightly packed into the small holes in the flexible rubber layer 1-8 using the conical boss. The boss of the simulated corn kernel 1-7 contacts the flexible film pressure sensor 1-6, which transmits the compressive force exerted on the simulated corn kernel 1-7 during the threshing process.

[0067] The method for detecting the spatial position and force of corn ears during the threshing process is to feed the simulated electronic corn ear 1 and the real corn ear 3 into the corn threshing device 4 for threshing at the same time to simulate the actual threshing working conditions. The motion state of the two is consistent during the threshing process. During threshing, the UWB positioning module 1-1 embedded in the simulated electronic corn ear 1 is used to measure the distance with the UWB base station 2, the IMU module 1-2 detects the acceleration and angular velocity of the simulated electronic corn ear 1, and the AD acquisition module 1-3 and the flexible film pressure sensor 1-6 jointly detect the squeezing force exerted on the simulated electronic corn ear 1. The UWB base station 2 transmits the distance measurement information to the host computer system 5 via serial communication, the IMU module 1-3 transmits the acceleration and angular velocity information to the host computer system 5 via Bluetooth, and the AD acquisition module 1-3 transmits the pressure values detected at each sensitive point of the flexible film pressure sensor 1-6 to the host computer system 5 via Bluetooth.

[0068] like Figure 2 As shown, the host computer system 5 is developed based on the APP Designer module in MATLAB. By invoking the corn ear position analysis algorithm, it integrates the distance measurement information, acceleration, and angular velocity information in real time to calculate the motion trajectory, spatial posture, and other kinematic parameters of the simulated electronic corn ear 1. By invoking the impact force analysis algorithm, it calculates the dynamic impact force on the simulated electronic corn ear 1; and by invoking the extrusion force analysis algorithm, it calculates the static extrusion force on the simulated electronic corn ear 1. Finally, the motion trajectory, spatial posture, dynamic impact force, static extrusion force, and other parameters are displayed in real time through the human-computer interaction interface.

[0069] like Figure 3 As shown, the overall process of spatial positioning of corn ears during the threshing process is to first control the corn threshing device 4 to operate under the set parameters, and then simultaneously place the simulated electronic corn ear 1 and the real corn ear 3 into the threshing device 4 for threshing. During the threshing process, the motion and force states of the simulated electronic corn ear 1 and the real corn ear 3 are similar. The simulated electronic corn ear 1 detects the kinematic and dynamic parameters of the corn ear during the threshing process, such as the UWB ranging value, acceleration, angular velocity, and force, and uses the host computer system 5 to perform real-time analysis on the above parameters, and finally obtains the real-time motion trajectory, spatial posture, dynamic impact force, and static extrusion force of the simulated electronic corn ear 1 during the threshing process, thereby realizing the digital restoration of the threshing process.

[0070] like Figure 4As shown, the UWB positioning module 1-1 and the IMU module 1-2 use a tightly combined positioning algorithm for fusion positioning, and the filter type can be selected as Kalman filtering according to the positioning accuracy requirements. First, the speed and position of the simulated electronic corn ear 1 are obtained by integrating the acceleration, and the posture of the simulated electronic corn ear 1 is obtained by parsing the quaternion. The position information detected by the IMU module 1-2 is then resolved into distance value information, and is transmitted to the filter together with the pseudo-range information of the UWB base station 2 for information fusion to obtain the error estimate of the IMU module 1-2, thereby correcting the previously resolved speed, position and posture information of the simulated electronic corn ear 1, and obtaining the optimal estimate of the kinematic and dynamic parameters of the simulated electronic corn ear 1. The specific algorithm is as follows:

[0071] The tightly coupled positioning algorithm based on the EKF (Extended Kalman Filter) uses the IMU's position error and velocity error as state variables, and the square difference between the IMU-calculated distance and the UWB-measured distance as the measurement variable. The discrete state space model of the UWB / IMU tightly coupled positioning system is established as follows:

[0072] Equation of state: X k =FX k-1 +W k-1

[0073] Measurement equation: Z k =h(X k )+V k

[0074] in δd i 2 =(d i IMU ) 2 -(d i UWB ) 2 , i is the number of UWB positioning base stations, d i IMU Indicates the distance between the IMU solution position and the i-th base station, d i UWB represents the measurement distance of the i-th UWB base station, h(X k ) represents the nonlinear measurement function, δP N ,δP E ,δP C They represent the north, east and celestial position errors of the carrier solved by IMU, δV N , δV E , δV C represent the north, east, and celestial velocity errors respectively; k is the current sampling time; F refers to the state transfer matrix, δdi 2 It refers to the difference between the square of the distance between the corn ear and the base station calculated by IMU and the square of the distance between the electronic corn ear and the base station calculated by UWB; T is the sampling period; W is the process noise of the system, which is set as a white noise sequence with covariance Q; V is the measurement noise of the system, which is set as a white noise sequence with covariance R; W and V are independent of each other. k )The solution process is as follows:

[0075] Assume d i is the actual distance between the i-th base station and the tag, then:

[0076] d i =d i UWB -η i

[0077] where η i is the measurement noise of the th base station. Let (p N , p E , p C ) is the actual position of the label, is the position of the i-th base station, then:

[0078]

[0079] Further sorting out:

[0080]

[0081] in Corresponding to the measurement equation of the system model, we can get h i The expression of (·):

[0082]

[0083] In the tight combination mode, the measurement equation of the system model is a nonlinear equation. EKF converts the measurement function h i The Jacobian matrix of (·) is used as the approximate measurement matrix H, and then the approximate measurement matrix H is used for Kalman filtering. Each element of the approximate measurement matrix H is the first-order partial derivative of the corresponding measurement variable component with respect to the state variable component. Given the initial error value X0, the initial error covariance value P0, the process noise covariance matrix Q and the measurement noise covariance matrix R, the suboptimal error estimate at each sampling moment can be recursively obtained according to the EKF filtering equation. The error estimate is used to correct the IMU positioning result and finally obtain the suboptimal estimate of the carrier position and velocity. The EKF filtering equation is as follows:

[0084] Prediction status:

[0085] Predicted state covariance: P k|k-1 =FP k-1 F T +Q

[0086] Filter gain: K k =P k|k-1 H T (HP k|k-1 H T +R) -1

[0087] Update status:

[0088] Update state covariance: P k =P k|k-1 -K k HP k|k-1

[0089] The above five formulas can be used to represent the real-time motion trajectory of the simulated electronic corn ear 1 .

[0090] In order to improve the positioning accuracy, the outlier removal algorithm can be used to pre-process the UWB ranging value before data fusion, that is, to set a threshold d l = 0.3m, compare the current distance value d k and the distance value d at the previous moment k-1 The difference Δd, if Δd>d l , it means that the UWB base station 2 is in an obstructed state at this moment. The ranging value at this moment is eliminated and interpolated and smoothed, that is:

[0091]

[0092] like Figure 5 As shown in the figure, the acceleration information of the simulated electronic corn ear 1 measured by the IMU module 1-2 is based on the carrier coordinate system (b system), which needs to be converted to the earth coordinate system (n system) according to the gyroscope attitude information, and then the impact force F is calculated. Assume that the acceleration vector detected by the IMU module is [a rx ,a ry ,a rz ] T , then eliminate the linear acceleration vector [a bx ,a by ,a bz ] T The calculation formula is:

[0093] [a bx , a by , a bz ] T =[a rx , ary , a rz ] T -[a gx , a gy , a gz ] T

[0094] In the formula [a gx ,a gy ,a gz ] T is the component of gravitational acceleration g on each axis in system b, and the calculation formula is:

[0095]

[0096] The electronic fruit ear acceleration information detected by the IMU module is based on the carrier coordinate system (b system), which needs to be converted to the earth coordinate system (n system) according to the gyroscope attitude information, and then the impact force F is calculated. The rotation matrix R from the b system to the n system can be obtained based on the quaternion array Q (q0, q1, q2, q3) measured by the gyroscope. b n for:

[0097]

[0098] Then the acceleration vector [a nx ,a ny ,a nz ] T The calculation formula is:

[0099]

[0100] According to Newton's second law, the dynamic impact force F on the electronic spike can be obtained as:

[0101] [F nx , F ny , F nz ] T =m[a nx , a ny , a nz ] T

[0102] The present invention can, on the one hand, detect the actual motion state and stress conditions of corn ears at different positions of the threshing device during the threshing process. Based on the stress conditions, the location where the grains are broken can be clearly identified, and the structure of the threshing device at that location can be refined and improved, thereby improving the working performance of the threshing device and reducing the grain breakage rate. On the other hand, by detecting the motion state of corn ears under different threshing parameters (threshing drum speed, threshing gap, diversion angle), the influence of threshing parameters on the stress of corn ears can be explored, thereby obtaining the optimal threshing parameters and reducing the grain breakage rate.

[0103] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention in any form. Although the present invention has been disclosed as above in terms of preferred embodiments, they are not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A device for detecting corn ears during threshing, comprising a simulated electronic corn ear, a UWB base station, and a host computer system, characterized in that: The simulated electronic corn cob includes a UWB positioning module, an IMU module, an AD acquisition module, a base layer shell, a lithium battery, a flexible thin film pressure sensor, a simulated corn kernel and a flexible rubber layer; the UWB positioning module, the IMU module, the AD acquisition module, and the lithium battery are installed on a circuit board, the circuit board is installed in the base layer shell, the flexible rubber layer is wrapped around the outside of the base layer shell, the flexible thin film pressure sensor is arranged between the base layer shell and the flexible rubber layer, the flexible rubber layer is provided with a groove array, each groove is provided with multiple mounting holes, and the simulated corn kernels are installed in the mounting holes; the UWB base station is used to transmit the ranging information to the host computer system through serial communication, the IMU module is used to transmit the acceleration and angular velocity information to the host computer system through Bluetooth, and the AD acquisition module is used to transmit the pressure values detected by each sensitive point of the flexible thin film pressure sensor to the host computer system through Bluetooth; the host computer system is used to detect the actual motion state and force conditions of the corn cob at different positions of the threshing device during the threshing process, and the position where the kernel is broken can be determined according to the force conditions.

2. The device according to claim 1, characterized in that: The flexible thin film pressure sensor includes a plurality of sensor units.

3. A method for detecting corn ears during threshing, characterized in that: The method uses the device according to any one of claims 1-2 for detection; the method: Simultaneously feeding the simulated electronic corn ears and the real corn ears into a corn threshing device for threshing; The UWB positioning module measures the distance with the UWB base station, and the UWB base station transmits the distance information to the host computer system through serial communication; The IMU module detects the acceleration and angular velocity of the simulated electronic corn ear and transmits the acceleration and angular velocity information to the host computer system via Bluetooth; The AD acquisition module transmits the pressure values detected by each sensitive point of the flexible film pressure sensor to the host computer system via Bluetooth; The upper computer system detects the actual motion state and force conditions of corn ears at different positions of the threshing device during the threshing process. According to the force conditions, the position where the kernels are broken can be determined.

Images