Hybrid rice seed production female parent seed unloading device, control method and harvester

Abstract

The invention provides a hybrid rice seed production female parent seed unloading device, a control method and a harvester. The hybrid rice seed production female parent seed unloading device comprises an upper right-angle impeller mounting pipe, a grain impurity rate monitoring device, an unloading outlet pipeline, a control device, a centrifugal fan, a ventilation pipe, a shaking plate device, a driving motor set, a grain tank, a high-position unloading barrel, a three-impeller device and a grain discharging device. The centrifugal fan, the ventilation pipe, the high-position grain unloading barrel, the upper right-angle impeller installation pipe and the grain unloading outlet pipeline are sequentially connected, a grain outlet is formed in the lower portion of the grain tank, the shaking plate device is installed in the grain outlet, one end of the grain discharging device is connected with the grain outlet, the other end of the grain discharging device is connected with the ventilation pipe, and an opening is formed in the connecting position of the grain discharging device and the ventilation pipe. The grain unloading efficiency can be remarkably improved, the grain unloading time is shortened, the whole machine operation efficiency is improved, and the grain unloading device can be used for harvesting rice seeds, rice, wheat, oilseed rape and soybeans and has wide applicability.

Description

Technical Field

[0001] The invention belongs to the field of adaptive control of combine harvesters, and in particular relates to a hybrid rice seed production female parent seed unloading device and a control method and a harvester. Background Art

[0002] As a complex agricultural machinery integrating cutting, conveying, threshing, separation, cleaning, and grain collection, the combine harvester has the characteristics of high operating efficiency and strong mobility, and plays an important role in reducing the labor intensity of farmers and improving rural productivity. The survey found that at present, the unloading time of domestic combine harvesters with full grain tanks is generally slow, which is twice the unloading time of Japanese Kubota combine harvesters with the same feed amount, which seriously affects the operating efficiency of the combine harvester. In order to improve the unloading efficiency, domestic and foreign scholars have conducted a lot of research work, but most of the research is based on changing the structural parameters of the grain tank, unloading barrel and screw conveyor. The effect of improving the unloading efficiency is limited. If the structural parameters of the screw conveyor are not set properly, the crushing rate of the grain will increase.

[0003] Pneumatic grain transportation has the characteristics of high efficiency and low damage, which can significantly improve the unloading efficiency of the grain unloading device and reduce secondary damage during unloading. However, the current unloading system of the combine harvester that pneumatically transports grain has the following disadvantages: ① There is no shaking plate device. When the impurity rate of the grain in the grain box is too high, the material fluidity is poor, resulting in blockage of the grain outlet and the inability of the material to enter the grain discharge impeller. ② Seeds are easily accumulated at the junction, affecting the smoothness of grain unloading. ③ The parameters such as the fan speed and the discharge impeller speed of the grain unloading device are fixed, and the air flow cannot be increased or decreased according to the impurity rate of the seeds in the grain box. ④ The fan uses a vortex fan, which has poor variable operating performance, resulting in grain accumulation in the pipeline, making it impossible to guarantee the operating effect. The comparison results of grain unloading efficiency show that the pneumatic unloading rate is slower than that of the screw conveyor. Summary of the invention

[0004] The present invention aims to solve at least one of the above technical problems to a certain extent. To this end, the present invention provides a hybrid rice seed production female parent seed unloading device and control method and a harvester to improve unloading efficiency and reduce seed breakage.

[0005] The technical solution of the present invention is:

[0006] A hybrid rice seed production female parent seed unloading device, comprising a grain impurity rate monitoring device, a grain unloading outlet pipeline, a centrifugal fan, a shaking plate device, a driving motor group, a grain box, a high-position grain unloading cylinder, a three-impeller device, a grain discharge device and a control device;

[0007] The seed impurity rate monitoring device is installed on the top of the grain box and is used to monitor the impurity rate of the seeds in the grain box; a grain outlet is provided at the bottom of the grain box, and a shaking plate device is installed at the grain outlet; one end of the grain discharge device is connected to the grain outlet, and the other end of the grain discharge device is connected to the ventilation pipe; one end of the ventilation pipe is connected to the centrifugal fan, and the other end is connected to one end of the high-position grain unloading barrel; the other end of the high-position grain unloading barrel is connected to the grain unloading outlet pipe through the upper right-angle impeller mounting pipe; the three-impeller device is installed on the upper right-angle impeller mounting pipe; the centrifugal fan is used to blow the seeds that fall into the ventilation pipe Towards the outlet of the grain unloading outlet pipe, the shaking plate device is used to shake the seeds that fall on the shaking plate device. The seeds enter the grain discharge device after being shaken by the shaking plate device. The grain discharge device discharges the seeds into the ventilation duct. The three-impeller device is used to accelerate the passing seeds to the outlet of the grain unloading outlet pipe; the driving motor group is respectively connected to the shaking plate device, the grain discharge device, the centrifugal fan and the three-impeller device; the control device is respectively connected to the grain impurity monitoring device, the centrifugal fan, the shaking plate device, the driving motor group, the three-impeller device and the grain discharge device.

[0008] In the above scheme, the control device will reversely call the grain impurity rate monitored by the grain impurity rate monitoring device when the grain tank is empty to full, and input it into the impurity rate control matching model obtained through neural network training, so as to obtain the optimal predicted values ​​of the shaking frequency of the shaking plate device, the rotational speed of the grain discharge device, the rotational speed of the centrifugal fan and the rotational speed of the three-impeller device at the next moment, and adjust the shaking frequency of the shaking plate device, the rotational speed of the grain discharge device, the rotational speed of the centrifugal fan and the rotational speed of the three-impeller device accordingly.

[0009] Furthermore, the neural network is a RBF-MLP neural network.

[0010] In the above scheme, the seed impurity rate monitoring device includes an embedded processor, a camera bracket, an industrial camera, a ring light source generating device, a light source bracket, a circular glass plate and a monitoring device housing;

[0011] The embedded processor, camera bracket, industrial camera, annular light source generating device, light source bracket, and circular glass plate are all located in the housing of the monitoring device. The embedded processor is connected to the industrial camera. The camera bracket fixes the industrial camera to the inner wall of the housing of the monitoring device. A mounting platform is provided in the housing of the monitoring device. A circular glass plate is embedded on the mounting platform. A light source bracket is installed on the circular glass plate. The annular light source generating device is installed on the light source bracket. The industrial camera is arranged on the same axis as the center of the annular light source through the camera bracket. The industrial camera shoots the seed flow entering the grain box during the operation through the middle hole of the annular light source and through the circular glass, and transmits the photograph to the embedded processor. The embedded processor is connected to the control device.

[0012] In the above scheme, the shaking plate device includes a shaking plate and a shaft;

[0013] The shaft passes through the shaking plate and is movably connected to the shaking plate, and both ends of the shaft pass through the side walls of the grain outlet so that the shaking plate is placed in the grain outlet, and bearings are provided at the connection between the two ends of the shaft and the grain outlet; a protrusion is provided on the shaft, and the protrusion contacts the shaking plate, and one end of the shaft is connected to the corresponding driving motor of the driving motor group through a gear transmission device, so that the power of the driving motor is converted by the gear transmission device to drive the shaft to rotate, so that the protrusion on the shaft intermittently hits the shaking plate to achieve shaking of the shaking plate.

[0014] In the above scheme, the grain discharge device includes a grain discharge impeller shaft, a grain discharge impeller, a grain discharge cylinder, a U-shaped support plate and a bearing seat support;

[0015] One end of the grain unloading cylinder is connected to the grain outlet, and the other end of the grain unloading cylinder is connected to the ventilation pipe. The connection between the grain unloading cylinder and the ventilation pipe is open. The grain discharge impeller is fixed on the grain discharge impeller shaft and is located in the grain unloading cylinder. The U-shaped support plate is fixed on the combine harvester frame. The ventilation pipe crosses the U-shaped support plate. The bearing seat support is located on both sides of the grain unloading cylinder and is coaxial with the grain discharge impeller bearing. The bearing seat support is installed on the U-shaped support plate. Bearings are provided at both ends of the grain discharge impeller shaft and are respectively installed on the bearing seat support.

[0016] One end of the grain discharge impeller shaft is connected to the corresponding drive motor of the drive motor group through a belt transmission device, so that the power of the drive motor drives the grain discharge impeller shaft to rotate through the belt transmission device, thereby rotating the grain discharge impeller.

[0017] In the above scheme, the three-impeller device includes a device housing, a three-impeller drive motor, impeller blades, a three-impeller shaft and a three-impeller sleeve;

[0018] The impeller blades are located in the upper right-angle impeller mounting tube, and the impeller blades are fixed on the three-impeller shaft; both ends of the three-impeller shaft are mounted on the side walls of the upper right-angle impeller mounting tube, and a three-impeller shaft sleeve is provided at the connection; the motor shaft of the three-impeller drive motor is connected to one end of the three-impeller shaft through a coupling, so that the three-impeller drive motor can transmit power to the three-impeller shaft, thereby driving the impeller blades to rotate, and the three-impeller drive motor is fixed in the device casing, and the device casing is mounted on the outer side wall of the upper right-angle impeller mounting tube.

[0019] The above scheme also includes an upper curved pipe horizontal rotation adjustment device;

[0020] The upper curved pipe horizontal rotation adjusting device is located at the lower part of the upper right-angle impeller mounting tube, and the upper curved pipe horizontal rotation adjusting device is connected to the upper right-angle impeller mounting tube through a pin; the driving motor group is connected to the upper curved pipe horizontal rotation adjusting device, and is used to drive the upper curved pipe horizontal rotation adjusting device to drive the upper right-angle impeller mounting tube to rotate, thereby controlling the outlet position of the grain unloading outlet pipe.

[0021] A control method for the hybrid rice seed production female parent seed unloading device comprises the following steps:

[0022] The seed impurity rate monitoring device monitors the impurity rate of the harvested seeds entering the grain box, the shaking plate device vibrates to enhance the fluidity of the seeds in the grain box, the seeds enter the grain discharge impeller, and after the action of the grain discharge impeller, the seeds enter the ventilation pipe, the centrifugal fan generates airflow to promote the rapid flow of the seeds, and the three-impeller device at the junction of the high-position grain discharge cylinder and the grain discharge outlet pipe accelerates the discharge of the seeds;

[0023] The control device will reversely call the grain impurity rate monitored by the grain impurity rate monitoring device when the grain tank is empty to full, and input it into the impurity rate control matching model obtained through neural network training, to obtain the predicted values ​​of the optimal shaking frequency of the shaking plate device, the rotational speed of the grain discharge device, the rotational speed of the centrifugal fan and the rotational speed of the three-impeller device at the next moment, and adjust the shaking frequency of the shaking plate device, the rotational speed of the grain discharge device, the rotational speed of the centrifugal fan and the rotational speed of the three-impeller device accordingly.

[0024] In the above scheme, the impurity content control matching model is:

[0025]

[0026] Wherein, Z is the impurity content of the grain monitored by the impurity content monitoring device of the grain, F(Z) is the frequency of the shaking plate, f1(Z) is the first-level frequency of the shaking plate, f2(Z) is the second-level frequency of the shaking plate, and f3(Z) is the third-level frequency of the shaking plate; N G (Z) is the impeller speed of grain discharge, n G1 is the speed of the impeller for the first-gear discharge, n G2 is the impeller speed of the second-gear discharge, n G3 The third-gear impeller speed; N C (Z) is the centrifugal fan speed, n C1 is the first gear centrifugal fan speed, n C2 is the second-speed centrifugal fan speed, n C3 The third gear centrifugal fan speed; N M (Z) is the speed of the three-impeller directly connected to the motor, n M1 is the speed of the first-gear motor direct-connected three-impeller, n M2 is the speed of the second-speed motor-connected three-impeller, n M3 It is the third gear motor direct-connected three-impeller speed;

[0027] Z, f1(Z), f2(Z), f3(Z), n G1 (Z), n G2 (Z), n G3 (Z), n C1 (Z), n C2 (Z), nC3 (Z), n M1 (Z), n M2 (Z), n M3 (Z) The following constraints are met:

[0028] When Z≤1.0%, then

[0029] 2.80Hz≤f1(Z)≤3.15Hz

[0030] 22r / min<n G3 (Z)≤28r / min

[0031] 3400r / min<n C3 (Z)≤3600r / min

[0032] 13r / min≤n M1 (Z)≤15r / min

[0033] When 1.0%<Z≤1.5%, then

[0034] 3.15Hz<f2(Z)≤5.46Hz

[0035] 14r / min<n G2 (Z)≤22r / min

[0036] 3000r / min<n C2 (Z)≤3400r / min

[0037] 15r / min<n M2 (Z)≤22r / min

[0038] When Z>1.5%,

[0039] 5.46Hz<f3(Z)≤7.83Hz

[0040] 10r / min≤n G1 (Z)≤14r / min

[0041] 2800r / min≤n C1 (Z)≤3000r / min

[0042] 22r / min<n M3 (Z)≤31r / min.

[0043] A harvester comprises the hybrid rice seed production female parent seed unloading device, wherein the hybrid rice seed production female parent seed unloading device is controlled according to the control method of the hybrid rice seed production female parent seed unloading device.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. The grain unloading device of the present invention comprises a grain impurity monitoring device, a grain unloading outlet pipeline, a centrifugal fan, a shaking plate device, a driving motor group, a grain box, a high-position grain unloading barrel, a three-impeller device, a grain discharge device and a control device. The grain impurity monitoring device monitors the impurity content of harvested seeds entering the grain box, the shaking plate device vibrates to enhance the fluidity of the seeds in the grain box, the seeds enter the grain discharge impeller, and after being acted upon by the grain discharge impeller, the seeds enter the ventilation pipe, the centrifugal fan generates airflow to promote the rapid flow of the seeds, and the three-impeller device at the junction of the high-position grain unloading barrel and the grain unloading outlet pipeline accelerates the discharge of seeds, thereby improving the grain unloading efficiency and reducing grain breakage.

[0046] 2. The present invention monitors the impurity content of seeds entering the grain box of the combine harvester through a grain impurity content monitoring device, and adjusts the vibration frequency of the shaking plate accordingly to enhance the fluidity of the seeds in the grain box, prevents the harvested crops from being blocked at the junction of the grain outlet and the grain unloading cylinder, and allows the seeds to smoothly enter the grain discharge impeller; the speed of the grain discharge impeller is adjusted according to the impurity content, thereby increasing the grain discharge efficiency; the seeds enter the ventilation pipe after being acted upon by the grain discharge impeller, and the speed of the centrifugal fan is adjusted according to the impurity content to generate a corresponding appropriate air flow rate, thereby promoting the rapid flow of the harvested crops. As the transmission distance increases, the air flow rate generated by the centrifugal fan decreases, and an auxiliary acceleration device of the three-impeller of the high-speed grain discharge device is added at the junction of the high-position grain unloading cylinder and the grain unloading outlet pipe to accelerate the removal of seeds, thereby further improving the grain unloading efficiency and reducing grain breakage.

[0047] 3. The centrifugal fan of the present invention has good airflow stability, high static pressure, and long airflow attenuation distance, which can significantly improve the grain unloading efficiency, shorten the grain unloading time, and improve the operating efficiency of the whole machine.

[0048] 4. The impurity content control matching model of the present invention is obtained through RBF-MLP neural network training. The RBF-MLP neural network has the ability of deep learning and can adjust the grain unloading working parameters through self-learning, thereby improving the grain unloading efficiency of the grain unloading device and shortening the grain unloading auxiliary time, thereby significantly improving the operating efficiency of the combine harvester.

[0049] 5. The combine harvester of the present invention can be used for harvesting rice, wheat, rapeseed and soybean, and has wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a front view of the installation position of the grain unloading device on the combine harvester according to one embodiment of the present invention.

[0051] Figure 2 It is a left view of the installation position of the grain unloading device on the combine harvester according to one embodiment of the present invention.

[0052] Figure 3 It is a schematic structural diagram of a device for monitoring impurity content in grains according to one embodiment of the present invention.

[0053] Figure 4 It is a schematic structural diagram of a shaking plate device according to an embodiment of the present invention.

[0054] Figure 5 It is a schematic diagram of the shaft structure of one embodiment of the present invention.

[0055] Figure 6 It is a rear view of the installation position of the electric grain unloading device on the combine harvester according to one embodiment of the present invention.

[0056] Figure 7 It is a schematic diagram of a bearing seat support structure according to an embodiment of the present invention.

[0057] Figure 8 It is a schematic structural diagram of a three-impeller device according to one embodiment of the present invention.

[0058] Fig. 9 It is a schematic side view of a three-impeller device according to one embodiment of the present invention.

[0059] Fig.10 Schematic diagram of an impeller blade according to an embodiment of the present invention.

[0060] Fig.11 It is a schematic diagram of the impeller blades and three-impeller shaft structure of one embodiment of the present invention.

[0061] Fig.12 It is a schematic diagram of the impeller thin plate structure according to one embodiment of the present invention.

[0062] Fig.13 It is a schematic structural diagram of a centrifugal fan according to one embodiment of the present invention.

[0063] Fig.14 It is a schematic diagram of the fan blade structure according to one embodiment of the present invention.

[0064] Fig.15 It is a schematic diagram of the RBF-MLP network structure of one embodiment of the present invention.

[0065] In the figure: 2-upper right-angle impeller mounting tube, 3-grain impurity rate monitoring device, 301-embedded processor, 302-camera bracket, 303-industrial camera, 304-ring light source generating device, 305-light source bracket, 306-circular glass plate, 307-monitoring device housing, 4-grain discharge outlet pipe, 5-display, 6-centrifugal fan, 601-centrifugal fan housing, 602-fan blades, 603-centrifugal fan outlet, 7-ventilation pipe, 8-grain discharge impeller shaft, 9-shaking plate device, 10-first drive motor, 11-gear transmission device, 12 -shaft, 13-grain outlet, 14-grain box, 15-high-position grain unloading cylinder, 16-three-impeller device, 1601-device housing, 1602-three-impeller driving motor, 1604-impeller blades, 1605-three-impeller shaft, 1607-three-impeller shaft sleeve, 17-upper curved pipe horizontal rotation adjustment device, 18-second driving motor, 19-grain discharge impeller, 1901-impeller sheet, 1902-rubber pad, 20-third driving motor, 21-belt transmission device, 22-fourth driving motor, 23-grain unloading cylinder, 24-U-shaped support plate, 25-bearing seat support. DETAILED DESCRIPTION

[0066] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0067] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0068] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0069] Figure 1 , 2 The figure shows a preferred embodiment of the hybrid rice seed production female parent seed unloading device, which includes an upper right-angle impeller mounting tube 2, a grain impurity rate monitoring device 3, a grain unloading outlet pipeline 4, a control device, a centrifugal fan 6, a ventilation pipe 7, a shaking plate device 9, a driving motor group, a grain box 14, a high-position grain unloading cylinder 15, a three-impeller device 16 and a grain discharge device;

[0070] The grain impurity monitoring device 3 is installed on the top of the grain box 14, and is used to monitor the impurity content of the seeds in the grain box 14; a grain outlet 13 is provided below the grain box 14, and a shaking plate device 9 is installed at the grain outlet 13; one end of the grain discharge device is connected to the grain outlet 13, and the other end of the grain discharge device is connected to the ventilation pipe 7; one end of the ventilation pipe 7 is connected to the centrifugal fan 6, and the other end is connected to one end of the high-position grain unloading barrel 15; the other end of the high-position grain unloading barrel 15 is connected to the grain unloading outlet pipe 4 through the upper right-angle impeller mounting pipe 2; the three-impeller device 16 is installed on the upper right-angle impeller mounting pipe 2; the centrifugal fan 6 is used to blow the seeds that fall into the ventilation pipe 7 to the outlet of the grain unloading outlet pipe 4, and the shaking plate device 9 is used to shake the seeds that fall on the shaking plate The seeds on the device 9, thereby enhancing the seed fluidity and preventing the seeds from being blocked at the grain outlet 13. The seeds enter the grain discharge device after being shaken by the shaking plate device 9. The grain discharge device discharges the seeds into the ventilation pipe 7, thereby preventing the seeds from being blocked at the opening of the ventilation pipe 7 and increasing the seed fluidity. The three-impeller device 16 is used to accelerate the passing seeds to the outlet of the grain unloading outlet pipe 4 to prevent the seeds from being blocked at the upper right-angle impeller mounting pipe 2; the driving motor group is respectively connected to the shaking plate device 9, the grain discharge device, the centrifugal fan 6 and the three-impeller device 16; the control device is respectively connected to the grain impurity content monitoring device 3, the centrifugal fan 6, the shaking plate device 9, the driving motor group, the three-impeller device 16 and the grain discharge device.

[0071] The control device reversely calls the grain impurity rate monitored by the grain impurity rate monitoring device 3 from empty to full when the grain box 14 unloading device is operating normally, as well as the historically collected shaking frequency of the shaking plate device 9, the rotation speed of the grain discharge device, the rotation speed of the centrifugal fan 6 and the rotation speed of the three-impeller device 16, and imports them into the RBF-MLP multi-layer neural network to train and obtain the impurity rate control matching model.

[0072] The control device will reversely call the grain impurity rate monitored by the grain impurity rate monitoring device 3 of the grain box 14 from empty to full, and input it into the impurity rate control matching model to obtain the predicted values ​​of the optimal shaking frequency of the shaking plate device 9, the rotation speed of the grain discharge device, the rotation speed of the centrifugal fan 6 and the rotation speed of the three-impeller device 16 at the next moment, and use this to control the drive motor group to adjust the shaking frequency of the shaking plate device 9, the rotation speed of the grain discharge device, the rotation speed of the centrifugal fan 6 and the rotation speed of the three-impeller device 16, thereby improving the grain unloading efficiency.

[0073] The seeds in the grain box 14 are shaken by the shaking plate device 9 in the grain outlet 13 and then enter the grain discharge device, and then enter the ventilation pipe 7 from the grain discharge device. Due to the action of the centrifugal fan 6, the seeds move in sequence along the ventilation pipe 7, the high-position grain unloading barrel 15, the upper right-angle impeller mounting tube 2, the three-impeller device 16 and the grain unloading outlet pipe 4, and are finally discharged from the outlet of the grain unloading outlet pipe 4.

[0074] like Figure 3 As shown, preferably, the seed impurity rate monitoring device 3 includes an embedded processor 301, a camera bracket 302, an industrial camera 303, a ring light source generating device 304, a light source bracket 305, a circular glass plate 306 and a monitoring device housing 307;

[0075] The embedded processor 301, camera bracket 302, industrial camera 303, annular light source generating device 304, light source bracket 305, and circular glass plate 306 are all located in a monitoring device housing 307. The embedded processor 301 is connected to the industrial camera 303. The camera bracket 302 fixes the industrial camera 303 on the inner wall of the monitoring device housing 307. A mounting platform is provided in the monitoring device housing 307. A circular glass plate 306 is embedded on the mounting platform. A light source bracket 305 is mounted on the circular glass plate 306. The annular light source generating device 304 is mounted on the light source bracket 305. The industrial camera 303 is arranged on the same axis as the annular light source 304 through the camera bracket 302. The industrial camera 303 shoots the seed flow entering the grain box during the operation through the middle hole of the annular light source 304 and the circular glass 306, obtains the impurity rate information of the grain during the filling process of the grain box, and transmits it to the embedded processor 301. The embedded processor 301 is connected to the control device.

[0076] like Figure 4 and 5As shown, preferably, the shaking plate device 9 includes a shaking plate and a shaft 12; the shaft 12 passes through the shaking plate 9 and is movably connected to the shaking plate, and bearings are provided at the connection between the two ends of the shaft 12 and the grain outlet 13; a protrusion is provided on the shaft 12, and the protrusion contacts the shaking plate, and one end of the shaft 12 is connected to the corresponding driving motor of the driving motor group through a gear transmission device 11, so that the power of the driving motor is converted through the gear transmission device 11 to drive the shaft 12 to rotate, so that the protrusion on the shaft 12 intermittently hits the shaking plate 9, thereby realizing the shaking of the shaking plate 9.

[0077] Preferably, one end of the shaft 12 is connected to the first drive motor 10 of the drive motor group through a gear transmission device 11, so that the power of the first drive motor 10 is converted by the gear transmission device 11 to drive the shaft 12 to rotate, so that the protrusion on the shaft 12 intermittently hits the shaking plate 9, thereby causing the shaking plate 9 to shake.

[0078] like Figure 6 and 7 As shown, preferably, the grain discharge device includes a grain discharge impeller shaft 8, a grain discharge impeller 19, a grain discharge cylinder 23, a U-shaped support plate 24 and a bearing seat support 25;

[0079] One end of the grain unloading cylinder 23 is connected to the grain outlet 13, and the other end of the grain unloading cylinder 23 is connected to the ventilation pipe 7. The connection between the grain unloading cylinder 23 and the ventilation pipe 7 is open. The grain discharge impeller 19 is fixed on the grain discharge impeller shaft 8 and is located in the grain unloading cylinder 23. The U-shaped support plate 24 is fixed on the combine harvester frame. The ventilation pipe 7 crosses the U-shaped support plate 24. The bearing seat support 25 is located on both sides of the grain unloading cylinder 23 and is coaxial with the grain discharge impeller bearing 8. The bearing seat support 25 is installed on the U-shaped support plate 24. Bearings are provided at both ends of the grain discharge impeller shaft 8 and are respectively installed on the bearing seat support 25.

[0080] One end of the grain discharge impeller shaft 8 is connected to the corresponding drive motor of the drive motor group through the belt transmission device 21, so that the power of the drive motor drives the grain discharge impeller shaft 8 to rotate through the belt transmission device 21, thereby rotating the grain discharge impeller 19.

[0081] like Figure 8 , 9 , 10 and 11, preferably, the three-impeller device 16 includes a device housing 1601, a three-impeller drive motor 1602, impeller blades 1604, a three-impeller shaft 1605 and a three-impeller sleeve 1607;

[0082] The impeller blades 1604 are located in the upper right-angle impeller mounting tube 2, and the impeller blades 1604 are fixed on the three-impeller shaft 1605. Both ends of the three-impeller shaft 1605 are mounted on the side walls of the upper right-angle impeller mounting tube 2, and a three-impeller shaft sleeve 1607 is provided at the connection. The motor shaft of the three-impeller driving motor 1602 is connected to one end of the three-impeller shaft 1605 through a coupling, so that the three-impeller driving motor 1602 can transmit power to the three-impeller shaft 1605, thereby driving the impeller blades 1604 to rotate, and the three-impeller driving motor 1602 is fixed in the device housing 1601, and the device housing 1601 is mounted on the outer side wall of the upper right-angle impeller mounting tube 2.

[0083] like Fig.12 As shown, preferably, the grain discharge impeller 19 includes an impeller thin plate 1901 and a rubber pad 1902; the impeller thin plate 1901 is fixed on the grain discharge impeller bearing 8, and the rubber pad 1902 is installed at the front end of the impeller thin plate 1901, so as to reduce seed damage.

[0084] Preferably, it also includes an upper curved pipe horizontal rotation adjusting device 17; the upper curved pipe horizontal rotation adjusting device 17 is located at the lower part of the upper right-angle impeller mounting tube 2, and the upper curved pipe horizontal rotation adjusting device 17 is connected to the upper right-angle impeller mounting tube 2 through a pin; the driving motor group is connected to the upper curved pipe horizontal rotation adjusting device 17, and is used to drive the upper curved pipe horizontal rotation adjusting device 17 to drive the upper right-angle impeller mounting tube 2 to rotate, thereby controlling the outlet position of the grain unloading outlet pipe 4.

[0085] Preferably, the second drive motor 18 of the drive motor group is fixed to the inner side of the high-position grain unloading barrel 15 by bolts, and the upper bend pipe horizontal rotation adjustment device 17 is driven by the second drive motor 18 .

[0086] Preferably, the three-impeller device 16 is mounted on the upper right-angle impeller mounting tube 2 by bolts.

[0087] Preferably, the combine harvester further comprises a display 5 , which is installed in the cab of the combine harvester, and the control device displays the value of the impurity breakage rate on the display 5 .

[0088] Preferably, the second drive motor 18 of the drive motor group is a 24V powered DC motor, the first drive motor 10 is a 24V powered stepper motor, and the third drive motor 20, the fourth drive motor 22, and the three-impeller drive motor 1602 are 380V three-phase asynchronous motors. The power supply lines of the first drive motor 10, the second drive motor 18, the third drive motor 20, the fourth drive motor 22, and the three-impeller drive motor 1602 are connected to the range extender on the combine harvester, and the control signal lines of each motor are connected to the control device. The control device outputs a control signal after calculation to achieve the adjustment of the speed or rotation direction of the first drive motor 10, the second drive motor 18, the third drive motor 20, the fourth drive motor 22, and the three-impeller drive motor 1602.

[0089] like Fig.13 , 14 As shown, preferably, the centrifugal fan 6 includes a centrifugal fan housing 601, fan blades 602, a centrifugal fan outlet 603, an impeller sheet 1901, and a rubber pad 1902. In one embodiment of the present invention, the spiral line of the centrifugal fan housing 601 includes four curves, the radius of each curve is R1=53.12mm, R2=41.63mm, R3=64.13mm, R4=75.38mm, the air inlet diameter D0=110mm, the fan blade 602 inner diameter D1=50mm, outer diameter D2=140mm, number n6=4, the angle θ between the blade and the horizontal is 12.5°, the fan speed n is adjusted between 3000-3600r / min, the wind speed of the centrifugal fan outlet 603 ranges from 22m / s to 30m / s, the diameter of the centrifugal fan outlet 603 D3=100mm, and the corresponding outlet flow range is 17.27m 3 / h-23.55m 3 / h.

[0090] Preferably, the number of impeller plates 1901 of the grain discharge impeller 19 is n=6, the length of the impeller plate 1901 is L1=50mm, the diameter of the grain discharge impeller 19 is D2=180mm, the thickness of the rubber pad 1902 is h1=4mm, the angle θ1=60° between the grain discharge impeller plate 1901 and the horizontal direction, the impeller plate and the rubber pad fit tightly, the sum of their thicknesses is h2=8mm, the angle θ2=155° between the front end section of the rubber pad 1902 and the vertical direction, and the diameter of the grain discharge impeller bearing 8 is 40mm.

[0091] Preferably, the image processing program is written in the embedded processor 301, and the embedded processor 301 is installed on the inner wall of the acquisition and monitoring device and is connected to the industrial camera 303 through the Giga signal.

[0092] During operation, the impurity content of the harvested seeds entering the grain box 14 is monitored by the grain impurity monitoring device 3. When the machine is shut down to unload grain, the seed impurity content data obtained from the time history from the empty grain box to the full grain box during the operation is reversely called to adjust the vibration frequency of the shaking plate to enhance the fluidity of the seeds in the grain box 14, prevent the seeds from being blocked at the junction of the grain outlet 12 and the grain unloading cylinder 23, and allow the seeds to smoothly enter the grain discharge impeller 19. The rotation speed of the grain discharge impeller 19 is adjusted according to the impurity content to ensure the grain discharge efficiency; after the grain discharge impeller 19 acts, the seeds enter the ventilation pipe 7, and the rotation speed of the centrifugal fan 6 is adjusted according to the impurity content of the seeds to generate a corresponding appropriate air flow rate to promote the rapid flow of seeds. As the transmission distance increases, the air flow rate generated by the centrifugal fan 6 decreases, and a high-speed grain discharge device with three impellers is added at the junction of the high-position grain unloading cylinder 15 and the grain unloading outlet pipe 4, and an auxiliary acceleration device is used to accelerate the removal of seeds.

[0093] The control method of the hybrid rice seed production female parent seed unloading device comprises the following steps:

[0094] The seed impurity monitoring device 3 monitors the impurity of the harvested seeds entering the grain box 14, and the shaking plate device 9 vibrates to enhance the fluidity of the seeds in the grain box 14. The seeds enter the grain discharge impeller 19, and after the action of the grain discharge impeller 19, the seeds enter the ventilation pipe 7, and the centrifugal fan 6 generates airflow to promote the rapid flow of the seeds. The three-impeller device 16 at the junction of the high-position grain discharge barrel 15 and the grain discharge outlet pipe 4 accelerates the discharge of the seeds;

[0095] The control device will reversely call the grain impurity rate monitored by the grain impurity rate monitoring device 3 of the grain box 14 from empty to full, and input it into the impurity rate control matching model obtained through neural network training, and obtain the predicted values ​​of the optimal shaking frequency of the shaking plate device 9, the rotation speed of the grain discharge device, the rotation speed of the centrifugal fan 6 and the rotation speed of the three-impeller device 16 at the next moment, and adjust the shaking frequency of the shaking plate device 9, the rotation speed of the grain discharge device, the rotation speed of the centrifugal fan 6 and the rotation speed of the three-impeller device 16 accordingly.

[0096] In a specific embodiment of the present invention, a method for controlling a hybrid rice seed production female parent seed unloading device comprises the following steps:

[0097] The seed impurity rate monitoring device 3 is used to obtain the seed impurity rate data within the time course T unit: seconds from the empty grain box to the full grain box, and 5 impurity measurement values ​​are recorded per second to obtain the seed impurity rate information within the time course T unit: seconds from the empty grain box to the full grain box. The impurity rate control matching model is obtained by using the seed impurity rate as input RBF-MLP multi-layer neural network training to control the speed of the centrifugal fan 6, the shaking frequency of the shaking plate 9, the speed of the displacement impeller 19, and the speed of the three-impeller device 16;

[0098] The control device will reversely call the grain impurity rate monitored by the grain impurity rate monitoring device 3 of the grain box 14 from empty to full, and input it into the impurity rate control matching model obtained through neural network training, and obtain the predicted values ​​of the shaking frequency of the shaking plate device 9, the rotational speed of the grain discharge device, the rotational speed of the centrifugal fan 6 and the rotational speed of the three-impeller device 16 at the next moment, and use this to control the rotational speed of each motor in the drive motor group, adjust the shaking frequency of the shaking plate device 9, the rotational speed of the grain discharge device, the rotational speed of the centrifugal fan 6 and the rotational speed of the three-impeller device 16 to the best predicted values ​​at the next moment, thereby shortening the unloading time and improving the unloading efficiency.

[0099] In a specific embodiment of the present invention, preferably, the grain impurity rate monitoring device 3 acquires the grain impurity rate through the following processing steps:

[0100] S1: The industrial camera 303 takes multiple groups of images with impurities, pre-processes the collected images, calculates the impurity area in the image, performs linear fitting based on the pixel area of ​​the impurities in the image and the calibration data of their actual mass, and constructs a mathematical model between the impurity pixel area and its actual mass: The relationship between the impurity mass and the image pixel is: M M =3.17P M ×10 -6 +0.0371, where M M is the mass of the extraneous material, P M is the pixel area of ​​the redundant image.

[0101] S2: A self-made dataset of mixed images taken in S1 is used to annotate pixel categories using the Labelme tool and build a FastSAM network architecture: First, a detector based on a convolutional neural network is used to perform full instance segmentation and prompt-guided selection to generate a segmentation mask for all instances in the image, and then the region of interest corresponding to the prompt is output. By utilizing the computational efficiency of CNN, random flipping, random rotation, feature distortion, and contrast enhancement techniques are added to prevent overfitting of images.

[0102] S3: The industrial camera 303 takes real-time images of the seed flow entering the grain box during the harvesting process of the combine harvester. The images are uploaded to the image processing system in the embedded processor 301 in real time. The YOLOv8-seg network structure in the FastSAM network architecture is first used to segment and detect all objects or regions in the image to obtain instance segmentation results. Then, the box prompts and text prompts are used to identify specific objects of interest. The box prompts and text prompts are mainly used to obtain the impurity pixel area.

[0103] Specifically, the YOLOv8-seg applies the YOLACT principle for instance segmentation. First, features are extracted from the image through the backbone network and the Feature Pyramid Network, FPN, and features of different sizes are integrated. The output consists of a detection branch and a segmentation branch. The detection branch outputs categories and bounding boxes, while the segmentation branch outputs k prototypes, which default to 32 in FastSAM, and k Mask coefficients. The segmentation and detection tasks are calculated in parallel. The segmentation branch inputs a high-resolution feature map that retains spatial details and contains semantic information. This map is processed by a convolutional layer, then enlarged, and then outputs the Mask through another two convolutional layers. The Mask coefficient, similar to the classification branch of the detection head, ranges between -1 and 1. The Mask coefficient is multiplied by the prototype to obtain the instance segmentation result. Various prompts are then used to identify specific objects of interest. The main use is of box prompts and text prompts, where the box prompt input involves the concept of IOU, which is used to specify the Mask corresponding to the bbox with the largest input box iou value. Its goal is to find the target with the largest iou of the input box. The text prompt is used to specify the target mask of interest in the image. The CLIP model is used to encode the text input, and the mask with the highest similarity score is selected based on the encoding. Through the prompt input selection technology, FastSAM can select the target of interest in the specified image. The above method provides an efficient means to realize real-time SAM, which shows the practicality of the yolov8 model for complex image segmentation tasks.

[0104] S4: The impurity rate is obtained according to the constructed mathematical model between the impurity pixel area and its actual mass, and the impurity rate value is displayed on the display 5 at the same time.

[0105] like Fig.15 As shown, preferably, establishing the RBF-MLP multi-layer neural network includes the following steps:

[0106] In a similar way to how perceptrons are combined to form a multilayer perceptron, RBF approximation is incorporated in each hidden layer, aiming to combine the advantages of the nonlinear approximation ability of RBF neural networks with the ability of multilayer perceptrons to capture complex features;

[0107] S1: Introducing nonlinear transformations into the existing RBF-MLP network: In each hidden layer of the RBF-MLP network except the first layer, each component of the output of the previous hidden layer is processed by a trainable univariate RBF with a scalar center, and then RBF approximation is performed to generate the output of the current layer to enhance the representation ability and adaptability of the network;

[0108] In addition, in RBF-MLP, the input data is transformed nonlinearly through RBF approximation instead of linear transformation as in traditional MLP. This introduces additional nonlinearity to the multilayer perceptron, enabling the use of fewer hidden layers and neurons, thus reducing the cost of training.

[0109] Compared with the traditional multi-layer perceptron, RBF-MLP uses a Gaussian basis function with trainable center and width as the activation function of hidden neurons.

[0110] S2: Multiple hidden layers are set between the input layer and the output layer of the RBF-MLP network that introduces nonlinear transformation, so that the RBF-MLP has the ability of deep learning;

[0111] S3: Computes the output of the first hidden layer in S2; each hidden layer involves two operations, but the operations for the first hidden layer are different from those for subsequent hidden layers:

[0112] S3.1: In the first hidden layer, the input variables are first sent to the same Gaussian basis function a as the RBF neural network. (1) middle,

[0113]

[0114] The Gaussian basis function is multivariate, and the dimension of its center is the same as the dimension of the input variable x.

[0115] x is the input variable, is a multivariate Gaussian basis function;

[0116] S3.2: Perform RBF approximation; that is, apply the linear weighted sum of all Gaussian basis functions given in the formula of S3.1.

[0117] S3.3: Calculate the output of the hidden layer:

[0118]

[0119] Among them, W (1) is the weight matrix of the first hidden layer, z (1) is the output of the first hidden layer, is a multivariate Gaussian basis function, is the weight node in the first layer of the network, n0 is the number of kernels in the neural network layer, j and i are identifiers, and their range is any integer from 1 to n0;

[0120] S4: Calculate the output of all hidden layers except the first hidden layer in S2:

[0121] S4.1: j-th feature of layer l-1 is input to a univariate radial basis function al middle:

[0122]

[0123] is the jth feature of the l-1 hidden layer, L is the number of hidden layers, and l is the number of hidden layers;

[0124] S4.2: Perform RBF approximation, i.e., apply the linear weighted sum of all Gaussian basis functions given in the above formula;

[0125] S4.3: Calculate the output z of all hidden layers except the first hidden layer l .

[0126]

[0127] The RBF-MLP multi-layer neural network utilizes RBF approximation in the hidden layer and simplifies the basis function by replacing the original multivariable Gaussian basis function with a univariate radial basis function. This greatly reduces the dimension of the basis function and the complexity of the network, thereby simplifying the training process.

[0128] Preferably, the establishment of the impurity content control matching model comprises the following steps:

[0129] S1.1: Constructing the data set required for training: The data set is composed of the impurity content of the grain monitored by the impurity monitoring device 3 at different times when the grain unloading device is operating normally, the shaking frequency of the shaking plate device 9, the rotation speed of the grain discharge device, the rotation speed of the centrifugal fan 6 and the rotation speed of the three-impeller device 16;

[0130] S1.2: Import the data set into the RBF-MLP multi-layer neural network for training to obtain the impurity rate control matching model: Import the constructed data set into the RBF-MLP multi-layer neural network for training, and use the mean square error as the loss function MSE in the training process:

[0131]

[0132] Where n is the number of samples, y i is the true value of the i-th sample, is the corresponding predicted value;

[0133] Get a batch of training data from the data loader, including input features and corresponding target labels;

[0134] First, the input feature x passes through the RBF layer, which contains multiple radial basis function kernels. represents the i-th kernel function. Each kernel function calculates the distance between the input data x and the kernel, using the Euclidean distance d i :

[0135] d i =||xu i ||2

[0136] Among them, u i is the center of the i-th kernel, x is the input feature, d i is the Euclidean distance;

[0137] Then, a Gaussian kernel function is applied to calculate the output value of each kernel:

[0138]

[0139] Among them, σ i is the standard deviation of the ith kernel, RBF i is the output value of the Gaussian kernel, d i is the Euclidean distance;

[0140] Output RBF of RBF layer i Become the input of the first layer of MLP. These values ​​pass through the fully connected layer and are processed by the ReLU activation function. Suppose the first layer of MLP has N neurons, where z i represents the input of the i-th neuron, then:

[0141]

[0142] Where M is the number of kernels in the RBF layer, and w ij is the weight connecting the jth kernel of the RBF layer and the ith neuron of the first layer of the MLP, b i is the bias of the ith neuron;

[0143] Next, the ReLU activation function is applied to obtain the intermediate representation h i :

[0144] h i =max(0, z i )

[0145] h i is the input of the subsequent layers of MLP, h i is an intermediate transition function, called an intermediate representation. i represents the input of the i-th neuron;

[0146] The intermediate representation of MLP is mapped to the final output through the second layer of MLP, the network output is compared with the actual target label, and the mean square error (MSE) loss is calculated.

[0147] Calculate the gradient of the loss relative to the model parameters, and pass the gradient from the loss back to each layer of the network through back propagation. If the error of the l+1th hidden layer has been obtained, then the error of the lth hidden layer is:

[0148]

[0149] δ l is the error of the lth hidden layer, z l is the input of the lth hidden layer neuron, δ l+1 is the error of the l+1th hidden layer, z l+1 is the input of the l+1th hidden layer neuron;

[0150] again

[0151] z l+1 =W l+1 σ(W l a l-1 +b l )+b l+1

[0152] W l+1 is the weight matrix of the l+1th hidden layer, b l+1 is the bias of the l+1th hidden layer, a l-1 It is the output of the result of the l-1th hidden layer after the activation function;

[0153] therefore

[0154] δ l =(W l+1 ) T δ l+1 ⊙σ′(W l a l-1 +b l )

[0155] According to the error δ of the output layer L , through the above formula, we can get δ L-1 , δ L-2 , ..., δ 2 , the first layer is the input layer, there is no error. After obtaining the error of each layer, the gradient of the error function C for each layer parameter is solved:

[0156]

[0157]

[0158] Where T is the transposition symbol;

[0159] Finally, the parameters of each layer are updated by gradient descent:

[0160]

[0161]

[0162] Among them, η is the learning rate during training, W l is the weight matrix of the lth hidden layer, b l is the bias of the lth hidden layer, C is the mean square error function MSE;

[0163] Use the Adam optimizer to update the model parameters according to the calculated gradient to reduce the value of the loss function;

[0164] Repeat the above steps, traverse all batches in the data set until an epoch is completed; after each epoch, record the loss value of the last batch of the epoch for subsequent drawing of the loss curve. The RBF-MLP neural network has good approximation accuracy and fast training convergence speed. Compared with the traditional multi-layer perceptron, the RBF-MLP used in the present invention adopts the Gaussian basis function with trainable center and width as the activation function of the hidden neuron. In addition, in the RBF-MLP, the input data is nonlinearly transformed by RBF approximation instead of the linear transformation in the traditional MLP. This introduces additional nonlinearity to the multi-layer perceptron, and can use fewer hidden layers and neurons, thereby reducing the cost of training. Compared with the RBF neural network, the RBF-MLP uses multiple hidden layers between the input layer and the output layer, which enables the RBF-MLP to have the ability of deep learning. By adjusting the unloading working parameters through self-learning, the unloading efficiency of the unloading device can be ensured to always remain at the maximum level, shortening the unloading auxiliary time, and significantly improving the operating efficiency of the combine harvester.

[0165] The impurity rate control matching model obtained after RBF-MLP neural network training is:

[0166]

[0167] Wherein, Z is the impurity content of the grain monitored by the impurity content monitoring device (3), F(Z) is the frequency of the shaking plate, f1(Z) is the first-level frequency of the shaking plate, f2(Z) is the second-level frequency of the shaking plate, and f3(Z) is the third-level frequency of the shaking plate; N G (Z) is the impeller speed of grain discharge, n G1 is the speed of the impeller for the first-gear discharge, n G2 is the impeller speed of the second-gear discharge, n G3 The third-gear impeller speed; N C (Z) is the centrifugal fan speed, n C1 is the first gear centrifugal fan speed, n C2 is the second-speed centrifugal fan speed, nC3 The third gear centrifugal fan speed; N M (Z) is the speed of the three-impeller directly connected to the motor, n M1 is the speed of the first-gear motor direct-connected three-impeller, n M2 is the speed of the second-speed motor-connected three-impeller, n M3 It is the third gear motor direct-connected three-impeller speed;

[0168] Z, f1(Z), f2(Z), f3(Z), n G1 (Z), n G2 (Z), n G3 (Z), n C1 (Z), n C2 (Z), n C3 (Z), n M1 (Z), n M2 (Z), n M3 (Z) The following constraints are met:

[0169] When Z≤1.0%, then

[0170] 2.80Hz≤f1(Z)≤3.15Hz

[0171] 22r / min<n G3 (Z)≤28r / min

[0172] 3400r / min<n C3 (Z)≤3600r / min

[0173] 13r / min≤n M1 (Z)≤15r / min

[0174] When 1.0%<Z≤1.5%, then

[0175] 3.15Hz<f2(Z)≤5.46Hz

[0176] 14r / min<n G2 (Z)≤22r / min

[0177] 3000r / min<n C2 (Z)≤3400r / min

[0178] 15r / min<n M2 (Z)≤22r / min

[0179] When Z>1.5%,

[0180] 5.46Hz<f3(Z)≤7.83Hz

[0181] 10r / min≤nG1 (Z)≤14r / min

[0182] 2800r / min≤n C1 (Z)≤3000r / min

[0183] 22r / min<n M3 (Z)≤31r / min.

[0184] In one embodiment of the present invention, preferably, the control method of the hybrid rice seed production female parent seed unloading device comprises the following steps:

[0185] The grain impurity rate monitoring device 3 obtains the impurity rate data of the harvested crops in the time course T (unit: seconds) from the empty grain box to the full grain box, records 5 impurity measurement values ​​per second, and obtains the impurity rate information of the grains in the time course T (unit: seconds) from the empty grain box to the full grain box. The impurity rate is used as input to control the speed of the centrifugal fan 6, the shaking frequency of the shaking plate 9, the speed of the displacement impeller 19, and the speed of the three-impeller device 16;

[0186] If the impurity rate Z of the grain box is less than or equal to 1.0%, there are a small amount of impurities in the grain box 14, so at this time, the shaking frequency of the shaking plate 9 is controlled to be adjusted to the first gear, and the shaking frequency f1 (Z) ranges from 2.8Hz to 3.15Hz; a large amount of harvested crops continue to fall into the grain unloading cylinder 23 at the grain outlet 12, so the speed of the grain discharge impeller 19 is controlled to reach the maximum and adjusted to the third gear, the speed n G3 (Z) range is 22r / min-28r / min; according to the harvested crops and the residual suspension coefficient, they are 7-9m / s and 3-4m / s respectively. At this time, a large amount of harvested crops fall into the ventilation pipe 7 at the same time, so the speed of the centrifugal fan 6 is controlled to reach the maximum and adjusted to the third gear. Its speed n C3 (Z) range is 3400r / min-3600r / min, which speeds up the forward transmission speed of the harvested crops; as the transmission distance of the harvested crops increases, when a large amount of harvested crops will gradually enter the high-position grain unloading barrel 15, the speed requirement for the three-impeller device 16 is low, and the speed of the three-impeller device 16 needs to be controlled to the first gear, and the speed n M1 (Z) range is 13r / min-15r / min;

[0187] If the impurity rate Z of the grain box is less than or equal to 1.5%, there are many impurities in the grain box 14, and the corresponding control variable needs to be increased to prevent blockage during the grain unloading process. Therefore, the shaking frequency of the shaking plate 9 is controlled to be adjusted to the second gear, and the shaking frequency f2 (Z) ranges from 3.15Hz to 5.46Hz. At the grain outlet 12, there are many harvested crops and many impurities that gradually fall into the grain unloading cylinder 23, so the speed of the grain discharge impeller 19 is controlled to be adjusted to the second gear, and its speed n G2(Z) range is 14r / min-22r / min; according to the harvested crops and the residual suspension coefficient, they are 7-9m / s and 3-4m / s respectively. At this time, more harvested crops and more impurities fall into the ventilation pipe 7, so the speed of the centrifugal fan 6 is controlled to the second gear, and its speed range is n C3 (Z) 3000r / min-3400r / min; As the transport distance of harvested crops increases, more harvested crops and more impurities will gradually accumulate at the junction of the high-position grain unloading barrel 15 and the grain unloading outlet pipe 5, so it is necessary to control the speed of the three-impeller device 16 to increase and adjust it to the second gear. Its speed n M2 (Z) range is 15r / min-22r / min;

[0188] If the impurity rate Z of the grain box is greater than 1.5%, there are a lot of impurities in the grain box 14 to prevent blockage during grain unloading. Therefore, the shaking frequency of the shaking plate 9 is adjusted to the third gear, and the shaking frequency f3 (Z) ranges from 5.46Hz to 7.83Hz. At the grain outlet 12, a small amount of harvested crops and a large amount of impurities gradually fall into the grain unloading cylinder 23, and the speed of the grain discharge impeller 19 is adjusted to the first gear, and its speed n G1 (Z) range is 10r / min-14r / min; according to the harvested crops and the residual suspension coefficient, they are 7-9m / s and 3-4m / s respectively. At this time, a small amount of harvested crops and a large amount of impurities fall into the ventilation pipe 7, so the speed of the centrifugal fan 6 is controlled to the first gear, and its speed n C1 (Z) range is 2800r / min-3000r / min, improving the working efficiency; as the transmission distance of the harvested crops increases, the harvested crops and a large amount of impurities will gradually accumulate at the junction of the high-position grain unloading barrel 15 and the grain unloading outlet pipe 5 to prevent grain unloading from being blocked. Therefore, it is necessary to control the speed of the three-impeller device 16 to the maximum, and its speed n M3 (Z) Adjust to the third gear, the speed range is 22r / min-31r / min.

[0189] A harvester comprises the hybrid rice seed production female parent seed unloading device, and the unloading device is based on the control method of the unloading device.

[0190] The harvester proposed by the present invention can be used for harvesting rice, wheat, rapeseed and soybean, can self-adaptively adjust and unload quickly, and promotes the technological progress of the harvesting machinery industry.

[0191] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0192] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. All equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hybrid rice seed production female parent seed unloading device, characterized in that: It comprises a grain impurity rate monitoring device (3), a grain unloading outlet pipeline (4), a centrifugal fan (6), a shaking plate device (9), a driving motor group, a grain box (14), a high-position grain unloading cylinder (15), a three-impeller device (16), a grain discharge device and a control device; The grain impurity rate monitoring device (3) is installed on the top of the grain box (14) and is used to monitor the impurity rate of the grain in the grain box (14); a grain outlet (13) is provided below the grain box (14), and a shaking plate device (9) is installed at the grain outlet (13); one end of the grain discharge device is connected to the grain outlet (13), and the other end of the grain discharge device is connected to the ventilation pipe (7); one end of the ventilation pipe (7) is connected to the centrifugal fan (6), and the other end is connected to one end of the high-position grain unloading barrel (15); the other end of the high-position grain unloading barrel (15) is connected to the grain unloading outlet pipe (4) through the upper right-angle impeller mounting pipe (2); the three-impeller device (16) is installed on the upper right-angle impeller mounting pipe (2); the centrifugal fan (6) is used to blow the impeller falling into the grain outlet pipe (4) The grains in the ventilation pipe (7) are blown toward the outlet of the grain unloading outlet pipe (4); the shaking plate device (9) is used to shake the grains that fall on the shaking plate device (9); the grains enter the grain discharge device after being shaken by the shaking plate device (9); the grain discharge device discharges the grains into the ventilation pipe (7); the three-impeller device (16) is used to accelerate the grains that pass through to the outlet of the grain unloading outlet pipe (4); the driving motor group is respectively connected to the shaking plate device (9), the grain discharge device, the centrifugal fan (6) and the three-impeller device (16); the control device is respectively connected to the grain impurity monitoring device (3), the centrifugal fan (6), the shaking plate device (9), the driving motor group, the three-impeller device (16) and the grain discharge device.

2. The hybrid rice seed production female parent seed unloading device according to claim 1, characterized in that: The control device reversely calls the grain box (14) (14) from empty to full and inputs the grain impurity rate monitored by the grain impurity rate monitoring device (3) into the impurity rate control matching model obtained through neural network training, and obtains the predicted values ​​of the optimal shaking frequency of the shaking plate device (9), the rotation speed of the grain discharge device, the rotation speed of the centrifugal fan (6) and the rotation speed of the three-impeller device (16) at the next moment, and adjusts the shaking frequency of the shaking plate device (9), the rotation speed of the grain discharge device, the rotation speed of the centrifugal fan (6) and the rotation speed of the three-impeller device (16) accordingly.

3. The hybrid rice seed production female parent seed unloading device according to claim 1, characterized in that: The seed impurity rate monitoring device (3) comprises an embedded processor (301), a camera bracket (302), an industrial camera (303), a ring light source generating device (304), a light source bracket (305), a circular glass plate (306) and a monitoring device housing (307); The embedded processor (301), the camera bracket (302), the industrial camera (303), the annular light source generating device (304), the light source bracket (305), and the circular glass plate (306) are all located in the monitoring device housing (307); the embedded processor (301) is connected to the industrial camera (303); the camera bracket (302) fixes the industrial camera (303) to the inner wall of the monitoring device housing (307); a mounting platform is provided in the monitoring device housing (307); a circular glass plate (306) is embedded in the mounting platform; A light source bracket (305) is installed on the plate (306), and a ring light source generating device (304) is installed on the light source bracket (305). The industrial camera (303) is arranged on the same axis as the center of the ring light source (304) through the camera bracket (302). The industrial camera (303) takes pictures of the grain flow entering the grain box during the operation through the middle hole of the ring light source (304) and the circular glass (306), and transmits the pictures to the embedded processor (301). The embedded processor (301) is connected to the control device.

4. The hybrid rice seed production female parent seed unloading device according to claim 1, characterized in that: The shaking plate device (9) comprises a shaking plate and a shaft (12); The shaft (12) passes through the shaking plate and is movably connected with the shaking plate. Both ends of the shaft (12) pass through the side walls of the grain outlet (13) so that the shaking plate is mounted in the grain outlet (13). Bearings are provided at the connection between the two ends of the shaft (12) and the grain outlet (13). A protrusion is provided on the shaft (12), and the protrusion contacts the shaking plate. One end of the shaft (12) is connected to a corresponding driving motor of the driving motor group through a gear transmission device (11), so that the power of the driving motor is converted by the gear transmission device (11) to drive the shaft (12) to rotate, so that the protrusion on the shaft (12) intermittently hits the shaking plate (9), thereby achieving shaking of the shaking plate (9).

5. The hybrid rice seed production female parent seed unloading device according to claim 1, characterized in that: The grain discharge device comprises a grain discharge impeller shaft (8), a grain discharge impeller (19), a grain discharge cylinder (23), a U-shaped support plate (24) and a bearing seat support (25); One end of the grain unloading cylinder (23) is connected to the grain outlet (13), and the other end of the grain unloading cylinder (23) is connected to the ventilation pipe (7). The connection between the grain unloading cylinder (23) and the ventilation pipe (7) is open. The grain discharge impeller (19) is fixed on the grain discharge impeller shaft (8) and is located in the grain unloading cylinder (23). The U-shaped support plate (24) is fixed on the harvester frame. The ventilation pipe (7) crosses the U-shaped support plate (24). The bearing seat support (25) is located on both sides of the grain unloading cylinder (23) and is coaxial with the grain discharge impeller bearing (8). The bearing seat support (25) is installed on the U-shaped support plate (24). Bearings are provided at both ends of the grain discharge impeller shaft (8) and are respectively installed on the bearing seat support (25). One end of the grain discharge impeller shaft (8) is connected to a corresponding drive motor of the drive motor group through a belt transmission device (21), so that the power of the drive motor drives the grain discharge impeller shaft (8) to rotate through the belt transmission device (21), thereby rotating the grain discharge impeller (19).

6. The hybrid rice seed production female parent seed unloading device according to claim 1, characterized in that: The three-impeller device (16) comprises a device housing (1601), a three-impeller drive motor (1602), impeller blades (1604), a three-impeller shaft (1605) and a three-impeller shaft sleeve (1607); The impeller blades (1604) are located in the upper right-angle impeller mounting tube (2), and the impeller blades (1604) are fixed on the three-impeller shaft (1605); both ends of the three-impeller shaft (1605) are mounted on the side walls of the upper right-angle impeller mounting tube (2), and a three-impeller shaft sleeve (1607) is provided at the connection; the motor shaft of the three-impeller driving motor (1602) is connected to one end of the three-impeller shaft (1605) through a coupling, so that the three-impeller driving motor (1602) can transmit power to the three-impeller shaft (1605), thereby driving the impeller blades (1604) to rotate, and the three-impeller driving motor (1602) is fixed in the device housing (1601), and the device housing (1601) is mounted on the outer side wall of the upper right-angle impeller mounting tube (2).

7. The hybrid rice seed production female parent seed unloading device according to claim 1, characterized in that: It also includes an upper curved pipe horizontal rotation adjustment device (17); The upper curved pipe horizontal rotation adjustment device (17) is located at the lower part of the upper right-angle impeller mounting tube (2), and the upper curved pipe horizontal rotation adjustment device (17) is connected to the upper right-angle impeller mounting tube (2) through a pin; the driving motor group is connected to the upper curved pipe horizontal rotation adjustment device (17) and is used to drive the upper curved pipe horizontal rotation adjustment device (17) to drive the upper right-angle impeller mounting tube (2) to rotate, thereby controlling the outlet position of the grain unloading outlet pipe (4).

8. A method for controlling the hybrid rice seed production female parent seed unloading device according to any one of claims 1 to 7, characterized in that: The following steps are involved: The grain impurity monitoring device (3) monitors the impurity content of the harvested grains entering the grain box (14), the shaking plate device (9) vibrates to enhance the fluidity of the grains in the grain box (14), and the grains enter the grain discharge impeller (19). After the grain discharge impeller (19) acts, the grains enter the ventilation pipe (7), and the centrifugal fan (6) generates airflow to promote the rapid flow of the grains. The three-impeller device (16) at the junction of the high-position grain discharge barrel (15) and the grain discharge outlet pipe (4) accelerates the discharge of the grains; The control device reversely calls the grain box (14) (14) from empty to full and inputs the grain impurity rate monitored by the grain impurity rate monitoring device (3) into the impurity rate control matching model obtained through neural network training, and obtains the predicted values ​​of the optimal shaking frequency of the shaking plate device (9), the rotation speed of the grain discharge device, the rotation speed of the centrifugal fan (6) and the rotation speed of the three-impeller device (16) at the next moment, and adjusts the shaking frequency of the shaking plate device (9), the rotation speed of the grain discharge device, the rotation speed of the centrifugal fan (6) and the rotation speed of the three-impeller device (16) accordingly.

9. The control method of the hybrid rice seed production female parent seed unloading device according to claim 8, characterized in that: The impurity content control matching model is: Wherein, Z is the impurity content of the grain monitored by the impurity content monitoring device (3), F(Z) is the frequency of the shaking plate, f1(Z) is the first-level frequency of the shaking plate, f2(Z) is the second-level frequency of the shaking plate, and f3(Z) is the third-level frequency of the shaking plate; N G (Z) is the impeller speed of grain discharge, n G1 is the speed of the impeller for the first-gear discharge, n G2 is the impeller speed of the second-gear discharge, n G3 The third-gear impeller speed; N C (Z) is the centrifugal fan speed, n C1 is the first gear centrifugal fan speed, n C2 is the second-speed centrifugal fan speed, n C3 The third gear centrifugal fan speed; N M (Z) is the speed of the three-impeller directly connected to the motor, n M1 is the speed of the first-gear motor direct-connected three-impeller, n M2 is the speed of the second-speed motor-connected three-impeller, n M3 It is the third gear motor direct-connected three-impeller speed; Z, f1(Z), f2(Z), f3(Z), n G1 (Z), n G2 (Z), n G3 (Z), n C1 (Z), n C2 (Z), n C3 (Z), n M1 (Z), n M2 (Z), n M3 (Z) satisfies the following constraint conditions: When Z≤1.0%, then 2.80Hz≤f1(Z)≤3.15Hz 22r / min<n G3 (Z)≤28r / min 3400r / min<n C3 (Z)≤3600r / min 13r / min≤n M1 (Z)≤15r / min When 1.0%<Z≤1.5%, then 3.15Hz<f2(Z)≤5.46Hz 14r / min<n G2 (Z)≤22r / min 3000r / min<n C2 (Z)≤3400r / min 15r / min<n M2 (Z)≤22r / min When Z>1.5%, 5.46Hz<f3(Z)≤7.83Hz 10r / min≤n G1 (Z)≤14r / min 2800r / min≤n C1 (Z)≤3000r / min 22r / min<n M3 (Z)≤31r / min.

10. A harvester, characterized in that: It comprises the hybrid rice seed production female parent seed unloading device as described in any one of claims 1-7, and the unloading device is controlled according to the control method of the unloading device as described in any one of claims 8-9.

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