Real-time monitoring system and monitoring method for total grain loss rate of combine harvester

Abstract

The invention discloses a real-time monitoring system and method for the total grain loss rate of a combine harvester, a grain header loss monitoring unit is arranged in a divider in the combine harvester and used for monitoring the header loss amount, and a grain cleaning loss monitoring unit is arranged on one side of a vibrating screen in the combine harvester and used for monitoring the cleaning loss amount. The grain entrainment loss monitoring unit is arranged on one side of a threshing concave grid in the combine harvester and used for monitoring the entrainment loss amount, the grain flow monitoring unit is arranged at an outlet of a vertical grain conveying auger in the combine harvester and used for monitoring the grain flow, and the signal processing integrated circuit and the vehicle-mounted industrial personal computer are both installed in a cab in the combine harvester. And the signal processing integrated circuit is used for calculating the total loss rate of the grains and displaying and storing the total loss rate on the vehicle-mounted industrial personal computer in real time. According to the method, the total loss rate of the grains is directly calculated by fusing cleaning loss, entrainment loss, header loss and grain flow monitoring data, the result is more accurate and close to reality, and the method is not influenced by fluctuation of working conditions such as the advancing speed and the cutting width of the combine harvester.

Description

Technical Field

[0001] The invention relates to a real-time monitoring system and method for the total grain loss rate of a combine harvester. Background Art

[0002] The total grain loss rate is one of the most important indicators to measure the performance of combine harvesters, which is directly related to the degree of waste of grain resources and the economic benefits of farmers. Grain loss in harvesting operations mainly includes loss on the header, loss of un-separated grain, loss of entrainment, loss of cleaning, and loss of grain leakage. The total loss rate is the percentage of the sum of the mass of lost grains in each part to the mass of harvested grains. Real-time and accurate monitoring of the total grain loss rate is not only convenient for farmers and relevant government departments to supervise and count the loss distribution data in each region, but also can provide operation quality feedback for the automatic control of combine harvester working parameters, unmanned driving and other systems. At present, the level of informatization of harvesting machinery in my country is low, and the acquisition of grain loss data often relies on manual labor, which is time-consuming, labor-intensive and has a lag. However, large foreign agricultural machinery companies such as CLAAS, NEW HOLLAND, and JOHN DEERE have successively developed grain loss monitoring units, and have continuously improved and market-verified them. They have been sold as factory-installed parts or optional accessories for combine harvesters. However, foreign grain loss monitoring units cannot be well adapted to my country's crop varieties, and related technologies are strictly kept confidential and blocked. In response to my country's crop harvesting needs, domestic scholars have conducted a series of studies on grain loss monitoring methods in the past two decades, such as:

[0003] Chinese invention patent CN100506013C proposes a real-time monitoring method for the random loss rate of a combine harvester. By simultaneously collecting signals such as the feed amount, grain harvest, grain loss, and grain moisture, the total grain loss rate is calculated comprehensively, where the monitored grain loss includes cleaning loss and separation loss. Chinese invention patent CN108370712A discloses an integrated multi-block double-layer cleaning loss sensor with a draft-by-draft comb. This mechanism can solve the problem that traditional sensors are greatly affected by machine vibration and inaccurate sensor counting caused by excessive stems and other debris. Chinese invention patent CN106376295B relates to a harvester with adaptively adjustable working parameters of threshing, separation, and cleaning devices, and uses the monitoring value of the grain entrainment loss sensor as one of the input quantities of the adaptive adjustment system. Chinese invention patent CN104737721B relates to an adaptive cleaning control device for a combine harvester and an adaptive cleaning method thereof, and uses the monitoring value of the grain cleaning loss sensor as one of the feedback conditions of the control system. Chinese invention patent CN106508257A discloses a combine harvester capable of adaptive adjustment and an adaptive adjustment method, which uses the real-time monitored grain entrainment loss rate and grain cleaning loss rate as two system input quantities for feedback adjustment. Chinese invention patent CN114451132B designs a real-time monitoring device for corn cleaning loss, including a bar screen installed under the cleaning and debris discharge port of a corn harvester and a monitoring system. The loss monitoring results are corrected by establishing a corresponding correction relationship in indoor experiments, making the measurement results more accurate. Chinese invention patent CN112042371B proposes a corn kernel cleaning loss monitoring system and method, which determines the threshold for distinguishing the impact force of kernels and debris on the piezoelectric film sensor unit based on the Kalman filter algorithm and large sample experiments, ensuring the real-time and stability of the data transmission of the monitoring system.

[0004] However, the inventors of this application have found that the existing grain loss monitoring technologies at home and abroad have at least one of the following defects:

[0005] 1. The monitoring scope of grain loss is not comprehensive. The designed monitoring device is only aimed at a certain part of the loss in the harvesting operation, such as cleaning loss, entrainment loss, etc. The total grain loss value is often indirectly reflected or predicted by a single part or a small part of the loss. In addition, no monitoring method for the loss of the cutter table of the combine harvester has been found.

[0006] 2. There is a lack of accurate real-time calculation method for grain loss rate. A fixed harvested grain flow value is often calculated indirectly through parameters such as cutting width, feed amount, grass-grain ratio, etc., and then combined with the grain loss monitoring value to obtain real-time loss rate data. However, the grain yield in the harvesting operation fluctuates all the time. This calculation method will cause a certain deviation between the total grain loss rate and the actual value.

[0007] Therefore, there is an urgent need for a combined harvester grain total loss rate monitoring system that can accurately monitor the real-time total loss rate in the harvesting operation, and realize online viewing and storage of data, provide reliable operation quality monitoring and feedback data, and help promote the information level of domestic harvesting machinery from following to leading, thereby enhancing the market competitiveness of products. Summary of the invention

[0008] The present invention aims to solve the problems existing in the prior art and provides a real-time monitoring system and method for the total grain loss rate of a combine harvester.

[0009] The technical solutions adopted in the present invention are:

[0010] A real-time monitoring system for the total grain loss rate of a combine harvester, comprising:

[0011] A grain header loss monitoring unit, which is arranged in a grain divider in a combine harvester and is used to monitor the header loss amount;

[0012] A grain cleaning loss monitoring unit, which is arranged on one side of the vibrating screen in the combine harvester and is used to monitor the amount of cleaning loss;

[0013] A grain entrainment loss monitoring unit, which is arranged on one side of the threshing concave screen in the combine harvester and is used to monitor the entrainment loss amount;

[0014] A grain flow monitoring unit, which is arranged at the outlet of the vertical grain conveying auger in the combine harvester and is used to monitor the grain flow;

[0015] A signal processing integrated circuit and a vehicle-mounted industrial computer are both installed inside a cab of a combine harvester; the signal processing integrated circuit is used to calculate the total grain loss rate, and display and store it in real time on the vehicle-mounted industrial computer.

[0016] Furthermore, the grain header loss monitoring unit includes a first base, a first sensitive plate and a first piezoelectric ceramic. The first base is arranged inside the grain divider, the first sensitive plate is arranged on the first base, the first piezoelectric ceramic is adhered to the first sensitive plate, and is electrically connected to the signal processing integrated circuit.

[0017] Furthermore, the grain cleaning loss monitoring unit includes a second piezoelectric ceramic, a second sensitive plate and a second base, the second base is fixed under the tail of the vibrating screen, the second sensitive plate is arranged on the second base, the second piezoelectric ceramic is adhered to the second sensitive plate, and is electrically connected to the signal processing integrated circuit.

[0018] Furthermore, the grain entrainment loss monitoring unit includes a guide base, a third sensitive plate and a third piezoelectric ceramic. The guide base is fixed below the tail of the threshing concave screen, the third sensitive plate is arranged on the guide base, the third piezoelectric ceramic is adhered to the third sensitive plate, and is electrically connected to the signal processing integrated circuit.

[0019] Furthermore, the grain flow monitoring unit includes a gantry bracket, a mounting plate, a pressure sensor, an impact beam, a reference beam and a universal vibration-damping steel wire. An upper baffle is provided at the outlet of the vertical grain conveying auger, and the gantry bracket is connected to the upper baffle through a universal vibration-damping steel wire; the impact beam and the reference beam are both fixed on the mounting plate, and the mounting plate is fixed on the gantry bracket. One end of the pressure sensor is fixed on the impact beam or the reference beam, and the other end is fixed on the mounting plate. The pressure sensor is electrically connected to the signal processing integrated circuit.

[0020] Furthermore, the signal processing integrated circuit includes an FPGA chip, a charge amplification module, a frequency domain filtering module, an A / D analog-to-digital conversion module and a data transmission module. The A / D analog-to-digital conversion module, the data transmission module and the grain flow monitoring unit are all connected to the FPGA chip, the frequency domain filtering module is connected to the A / D analog-to-digital conversion module, the charge amplification module is connected to the frequency domain filtering module, and the charge amplification module is connected to the corresponding grain header loss monitoring unit, the grain cleaning loss monitoring unit or the grain entrainment loss monitoring unit.

[0021] The present invention also discloses a monitoring method.

[0022] The piezoelectric signals generated by the grain header loss monitoring unit, the grain cleaning loss monitoring unit and the grain entrainment loss monitoring unit are sequentially transmitted through the charge amplification module, the frequency domain filtering module and the A / D analog-to-digital conversion module, and finally transmitted to the FPGA chip. The grain signal is identified and extracted from the mixture signal through the random forest algorithm, and the number of grain cleaning, entrainment and header loss monitoring is counted.

[0023] The impact signal and the reference signal generated by the grain flow monitoring unit are transmitted to the FPGA chip, and then the vibration interference signal is filtered out by subtracting the impact signal from the reference signal, and the grain flow is calculated;

[0024] The FPGA chip calculates the total grain loss rate in real time by integrating the grain cleaning / entrainment / cutting table loss monitoring quantity and the grain flow rate.

[0025] Furthermore, in the FPGA chip, the total grain loss rate is calculated as follows:

[0026] Calculate the grain cleaning loss mass per unit time:

[0027]

[0028] Calculate the grain entrainment loss mass per unit time:

[0029]

[0030] Calculate the mass loss of grain header per unit time:

[0031]

[0032] Among them, m 1 、m 2 and m 3 is the grain cleaning loss mass per unit time; n 1 、n 2 and n 3 is the total number of grain header loss monitoring; z is the thousand-grain weight of the current harvested crop; T s k is the statistical period of loss data; 1 , k 2 and k 3 The percentage of total monitored grain cleaning loss to actual cleaning loss;

[0033] Calculate the grain harvest quality per unit time:

[0034]

[0035] Where, q is the grain flow rate; s n is the impact signal; s n+1 is the reference signal, n=1,3,5,……; s n With s n+1 is the signal on the same set of impact beams and reference beams; α is the conversion coefficient between the digital quantity and the total mass of grains at the outlet of the vertical grain conveying auger; T q It is the statistical period of the impulse signal and reference signal data;

[0036] Calculate the total grain loss rate:

[0037]

[0038] Wherein, L is the total grain loss rate;

[0039] are respectively m after data time series alignment 1 、m 2 、m 3 ,q.

[0040] The present invention has the following beneficial effects:

[0041] 1) The grain loss value monitored in real time by the present invention is the sum of the cleaning loss, entrainment loss and header loss, which accounts for more than three quarters of the total grain loss and can more accurately reflect the actual total loss value.

[0042] 2) The present invention directly calculates the total grain loss rate by integrating the grain flow monitoring data, and the result is more accurate and closer to reality, and is not affected by fluctuations in working conditions such as the forward speed and cutting width of the combine harvester.

[0043] 3) The present invention can realize remote display and multi-machine sharing of grain loss data through the Internet of Things cloud platform and remote terminal display software, further improving the information level of the combine harvester. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic diagram of the installation location of the real-time monitoring system for the total grain loss rate of a combine harvester.

[0045] Figure 2 This is a schematic diagram of the installation of the grain header loss monitoring unit.

[0046] Figure 3 This is a schematic diagram of the installation of the grain cleaning loss monitoring unit.

[0047] Figure 4 This is a schematic diagram of the installation of the grain entrainment loss monitoring unit.

[0048] Figure 5 This is a schematic diagram of the installation of the grain entrainment loss monitoring unit.

[0049] Figure 6 It is a schematic diagram of the modules of the signal processing integrated circuit. DETAILED DESCRIPTION

[0050] The present invention will be further described below in conjunction with the accompanying drawings.

[0051] like Figure 1 The present invention provides a real-time monitoring system for the total grain loss rate of a combine harvester, comprising a combine harvester body, a grain header loss monitoring unit 2, a grain cleaning loss monitoring unit 4, a grain entrainment loss monitoring unit 5 and a grain flow monitoring unit 8. A grain divider 1, a vibrating screen 3, a threshing concave screen 6, a vertical grain conveying auger 7 and a cab 10 are provided on the combine harvester body.

[0052] The grain cleaning loss monitoring unit 4 is located at the lower rear part of the vibrating screen 3, the grain entrainment loss monitoring unit 5 is located at the lower rear part of the threshing concave screen 6, the grain header loss monitoring unit 2 is installed inside the grain divider 1, the grain flow monitoring unit 8 is installed at the outlet of the vertical grain conveying auger 7, the signal processing integrated circuit 9 is installed inside the cab 10, and the vehicle-mounted industrial computer 11 is installed inside the cab 10.

[0053] like Figure 2 The grain harvesting platform loss monitoring unit 2 includes a first base 201, a first sensitive plate 202 and a first piezoelectric ceramic 205. The first base 201 is welded inside the grain divider 1. The first sensitive plate 202 and the first base 201 are connected through a longitudinal rubber shock absorber. The first piezoelectric ceramic 205 is pasted at the central symmetry of the back side of the first sensitive plate 202. One end of the coaxial cable signal line is welded to the positive and negative poles of the first piezoelectric ceramic 205, and the other end is connected to the signal processing integrated circuit 9.

[0054] The grain cutter loss monitoring unit 2 can be installed inside the single-sided divider 1, or symmetrically installed inside the double-sided divider 1. The angle between the first base 201 and the horizontal plane is 30°-60°, and the front of the first base 201 should be hollowed out to prevent materials from piling up on it. The top of the first base 201 and the position vertically corresponding to the first sensitive plate 202 should be hollowed out, and the hollowed-out area should be larger than the surface area of ​​the first sensitive plate 202, so that as many lost grains as possible collide with the first sensitive plate 202. In addition, the bottom of the first base 201 should also have a certain hollowed-out area to prevent materials from falling into it and piling up. The use of coaxial cable signal lines can greatly reduce the transmission loss of piezoelectric signals, and at the same time can reduce the external environment's interference with the transmission of piezoelectric signals.

[0055] The material of the first sensitive plate 202 is metal such as stainless steel and aluminum alloy to increase the amplitude of the impact piezoelectric signal generated by the components of the mixture such as grains and stems, which is beneficial to increase the signal differentiation. In addition, the lateral width of the first sensitive plate 202 should be consistent or close to that of the third sensitive plate 503, and its outer side cannot exceed the outer side of the top of the divider 1 to prevent the unharvested crops from colliding with the first sensitive plate 202.

[0056] The surface area of ​​the first piezoelectric ceramic 205 should be consistent with or close to that of the third piezoelectric ceramic 506 so that the amplitudes of the initial piezoelectric signals generated by the grain header loss monitoring unit 2 and the grain entrainment loss monitoring unit 5 are not much different, thereby reducing the parameter differences of each module in the signal processing integrated circuit 9.

[0057] like Figure 3 The grain cleaning loss monitoring unit 4 includes a second piezoelectric ceramic 401, a second sensitive plate 403, and a second base 404. The second sensitive plate 403 and the second base 404 are connected via a longitudinal rubber damper, and the second base 404 is connected to the side wall 407 of the frame via a transverse rubber damper. The second piezoelectric ceramic 401 is attached to the central symmetry of the back of the second sensitive plate 403, one end of the coaxial cable signal line is welded to the positive / negative pole of the second piezoelectric ceramic 401, and the other end is connected to the signal processing integrated circuit 9.

[0058] The material of the second sensitive plate 403 is stainless steel, aluminum alloy or other metals to increase the amplitude of the impact piezoelectric signal generated by the various components of the mixture such as grains and stems, which is conducive to increasing the signal differentiation. The second sensitive plate 403 and the second piezoelectric ceramic 401 constitute a monitoring unit. 3-6 monitoring units are closely distributed on the second base 404. The gap between adjacent monitoring units is 0.5mm-1.5mm. The sum of the widths of each monitoring unit is greater than or equal to the lateral width of the vibrating screen 3, which can realize the full-width monitoring of grain loss, thereby increasing the percentage of the total number of grain cleaning loss monitoring to the actual number of cleaning losses and reducing statistical errors. The lateral rubber shock absorber and the longitudinal rubber shock absorber can effectively reduce the signal interference of the grain cleaning loss monitoring unit 4 caused by the vibration of multiple parts of the combine harvester, and reduce the grain signal recognition and statistical errors.

[0059] like Figure 4 The grain entrainment loss monitoring unit 5 includes a guide base 502, a third sensitive plate 503 and a third piezoelectric ceramic 506. The guide base 502 is welded on the side wall 407 of the frame. The third sensitive plate 503 and the guide base 502 are connected through a longitudinal rubber shock absorber. The third piezoelectric ceramic 506 is pasted on the central symmetry of the back side of the third sensitive plate 503. One end of the coaxial cable signal line is welded to the positive and negative electrodes of the third piezoelectric ceramic 506, and the other end is connected to the signal processing integrated circuit 9.

[0060] The material of the third sensitive plate 503 is also stainless steel, aluminum alloy and other metals to increase the amplitude of the impact piezoelectric signal generated by the components of the mixture such as grains and stems, which is conducive to increasing the signal differentiation. In addition, the lateral width of the third sensitive plate 503 should be smaller than the second sensitive plate 403, and its outer side should be as close as possible to the rear end of the threshing concave screen 6 to reduce the obstruction to the flow of threshing materials.

[0061] The surface area of ​​the third piezoelectric ceramic 506 should be smaller than that of the second piezoelectric ceramic 401. In addition, the surface area ratio of the third piezoelectric ceramic 506 to the third sensitive plate 503 should be close to the surface area ratio of the second piezoelectric ceramic 401 to the second sensitive plate 403, so that the initial piezoelectric signal amplitudes generated by the grain entrainment loss monitoring unit 5 and the grain cleaning loss monitoring unit 4 are not much different, thereby reducing the parameter differences of each module in the signal processing integrated circuit 9.

[0062] The grain entrainment loss monitoring unit 5 can be installed on a single side frame side wall 407, or symmetrically installed on both side frame side walls 407. The longitudinal rubber shock absorber can effectively reduce the signal interference of the frame side wall 407 vibration on the grain entrainment loss monitoring unit 5, and reduce the grain signal recognition and statistical errors.

[0063] The angle between the fixed end face of the third sensitive plate 503 on the guide base 502 and the horizontal plane is 30°-90°. In addition to fixing the third sensitive plate 503, the guide base 502 also guides the escaped mixture, so that the escaped mixture moves toward the horizontal middle of the vibrating screen 3, which can prevent the escaped mixture from accumulating on the side of the vibrating screen 3 and causing a decrease in the cleaning efficiency. The guide base 502 prevents it from accumulating above the third sensitive plate 503 and causing poor material discharge.

[0064] like Figure 5 The grain flow monitoring unit 8 includes a gantry bracket 801 , a mounting plate 802 , a pressure sensor 804 , an impact beam 805 , a reference beam 806 and a universal vibration-damping steel wire 807 .

[0065] The gantry bracket 801 is connected to the upper baffle 808 at the outlet of the vertical grain conveying auger 7 through a universal vibration-damping steel wire 807, and the mounting plate 802 is fixed on the gantry bracket 801; one end of the pressure sensor 804 is fixed on the impact beam 805 or the reference beam 806, and the other end is fixed on the mounting plate 802, and the signal line of the pressure sensor 804 is connected to the signal processing integrated circuit 9.

[0066] The materials of the impact beam 805 and the reference beam 806 are also metals such as stainless steel and aluminum alloy, so as to increase the amplitude of the pressure signal generated by the grain impact, facilitate signal collection and analysis, and also ensure the strength and reliability of the beam structure under strong impact force.

[0067] The impact beam 805, the reference beam 806 and the two pressure sensors 804 constitute a monitoring unit. 2-4 monitoring units can be distributed on the gantry bracket 801. The angle between adjacent monitoring units is 0-30°. Each monitoring unit can be arranged orthogonally to the grain throwing direction at the outlet of the vertical grain conveying auger 7, which can also increase the amplitude of the pressure signal generated by the grain impact, which is beneficial to signal collection and analysis.

[0068] The universal vibration-damping steel wire 807 can effectively reduce the signal interference of the grain flow monitoring unit 8 caused by vibrations in multiple parts of the combine harvester, thereby reducing the calculation error of the grain flow.

[0069] like Figure 6 The signal processing integrated circuit 9 includes an FPGA chip, a charge amplification module, a frequency domain filtering module, an A / D analog-to-digital conversion module and a data transmission module. The A / D analog-to-digital conversion module, the data transmission module and the grain flow monitoring unit 8 are all connected to the FPGA chip, the frequency domain filtering module is connected to the A / D analog-to-digital conversion module, the charge amplification module is connected to the frequency domain filtering module, and the charge amplification module is connected to the corresponding grain header loss monitoring unit 2, the grain cleaning loss monitoring unit 4 or the grain entrainment loss monitoring unit 5.

[0070] The data transmission module includes a CAN bus transceiver module and a 4G wireless transmission module; the CAN bus transceiver module is connected to the CAN port of the vehicle-mounted industrial computer 11 through two signal lines, and the grain loss rate data can be displayed and stored in real time on the vehicle-mounted industrial computer 11; the 4G wireless transmission module performs wireless real-time communication with the Internet of Things cloud platform (such as Alibaba Cloud, etc.), and the Internet of Things cloud platform displays the grain loss rate data in real time on mobile phones, tablet computers, etc. through remote terminal software and shares it with multiple machines.

[0071] The piezoelectric signals (analog quantities) generated by the grain cleaning loss monitoring unit 4, the grain entrainment loss monitoring unit 5 and the grain header loss monitoring unit 2 are first transmitted to the charge amplification module, then to the frequency domain filtering module, then to the A / D analog-to-digital conversion module, and then to the FPGA chip. The grain signal is identified and extracted from the mixture signal by the random forest algorithm, and the number of grain cleaning, entrainment and header loss monitoring is counted. The impact signal (digital quantity) and the reference signal (digital quantity) generated by the grain flow monitoring unit 8 are first transmitted to the FPGA chip, and then the vibration interference signal is filtered out by subtracting the impact signal and the reference signal, and the grain flow is calculated. The FPGA chip calculates the total grain loss rate in real time by integrating the number of grain cleaning / entrainment / header loss monitoring, grain flow, and statistical cycle data.

[0072] The total grain loss rate in the FPGA chip is calculated as follows:

[0073] Calculate the grain cleaning loss mass per unit time:

[0074]

[0075] Calculate the grain entrainment loss mass per unit time:

[0076]

[0077] Calculate the mass loss of grain header per unit time:

[0078]

[0079] Among them, m 1 、m 2 and m 3 is the grain cleaning loss mass per unit time (unit: g / s); n 1 、n 2 and n 3 is the total number of grain header loss monitoring (unit: piece); z is the thousand-grain weight of the current harvested crop (unit: g); T s is the statistical period of loss data (unit: s); k 1 , k 2 and k3 It is the percentage of the total number of monitored grain cleaning losses to the actual number of cleaning losses (the average value obtained from the loss distribution test; different harvester models or sensor installation locations correspond to different values).

[0080] Calculate the grain flow rate (grain harvest mass per unit time):

[0081]

[0082] Where, q is the grain flow rate (unit: g / s); s n is the impact signal; s n+1 is the reference signal, n=1,3,5,……; s n With s n+1 is the signal on the same set of impact beams and reference beams; α is the conversion coefficient between the digital quantity and the total mass of grain at the vertical grain conveying auger outlet (the average value obtained from the grain conveying outlet distribution test, different harvester models or sensor installation positions correspond to different values), g; T q is the statistical period of the impulse signal and reference signal data (unit: s);

[0083] Calculate the total grain loss rate:

[0084]

[0085] Wherein, L is the total grain loss rate, %; are respectively m after data time series alignment 1 、m 2 、m 3 , q. This is because in the actual harvesting process, the time when the same batch of grain material flow collides with the cleaning loss, entrainment loss, header loss monitoring unit sensitive plate and flow monitoring unit is not synchronized, and there is a certain time delay between them. Therefore, it is necessary to conduct material flow time measurement tests according to different harvester models or sensor installation positions, and align the data time series to calculate a more accurate total grain loss rate.

[0086] The above description is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be regarded as within the protection scope of the present invention.

Claims

1. A real-time monitoring system for the total grain loss rate of a combine harvester, characterized in that: include A grain header loss monitoring unit (2), the grain header loss monitoring unit (2) being arranged in a grain divider (1) in a combine harvester and used for monitoring header loss; A grain cleaning loss monitoring unit (4), the grain cleaning loss monitoring unit (4) being arranged on one side of the vibrating screen (3) in the combine harvester and used for monitoring the amount of cleaning loss; A grain entrainment loss monitoring unit (5), the grain entrainment loss monitoring unit (5) being arranged on one side of a threshing concave screen (6) in a combine harvester and being used for monitoring the entrainment loss amount; A grain flow monitoring unit (8), the grain flow monitoring unit (8) being arranged at the outlet of the vertical grain conveying auger (7) in the combine harvester and being used for monitoring the grain flow; A signal processing integrated circuit (9) and an on-board industrial control computer (11), wherein the signal processing integrated circuit (9) and the on-board industrial control computer (11) are both installed inside a cab (10) of a combine harvester; the signal processing integrated circuit (9) is used to calculate the total grain loss rate, and display and store the calculated rate in real time on the on-board industrial control computer (11).

2. The real-time monitoring system for total grain loss rate of a combine harvester according to claim 1, characterized in that: The grain header loss monitoring unit (2) comprises a first base (201), a first sensitive plate (202) and a first piezoelectric ceramic (205). The first base (201) is arranged inside the crop divider (1), the first sensitive plate (202) is arranged on the first base (201), the first piezoelectric ceramic (205) is adhered to the first sensitive plate (202) and is electrically connected to the signal processing integrated circuit (9).

3. The real-time monitoring system for total grain loss rate of a combine harvester according to claim 1, characterized in that: The grain cleaning loss monitoring unit (4) comprises a second piezoelectric ceramic (401), a second sensitive plate (403) and a second base (404). The second base (404) is fixed below the tail of the vibrating screen (3), the second sensitive plate (403) is arranged on the second base (404), the second piezoelectric ceramic (401) is adhered to the second sensitive plate (403), and is electrically connected to the signal processing integrated circuit (9).

4. The real-time monitoring system for total grain loss rate of a combine harvester according to claim 1, characterized in that: The grain entrainment loss monitoring unit (5) comprises a flow guide base (502), a third sensitive plate (503) and a third piezoelectric ceramic (506); the flow guide base (502) is fixed below the tail of the threshing concave screen (6); the third sensitive plate (503) is arranged on the flow guide base (502); the third piezoelectric ceramic (506) is adhered to the third sensitive plate (503) and is electrically connected to the signal processing integrated circuit (9).

5. The real-time monitoring system for total grain loss rate of a combine harvester according to claim 1, characterized in that: The grain flow monitoring unit (8) comprises a gantry support (801), a mounting plate (802), a pressure sensor (804), an impact beam (805), a reference beam (806) and a universal vibration-damping steel wire (807); an upper baffle (808) is provided at the outlet of the vertical grain conveying auger (7); the gantry support (801) and the upper baffle (808) are connected via the universal vibration-damping steel wire (807); the impact beam (805) and the reference beam (806) are both fixed on the mounting plate (802); the mounting plate (802) is fixed on the gantry support (801); one end of the pressure sensor (804) is fixed on the impact beam (805) or the reference beam (806), and the other end is fixed on the mounting plate (802); the pressure sensor (804) is electrically connected to a signal processing integrated circuit (9).

6. The real-time monitoring system for total grain loss rate of a combine harvester according to claim 1, characterized in that: The signal processing integrated circuit (9) comprises an FPGA chip, a charge amplification module, a frequency domain filtering module, an A / D analog-to-digital conversion module and a data transmission module. The A / D analog-to-digital conversion module, the data transmission module and the grain flow monitoring unit (8) are all connected to the FPGA chip. The frequency domain filtering module is connected to the A / D analog-to-digital conversion module. The charge amplification module is connected to the frequency domain filtering module. The charge amplification module is connected to a corresponding grain header loss monitoring unit (2), a grain cleaning loss monitoring unit (4) or a grain entrainment loss monitoring unit (5).

7. A monitoring method of the monitoring system according to any one of claims 1 to 6, characterized in that: The piezoelectric signals generated by the grain header loss monitoring unit (2), the grain cleaning loss monitoring unit (4) and the grain entrainment loss monitoring unit (5) are sequentially passed through a charge amplification module, a frequency domain filtering module and an A / D analog-to-digital conversion module, and finally transmitted to an FPGA chip, where the grain signal is identified and extracted from the mixture signal by a random forest algorithm, and the number of grain cleaning, entrainment and header loss monitoring is counted; The impact signal and the reference signal generated by the grain flow monitoring unit (8) are transmitted to the FPGA chip, and then the vibration interference signal is filtered out by subtracting the impact signal from the reference signal, and the grain flow is calculated; The FPGA chip calculates the total grain loss rate in real time by integrating the grain cleaning / entrainment / cutting table loss monitoring quantity and the grain flow rate.

8. The monitoring method according to claim 7, characterized in that: In the FPGA chip, the total grain loss rate is calculated as follows: Calculate the grain cleaning loss mass per unit time: Calculate the grain entrainment loss mass per unit time: Calculate the mass loss of grain header per unit time: Among them, m1, m2 and m3 are the grain loss mass per unit time; n1, n2 and n3 are the total number of grain loss monitoring; z is the thousand-grain weight of the current harvested crop; T s is the statistical period of loss data; k1, k2 and k3 are the percentages of the total number of monitored grain cleaning losses to the actual number of cleaning losses; Calculate the grain harvest quality per unit time: Where, q is the grain flow rate; s n is the impact signal; s n+1 is the reference signal, n=1,3,5,……; s n With s n+1 is the signal on the same set of impact beams and reference beams; α is the conversion coefficient between the digital quantity and the total mass of grains at the outlet of the vertical grain conveying auger; T q It is the statistical period of the impulse signal and reference signal data; Calculate the total grain loss rate: Wherein, L is the total grain loss rate; They are m1, m2, m3, and q after the data time series are aligned.

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