Hybrid rice seed production female parent seed harvester and control method thereof

Abstract

The application provides a hybrid rice seed production female parent seed harvester and a control method thereof, which comprises a feeding amount prediction device, a threshing device, a cleaning device guide strip angle adjusting device, a pressure monitoring plate, a fish scale sieve opening adjusting device, a seed loss monitoring sensor, a secondary waste seed amount monitoring device, an air pressure monitoring device, an air inlet opening adjusting plate, a air distribution plate angle adjusting mechanism, a forward speed adjusting device, an entrainment loss monitoring sensor, a seed breakage rate monitoring sensor and a signal processing and control system, realizes the adjustment of the guide strip angle, the fish scale sieve opening, the air inlet opening, the air distribution plate angle, the angle of the guide grass plate B and the forward speed of the harvester, and reduces the seed loss rate; the feeding amount prediction device is used to obtain the feeding amount of the harvester at the next moment in advance, the related working parameters of the cleaning device are adjusted in time, the control lag is reduced, the working parameters of the threshing device and the cleaning device are cooperatively adjusted, the threshing and separation performance is improved, and the seed loss rate is reduced.

Description

Technical Field

[0001] This invention belongs to the field of design and adaptive control of threshing and cleaning devices for harvesters, and particularly relates to a harvester for hybrid rice seed production female parent seeds and its control method. Background Technology

[0002] Rice breeding harvesting still primarily employs a segmented harvesting method involving manual harvesting, traditional threshing equipment, and cleaning, resulting in significant indirect losses and long working hours. Numerous rice varieties are harvested for breeding, and due to differences in variety, soil environment, and sunlight exposure, the biological characteristics of rice plants vary significantly. Traditional harvester threshing equipment has difficult-to-adjust operating parameters, and the angle of the guide strips inside the threshing device's top cover is fixed. This prevents real-time adjustment of grain retention time within the harvester based on crop characteristics, ultimately leading to high grain breakage rates and significant grain loss during the harvesting of breeding rice.

[0003] As a crucial component of harvesters, the cleaning device's performance directly impacts the harvester's overall performance. Currently, most harvesters employ mechanical cleaning devices, which exhibit unstable performance when cleaning threshed mixtures with varying characteristics. Experiments show that traditional pneumatic screen cleaning devices have become the primary bottleneck restricting the development of harvesters for rice seed production. Specifically: ① The eccentricity of the threshing device leads to uneven distribution of the threshed material on the screen surface, hindering the rapid and uniform distribution of the threshed mixture within the cleaning chamber. ② The complex composition and high moisture content of the threshed material cause it to adhere easily within the cleaning chamber, resulting in localized high cleaning loads and poor cleaning performance. ③ Existing cleaning devices can only be adjusted in stages, manually, and based on experience by stopping the machine. They lack a monitoring and control system for the cleaning device's operating status and parameters, making it impossible to adaptively adjust the cleaning device's parameters according to changes in hybrid rice varieties and the environment to ensure cleaning performance, resulting in poor harvesting adaptability. Existing research largely focuses on adjusting the fish-scale screen opening by studying changes in grain cleaning loss rate and grain impurity content, neglecting the changes in material composition and quantity in the secondary impurity auger. Airflow pressure within the cleaning chamber is a major factor determining cleaning performance. Accurately monitoring airflow pressure at key points to reflect changes in the amount of material to be cleaned within the cleaning chamber and then adjusting relevant operating parameters in a timely manner is a prerequisite for achieving good cleaning performance. Current research on cleaning devices has not yet investigated the relationship between airflow pressure and feed rate within the cleaning chamber. Regarding the control model of the cleaning device, existing research only preliminarily establishes simple linear models or fuzzy control rules based on monitored changes in grain loss rate to adjust the fish-scale screen opening, resulting in poor adaptability to different crops.

[0004] Therefore, it is of great significance and practical value to conduct research on harvesters and control methods for harvesting hybrid rice seed production female parent seeds by adopting modern control theories and methods and optimizing operating parameters under varying working conditions. Summary of the Invention

[0005] This invention aims to at least partially solve one of the aforementioned technical problems. To this end, this invention proposes a hybrid rice seed harvester and its control method, which improves the threshing, separation, and cleaning performance of hybrid rice seeds during harvesting, and reduces grain loss and breakage rates.

[0006] The technical solution of this invention is:

[0007] A hybrid rice seed harvester for female parent plants includes a feed rate prediction device, a threshing device, a cleaning device, a guide bar angle adjustment device, a pressure monitoring plate, a fish scale screen opening adjustment device, a grain loss monitoring sensor, a secondary impurity grain quantity monitoring device, an air pressure monitoring device, an air inlet opening adjustment plate, an air distribution plate angle adjustment mechanism, a forward speed adjustment device, an entrainment loss monitoring sensor, a grain breakage rate monitoring sensor, and a signal processing and control system.

[0008] The feeding amount prediction device is used to predict the harvester feeding amount at the next moment; the threshing device includes a guide plate B, an electric cylinder, and a lever-type displacement sensor; the guide plate B is located on the lower surface of the cover plate, and the electric cylinder drives the connecting plate A to rotate the guide plate B and adjust the angle of the guide plate B; the lever-type displacement sensor is used to monitor the extension amount of the electric cylinder extension rod; the cleaning device includes a shaking plate, a loosening tooth, a first fish scale screen, a second fish scale screen, and a sawtooth tail screen installed sequentially from front to back on the cleaning screen frame; a woven screen is provided below the first fish scale screen and the second fish scale screen, and a grain auger and a waste auger are provided below the woven screen; multiple guide strips are provided on the shaking plate; the guide strip angle adjustment device is installed on the shaking plate and connected to the guide strips to adjust the angle of the guide strips; the pressure monitoring plate is located at the end of the shaking plate and below the loosening tooth, and the pressure signal of the pressure monitoring plate is used to characterize the uniformity of the threshing mixture; the fish scale screen opening adjustment device includes a first fish scale screen opening adjustment device and a second fish scale screen opening adjustment device. Two fish-scale screen opening adjustment devices; the first fish-scale screen opening adjustment device is used to adjust the opening of the first fish-scale screen; the second fish-scale screen opening adjustment device is used to adjust the opening of the second fish-scale screen; the grain loss monitoring sensor is installed on the cleaning screen frame and located behind the sawtooth tail screen, and is used to detect grain loss; a secondary impurity grain quantity monitoring device is respectively installed below the sawtooth tail screen and in the space between the isolation frame and the cleaning screen frame, and is used to monitor the number of grains that pass through the sawtooth tail screen and enter the secondary impurity auger; the air pressure monitoring device is installed on the cleaning screen frame and is used to monitor the pressure in the cleaning chamber; a fan is installed below the cleaning screen frame, the fan inlet is equipped with an inlet opening adjustment plate, and the outlet is equipped with an air distribution plate and an air distribution plate angle adjustment mechanism; the forward speed adjustment device is used to adjust the forward speed of the harvester; the entrainment loss monitoring sensor is installed below the concave screen and is used to monitor grain entrainment loss; the grain breakage rate monitoring sensor is installed inside the grain bin and is used to monitor the breakage rate of grains entering the grain bin.

[0009] The signal processing and control system is connected to the feed prediction device, the guide bar angle adjustment device, the pressure monitoring plate, the first fish scale screen opening adjustment device, the second fish scale screen opening adjustment device, the grain loss monitoring sensor, the secondary impurity grain quantity monitoring device, the air pressure monitoring device, the air inlet opening adjustment plate, the air distributor angle adjustment mechanism, the pull rod displacement sensor, and the electric cylinder. The signal processing and control system processes the monitoring values ​​of the feed prediction device, the pressure monitoring plate, the grain loss monitoring sensor, the secondary impurity grain quantity monitoring device, the air pressure monitoring device, the pull rod displacement sensor, the entrainment loss monitoring sensor, and the grain breakage rate monitoring sensor, and controls the guide bar angle adjustment device, the first fish scale screen opening adjustment device, the second fish scale screen opening adjustment device, the air inlet opening adjustment plate, the air distributor angle adjustment mechanism, the electric cylinder, and the forward speed adjustment device to adjust the guide bar angle, the fish scale screen opening, the air inlet opening, the air distributor angle, the guide plate B angle, and the forward speed of the harvester.

[0010] In the above scheme, the threshing device also includes a drum top cover, a threshing drum, a concave sieve, and a control mechanism;

[0011] The concave sieve is located directly below the drum top cover, and the threshing drum is placed in the middle of the drum top cover and the concave sieve; the control mechanism is located on top of the drum top cover, and the control mechanism includes an electric cylinder, a pull rod displacement sensor and a connecting plate A;

[0012] The upper surface of the cover plate of the roller top cover is provided with a connecting plate A, and the lower surface area of ​​the cover plate is provided with guide plates A and B in sequence from front to back. When the guide plates A and B are not rotated, their end faces remain parallel. There are multiple guide plates B in a certain linear distribution. One end of the first group of guide plates B is rotatably connected to the groove of the cover plate, and the other end is connected to the connecting plate A. The electric cylinder drives the connecting plate A to drive the guide plates B to rotate in the groove, thereby realizing the angle adjustment of the group of guide plates B. The pull rod type displacement sensor is used to monitor the extension amount of the electric cylinder extension rod.

[0013] In the above scheme, the air pressure monitoring device includes an air pressure monitoring module, a first rubber tube, a first support frame, a second rubber tube, a second support frame, and a positioning bracket;

[0014] The air pressure monitoring module is mounted on a positioning bracket. A first support frame and a second support frame are mounted on the positioning bracket from top to bottom. The air pressure monitoring module is provided with a first detection hole and a second detection hole. A first rubber tube is installed on the first detection hole, and a second rubber tube is installed on the second detection hole. The first rubber tube passes through and is fixed on the first support frame, with its end parallel to the screen surface of the fish scale screen. The second rubber tube passes through and is fixed on the second support frame, with its end perpendicular to the screen surface of the fish scale screen. During operation, the first detection hole monitors the static pressure change of the surrounding environment, and the second detection hole monitors the dynamic pressure change of the surrounding environment. The pressure change in the cleaning chamber is characterized by subtracting the static pressure monitoring value from the dynamic pressure monitoring value.

[0015] In the above scheme, the first fish scale sieve opening adjustment device includes a drive shaft, an adjustment plate, a fixed shaft, a sieve plate drive connecting plate, a first fish eye bearing, a connecting rod, a second fish eye bearing, a first drive motor, a displacement sensor, a direction conversion device, a third fish eye bearing, a first connecting shaft, a second connecting shaft, and a connecting plate;

[0016] The displacement sensor is mounted on the first drive motor via a connecting plate. The displacement sensor is used to measure the extension length of the push rod of the first drive motor. One end of the third fisheye bearing is mounted on the end of the push rod of the first drive motor. The other end of the third fisheye bearing is connected to one side of the direction conversion device via a first connecting shaft. The second fisheye bearing is connected to the other side of the direction conversion device via a second connecting shaft. The direction conversion device is mounted on the harvester frame via a fixed shaft. One end of the connecting rod is connected to the second fisheye bearing. The other end of the connecting rod is connected to the first fisheye bearing. The first fisheye bearing is connected to one end of the adjusting plate. The drive shaft is connected to the screen drive connecting plate and the middle of the adjusting plate. The other end of the adjusting plate is mounted on the harvester frame via a fixed shaft. During operation, the direction conversion device converts the horizontal linear motion of the push rod of the first drive motor into a vertical linear motion. The adjusting plate is driven to rotate around the fixed shaft via the connecting rod. During the rotation, the adjusting plate drives the screen drive connecting plate via the drive shaft to rotate the fish scale screen, thereby realizing the stepless adjustment of the opening angle of the first fish scale screen.

[0017] The second fish scale screen opening adjustment device has the same structure as the first fish scale screen opening adjustment device.

[0018] In the above scheme, the grain loss monitoring sensor includes a first grain loss monitoring sensor and a second grain loss monitoring sensor;

[0019] Both ends of the first and second grain loss monitoring sensors are mounted on the cleaning screen frame via the first and second mounting plates, respectively. The installation height of the first grain loss monitoring sensor is greater than that of the second grain loss monitoring sensor, forming a stepped grain loss monitoring device to achieve regional measurement of grain loss. The first grain loss monitoring sensor is used to monitor grain cleaning loss caused by excessive amount of cleaning material, and the second grain loss monitoring sensor is used to monitor grain cleaning loss caused by improper setting of cleaning parameters and blowing out grains.

[0020] Both the first mounting plate and the second mounting plate are provided with mounting holes and arc-shaped through slots. One end of the first grain loss monitoring sensor and the second grain loss monitoring sensor are connected to the mounting holes and the arc-shaped through slots. The mounting angle of the first grain loss monitoring sensor and the second grain loss monitoring sensor can be adjusted through the arc-shaped through slots.

[0021] In the above scheme, the fan includes a first air distribution plate, a second air distribution plate, a first electric push rod, a second electric push rod, and a third electric push rod;

[0022] The first and second air distribution plates are located at the air outlet of the fan and are movably connected to the inner wall of the air outlet. The air inlet of the fan is equipped with an opening adjustment plate. A first electric push rod is connected to the opening adjustment plate and can drive the opening adjustment plate to adjust the opening of the air inlet of the fan. A third electric push rod is connected to the first air distribution plate and can drive the first air distribution plate to rotate around the connection point between the first air distribution plate and the inner wall of the air outlet, thereby realizing the angle adjustment of the first air distribution plate. A second electric push rod is connected to the second air distribution plate and can drive the second air distribution plate to rotate around the connection point between the second air distribution plate and the inner wall of the air outlet, thereby realizing the angle adjustment of the second air distribution plate.

[0023] A control method for a hybrid rice seed harvester comprising the following steps:

[0024] The feed rate prediction device predicts the harvester feed rate for the next moment; the pressure monitoring plate monitors the pressure signal to characterize the uniformity of the threshing mixture; the grain loss monitoring sensor detects grain loss; the secondary impurity grain quantity monitoring device monitors the number of grains that pass through the sawtooth tail screen and enter the secondary impurity auger; the air pressure monitoring device monitors the pressure in the cleaning chamber; the lever-type displacement sensor monitors the extension of the electric cylinder extension rod; the entrainment loss monitoring sensor monitors grain entrainment loss; and the grain breakage rate monitoring sensor monitors the breakage rate of grains entering the grain bin.

[0025] The signal processing and control system processes the monitoring values ​​from the feed prediction device, pressure monitoring plate, grain loss monitoring sensor, secondary impurity grain quantity monitoring device, air pressure monitoring device, lever-type displacement sensor, entrainment loss monitoring sensor, and grain breakage rate monitoring sensor. It then controls the guide bar angle adjustment device, the first fish scale screen opening adjustment device, the second fish scale screen opening adjustment device, the air inlet opening adjustment plate, the air distributor angle adjustment mechanism, the electric cylinder, and the forward speed adjustment device to adjust the guide bar angle, fish scale screen opening, air inlet opening, air distributor angle, guide plate B angle, and the forward speed of the harvester.

[0026] In the above scheme, the control strategy of the signal processing and control system is as follows:

[0027] With a feed rate of 3 kg / s as the baseline, if the predicted feed rate Q increases by less than 10%, the extension of the electric cylinder extension rod remains unchanged, ensuring that the angle of the guide plate B of the threshing device remains constant, and the forward speed v of the harvester remains constant. After the threshed material enters the cleaning chamber, the signal processing and control system first controls the guide bar angle adjustment device to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate until the difference in the monitoring value of the pressure monitoring plate is less than 5%, ensuring the uniformity of the threshed material entering the cleaning chamber after passing through the shaking plate. Subsequently, if the monitoring value of the air pressure monitoring device of the first fish scale screen increases by more than 20% relative to the baseline value, the opening adjustment device of the first fish scale screen is controlled to increase the opening of the first fish scale screen by 20%, allowing the grains to pass through the screen quickly. Then, the threshed material enters the second fish scale screen. If the monitoring value of the air pressure monitoring device of the second fish scale screen increases by more than 20% relative to the baseline value, the opening adjustment device of the second fish scale screen is controlled to increase the opening of the second fish scale screen by 20%.

[0028] If the predicted feed rate Q increases by 10% to 20%, the forward speed v of the harvester decreases by 5% to bring the harvester close to the rated feed rate. The predictive model is then used to adjust the angle of the guide plate B of the threshing device. After the threshed material enters the cleaning chamber, the signal processing and control system first controls the guide bar angle adjustment device to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate until the difference in the monitoring value of the pressure monitoring plate is less than 10%, ensuring the uniformity of the threshed material entering the cleaning chamber after passing through the shaking plate. Subsequently, if the monitoring value of the air pressure monitoring device of the first fish scale screen increases by more than 20% relative to the reference value, the opening adjustment device of the first fish scale screen is controlled to increase the opening of the first fish scale screen by 30%, allowing the grains to pass through the screen quickly. Then, the threshed material enters the second fish scale screen. If the monitoring value of the air pressure monitoring device of the second fish scale screen increases by more than 20% relative to the reference value, the opening adjustment device of the second fish scale screen is controlled to increase the opening of the second fish scale screen by 30%.

[0029] If the predicted feed rate Q increases by more than 20%, the forward speed v of the harvester decreases by 10%, the angle of the guide plate B of the threshing device is adjusted to the maximum set value, and the cleaning device is at risk of overload. The signal processing and control system first controls the guide bar angle adjustment device to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate until the difference in the monitoring value of the pressure monitoring plate is less than 20%. Then, the fan speed is adjusted to 1300 rpm, the angle of the first air distribution plate is adjusted to 8° and the angle of the second air distribution plate is adjusted to 30°, the opening of the first and second fish scale screens is increased to the maximum, and some of the threshed material enters the secondary impurity auger and re-enters the cleaning device for secondary cleaning to avoid excessive grain loss. According to the changes in the monitoring values ​​of the air pressure monitoring device, the first grain loss monitoring sensor, the second grain loss monitoring sensor, and the grain quantity monitoring device, the maximum opening duration of the first and second fish scale screens is controlled. When the change in the monitoring value of the grain quantity monitoring device is less than 10%, the opening of the first and second fish scale screens is reduced by 30%.

[0030] If the predicted feed rate Q decreases, increase the forward speed v of the harvester to bring it close to the rated feed rate. Adjust the angle of the guide plate B of the threshing device to the middle position. At this time, the threshed material tends to boil in the cleaning chamber. Adjust the first air distribution plate to 45°, the angle of the second air distribution plate to 25°, and the fan speed to 1100 rpm. Adjust the opening of the first and second fish scale screens to the minimum set value. Then, based on the changes in the monitoring values ​​of the air pressure monitoring device, the first grain loss monitoring sensor, the second grain loss monitoring sensor, and the grain quantity monitoring device, fine-tune the opening of the first and second fish scale screens to reduce cleaning losses.

[0031] In the above scheme, the predicted feed amount Q is:

[0032]

[0033] Where Q is the predicted feed amount, v is the forward speed, and h is the forward speed. c h is the height of the cutting platform, w is the width of the cutting width, and ρ is the feed density. e denoted as , and m as , where m is the average mass of the rice panicle and , and , where m is the mass per unit length of the stem.

[0034] In the above scheme, a predictive model is used to adjust the angle of the guide plate B of the threshing device. The predictive model is as follows:

[0035] x(k+1)=Ax(k)+Bu(k) (1)

[0036] in, Let x1(k) be the system state variable at time k, x2(k) be the grain entrainment loss, x2(k) be the grain breakage rate, u(k) be the system input vector, i.e. the angle of the guide plate B, which is also the extension of the electric cylinder 43 extension rod, A be the system state matrix, and B be the input matrix.

[0037] x(k) and u(k) should satisfy the following constraints:

[0038]

[0039]

[0040] Where, x min (k) is the minimum value of the system state variables, x max (k) is the maximum value of the system state variable, u min (k) is the minimum value of the system's input vector, u max (k) is the maximum value of the system's input vector;

[0041] Let x1(k) and x2(k) satisfy the following constraints:

[0042] 0≤x1(k)≤Q·P·1%

[0043] 0≤x²(k)≤Q·P·2%

[0044] Among them, the grain entrainment loss x1(k) and the breakage rate x2(k) are system state variables, Q is the predicted value of the harvester feed amount in kg / s, and P is the proportion of grain in the feed amount.

[0045] Let u(k) satisfy the following constraints:

[0046] 0≤u(k)≤100mm.

[0047] Compared with the prior art, the beneficial effects of the present invention are:

[0048] 1. The harvester of the present invention coordinates the working parameters of the threshing device and the cleaning device to improve the threshing and separation performance and reduce the grain loss rate and grain breakage rate during the harvesting of seed production parent seeds.

[0049] 2. This invention uses a feed rate prediction device to know the feed rate of the harvester at the next moment in advance, which can adjust the relevant working parameters of the cleaning device in a timely manner, reduce control lag, and ensure the cleaning effect.

[0050] 3. This invention develops a multi-layer cleaning screen with a structure of "multi-guide bar shaking plate + loosening teeth + segmented fish scale screen + woven screen + sawtooth tail screen", which increases the cleaning area and cleaning space, and guides the threshed mixture to flow evenly and stably in the cleaning space.

[0051] 4. This invention processes the monitoring values ​​from the feed prediction device, pressure monitoring plate 4, grain loss monitoring sensor, secondary residual grain quantity monitoring device, air pressure monitoring device, pull rod displacement sensor 42, entrainment loss monitoring sensor, and grain breakage rate monitoring sensor to control the guide bar angle adjustment device 3, the first fish scale screen opening adjustment device 11, the second fish scale screen opening adjustment device 14, the air inlet opening adjustment plate 31, the air distributor angle adjustment mechanism, the electric cylinder 43, and the forward speed adjustment device. This allows for the adjustment of the guide bar angle, fish scale screen opening, air inlet opening, air distributor angle, guide plate B 67 angle, and harvester forward speed, thereby reducing grain loss rate.

[0052] 5. Based on the flow characteristics of plant groups in the threshing space, this invention optimizes the adjustment mechanism and power source application method, develops a guide plate angle adjustment device with self-locking function, realizes stepless adjustment of the guide plate angle, and optimizes the control strategy to adjust the working parameters such as the top cover guide plate angle, so as to reasonably control the residence time of materials in the threshing device of the harvester and make the plant group flow stably and evenly in the threshing space, reduce the seed loss rate and seed breakage rate during the harvesting of seed production mother seeds, and significantly improve the threshing and separation performance. Attached Figure Description

[0053] Figure 1 This is a side view schematic diagram of a cleaning device according to an embodiment of the present invention.

[0054] Figure 2 This is a top view schematic diagram of a cleaning device according to an embodiment of the present invention.

[0055] Figure 3 This is a left view of a cleaning device according to an embodiment of the present invention.

[0056] Figure 4 This is a front view of a cleaning system according to an embodiment of the present invention.

[0057] Figure 5 This is a front view of a barometric pressure monitoring system according to an embodiment of the present invention.

[0058] Figure 6 This is a side view of a pressure monitoring system according to an embodiment of the present invention.

[0059] Figure 7 This is an installation diagram of a barometric pressure monitoring system according to an embodiment of the present invention.

[0060] Figure 8 This is an installation diagram of a grain loss monitoring sensor according to one embodiment of the present invention.

[0061] Figure 9 This is a side view of the mounting plate of the grain loss monitoring sensor according to one embodiment of the present invention.

[0062] Figure 10 This is a diagram showing the installation position of the grain loss monitoring sensor mounting plate on a harvester according to an embodiment of the present invention.

[0063] Figure 11 This is a front view of the grain loss monitoring sensor mounting plate according to an embodiment of the present invention.

[0064] Figure 12 This is a side view of a secondary impurity grain quantity monitoring device according to an embodiment of the present invention.

[0065] Figure 13 This is a side view of a cleaning sieve frame according to an embodiment of the present invention.

[0066] Figure 14 This is a side view of the installation position of the guide strip according to an embodiment of the present invention.

[0067] Figure 15 This is a top view of the mounting position of the guide bar angle drive motor according to an embodiment of the present invention.

[0068] Figure 16 This is a front view of a fish scale screen opening adjustment device according to an embodiment of the present invention.

[0069] Figure 17 This is a front view of the drive connection of the fish scale screen opening adjustment device according to an embodiment of the present invention.

[0070] Figure 18 This is a schematic diagram of the installation of the drive motor for the fish scale screen opening adjustment device according to one embodiment of the present invention.

[0071] Figure 19 This is a schematic diagram illustrating the adjustment of the fan inlet opening and the angle of the air distribution plate according to an embodiment of the present invention.

[0072] Figure 20 This is a schematic diagram of the appearance of a threshing device according to an embodiment of the present invention.

[0073] Figure 21 This is a top view of the roller top cover according to an embodiment of the present invention.

[0074] Figure 22 This is a front view of the roller top cover according to an embodiment of the present invention.

[0075] Figure 23 This is a left view of the roller top cover according to an embodiment of the present invention.

[0076] Figure 24 This is a bottom view of the roller top cover according to one embodiment of the present invention.

[0077] Figure 25 This is a sectional view of the rear end of the roller top cover according to an embodiment of the present invention.

[0078] Figure 26 This is a schematic diagram of the installation of the control mechanism according to one embodiment of the present invention.

[0079] Figure 27 This is a flowchart of the plant density acquisition process according to one embodiment of the present invention.

[0080] Figure 28 A flowchart illustrating the process of obtaining plant height according to one embodiment of the present invention.

[0081] Figure 29 A flowchart illustrating the process of obtaining the cutting width according to one embodiment of the present invention.

[0082] Figure 30 A schematic diagram of the cutting width detection according to an embodiment of the present invention.

[0083] Figure 31 A training loss curve of an RBF neural network according to an embodiment of the present invention.

[0084] Figure 32 A training loss curve of an MLP neural network according to an embodiment of the present invention.

[0085] Figure 33 A diagram of the RBF-MLP neural network structure according to an embodiment of the present invention.

[0086] Figure 34 The training loss curve of the RBF-MLP neural network according to one embodiment of the present invention.

[0087] Figure 35 MPC workflow diagram.

[0088] Figure 36 Fuzzy PID control flowchart.

[0089] In the diagram: 1-Cleaning sieve frame; 2-Shaking plate; 3-Guide bar device; 301-Guide bar angle drive motor; 302-Guide bar drive shaft; 303-Guide bar; 304-Second guide bar angle drive motor; 305-Second guide bar drive shaft; 306-Second guide bar; 307-Third guide bar angle drive motor; 308-Third guide bar drive shaft; 309-Third guide bar; 4-Pressure monitoring plate; 401-First pressure monitoring plate; 402-Second pressure monitoring plate; 403-Third pressure monitoring plate; 404-Fourth pressure monitoring plate; 5-Loosening tooth; 6-First air pressure monitoring device; 601-Air pressure parameter monitoring module; 602-First detection hole; 603-First rubber tube; 604-First support Support frame; 605-Second detection hole; 606-Second rubber tube; 607-Second support frame; 608-Positioning bracket; 609-Positioning bracket mounting hole; 610-Rectangular mounting plate; 7-First fish scale screen; 8-Second air pressure monitoring device; 9-Second fish scale screen; 10-Serrated tail screen; 11-First fish scale screen opening adjustment device; 1101-Drive shaft; 1102-Adjusting plate; 1103-First adjusting plate connecting hole; 1104-Fixed shaft; 1105-Screen plate drive connecting piece; 1106-First fish eye bearing; 1107-Connecting rod; 1108-Second fish eye bearing; 1109-First drive motor; 1110-Displacement sensor; 1111-Direction conversion device; 1112-Third fish eye bearing; 1113-First connecting shaft; 1114-Second connecting shaft; 1115-Fixed shaft; 1116-Connecting plate; 12-First grain loss monitoring sensor; 13-Second grain loss monitoring sensor; 14-Second fish scale screen opening adjustment device; 15-Third air pressure monitoring device; 16-Fourth air pressure monitoring device; 17-First grain quantity monitoring device; 1701-First twin-screw rubber vibration damper; 1702-Mounting plate of the first grain quantity monitoring device in secondary impurities; 1703-First sensitive plate; 1704-Second twin-screw rubber vibration damper; 1705-Second sensitive plate; 1706-Third twin-screw rubber vibration damper; 18-Second grain quantity monitoring device; 19-Isolation frame; 1901-First isolation frame; 19 02-Second isolation frame; 20-First mounting plate; 21-Second mounting plate; 2101-Fixing plate; 2102-First grain loss monitoring sensor mounting hole; 2103-First grain loss monitoring sensor mounting angle adjustment hole; 2104-Second grain loss monitoring sensor mounting hole; 2105-Second grain loss monitoring sensor mounting angle adjustment hole; 22-Fourth twin-stud rubber vibration damper; 23-Signal processing and control system; 24-Fan; 25-First air distribution plate; 26-Second air distribution plate; 27-Grain auger; 28-Impurity auger; 29-Secondary impurity outlet; 30-Cleansing device drive connecting block; 31-Fan inlet opening adjustment plate; 32-First electric push rod; 33-Second electric push rod I;34-First fisheye rod end joint bearing; 35-Direction conversion component; 36-Second air distribution plate connecting piece; 37-Second air distribution plate hinge point; 38-First air distribution plate hinge point; 39-Second fisheye rod end joint bearing; 40-Third electric push rod; 41-Woven screen; 42-Tie rod type displacement sensor; 43-Electric cylinder; 44-Electric cylinder fixing component; 45-Bolt A; 46-Grain unloading can support; 47-Front cover plate; 48-Connecting component welding 1; 49-Electric cylinder extension rod; 50-Fisheye rod end bearing; 51- Bolt B; 52- Second connecting piece welding; 53- Cover plate; 54- Left reinforcing plate; 55- Manual adjusting rod; 56- Left beam; 57- Third connecting piece welding; 58- Rear cover plate; 59- Connecting plate B; 60- Upper reinforcing plate; 61- Right reinforcing plate; 62- Right beam; 63- Connecting plate A; 64- Connecting ring B; 65- Connecting ring A; 66- Guide plate A; 67- Guide plate B; 68- Steel sleeve; 69- Control mechanism; 70- Drum top cover; 71- Threshing drum; 72- Concave sieve. Detailed Implementation

[0090] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0091] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "front," "rear," "left," "right," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0092] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0093] A hybrid rice seed harvester for female parent plants includes a feeding amount prediction device, a threshing device, a cleaning device, a guide bar angle adjustment device 3, a pressure monitoring plate 4, a fish scale screen opening adjustment device, a grain loss monitoring sensor, a secondary impurity grain quantity monitoring device, an air pressure monitoring device, an air inlet opening adjustment plate 31, a wind deflector angle adjustment mechanism, a forward speed adjustment device, an entrainment loss monitoring sensor, a grain breakage rate monitoring sensor, and a signal processing and control system 23.

[0094] like Figure 1-4 The cleaning device shown includes a cleaning screen frame 1, a shaking plate 2, a loosening tooth 5, a fish scale screen, a serrated tail screen 10, a blower 24, a grain auger 27, a waste auger 28, and a woven screen 41; the fish scale screen includes a first fish scale screen 7 and a second fish scale screen 9; the shaking plate 2, the loosening tooth 5, the first fish scale screen 7, the second fish scale screen 9, and the serrated tail screen 10 are installed sequentially from front to back on the cleaning screen frame 1; the shaking plate 2 is provided with multiple guide strips; the woven screen 41 is located below the first fish scale screen 7 and the second fish scale screen 9, and the first fish scale screen 7 and the second fish scale screen 9 together with the woven screen 41 form a double-layer vibrating screen; the grain auger 27 and the waste auger 28 are located below the woven screen 41, and the blower 24 is located below the cleaning screen frame 1. The blower 24, the grain auger 27, and the secondary waste auger 28 are arranged in sequence. The longitudinal position of the grain auger 27 corresponds to the fish scale screen, and the longitudinal position of the secondary waste auger 28 corresponds to the toothed tail screen 10.

[0095] The feed rate prediction device is used to predict the harvester feed rate at the next moment; the guide bar angle adjustment device 3 is installed on the shaking plate 2 and connected to the guide bar, and is used to adjust the guide bar angle; the pressure monitoring plate 4 is located at the end of the shaking plate 2 and below the loosening tooth 5, and the pressure signal of the pressure monitoring plate 4 is used to characterize the uniformity of the threshing mixture; the fish scale screen opening adjustment device includes a first fish scale screen opening adjustment device 11 and a second fish scale screen opening adjustment device 14; the first fish scale screen opening adjustment device 11 is used to adjust the opening of the first fish scale screen 7; the second fish scale screen opening adjustment device 14 is used to adjust the opening of the second fish scale screen 9; the grain loss monitoring sensor is installed on the cleaning screen frame 1 and located behind the sawtooth tail screen 10, and is used to detect grain loss; Below the serrated tail screen 10, and in the space between the isolation frame 19 and the cleaning screen frame 1, a secondary impurity grain quantity monitoring device is provided to monitor the quantity of grains that pass through the serrated tail screen 10 and enter the secondary impurity auger 28. A pressure monitoring device is installed on the cleaning screen frame 1 to monitor the pressure inside the cleaning chamber. The air inlet of the blower 24 is equipped with an air inlet opening adjustment plate 31, and the air outlet is equipped with an air distribution plate and an air distribution plate angle adjustment mechanism. The forward speed adjustment device is used to adjust the forward speed of the harvester. A grain entrainment loss monitoring sensor is installed below the concave screen 72 to monitor grain entrainment loss. A grain breakage rate monitoring sensor is installed inside the grain bin to monitor the breakage rate of grains entering the grain bin. A rod-type displacement sensor 42 is used to monitor the extension amount of the electric cylinder extension rod 49 of the electric cylinder 43.

[0096] The signal processing and control system 23 is connected to the feed rate prediction device, the guide bar angle adjustment device 3, the pressure monitoring plate 4, the first fish scale screen opening adjustment device 11, the second fish scale screen opening adjustment device 14, the grain loss monitoring sensor, the secondary impurity grain quantity monitoring device, the air pressure monitoring device, the air inlet opening adjustment plate 31, the air distribution plate angle adjustment mechanism, the rod-type displacement sensor 42, and the electric cylinder 43, respectively; the signal processing and control system 23 controls the feed rate prediction device, the pressure monitoring plate 4, the grain loss monitoring device, the air pressure monitoring device, the air inlet opening adjustment plate 31, the air distribution plate angle adjustment mechanism, the rod-type displacement sensor 42, and the electric cylinder 43. The system processes the monitoring values ​​from sensors, secondary impurity grain quantity monitoring devices, air pressure monitoring devices, lever-type displacement sensors 42, entrainment loss monitoring sensors, and grain breakage rate monitoring sensors to control the guide bar angle adjustment device 3, the first fish scale screen opening adjustment device 11, the second fish scale screen opening adjustment device 14, the air inlet opening adjustment plate 31, the air distributor angle adjustment mechanism, the electric cylinder 43, and the forward speed adjustment device. This enables the adjustment of the guide bar angle, fish scale screen opening, air inlet opening, air distributor angle, guide plate B 67 angle, and the forward speed of the harvester.

[0097] like Figure 14As shown, the guide bar angle adjustment device 3 includes a guide bar angle drive motor and a guide bar drive shaft. One end of the guide bar drive shaft is connected to the guide bar angle drive motor, and the other end of the guide bar drive shaft 302 is connected to the guide bar, so that the guide bar angle drive motor can drive the guide bar 3 to rotate, thereby changing the angle of the guide bar 3.

[0098] like Figure 14 , 15 As shown, in one embodiment of the present invention, preferably, there are three guide bars, and the guide bar angle adjustment device 3 includes a first guide bar angle drive motor 301, a first guide bar drive shaft 302, a first guide bar 303, a second guide bar angle drive motor 304, a second guide bar drive shaft 305, a second guide bar 306, a third guide bar angle drive motor 307, a third guide bar drive shaft 308, and a third guide bar 309.

[0099] The first guide bar 303, the second guide bar 306, and the third guide bar 309 are installed on the corrugated side of the vibrating plate 2. The first guide bar angle drive motor 301, the second guide bar angle drive motor 304, and the third guide bar angle drive motor 307 are fixedly installed on the back of the corrugated plate of the vibrating plate 2. One end of the first guide bar drive shaft 302 is installed in the drive output hole of the first guide bar angle drive motor 301 and fixed with a set screw. The other end of the first guide bar drive shaft 302 passes through the vibrating plate 2. The first guide bar 303 is welded to the first guide bar drive shaft 302, enabling the first guide bar 303 to change its angle under the drive of the first guide bar angle drive motor 301. The angle adjustment methods for the second guide bar 306 and the third guide bar 309 are the same as those for the first guide bar 303. The center of the first guide bar drive shaft 302 after installation is 346mm from the frontmost cleaning screen frame 1 of the cleaning screen, perpendicular to the forward direction of the harvester, and 535mm from the left side of the cleaning screen frame 1. The center of the second guide bar drive shaft 305 after installation is 460mm from the frontmost cleaning screen frame 1 of the cleaning screen, perpendicular to the forward direction of the harvester, and 355mm from the left side of the cleaning screen frame 1. The center of the first guide bar drive shaft 308 after installation is 275mm from the frontmost cleaning screen frame 1 of the cleaning screen, perpendicular to the forward direction of the harvester, and 125mm from the left side of the cleaning screen frame 1. The adjustable angles of the first guide bar 303, the second guide bar 306, and the third guide bar 309 are ±40°, and the adjustment center line is parallel to the forward direction of the harvester.

[0100] like Figure 15As shown, in one embodiment of the present invention, preferably, the pressure monitoring plate 4 includes four pressure monitoring plates of the same size: a first pressure monitoring plate 401, a second pressure monitoring plate 402, a third pressure monitoring plate 403, and a fourth pressure monitoring plate 404. Each pressure monitoring plate is 65 mm long and 100 mm wide. The four pressure monitoring plates are installed along the width direction of the cleaning screen at the end of the vibrating plate 2, perpendicular to the forward direction of the harvester, and below the loosening teeth 5. The center of the first pressure monitoring plate 401 is 150 mm from the right side of the cleaning screen frame 1; the center distance between the first pressure monitoring plate 401 and the second pressure monitoring plate 402 in the width direction of the cleaning screen is 200 mm; the center distance between the third pressure monitoring plate 403 and the left side of the cleaning screen frame 1 is 150 mm; and the center distance between the fourth pressure monitoring plate 404 and the third pressure monitoring plate 403 in the width direction of the cleaning screen is 200 mm. The uniformity of the threshing mixture entering the cleaning chamber is characterized by monitoring the pressure signals of the first pressure monitoring plate 401, the second pressure monitoring plate 402, the third pressure monitoring plate 403, and the fourth pressure monitoring plate 404.

[0101] like Figure 5-7 As shown, the air pressure monitoring device includes an air pressure monitoring module 601, a first rubber tube 603, a first support frame 604, a second rubber tube 606, a second support frame 607, and a positioning bracket 608.

[0102] The air pressure monitoring module 601 is mounted on the positioning bracket 608. The first support frame 604 and the second support frame 607 are mounted on the positioning bracket 608 from top to bottom. The air pressure monitoring module 601 is provided with a first detection hole 602 and a second detection hole 605. A first rubber tube 603 is installed on the first detection hole 602, and a second rubber tube 606 is installed on the second detection hole 605. The first rubber tube 603 passes through and is fixed on the first support frame 604, and the end of the first rubber tube 603 is parallel to the screen surface of the fish scale screen. The second rubber tube 606 passes through and is fixed on the second support frame 607, and the end of the second rubber tube 606 is perpendicular to the screen surface of the fish scale screen. During operation, the first detection hole 602 monitors the static pressure change of the surrounding environment, and the second detection hole 605 monitors the dynamic pressure change of the surrounding environment. The pressure change in the cleaning chamber is characterized by subtracting the static pressure monitoring value from the dynamic pressure monitoring value.

[0103] The air pressure monitoring device comprises four units, which are symmetrically arranged along a central plane perpendicular to the screen surface. Preferably, the air pressure monitoring device includes a first air pressure monitoring system 6, a second air pressure monitoring device 8, a third air pressure monitoring device 15, and a fourth air pressure monitoring device 16, all with identical structures and monitoring principles. In one specific embodiment of the invention, the center of the rectangular mounting plate 610 of the first air pressure monitoring device 6 is 1024 mm from the frontmost edge of the cleaning screen frame 1, and the center distance between the rectangular mounting plate 610 of the first air pressure monitoring device 6 and the center of the rectangular mounting plate of the second air pressure monitoring device 8 is 480 mm. The third air pressure monitoring device 15 and the fourth air pressure monitoring device 16 are symmetrically arranged with the second air pressure monitoring device 8 and the first air pressure monitoring device 6 along a central plane perpendicular to the screen surface. Figure 16-18 As shown, the first fish scale sieve opening adjustment device 11 includes a drive shaft 1101, an adjustment plate 1102, a fixed shaft 1104, a sieve plate drive connecting plate 1105, a first fish eye bearing 1106, a connecting rod 1107, a second fish eye bearing 1108, a first drive motor 1109, a displacement sensor 1110, a direction conversion device 1111, a third fish eye bearing 1112, a first connecting shaft 1113, a second connecting shaft 1114, and a connecting plate 1116; the displacement sensor 1110 communicates with... A connecting plate 1116 is mounted on the first drive motor 1109. A displacement sensor 1110 is used to measure the extension length of the push rod of the first drive motor 1109. One end of the third fisheye bearing 1112 is mounted on the end of the push rod of the first drive motor 1109, and the other end of the third fisheye bearing 1112 is connected to one side of the direction conversion device 1111 via the first connecting shaft 1113. The second fisheye bearing 1108 is connected to the other side of the direction conversion device 1111 via the second connecting shaft 1114. The direction conversion device 1111 is mounted on the harvester frame via a fixed shaft 1115. One end of the connecting rod 1107 is connected to the second fisheye bearing 1108, and the other end of the connecting rod 1107 is connected to the first fisheye bearing 1106. The first fisheye bearing 1106 is connected to one end of the adjusting plate 1102. The drive shaft 1101 is connected to the screen drive connecting piece 1105 and the middle part of the adjusting plate 1102. The other end of the adjusting plate 1102 is mounted on the harvester frame via a fixed shaft 1104. The time direction conversion device 1111 converts the horizontal linear motion of the push rod of the first drive motor 1109 into a vertical linear motion. It drives the adjusting plate 1102 to rotate around the fixed shaft 1104 through the connecting rod 1107. During the rotation, the adjusting plate 1102 drives the screen plate and the connecting plate 1105 through the drive shaft 1101 to rotate the fish scale screen, thereby realizing the stepless adjustment of the opening angle of the first fish scale screen 7. The second fish scale screen opening adjustment device 14 has the same structure as the first fish scale screen opening adjustment device 11.

[0104] like Figure 8-11As shown, the grain loss monitoring sensor includes a first grain loss monitoring sensor 12 and a second grain loss monitoring sensor 13. Both ends of the first grain loss monitoring sensor 12 and the second grain loss monitoring sensor 13 are respectively mounted on the cleaning screen frame 1 via a first mounting plate 20 and a second mounting plate 21. The installation height of the first grain loss monitoring sensor 12 is greater than the installation height of the second grain loss monitoring sensor 13, forming a stepped grain loss monitoring device to achieve regional measurement of grain loss. The first grain loss monitoring sensor 12 is used to monitor grain loss caused by excessive cleaning material, and the second grain loss monitoring sensor 13 is used to monitor grain loss caused by improper cleaning parameter settings and grain being blown out. Both the first mounting plate 20 and the second mounting plate 21 are provided with mounting holes and arc-shaped grooves. One end of the first grain loss monitoring sensor 12 and the second grain loss monitoring sensor 13 is connected to the mounting hole and the arc-shaped groove, allowing adjustment of the mounting angle of the first grain loss monitoring sensor 12 and the second grain loss monitoring sensor 13 via the arc-shaped groove.

[0105] The primary function of the secondary impurity auger is to remove incompletely threshed ears of grain, ensuring no kernels enter. Furthermore, the secondary impurity auger should also be free of excessive short stalks and other impurities. Regarding grain cleaning losses, current research has not clearly identified the sources of these losses. Grain cleaning losses are directly related to the airflow field within the cleaning device and the amount and distribution of material. If the material quantity is low, most material will be blown out by the airflow in the cleaning chamber, resulting in greater loss of kernels farther from the tail of the cleaning screen. Conversely, when the material quantity in the cleaning chamber is excessive, the material cannot be effectively blown out by the airflow, causing most material to be ejected from the machine by the vibration of the screen. In this case, greater loss of kernels occurs closer to the tail of the cleaning screen. Therefore, based on the distribution pattern of cleaning losses, a stepped grain loss monitoring sensor can be installed at the tail of the cleaning screen. The monitoring values ​​from different sensors can be used to analyze the causes of cleaning losses, allowing for appropriate measures to be taken to reduce grain loss.

[0106] like Figure 9As shown, specifically, both ends of the first grain loss monitoring sensor 12 are respectively mounted on the first mounting plate 20 and the second mounting plate 21 via two twin-stud rubber vibration dampers. One end of the second mounting plate 21 is mounted on the cleaning screen frame 1 via a fixing plate 2101. Two fourth twin-stud rubber vibration dampers at one end are respectively inserted into the first grain loss monitoring sensor mounting hole 2102 and the first grain loss monitoring sensor mounting angle adjustment hole 2103. Two fourth twin-stud rubber vibration dampers at the other end are respectively inserted into the corresponding positions of the first mounting plate 20. The mounting angle of the first grain loss monitoring sensor 12 can be adjusted through the first grain loss monitoring sensor mounting angle adjustment hole 2103. After the mounting angle is adjusted, the fourth twin-stud rubber vibration dampers are fixed with nuts. Each end of the second grain loss monitoring sensor 13 is mounted to the first mounting plate 20 and the second mounting plate 21 via two fourth twin-studded rubber vibration dampers. The two fourth twin-studded rubber vibration dampers are respectively inserted into the second grain loss monitoring sensor mounting hole 2104 and the third grain loss monitoring sensor mounting angle adjustment hole 2105. The other two fourth twin-studded rubber vibration dampers are respectively inserted into the corresponding positions of the first mounting plate 20. The mounting angle of the second grain loss monitoring sensor 13 can be adjusted through the third grain loss monitoring sensor mounting angle adjustment hole 2105. After the mounting angle is adjusted, the fourth twin-studded rubber vibration dampers are fixed with nuts.

[0107] In one specific embodiment of the present invention, the horizontal center distance between the first grain loss monitoring sensor mounting hole 2102 and the second grain loss monitoring sensor mounting hole 2104 is 100mm, and the vertical center distance is 35mm. The first grain loss monitoring sensor 12 and the second grain loss monitoring sensor 13, the first mounting plate 20 and the second mounting plate 21 together form a stepped grain loss monitoring device to realize regional measurement of grain loss. The first grain loss monitoring sensor 12 is used to monitor grain cleaning loss caused by excessive cleaning material, and the second grain loss monitoring sensor 13 is used to monitor grain cleaning loss caused by improper cleaning parameter settings and grain being blown out.

[0108] The grain quantity monitoring device includes a first grain quantity monitoring device 17 and a second grain quantity monitoring device 18. The first grain quantity monitoring device 17 and the second grain quantity monitoring device 18 are installed below the sawtooth tail screen 10, in the space between the isolation frame 19 and the left and right cleaning screen frames 1, and are used to monitor the number of grains that pass through the sawtooth tail screen 10 and enter the secondary impurity auger. Vibration dampers are provided at the connection points between the first grain quantity monitoring device 17 and the second grain quantity monitoring device 18 and the cleaning screen frames 1.

[0109] like Figure 12 , 13As shown, the first grain quantity monitoring device 17 includes a mounting plate 1702, a first sensitive plate 1703, a second twin-screw rubber vibration damper 1704, a second sensitive plate 1705, and a third twin-screw rubber vibration damper 1706. The first grain quantity monitoring device 17 is installed into the positioning holes on the first isolation frame 1901 through two first twin-screw rubber vibration dampers 1701 and two third twin-screw rubber vibration dampers 1706 at both ends, and is fixed to the outside of the cleaning screen frame 101 and the first isolation frame 1901 with nuts. The second grain quantity monitoring device 18 is installed on the cleaning screen frame 101 and the second isolation frame 1902 along with the first grain quantity monitoring device 17, and is fixed with nuts. The first grain quantity monitoring device 17 and the second grain quantity monitoring device 18 have the same structure and are installed symmetrically, with the plane of symmetry being the center plane of the cleaning screen parallel to the forward direction of the cleaning screen harvester.

[0110] like Figure 19As shown, the fan 24 includes a first air distribution plate 25, a second air distribution plate 26, a first electric push rod 32, a second electric push rod 33, and a third electric push rod 40. The first air distribution plate 25 and the second air distribution plate 26 are located at the fan outlet and are movably connected to the inner wall of the fan outlet. The fan 24 has an opening adjustment plate 31 at the air inlet, and the first electric push rod 32 is connected to the opening adjustment plate 31. The first electric push rod 32 can drive the opening adjustment plate 31 to adjust. The opening of the air inlet of the fan 24 is adjusted. The third electric push rod 40 is connected to the first air distribution plate 25. The third electric push rod 40 can drive the first air distribution plate 25 to rotate around the connection point between the first air distribution plate 25 and the inner wall of the air outlet, thereby realizing the angle adjustment of the first air distribution plate 25. The second electric push rod 33 is connected to the second air distribution plate 26. The second electric push rod 33 can drive the second air distribution plate 26 to rotate around the connection point between the second air distribution plate 26 and the inner wall of the air outlet, thereby realizing the angle adjustment of the second air distribution plate 26. The drive shaft of the fan 24 is connected to a hydraulic motor. By controlling the opening of the hydraulic solenoid valve, the fan speed can be infinitely adjusted within the range of 1100 to 1500 rpm. The first electric push rod 32 is connected to the fan inlet opening adjustment plate 31. Driven by the first electric push rod 32, the fan inlet opening can be adjusted within the range of 0 to 5 levels. The larger the number, the larger the inlet area and the larger the fan inlet volume. The third electric push rod 40 is connected to the first air distribution plate 25 through the second fisheye rod end joint bearing 39. Driven by the third electric push rod 40, the first air distribution plate 25 rotates around the first air distribution plate hinge point 38, thereby adjusting the angle of the first air distribution plate 25 between 13° and 45°. The second electric push rod 33 is connected to one end of the crescent-shaped direction conversion component 35 via the first fisheye rod end joint bearing 34. The other end of the direction conversion component 35 is connected to the second air distribution plate connecting piece 36. Driven by the second electric push rod 33, the second air distribution plate 26 rotates around the second air distribution plate hinge point 37, thereby realizing the adjustment of the angle of the second air distribution plate 26 from 13° to 45°.

[0111] like Figure 20-21The threshing device includes a drum top cover 70, a threshing drum 71, a concave sieve 72, and a control mechanism 69. The concave sieve 72 is located directly below the drum top cover 70, and the threshing drum 71 is placed in the middle of the drum top cover 70 and the concave sieve 72. The control mechanism 69 is located on top of the drum top cover 70 and includes an electric cylinder 43, a lever-type displacement sensor 42, and a connecting plate A63. The upper surface of the cover plate 53 of the drum top cover 70 is provided with the connecting plate A63, and the lower surface area of ​​the cover plate 53 is provided with guide plates A66 and B67 from front to back. When the guide plates A66 and B67 are not rotating, their end faces remain parallel. There are multiple guide plates B67 arranged in a certain linear distribution. One end of the first group of guide plates B67 is rotatably connected to the groove of the cover plate 53, and the other end is connected to the connecting plate A63. The electric cylinder 43 drives the connecting plate A63 to move the guide plates B67. 67 rotates in the slot, thereby realizing the angle adjustment of the guide plate B 67; the rod-type displacement sensor 42 is used to monitor the extension amount of the electric cylinder extension rod 49 of the electric cylinder 43.

[0112] Based on the flow characteristics of the plant population within the threshing space, this invention preferably adjusts the angle of the guide plate B 67 as follows: the electric cylinder 43 drives the connecting plate A63 to rotate the guide plate B 67, thereby adjusting its angle. The pull-rod type displacement sensor 42 monitors the extension amount of the electric cylinder extension rod 49 of the electric cylinder 43, achieving stepless adjustment of the guide plate angle and a self-locking function that allows it to be fixed at the adjusted angle. This preferred control strategy adjusts operating parameters such as the angle of the top cover guide plate, ensuring stable and uniform flow of the plant population within the threshing space, significantly improving threshing and separation performance.

[0113] Specifically, the top of the concave sieve 72 is in contact with the lower plane of the left beam 56 and the right beam 62 below the drum top cover 70, and the threshing drum 71 is placed in the middle of the drum top cover 70 and the concave sieve 72.

[0114] like Figure 21-25As shown, in a specific embodiment of the present invention, the drum top cover 70 includes a grain unloading drum support 46, a front cover plate 47, a first connecting member welded 48, a second connecting member welded 52, a third connecting member welded 57, a cover plate 53, a left reinforcing plate 54, a manual adjustment rod 55, a left beam 56, a right beam 62, a rear cover plate 58, a connecting plate B 59, an upper reinforcing plate 60, a right reinforcing plate 61, a connecting plate A 63, a grass guide plate A 66, a grass guide plate B 67, and a steel sleeve 68. The upper reinforcing plate 60, the left reinforcing plate 54, and the right reinforcing plate 61 are respectively welded to the upper side, left side, and right side of the upper surface of the cover plate 53. The upper reinforcing plate 60 is completely fitted with the upper area of ​​the cover plate 53, and its front end face and rear end face are flush with the front and rear end faces of the cover plate 53. Similarly, the front and rear end faces of the left reinforcing plate 54 and the right reinforcing plate 61 are also flush with the front and rear end faces of the cover plate. The upper reinforcing plate 60, left reinforcing plate 54, and right reinforcing plate 61 all serve to increase the load-bearing capacity of the cover plate 53. The front cover plate 47 and rear cover plate 58 are welded to the front and rear sides of the cover plate 53, respectively. The unloading drum support 46 is welded to the front of the front cover plate 47. The left beam 56 is located at the lower left of the cover plate 53, and the right beam 62 is located at the lower right of the cover plate 53. The furthest distance between the left beam 56 and the right beam 62 is 865mm, consistent with the width of the front and rear cover plates 47 and 58. The lengths of both the left beam 56 and the right beam 62 are 2204mm, consistent with the length of the cover plate 53. The left beam 56 and the right beam 62 are welded to the lower side of the cover plate 53, and their lower planes are at the same height, allowing them to be placed flat on the frame and bear the weight of the entire top cover. Three threaded holes are opened on the right beam 62, allowing bolts to be passed through these holes to fix the drum top cover to the frame. Three connecting pieces are welded together and fixed to the left side of the left beam at equal intervals. Each connecting piece can be connected to the frame using bolts through its own round holes. The left end face of the leftmost first connecting piece weld 48 is 97mm from the end face of the front cover plate 47. The center distance between the second connecting piece weld 52 and the first connecting piece weld 48 is 1003.5mm. Similarly, the distance between the third connecting piece weld 57 and the second is also 1003.5mm. The drum top cover 70 is connected to the frame through these three connecting pieces, realizing the flip-top operation. The grass guide plate A66 is welded to the lower surface area of ​​the cover plate 53. Its front end is fixed at the intersection of the front cover plate 47 and the cover plate 43, and its rear end is fixed at the bend on the left side of the cover plate. The bend of the grass guide plate A66 fits into the bend from the upper side to the left side of the cover plate 43, and the end faces of the grass guide plate A66 and the grass guide plate B67 remain parallel when not rotating. The guide plate B 67 is also located in the area below the cover plate 53, and is distributed in a certain linear manner. Its upper left end is connected to the cover plate 53 and the upper reinforcing plate 60 by bolts, and its upper right end is connected to the connecting plates A 63 and B 59 and the steel sleeve 68 by bolts passing through the grooves of the cover plate 53 and the upper reinforcing plate 60.The guide plates B 67, counting from front to back, are spaced 180mm apart from the first to the sixth, and the last three are spaced 240mm apart from the sixth. The first six guide plates B 67 rotate in unison under the drive of the connecting plate A 63, while the last three rotate in unison under the drive of the connecting plate B 59. The connecting plate A 63 is located above the cover plate 53 and the upper reinforcing plate 60, and has six equally spaced openings. Six steel sleeves 68 are spaced between the connecting plate A 63 and the upper reinforcing plate 60. The steel sleeves 68 correspond one-to-one with the openings on the connecting plate A 63. From top to bottom, the bolt passes through the openings of the connecting plate A 63, the steel sleeves 68, the groove of the upper reinforcing plate 60, the groove of the cover plate 53, and the opening on the right side of the guide plate B 67, so that the connecting plate A 63 and the first six guide plates B 67 are linked together. Similar to connecting plate A 63, connecting plate B 59 has three equally spaced openings, also located above cover plate 53 and upper reinforcing plate 60, and behind connecting plate A 63. It is linked to the three rear guide plates B 67 via bolts. Slightly different from the linkage at connecting plate A 63, connecting plate B 59 and upper reinforcing plate 60 are not separated by a steel sleeve 68; they are designed at different heights to avoid interference between connecting plate A 63 and connecting plate B 59 during the adjustment of the guide plate B 67 angle. Above connecting plate B 59 is a manual adjustment rod 55, located directly above the first of the three rear guide plates B 67. The manual adjustment rod 55 allows manual adjustment of the angle of the three rear guide plates B 67 based on the operator's experience. The manual adjustment rod 55 has a hollow design in the middle, allowing the view of the three angle lines engraved on the upper reinforcing plate 60, thus indicating the current rotation angle.

[0115] like Figure 26As shown, the control mechanism 69 is located at the upper right corner of the upper plane of the drum top cover 70, and mainly includes a pull rod displacement sensor 42, an electric cylinder 43, an electric cylinder fixing part 44, an electric cylinder extension rod 49, a fisheye rod end bearing 50, a connecting ring A63, and a connecting ring B64. The electric cylinder fixing part 44 is fixed to the upper side of the cover plate 53 and the upper reinforcing plate 60 by bolts, located at the upper right corner of the upper reinforcing plate 60. Its front end face coincides with the front end face of the upper reinforcing plate 60, and its right end face coincides with the right end face of the upper reinforcing plate 60. The function of this part is to fix the electric cylinder 43 and the pull rod displacement sensor 42 on the drum top cover 81, so that the electric cylinder 43, as the power source of the control mechanism 69, can continuously and stably output power. The electric cylinder fixing component 44 has a convex structure on its horizontal surface, with a center-to-center spacing of 25mm. Several threaded holes are present on the horizontal surface, which are bolted to the cover plate 53 and the upper reinforcing plate 60. Additionally, there is a large circular hole and four small circular holes on its vertical surface. The large central hole has a diameter of 44mm and is used for the electric cylinder extension rod 49. Around the large circular hole, four small circular holes with a diameter of 8mm are distributed at equal circumferential angles. The center of each small circular hole is equidistant from the center of the large circular hole. Additionally, to the right of the large circular hole at the center of the vertical plane, there is a square opening with a side length of 19mm. This square opening is used to place the front end of the pull rod displacement sensor 42, and to better fix the pull rod displacement sensor 42 to the side wall of the electric cylinder 43 with hot melt adhesive. The electric cylinder 43 is the power source of the control mechanism 80, and its interior is a two-phase 6-wire 57 stepper motor, controlled by pulse signals. The electric cylinder 43 is fitted with the convex structure of the electric cylinder fixing part 44 through a groove, and then fastened to the electric cylinder fixing part 44 with bolts A through the threaded holes on the vertical plane. The bottom of the electric cylinder has a groove, and the electric cylinder fixing part is designed with a convex structure, which is riveted and fixed, thus restricting the up, down, left and right movement of the electric cylinder 43. Then, four bolts A are connected to the electric cylinder fixing part 44 through the four threaded holes on the electric cylinder 43, further restricting the up, down, left and right movement and the forward and backward movement of the electric cylinder 43, thereby completing the complete fixation of the electric cylinder 43. Secondly, the electric cylinder extension rod 49 extends through the opening in the electric cylinder fixing part 44, and its front end is connected to the fisheye rod end bearing 50. A connecting ring A 65 is also fixed between the front end of the electric cylinder extension rod 49 and the fisheye rod end bearing 50. The other end of the connecting ring A 65 is connected to the pull rod of the pull rod type displacement sensor 42. The connecting ring A 65 has a hole at each end. One hole with a diameter of 14.5 mm is connected to the electric cylinder extension rod 49, and the other hole with a diameter of 5.5 mm is connected to the pull rod of the pull rod type displacement sensor 42. The connecting ring A 65 is fixed to the electric cylinder extension rod 49 and the pull rod of the pull rod type displacement sensor 42 with nuts, and the end face is kept parallel to the front end face of the electric cylinder 43 and the pull rod type displacement sensor 42. In addition, the fixed position of the connecting ring A 65 should make the initial position of the electric cylinder extension rod 49 and the pull rod of the pull rod type displacement sensor 42 flush, so as to synchronize the displacement of the electric cylinder extension rod 49 and the displacement of the pull rod type displacement sensor 42. One end of the fisheye rod end bearing 50 is connected to the electric cylinder extension rod 49 via its own threaded hole, and the other end is connected to one end of the connecting ring B 64 via bolt B 51. The other end of the connecting ring B 64 is connected to a bolt on the connecting plate A 63. The connecting ring B 64 also has a hole at each end: a 14.5mm diameter hole connected to bolt B 51 in the hole of the fisheye rod end bearing 50, and a 12.5mm diameter hole connected to the bolt with the first hole at the front end of the connecting plate A 63. The main function of the connecting ring B 64 is to transmit the thrust or pull force of the electric cylinder extension rod 49 to the connecting plate A 63, thereby driving the rotation of the guide plates B 67. Driven by the electric cylinder 43, the connecting plate A 63 can rotate the first six guide plates B 67 within the slots of the cover plate 53 and the upper reinforcing plate 60, achieving a rotation of 50° to 80°. The extension of the electric cylinder extension rod 49 is 100mm, and the extension of the rod-type displacement sensor 42 is 150mm.

[0116] In one specific embodiment of the present invention, the entrainment loss monitoring sensor is installed below the concave sieve 72 to monitor grain entrainment loss (specific method refers to CN101611670A), and the grain breakage rate monitoring sensor is installed inside the grain bin (specific method refers to CN116482101A) to monitor the breakage rate of grains entering the grain bin. The feed rate prediction device is equipped with a feed rate prediction model to predict the feed rate prediction value at the next moment;

[0117] The feed rate prediction device includes an image acquisition unit, a detection unit, and a feed rate prediction unit. The image acquisition unit is used to acquire images of the area to be harvested. The detection unit is used to acquire the forward speed of the harvester and the height of the header. The feed rate prediction unit extracts plant height, plant density, and cutting width from the images acquired by the image acquisition unit, and inputs the plant density, plant height, cutting width, header height, and forward speed of the harvester into the feed rate prediction model based on the RBF-MLP multilayer neural network to predict the feed rate of the harvester at the next moment.

[0118] like Figure 27 As shown, preferably, the feed rate prediction unit processes the RGB images acquired by the image acquisition unit 1 at different times during the harvester's operation using the YoloX target detection algorithm to obtain the plant density and feed density, specifically including the following steps:

[0119] S1.1: Collect RGB images of the harvested area at different times during the actual harvesting process of the harvester, and use Labelimg software to annotate each image to mark all rice ears in the image;

[0120] S1.2: After obtaining enough image samples, randomly divide all images, with 80% assigned to the training set and 20% to the test set;

[0121] S1.3: Import the training set into the YOLOX training program for training. After training, a rice panicle detection model is obtained. The rice panicle detection model is tested using a test set to ensure the detection effect of the plant panicle detection model.

[0122] S1.4: Use a checkerboard pattern to calibrate the size of the sampled image and determine the actual size of the camera sampling area;

[0123] S1.5: During actual detection, the RGB image acquired by the image acquisition unit 1 is input into the rice panicle detection model. The rice panicle detection model detects the number of rice panicles in this RGB image and obtains the plant density p based on the actual area of ​​the sampling area.

[0124] S1.6: Collect samples of intact and mature rice plants from areas with uniform rice growth, and analyze the relationship between plant height h and cutting height h using these samples. c The influence of changes on the weight M of a single rice plant was investigated, and a rice plant weight equation was derived to determine the plant height h and the cutting height h. c The mathematical relationship between the rice plant mass M and the weight of a single rice plant is shown below:

[0125]

[0126] Where, m e The average mass of the rice panicle is kg, h is the plant height, and m is the mass per unit length of the stem, kg / m.

[0127] S1.7: Based on the plant density p and the rice plant mass equation M in the sampling area, the feed density ρ (kg / m³) of the harvester in the harvesting area is obtained. 2 ).

[0128] ρ=p·M

[0129] In step S1.6, to determine the effect of cutting height on rice plant quality, in one embodiment of the present invention, preferably, 100 complete rice plant samples are taken, and the height of each plant is measured; the plant is cut at a position 5cm above the ground, and the mass of each plant is measured. From the cutting position, 30 1cm long sections of stem are cut upwards from each plant as samples, and the mass of each sample is measured. This yields the rice plant mass at different cutting heights. To reduce errors caused by morphological differences in rice panicles, the mass of the rice panicle of each sample plant is measured, and the average mass is taken as the rice panicle mass m. e The rice plant quality equation was fitted based on the measured data.

[0130] like Figure 28 As shown, in one embodiment of the present invention, preferably, acquiring an image of the area to be harvested and extracting the plant height from the image specifically includes the following steps:

[0131] S2.1: Initialize image acquisition unit 1, acquire depth image and RGB image of the area to be harvested in front of the harvester, and align them;

[0132] S2.2: Set a region of interest of size 200×150 in the middle of the RGB image, perform HSV transformation on the region of interest, extract the pixel region in the range of [10,50,100] and [40,120,250], and project the region onto the corresponding depth image;

[0133] S2.3: Call the get_intrinsics and get_extrinsics_to functions to obtain the camera's intrinsic and extrinsics parameters, and call the rs2_get_depth_scale function to obtain the depth scale of the depth sensor. Obtain the coordinates of the corresponding pixel based on the camera's intrinsic and extrinsics parameters, extract the depth value of the corresponding pixel from the depth image, and save the extracted pixel depth value.

[0134] S2.4: Average the depth values ​​of each saved pixel, multiply the average depth value by the depth scale, and obtain the straight-line distance l from the spikelet of the plant to the camera within the region of interest. x The depth camera is installed at the highest point in front of the harvester. Since the image acquisition unit 1 is installed with a certain pitch angle θ, the vertical distance h2 from the image acquisition unit 1 to the crop outline boundary can be obtained by trigonometric function calculation.

[0135] S2.5: The difference between the installation height h1 of the image acquisition unit 1 and the vertical distance h2 from the camera to the crop outline boundary can be used to obtain the plant height h in the harvest area;

[0136] h = h1 - l x sinθ

[0137] Among them, l x sinθ is the height from the camera to the spike layer of the plant.

[0138] The preferred flowchart for obtaining the cutting width of the harvested area is as follows: Figure 29 As shown, it includes the following steps:

[0139] S3.1: Read a frame of depth image from the data stream of the RealSense depth camera, use a linear scanning algorithm to traverse all pixels in the depth image, find the two adjacent pixels with the largest depth difference, and save them to a list;

[0140] S3.2: Call the get_intrinsics and get_extrinsics_to methods to obtain the camera's intrinsic and extrinsic parameters, convert the two adjacent pixels with the largest depth difference into points in the camera coordinate system, convert the pixel coordinates into point coordinates in the camera coordinate system, and extract the coordinate information of all points on the x-axis.

[0141] S3.3: Schematic diagram of the cutting width detection is shown below. Figure 30 As shown, the average of the x-axis coordinates of all the points obtained is the vertical distance from the harvest boundary to the camera. Based on the camera's installation position, the harvester's cutting width w at that moment can be obtained.

[0142] Specifically, to obtain the cutting width of the harvester during operation, it is only necessary to convert the extracted boundary pixels into coordinates in the camera coordinate system. The coordinates of the boundary points on the x-axis in the camera coordinate system are the distances of the harvest boundary points relative to the camera. Since the camera's installation position relative to the harvester is fixed, adding this distance to the distance of the camera relative to the other side of the header divider gives the current cutting width of the harvester.

[0143] like Figure 31 As shown, preferably, establishing the RBF-MLP multilayer neural network includes the following steps:

[0144] In a manner similar to combining perceptrons to form a multilayer perceptron, RBF approximation is incorporated in each hidden layer, aiming to combine the advantages of the nonlinear approximation capability of RBF neural networks with the advantages of multilayer perceptrons in capturing complex features.

[0145] S4.1: Introduce nonlinear transformations in 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 univariate RBF with a scalar center and trainable, and then RBF approximation is performed to generate the output of the current layer, so as to enhance the representation and adaptability of the network.

[0146] Furthermore, in RBF-MLP, the input data undergoes a non-linear transformation via RBF approximation, rather than the linear transformation performed in traditional MLPs. This introduces additional non-linearity into the multilayer perceptron, enabling the use of fewer hidden layers and neurons, thereby reducing training costs.

[0147] Compared to traditional multilayer perceptrons, RBF-MLP uses center- and width-trainable Gaussian functions as activation functions for hidden neurons.

[0148] S4.2: Multiple hidden layers are set between the input and output layers of the RBF-MLP network, which introduces nonlinear transformation, enabling RBF-MLP to have deep learning capabilities;

[0149] S4.3: Calculate the output of the first hidden layer in S4.2; each hidden layer involves two operations, but the operations of the first hidden layer are different from those of subsequent hidden layers:

[0150] S4.3.1: In the first hidden layer, the input variables are first fed into the same Gaussian function a as in the RBF neural network. (1) middle,

[0151]

[0152] The Gaussian function is multivariate, and the dimension of its center is the same as the dimension of the input variable x.

[0153] x is the input variable. It is a multivariate Gaussian function;

[0154] S4.3.2: Perform RBF approximation; that is, apply the linear weighted sum of all Gaussian functions given in the formula of S4.3.1.

[0155] S4.3.3: Calculate the output of this hidden layer:

[0156]

[0157] Among them, W (1) Let z be the weight matrix of the first hidden layer. (1) This is the output of the first hidden layer. It is a multivariate Gaussian function. is the weight node in the first layer of the network, n0 is the number of kernels in the neural network layer, and j and i are identifiers, which are any integers in the range of 1 to n0;

[0158] S4.4: Calculate the outputs of all hidden layers in S4.2 except for the first hidden layer:

[0159] S4.4.1: The j-th feature of layer l-1 It is input into a univariate radial basis function a l middle:

[0160]

[0161] Let j be the j-th feature of the l-1 hidden layer, L be the number of the hidden layers, and l be the nth hidden layer.

[0162] S4.4.2: Perform RBF approximation, i.e., apply the linear weighted sum of all Gaussian functions given in the above formula;

[0163] S4.4.3: Calculate the output z of all hidden layers except the first hidden layer. l .

[0164]

[0165] Finally, the output layer outputs...

[0166]

[0167] Among them, a (L-1) W is the output of the hidden layer neurons in layer L-1. (L) Let b be the weight matrix of the output layer. (L) This is the bias for the output layer.

[0168] The RBF-MLP multilayer neural network utilizes RBF approximation in the hidden layers and simplifies the basis functions by replacing the original multivariate Gaussian functions with univariate radial basis functions. This significantly reduces the dimensionality of the basis functions and the complexity of the network, thereby simplifying the training process.

[0169] Preferably, establishing a harvester feed rate prediction model includes the following steps:

[0170] S5.1: Construct the training dataset: The dataset consists of plant height, plant density, and cutting width obtained from image acquisition unit 1 at different times during the operation of the harvester, as well as the forward speed and header height of the harvester obtained from the detection unit.

[0171] S5.2: Import the dataset into the RBF-MLP multilayer neural network for training to derive the feed rate prediction model: Import the constructed dataset into the established RBF-MLP multilayer neural network for training. The mean squared error (MSE) is used as the loss function during the training process of the feed rate prediction model.

[0172]

[0173] Where n is the number of samples, y i Let i be the true value of the i-th sample. The corresponding predicted value;

[0174] Obtain a batch of training data from the data loader, including input features and corresponding target labels;

[0175] First, the input feature x passes through an RBF layer, which contains multiple radial basis function kernels. This represents the i-th kernel function. Each kernel function calculates the distance between the input data x and the kernel using Euclidean distance d. i :

[0176] d i =||xu i ||2

[0177] Among them, u i It is the center of the i-th kernel, x is the input feature, and d i It is the Euclidean distance;

[0178] Then, the Gaussian kernel function is applied to calculate the output value of each kernel:

[0179]

[0180] Where, σ i It is the standard deviation of the i-th nucleus, RBF i d is the output value of the Gaussian kernel. iIt is the Euclidean distance;

[0181] The output of the RBF layer is RBF. i These values ​​become the input to the first layer of the MLP. They pass through a fully connected layer and are processed by the ReLU activation function. Let the first layer of the MLP have N neurons, where z... i Let represent the input of the i-th neuron. Then:

[0182]

[0183] Where M is the number of kernels in the RBF layer, w ij It is the weight connecting the j-th kernel of the RBF layer and the i-th neuron of the first layer of the MLP, b i It is the deviation of the i-th neuron;

[0184] Next, the ReLU activation function is applied to obtain the intermediate representation h. i :

[0185] h i =max(0, z) i )

[0186] h i h is the input to subsequent layers of the MLP. i It is an intermediate transition function, called an intermediate representation. z i This represents the input to the i-th neuron;

[0187] The intermediate representations of the MLP are mapped to the final output through the second layer of the MLP. The network output is then compared with the actual target label, and the mean squared error (MSE) loss is calculated.

[0188] Calculate the gradient of the loss relative to the model parameters, and propagate the gradient from the loss back to each layer of the network through backpropagation. For example, if the error of the (l+1)th hidden layer has been obtained, then the error of the lth hidden layer is:

[0189]

[0190] δ l Let z be the error of the l-th hidden layer. l For the input of the neurons in the l-th hidden layer, δ l+1 Let z be the error of the (l+1)th hidden layer. l+1 This is the input to the neurons in the (l+1)th hidden layer;

[0191] again

[0192] z l+1 =W l+1 σ(W l a l-1 +b l )+bl+1

[0193] W l+1 Let b be the weight matrix of the (l+1)th hidden layer. l+1 For the bias of the (l+1)th hidden layer, a l-1 This is the output of the result of the (l-1)th hidden layer after passing through the activation function;

[0194] therefore

[0195] δ l =(W l+1 ) T δ l+1 ⊙σ′(W l a l-1 +b l )

[0196] Based on the error δ of the output layer L Using the above formula, δ can be obtained sequentially. L-1 δ L-2 , …, δ 2 The first layer is the input layer and has no error. After calculating the error of each layer, the gradient of the error function C with respect to the parameters of each layer is calculated:

[0197]

[0198]

[0199] Where T is the transpose symbol;

[0200] Finally, the parameters of each layer are updated using gradient descent:

[0201]

[0202]

[0203] Where η is the learning rate during training, and W l Let b be the weight matrix of the l-th hidden layer. l Let C be the bias of the l-th hidden layer, and C be the mean square error function (MSE).

[0204] The Adam optimizer is used to update the model parameters based on the calculated gradients in order to reduce the value of the loss function;

[0205] Repeat the above steps to iterate through all batches in the dataset until one epoch is completed;

[0206] After each epoch, record the loss value of the last batch in that epoch for subsequent loss curve plotting, such as... Figure 32 , 33As shown in Figure 34, compared to single RBF-nn and MLP, RBF-MLP converges faster. This means that the model can reach a lower training loss value in a shorter time, saving training time and computational resources. Moreover, faster convergence helps to avoid overfitting on the training data. Figure 34 The curves shown illustrate that the loss value decreases rapidly within the same time period, leading to the conclusion that the RBF-MLP neural network has good approximation accuracy and fast training convergence speed.

[0207] The feed volume prediction model is as follows:

[0208]

[0209] Where Q is the predicted feed amount, v is the forward speed, and h is the forward speed. c h is the height of the cutting platform, w is the plant height, and ρ is the cutting width.

[0210] ρ=p·M

[0211] Where p is the plant density and M is the rice plant mass equation;

[0212]

[0213] Where, m e denoted as , where h is the average mass of the rice panicle; h is the plant height; and m is the mass per unit length of the stem.

[0214] The plant height h in the harvesting area is:

[0215] h = h1 - l x sinθ

[0216] Where h1 is the installation height of the image acquisition unit, l x Let θ be the straight-line distance from the spikelet of the plant within the region of interest to the camera, and l be the pitch angle of the image acquisition unit. x sinθ is the height from the camera to the spike layer of the plant.

[0217] The plant density p in the area to be harvested was obtained based on the YoloX object detection algorithm.

[0218] Preferably, the detection unit includes an angle sensor and a Hall sensor; the angle sensor is used to measure the height of the harvester's header; and the Hall sensor is used to measure the harvester's forward speed.

[0219] Preferably, the feed rate prediction unit includes a Jetson NX embedded processor.

[0220] The JetsonNX embedded processor is used to predict the next feed amount of the harvester and transmit this data to the signal processing and control system 23.

[0221] Preferably, the image acquisition unit includes a RealSense depth camera 11.

[0222] The feed rate prediction device obtains the plant density of the harvesting area based on the YoloX target detection algorithm, the plant height and cutting width of the harvesting area based on depth vision perception technology, the header height based on the angle sensor, and the forward speed of the harvester based on the Hall sensor. The angle sensor and Hall sensor signals are processed by the CAN communication module and sent to the JetsonNX embedded processor. The JetsonNX embedded processor calls up information such as forward speed, header height, plant height, cutting width, and feed density, and uses the feed rate prediction model based on the RBF-MLP multilayer neural network to predict the feed rate information of the harvester at the next moment.

[0223] The feed rate prediction model is trained using an RBF-MLP multilayer neural network, based on a dataset consisting of feed rate information collected during actual operations, including forward speed, header height, plant height, cutting width, feed density, and manually measured parameters. When calling the feed rate prediction model for prediction, simply input the forward speed, header height, plant height, cutting width, and feed density acquired at the same time into the system, and the system will calculate the corresponding predicted feed rate value.

[0224] The feed rate prediction unit program, plant height acquisition program, and cutting width acquisition program run in a Jetson NX embedded processor.

[0225] A control method for a hybrid rice seed harvester comprising the following steps:

[0226] The feed rate prediction device predicts the harvester feed rate for the next moment; the pressure monitoring plate 4 monitors the pressure signal to characterize the uniformity of the threshing mixture; the grain loss monitoring sensor detects grain loss; the secondary impurity grain quantity monitoring device monitors the number of grains that pass through the sawtooth tail screen 10 and enter the secondary impurity auger 28; the air pressure monitoring device monitors the pressure in the cleaning chamber; the lever-type displacement sensor 42 monitors the extension amount of the electric cylinder extension rod 49 of the electric cylinder 43; the entrainment loss monitoring sensor monitors grain entrainment loss; and the grain breakage rate monitoring sensor monitors the breakage rate of grains entering the grain bin.

[0227] The signal processing and control system 23 processes the monitoring values ​​of the feed amount prediction device, pressure monitoring plate 4, grain loss monitoring sensor, secondary impurity grain amount monitoring device, air pressure monitoring device, pull rod displacement sensor 42, entrainment loss monitoring sensor and grain breakage rate monitoring sensor, and controls the guide bar angle adjustment device 3, the first fish scale screen opening adjustment device 11, the second fish scale screen opening adjustment device 14, the air inlet opening adjustment plate 31, the air distribution plate angle adjustment mechanism, the electric cylinder 43 and the forward speed adjustment device.

[0228] Specifically, in one embodiment of the present invention, the signal processing and control system 23 receives the following data from the Jetson NX embedded processor: the predicted feed amount Q, the monitoring values ​​of the first grain loss monitoring sensor 12, the second grain loss monitoring sensor 13, the second fish scale screen 9 opening adjustment device 14, the first grain quantity monitoring device 17, the second grain quantity monitoring device 18, the first air pressure monitoring device 6, the second air pressure monitoring device 8, the third air pressure monitoring device 15, the fourth air pressure monitoring device 16, the first pressure monitoring plate 401, the second pressure monitoring plate 402, the third pressure monitoring plate 403, the fourth pressure monitoring plate 404, the monitoring value of the entrainment loss monitoring sensor, the monitoring value of the grain breakage rate monitoring sensor, and the monitoring value of the angle of the guide plate B 67. The signal processing and control system 23 outputs signals to control the opening of the hydraulic motor speed regulating solenoid valve, the first electric push rod 32 adjusts the opening of the fan inlet, the second electric push rod 33 adjusts the angle of the second air distribution plate, the third electric push rod 40 adjusts the angle of the air distribution plate, the extension of the first drive motor 1109 adjusts the opening of the first fish scale screen 7, and the electric cylinder 43 adjusts the angle of the guide plate B67 and the opening of the electric control HST through the electric cylinder extension rod 49 to regulate the forward speed.

[0229] The control strategy of the signal processing and control system 23 is as follows:

[0230] In the signal processing and control system 23, a self-organizing map neural network algorithm is applied. Based on batch training, a sensor monitoring anomaly data detection program is constructed to promptly detect abnormal data in each monitoring signal. The self-organizing map neural network (SOM) is set to a 20×10 structure, with 10 coarse training iterations and 20 fine-tuning training iterations, and 3 clustering categories. When abnormal data is detected in each monitoring signal, it is replaced with previously monitored normal data. Then, preprocessing such as filling in missing data from some sensors and data denoising is performed to eliminate the influence of random and uncertain factors on subsequent data analysis.

[0231] According to this embodiment, preferably, with a feeding rate of 3 kg / s as the baseline, if the predicted feeding rate Q increases by less than 10%, the extension amount of the electric cylinder extension rod 49 of the electric cylinder 43 remains unchanged, so that the angle of the guide plate B 67 of the threshing device remains unchanged, and the forward speed v of the harvester remains unchanged. After the threshed material enters the cleaning chamber, the signal processing and control system 23 first controls the guide bar angle adjustment device 3 to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate 4 until the difference in the monitoring value of the pressure monitoring plate 4 is less than 5%, ensuring the uniformity of the threshed material entering the cleaning chamber after passing through the shaking plate 2; subsequently, if the monitoring value of the air pressure monitoring device of the first fish scale screen 7 increases by more than 20% relative to the baseline value, the first fish scale screen opening adjustment device 11 is controlled to increase the opening of the first fish scale screen 7 by 20%, so that the seed The particles pass through the sieve quickly, and then the effluent enters the second fish scale sieve 9. If the monitoring value of the air pressure monitoring device of the second fish scale sieve 9 increases by more than 20% relative to the reference value, the second fish scale sieve opening adjustment device 14 is controlled to increase the opening of the second fish scale sieve 9 by 20%. Then, based on the monitoring values ​​of the first grain loss monitoring sensor 12, the second grain loss monitoring sensor 13, the first grain quantity monitoring device 17, and the second grain quantity monitoring device 18 are used to fine-tune the fan speed, the angle of the first air distribution plate, and the angle of the second air distribution plate, thereby reducing the amount of grain in the secondary impurity auger and the grain cleaning loss.

[0232] If the predicted feed rate Q increases by 10% to 20%, the forward speed v of the harvester decreases by 5% to bring the harvester close to the rated feed rate. The predictive model is then used to adjust the angle of the guide plate B 67 of the threshing device. After the threshed material enters the cleaning chamber, the signal processing and control system 23 first controls the guide bar angle adjustment device 3 to adjust the angle of the guide bar based on the monitoring value of the pressure monitoring plate 4, until the difference in the monitoring value of the pressure monitoring plate 4 is less than 10%, ensuring the uniformity of the threshed material entering the cleaning chamber after passing through the shaking plate 2. Subsequently, if the monitoring value of the air pressure monitoring device of the first fish scale screen 7 increases by more than 20% relative to the reference value, the first fish scale screen opening adjustment device 11 is controlled to increase the opening of the first fish scale screen 7 by 30%, allowing the grains to pass through the screen quickly. The effluent enters the second fish scale screen 9. If the monitoring value of the air pressure monitoring device of the second fish scale screen 9 increases by more than 20% relative to the reference value, the second fish scale screen opening adjustment device 14 is controlled to increase the opening of the second fish scale screen 9 by 30%. Then, based on the monitoring values ​​of the first grain loss monitoring sensor 12, the fan speed, the angle of the air distribution plate I and the angle of the second air distribution plate are finely adjusted by the monitoring values ​​of the second grain loss monitoring sensor 13, the first grain quantity monitoring device 17 and the second grain quantity monitoring device 18 to reduce the amount of grain in the secondary impurity auger and the grain cleaning loss.

[0233] If the predicted feed rate Q increases by more than 20%, the harvester's forward speed v decreases by 10%, and the guide plate B of the threshing device... In this embodiment, the electric cylinder extension rod 49 extends by 100mm, which poses a risk of overload to the cleaning device. The signal processing and control system 23 first controls the guide bar angle adjustment device 3 to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate 4 until the difference in the monitoring value of the pressure monitoring plate 4 is less than 20%. Then, the fan speed 24 is adjusted to 1300 rpm, the angle of the first air distribution plate 25 is adjusted to 8° and the angle of the second air distribution plate 26 is adjusted to 30°, the opening of the first fish scale screen 7 and the second fish scale screen 9 is increased to the maximum, and some of the detached material enters the secondary impurity auger and re-enters the cleaning device for secondary cleaning to avoid excessive grain loss. According to the changes in the monitoring values ​​of the air pressure monitoring device, the first grain loss monitoring sensor 12, the second grain loss monitoring sensor 13 and the grain quantity monitoring device, the maximum opening duration of the first fish scale screen 7 and the second fish scale screen 9 is controlled. When the change in the monitoring value of the grain quantity monitoring device is less than 10%, the opening of the first fish scale screen 7 and the second fish scale screen 9 is reduced by 30%.

[0234] If the predicted feed rate Q decreases, increase the forward speed v of the harvester to bring it close to the rated feed rate. Adjust the angle of the guide plate B 67 of the threshing device to the middle position (in this embodiment, the electric cylinder extension rod 49 extends by 50mm). At this time, the threshed material tends to boil in the cleaning chamber. Adjust the angle of the first air distribution plate 25 to 45°, the angle of the second air distribution plate 26 to 25°, and the speed of the blower 24 to 1100 rpm. Adjust the opening of the first fish scale screen 7 and the second fish scale screen 9 to the minimum set value. Then, based on the changes in the monitoring values ​​of the air pressure monitoring device, the first grain loss monitoring sensor 12, the second grain loss monitoring sensor 13, and the grain quantity monitoring device, fine-tune the opening of the first fish scale screen 7 and the second fish scale screen 9 to reduce cleaning losses.

[0235] The predicted feed amount Q is:

[0236]

[0237] Where Q is the predicted feed amount, v is the forward speed, and h is the forward speed. c h is the height of the cutting platform, w is the width of the cutting width, and ρ is the feed density. e denoted as , and m as , where m is the average mass of the rice panicle and , and , where m is the mass per unit length of the stem.

[0238] The prediction model is as follows:

[0239] x(k+1)=Ax(k)+Bu(k)

[0240] in, Let x1(k) be the system state variable at time k, x2(k) be the grain entrainment loss, x2(k) be the grain breakage rate, u(k) be the system input vector, i.e. the angle of the guide plate B, which is also the extension of the electric cylinder 43 extension rod, A be the system state matrix, and B be the input matrix.

[0241] x(k) and u(k) should satisfy the following constraints:

[0242]

[0243]

[0244] Where, x min (k) is the minimum value of the system state variables, x max (k) is the maximum value of the system state variable, u min (k) is the minimum value of the system's input vector, u max (k) is the maximum value of the system's input vector.

[0245] Let x1(k) and x2(k) satisfy the following constraints:

[0246] 0≤x1(k)≤Q·P·1%

[0247] 0≤x²(k)≤Q·P·2%

[0248] Among them, the grain entrainment loss x1(k) and the breakage rate x2(k) are system state variables, Q is the predicted value of the harvester feed amount in kg / s, and P is the proportion of grain in the feed amount.

[0249] Let u(k) satisfy the following constraints:

[0250] 0≤u(k)≤100mm.

[0251] like Figure 35 As shown, the angle adjustment process of the guide plate B67 in the threshing device can be mainly divided into three steps.

[0252] The first step is to measure and read the current system state x(k). If the system state cannot be measured, it needs to be estimated.

[0253] The second step, based on u k u k+1 ,.....u k+N-1 To perform optimization, where u k It is the value at the current moment, u k+1 It is the value at the next moment;

[0254] The third step is to select only u within a prediction interval. k This serves as the control input for this operation.

[0255] The prediction model is given a discrete system described by the state-space method.

[0256] x(k+1)=Ax(k)+Bu(k) (1)

[0257] in, Let x1(k) and x2(k) be the system state variables at time k, respectively, and let u(k) be the grain entrainment loss and grain breakage rate. u(k) is the system input vector, which is the angle of the guide plate B, and also the extension of the electric cylinder 43 extension rod. A is the system state matrix, and B is the input matrix.

[0258] N is the prediction interval, and the state vector prediction matrix X(k) and input vector prediction matrix U(k) at time k are:

[0259]

[0260]

[0261] Cost function:

[0262]

[0263] Q x R and F are weight coefficient matrices.

[0264] When the system's state variable x(k) is measured at time k, the system's state prediction for the entire prediction time domain is as follows:

[0265] x(k|k)=x k

[0266] x(k+1|k)=Ax(k|k)+Bu(k|k)

[0267] x(k+2|k)=Ax(k+1|k)+Bu(k+1|k)

[0268] =A 2 x k +ABu(k|k)+Bu(k+1|k)

[0269] Similarly,

[0270] x(k+N|k)=A N x k +A N-1 Bu(k|k)+Bu(k+N-1|k) (5)

[0271] Therefore, it is permissible.

[0272] X(k)=Mx(k)+CU(k) (6)

[0273] in,

[0274] M = [I, A, A 2 ,…,A N ] T (7)

[0275]

[0276] I is the identity matrix, A is the system state matrix, B is the input matrix, and N is the prediction interval.

[0277] Next, we will optimize the cost function:

[0278]

[0279] in,

[0280]

[0281] Among them, Q x R, F are weight coefficient matrices, and T represents matrix transpose.

[0282] Next, equation (9) is further optimized.

[0283] J = x(k) T Gx(k)+U(k) T HU(k)+2x(k) T EU(k) (10)

[0284] in,

[0285]

[0286] Where T represents matrix transpose.

[0287] The system should also meet the following constraints:

[0288]

[0289]

[0290] In this control system, the grain entrainment loss x1(k) and the breakage rate x2(k) are used as system state variables. min (k) is the minimum value of the system state variables, x max (k) is the maximum value of the system state variable, u min (k) is the minimum value of the system's input vector, u max (k) is the maximum value of the system's input vector.

[0291] make:

[0292] 0≤x1(k)≤Q·P·1%

[0293] 0≤x²(k)≤Q·P·2%

[0294] Where Q is the feed rate of the harvester, kg / s, and P is the proportion of grains in the feed rate. P is determined in advance by manual measurement, and the constraint interval of the state variable x(k) at time k can be obtained.

[0295] u(k) is the system's input vector, which is the angle of the guide plate B 67, and also the extension of the electric cylinder 43 extension rod.

[0296] 0≤u(k)≤100

[0297] In the cost function above, there are two variables: x(k) is the state variable at time k, which is known; and now only the input vector U exists. k Since J is an unknown quantity, it can be solved by finding the minimum value of J. Finally, the target value of u(k) is obtained. The state variable x(k) at time k is then input into the prediction model to predict the input vector u of the control system at the next time step. k This is used to control the target value of the mechanism, minimizing the state variable x(k+1) at the next moment, thus optimizing grain entrainment loss and grain breakage rate, and improving threshing and separation performance. At this point, U... k As the input to the entire model predictive control system, that is, the extension of the electric cylinder extension rod, it is controlled by a fuzzy PID controller.

[0298] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0299] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A harvester for hybrid rice female parent seeds, characterized in that, It includes a feed prediction device, a threshing device, a cleaning device, a guide bar angle adjustment device (3), a pressure monitoring plate (4), a fish scale screen opening adjustment device, a seed loss monitoring sensor, a secondary residue seed quantity monitoring device, an air pressure monitoring device, an air inlet opening adjustment plate (31), a wind deflector angle adjustment mechanism, a forward speed adjustment device, a entrapment loss monitoring sensor, a seed breakage rate monitoring sensor, and a signal processing and control system (23). The feeding amount prediction device is used to predict the harvester feeding amount at the next moment; the threshing device includes a guide plate B (67), an electric cylinder (43), and a lever-type displacement sensor (42); the guide plate B (67) is located on the lower surface of the cover plate (53), and the electric cylinder (43) drives the connecting plate A (63) to rotate the guide plate B (67) and adjust the angle of the guide plate B (67); the lever-type displacement sensor (42) is used to monitor the extension amount of the electric cylinder extension rod (49) of the electric cylinder (43); the cleaning device includes a vibrating screen installed sequentially from front to back on the cleaning screen frame (1). The vibrating plate (2), the loosening teeth (5), the first fish scale sieve (7), the second fish scale sieve (9), and the serrated tail sieve (10) are arranged; a woven sieve (41) is provided below the first fish scale sieve (7) and the second fish scale sieve (9), and a seed auger (27) and a waste auger (28) are provided below the woven sieve (41); multiple guide strips are provided on the vibrating plate (2); the guide strip angle adjustment device (3) is installed on the vibrating plate (2) and connected to the guide strips, and is used to adjust the angle of the guide strips; the pressure monitoring plate (4) is located at the end of the vibrating plate (2) and below the loosening teeth (5), and the pressure signal of the pressure monitoring plate (4) is used for The uniformity of the threshing mixture is characterized; the fish scale screen opening adjustment device includes a first fish scale screen opening adjustment device (11) and a second fish scale screen opening adjustment device (14); the first fish scale screen opening adjustment device (11) is used to adjust the opening of the first fish scale screen (7); the second fish scale screen opening adjustment device (14) is used to adjust the opening of the second fish scale screen (9); the seed loss monitoring sensor is installed on the cleaning screen frame (1) and located behind the serrated tail screen (10) to detect seed loss; the space below the serrated tail screen (10) and between the isolation frame (19) and the cleaning screen frame (1) is... The machine is equipped with a secondary seed quantity monitoring device for monitoring the number of seeds that pass through the serrated tail screen (10) and enter the impurity auger (28); the air pressure monitoring device is installed on the cleaning screen frame (1) to monitor the pressure inside the cleaning chamber; a blower (24) is provided below the cleaning screen frame (1), the blower (24) has an air inlet opening adjustment plate (31) at the air inlet and an air outlet with a wind deflector and an air deflector angle adjustment mechanism; the forward speed adjustment device is used to adjust the forward speed of the harvester; the seed entrainment loss monitoring sensor is installed below the concave screen (72) to monitor seed entrainment loss; The seed breakage rate monitoring sensor is installed inside the grain bin to monitor the breakage rate of seeds entering the grain bin; The signal processing and control system (23) processes the monitoring values ​​of the feed prediction device, pressure monitoring plate (4), seed loss monitoring sensor, secondary residual seed quantity monitoring device, air pressure monitoring device, pull rod displacement sensor (42), entrainment loss monitoring sensor and seed breakage rate monitoring sensor, and controls the guide bar angle adjustment device (3), the first fish scale screen opening adjustment device (11), the second fish scale screen opening adjustment device (14), the air inlet opening adjustment plate (31), the air distribution plate angle adjustment mechanism, the electric cylinder (43) and the forward speed adjustment device to realize the adjustment of the guide bar angle, fish scale screen opening, air inlet opening, air distribution plate angle, guide grass plate B (67) angle and the forward speed of the harvester; The predicted feed amount Q is: Where Q is the predicted feed amount, For forward speed, For the height of the cutting platform, Where w is the plant height and w is the cutting width. For feeding density, For the average weight of rice panicles, This refers to the mass per unit length of the stem.

2. The hybrid rice seed harvester according to claim 1, characterized in that, The threshing device also includes a drum top cover (70), a threshing drum (71), a concave sieve (72), and a control mechanism (69). The concave sieve (72) is located directly below the drum top cover (70), and the threshing drum (71) is placed in the middle of the drum top cover (70) and the concave sieve (72); the control mechanism (69) is located on top of the drum top cover (70), and the control mechanism (69) includes an electric cylinder (43), a pull rod displacement sensor (42), and a connecting plate A (63). The upper surface of the cover plate (53) of the roller top cover (70) is provided with a connecting plate A (63). The lower surface area of ​​the cover plate (53) is provided with a guide plate A (66) and a guide plate B (67) from front to back. When the guide plate A (66) and the guide plate B (67) are not rotated, their end faces remain parallel. There are multiple guide plates B (67) in a certain linear distribution. One end of the first group of guide plates B (67) is rotatably connected to the groove of the cover plate (53), and the other end is connected to the connecting plate A (63). The electric cylinder (43) drives the connecting plate A (63) to drive the guide plate B (67) to rotate in the groove, thereby realizing the angle adjustment of the group of guide plates B (67). The pull rod displacement sensor (42) is used to monitor the extension amount of the electric cylinder extension rod (49) of the electric cylinder (43).

3. The hybrid rice seed harvester according to claim 1, characterized in that, The air pressure monitoring device includes an air pressure monitoring module (601), a first rubber tube (603), a first support frame (604), a second rubber tube (606), a second support frame (607), and a positioning bracket (608). The air pressure monitoring module (601) is mounted on the positioning bracket (608). The first support frame (604) and the second support frame (607) are mounted on the positioning bracket (608) from top to bottom. The air pressure monitoring module (601) is provided with a first detection hole (602) and a second detection hole (605). A first rubber tube (603) is installed on the first detection hole (602), and a second rubber tube (606) is installed on the second detection hole (605). The first rubber tube (603) passes through... The first rubber tube (603) is passed through and fixed on the first support frame (604). The end of the first rubber tube (603) is parallel to the screen surface of the fish scale screen. The second rubber tube (606) passes through and is fixed on the second support frame (607). The end of the second rubber tube (606) is perpendicular to the screen surface of the fish scale screen. During operation, the first detection hole (602) monitors the static pressure change of the surrounding environment, and the second detection hole (605) monitors the dynamic pressure change of the surrounding environment. The pressure change in the cleaning chamber is characterized by subtracting the static pressure monitoring value from the dynamic pressure monitoring value.

4. The hybrid rice seed harvester according to claim 1, characterized in that, The first fish scale sieve opening adjustment device (11) includes a drive shaft (1101), an adjustment plate (1102), a fixed shaft (1104), a sieve drive connecting plate (1105), a first fish eye bearing (1106), a connecting rod (1107), a second fish eye bearing (1108), a first drive motor (1109), a displacement sensor (1110), a direction conversion device (1111), a third fish eye bearing (1112), a first connecting shaft (1113), a second connecting shaft (1114), and a connecting plate (1116). The displacement sensor (1110) is mounted on the first drive motor (1109) via a connecting plate (1116). The displacement sensor (1110) is used to measure the extension length of the push rod of the first drive motor (1109). One end of the third fisheye bearing (1112) is mounted on the end of the push rod of the first drive motor (1109), and the other end of the third fisheye bearing (1112) is connected to one side of the direction conversion device (1111) via a first connecting shaft (1113). The second fisheye bearing (1108) is connected to the other side of the direction conversion device (1111) via a second connecting shaft (1114). The direction conversion device (1111) is mounted on the harvester frame via a fixed shaft (1115). One end of the connecting rod (1107) is connected to the second fisheye bearing (1108). The other end is connected to the first fisheye bearing (1106), the first fisheye bearing (1106) is connected to one end of the adjusting plate (1102), the drive shaft (1101) is connected to the screen drive connecting piece (1105) and the middle of the adjusting plate (1102) respectively, and the other end of the adjusting plate (1102) is installed on the harvester frame through the fixed shaft (1104). When working, the direction conversion device (1111) converts the horizontal linear motion of the push rod of the first drive motor (1109) into a vertical linear motion, and drives the adjusting plate (1102) to rotate around the fixed shaft (1104) through the connecting rod (1107). During the rotation, the adjusting plate (1102) drives the screen drive connecting piece (1105) through the drive shaft (1101) to make the fish scale screen rotate, thereby realizing the stepless adjustment of the opening angle of the first fish scale screen (7). The second fish scale screen opening adjustment device (14) has the same structure as the first fish scale screen opening adjustment device (11).

5. A hybrid rice seed harvester according to claim 1, characterized in that, The seed loss monitoring sensor includes a first seed loss monitoring sensor (12) and a second seed loss monitoring sensor (13). Both ends of the first seed loss monitoring sensor (12) and the second seed loss monitoring sensor (13) are respectively mounted on the cleaning screen frame (1) via the first mounting plate (20) and the second mounting plate (21). The installation height of the first seed loss monitoring sensor (12) is greater than that of the second seed loss monitoring sensor (13), forming a stepped seed loss monitoring device to realize the regional measurement of seed loss. The first seed loss monitoring sensor (12) is used to monitor the seed cleaning loss caused by excessive cleaning material, and the second seed loss monitoring sensor (13) is used to monitor the seed cleaning loss caused by improper cleaning parameter settings and the seeds being blown out. The first mounting plate (20) and the second mounting plate (21) are provided with mounting holes and arc-shaped through slots. One end of the first seed loss monitoring sensor (12) and the second seed loss monitoring sensor (13) is connected to the mounting holes and arc-shaped through slots. The mounting angle of the first seed loss monitoring sensor (12) and the second seed loss monitoring sensor (13) can be adjusted through the arc-shaped through slots.

6. A hybrid rice seed harvester according to claim 1, characterized in that, The fan (24) includes a first air distribution plate (25), a second air distribution plate (26), a first electric push rod (32), a second electric push rod (33) and a third electric push rod (40); The first air distribution plate (25) and the second air distribution plate (26) are located at the air outlet of the fan, and the first air distribution plate (25) and the second air distribution plate (26) are movably connected to the inner wall of the air outlet of the fan; the air inlet of the fan (24) is provided with an opening adjustment plate (31), the first electric push rod (32) is connected to the opening adjustment plate (31), and the first electric push rod (32) can drive the opening adjustment plate (31) to adjust the opening of the air inlet of the fan (24), and the third electric push rod (40) is connected to the first air distribution plate. (25) Connected, the third electric push rod (40) can drive the first air distribution plate (25) to rotate around the connection point between the first air distribution plate (25) and the inner wall of the air outlet, thereby realizing the angle adjustment of the first air distribution plate (25). The second electric push rod (33) is connected to the second air distribution plate (26). The second electric push rod (33) can drive the second air distribution plate (26) to rotate around the connection point between the second air distribution plate (26) and the inner wall of the air outlet, thereby realizing the angle adjustment of the second air distribution plate (26).

7. A control method for a hybrid rice seed harvester according to any one of claims 1-6, characterized in that, Includes the following steps: The feed rate prediction device predicts the harvester feed rate for the next moment; the pressure monitoring plate (4) monitors the pressure signal to characterize the uniformity of the threshing mixture; the seed loss monitoring sensor detects seed loss; the secondary impurity seed quantity monitoring device monitors the number of seeds that pass through the sawtooth tail screen (10) and enter the secondary impurity auger (28); the air pressure monitoring device monitors the pressure in the cleaning chamber; the pull rod displacement sensor (42) monitors the extension of the electric cylinder extension rod (49) of the electric cylinder (43); the entrainment loss monitoring sensor monitors seed entrainment loss; and the seed breakage rate monitoring sensor monitors the breakage rate of seeds entering the grain bin. The signal processing and control system (23) processes the monitoring values ​​of the feed prediction device, pressure monitoring plate (4), seed loss monitoring sensor, secondary residual seed quantity monitoring device, air pressure monitoring device, pull rod displacement sensor (42), entrainment loss monitoring sensor and seed breakage rate monitoring sensor, and controls the guide bar angle adjustment device (3), the first fish scale screen opening adjustment device (11), the second fish scale screen opening adjustment device (14), the air inlet opening adjustment plate (31), the air distribution plate angle adjustment mechanism, the electric cylinder (43) and the forward speed adjustment device to realize the adjustment of the guide bar angle, fish scale screen opening, air inlet opening, air distribution plate angle, guide grass plate B (67) angle and the forward speed of the harvester.

8. The control method for the hybrid rice seed production female parent seed harvester according to claim 7, characterized in that, The control strategy of the signal processing and control system (23) is as follows: If the predicted feed amount Q increases by less than 10%, the extension amount of the electric cylinder extension rod (49) of the electric cylinder (43) remains unchanged, so that the angle of the guide plate B (67) of the threshing device remains unchanged, and the forward speed v of the harvester remains unchanged. After the threshed material enters the cleaning chamber, the signal processing and control system (23) first controls the guide bar angle adjustment device (3) to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate (4) until the difference in the monitoring value of the pressure monitoring plate (4) is less than 5%, ensuring that the material enters through the shaking plate (2). The material removed from the cleaning chamber is uniform; then, if the monitoring value of the air pressure monitoring device of the first fish scale sieve (7) increases by more than 20% relative to the reference value, the opening adjustment device (11) of the first fish scale sieve (7) is controlled to increase the opening of the first fish scale sieve (7) by 20% to make the seeds pass through the sieve quickly. Then, the material removed enters the second fish scale sieve (9). If the monitoring value of the air pressure monitoring device of the second fish scale sieve (9) increases by more than 20% relative to the reference value, the opening adjustment device (14) of the second fish scale sieve (9) is controlled to increase the opening of the second fish scale sieve (9) by 20%. If the predicted feed rate Q increases by 10% to 20%, the forward speed v of the harvester decreases by 5% to bring the harvester close to the rated feed rate. The predictive model is then used to adjust the angle of the guide plate B (67) of the threshing device. After the threshed material enters the cleaning chamber, the signal processing and control system (23) first controls the guide bar angle adjustment device (3) to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate (4) until the difference in the monitoring value of the pressure monitoring plate (4) is less than 10%, ensuring that the material enters the cleaning chamber after passing through the shaking plate (2). The uniformity of the sludge in the selection chamber; then, if the monitoring value of the air pressure monitoring device of the first fish scale sieve (7) increases by more than 20% relative to the reference value, the opening adjustment device (11) of the first fish scale sieve (7) is controlled to increase the opening of the first fish scale sieve (7) by 30% to make the seeds pass through the sieve quickly. Then, the sludge enters the second fish scale sieve (9). If the monitoring value of the air pressure monitoring device of the second fish scale sieve (9) increases by more than 20% relative to the reference value, the opening adjustment device (14) of the second fish scale sieve (9) is controlled to increase the opening of the second fish scale sieve (9) by 30%. If the predicted feed rate Q increases by more than 20%, the forward speed v of the harvester decreases by 10%, the angle of the guide plate B (67) of the threshing device is adjusted to the maximum set value, the cleaning device is at risk of overload, and the signal processing and control system (23) first controls the guide bar angle adjustment device (3) to adjust the angle of the guide bar according to the monitoring value of the pressure monitoring plate (4) until the difference in the monitoring value of the pressure monitoring plate (4) is less than 20%; then, the fan speed (24) is adjusted to 1300 rpm, the angle of the first air distribution plate (25) is adjusted to 8° and the angle of the second air distribution plate (26) is adjusted to 30°, and the third air distribution plate is adjusted to 30°. The first fish scale screen (7) and the second fish scale screen (9) are opened to the maximum, and some of the effluent enters the secondary impurity auger and re-enters the cleaning device for secondary cleaning to avoid excessive seed loss. The maximum opening duration of the first fish scale screen (7) and the second fish scale screen (9) is controlled according to the changes in the monitoring values ​​of the air pressure monitoring device, the first seed loss monitoring sensor (12), the second seed loss monitoring sensor (13) and the seed quantity monitoring device. When the change in the monitoring value of the seed quantity monitoring device is less than 10%, the opening of the first fish scale screen (7) and the second fish scale screen (9) is reduced by 30%. If the predicted feed amount Q decreases, increase the forward speed v of the harvester so that the harvester reaches near the rated feed amount. Adjust the angle of the guide plate B (67) of the threshing device to the middle position. At this time, the threshed material tends to boil in the cleaning chamber. Adjust the angle of the first air distribution plate (25) to 45°, the angle of the second air distribution plate (26) to 25°, and the speed of the blower (24) to 1100 rpm. Adjust the opening of the first fish scale screen (7) and the second fish scale screen (9) to the minimum setting value.

9. The control method for the hybrid rice seed harvester according to claim 7, characterized in that, The angle of the guide plate B (67) of the threshing device is adjusted using a predictive model, wherein the predictive model is: in, , is the system state quantity at time k, x1(k) is the seed entrainment loss, x2(k) is the seed breakage rate, u(k) is the system input vector, i.e. the angle of the guide plate B, i.e. the extension of the electric cylinder (43) rod, A is the system state matrix, and B is the input matrix; and The following constraints must be met: in, It is the minimum value of the system state variables. It is the maximum value of the system state variables. It is the minimum value of the system's input vector. It is the maximum value of the system's input vector; make , The following constraints must be met: Among them, seed entrainment loss breakage rate As system state variables, Q is the predicted value of the harvester feed rate, kg / s, and P is the proportion of seeds in the feed rate; Let u(k) satisfy the following constraints: 。

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