High-efficiency low-loss combined harvesting method and system for forage grass seeds based on Internet of Things

Abstract

The invention relates to the field of forage grass seeds, and discloses a high-efficiency low-loss combined harvesting method and system for forage grass seeds based on the Internet of Things, and the method comprises the steps: transmitting a detection laser from a combined harvester to a forward direction, and receiving a reflection laser in the combined harvester; constructing a dense map and a height map of the forage grass plants in the advancing direction, and adjusting the height of the cutting module to obtain the cutting module with the adjusted height; adjusting the perimeter of the conveying module by using the height map to obtain the conveying module with the adjusted perimeter; adjusting the size of sieve pores of the threshing module by using the particle diameter to obtain the threshing module with the adjusted sieve pores, and adjusting the wind speed of the separation module to obtain the separation module with the adjusted wind speed; the height-adjusted cutting module, the perimeter-adjusted conveying module, the sieve pore-adjusted threshing module and the wind speed-adjusted separating module are utilized to complete combined harvesting of forage grass seeds. Efficient and low-loss adjustment of the combine harvester can be achieved through the Internet of Things technology.

Description

Technical Field

[0001] The present invention relates to the field of forage seeds, and in particular to an efficient and low-loss combined harvesting method and system for forage seeds based on the Internet of Things. Background Art

[0002] The process of efficient and low-loss combine harvesting of forage seeds based on the Internet of Things is a process of using the Internet of Things technology to reduce the loss of the combine harvester and improve the efficiency of the combine harvester when harvesting forage seeds from forage plants through the combine harvester.

[0003] At present, there are problems such as large losses and low efficiency in harvesting forage seeds using a combine harvester. The combine harvester includes a module for cutting forage plants, a module for inputting the cut forage plants into threshing forage seeds from the forage plants, and a module for separating the threshed forage seeds from the forage plants. In the module for cutting forage plants, if the cutting height is low and the plant height is high, the plant will be entangled with the cutter. Secondly, when the length of the plant is greater than the circumference of the wheel, the plant will be entangled with the wheel. Finally, if the wind speed during threshing is low, the threshed forage seeds will not be separated from the forage plants. All of the above problems require manual adjustments by the operator driving the combine harvester, and the Internet of Things technology cannot be used to achieve the adjustment of the combine harvester. Therefore, there is an urgent need for a solution that can achieve efficient and low-loss adjustment of the combine harvester through the Internet of Things technology. Summary of the invention

[0004] In order to solve the above problems, the present invention provides an efficient and low-loss combine harvesting method and system for forage seeds based on the Internet of Things, which can achieve efficient and low-loss adjustment of the combine harvester through the Internet of Things technology.

[0005] In a first aspect, the present invention provides an efficient and low-loss combined harvesting method for forage seeds based on the Internet of Things, comprising: Identifying the advancing direction of a combine harvester for harvesting forage plants, wherein the combine harvester comprises a cutting module, a conveying module, a threshing module, and a separating module; After the detection laser is sent from the combine harvester to the forward direction, the reflected laser reflected from the forward direction is received in the combine harvester; Based on the detection laser and the reflected laser, a density map and a height map of the forage plants in the forward direction are constructed, and according to the density map and the height map, the height of the cutting module is adjusted to obtain a cutting module with adjusted height; Using the height map, the circumference of the conveying module is adjusted to obtain a conveying module with an adjusted circumference; Collecting an image of a forage plant in the forward direction, identifying a particle diameter of the forage plant from the image of the forage plant, adjusting the size of a sieve hole of the threshing module using the particle diameter to obtain a threshing module with an adjusted sieve hole, and adjusting the wind speed of the separation module to obtain a separation module with an adjusted wind speed; Combined harvesting of forage seeds in the forage plants is accomplished by utilizing the cutting module with adjusted height, the conveying module with adjusted circumference, the threshing module with adjusted sieve apertures, and the separation module with adjusted wind speed, thereby obtaining a combined harvesting result of forage seeds.

[0006] In a possible implementation manner of the first aspect, after the detection laser is sent from the combine harvester to the forward direction, the method further includes: Disposing a laser transmitter and an image recognizer at the highest position of the combine harvester; Using the image recognizer to collect images of forage plants in the forward direction; Locating the position of the forage plant using the forage plant image to obtain the forage plant position; The machine-plant distance between the combine harvester and the forage plant position when the detection laser is started is calculated using the following formula: ; in, represents the machine-plant distance, represents the time from the moment the image recognizer collects the forage plant image to the moment the laser transmitter receives the forage plant position, represents the forward speed of the combine harvester, represents a machine-plant distance between the combine harvester and the position of the forage plant at the moment when the image recognizer acquires the forage plant image; Based on the machine-plant distance, the laser emission angle range of the laser transmitter is calculated using the following formula: ; in, represents the laser emission angle range, Indicates the minimum laser emission angle, Indicates the maximum laser emission angle, represents the machine-plant distance, represents the difference between the highest position of the laser transmitter and the highest position of the forage plant, represents the difference between the highest position of the laser emitter and the lowest position of the forage plant; The detection laser is sent from the combine harvester toward the forward direction in an emission order from the maximum laser emission angle to the minimum laser emission angle in the laser emission angle range.

[0007] In a possible implementation of the first aspect, constructing a density map and a height map of forage plants in the advancing direction based on the detection laser and the reflected laser includes: Identify the strongest reflected laser light at different laser emission angles from the reflected laser light; According to the emission order of the detection laser from the maximum laser emission angle to the minimum laser emission angle, the strongest reflected laser is sorted to obtain a strongest reflected laser sequence; Extracting the maximum laser intensity from the strongest reflected laser sequence; Querying the target emission angle of the maximum laser intensity within the laser emission angle range of the detection laser; calculating the plant tip height and plant tip position of the forage plant using the target emission angle; constructing a dense map of forage plants in the advancing direction using the plant tip positions; constructing a height map of forage plants in the advancing direction using the plant tip heights; The density map is the position distribution of the plant tip positions of the forage plants, and the height map is the height distribution of the plant tip heights of the forage plants.

[0008] In a possible implementation of the first aspect, adjusting the height of the cutting module according to the dense map and the height map to obtain a cutting module with an adjusted height includes: Performing plant edge segmentation on the dense graph to obtain edge segmented plants; Selecting the maximum plant area from the plant areas of the edge segmented plants; Calculate the plant volume of the edge segmented plant corresponding to the maximum plant area by using the maximum plant area and the height distribution in the height map; Based on the plant volume and the volume capacity of the cutting module, the height adjustment value of the cutting module is calculated using the following formula: ; ; in, represents the height adjustment value of the cutting module, represents the plant volume, represents the volume capacity of the cutting module, Indicates the width adjustment value of the cutting module, Indicates the length adjustment value of the cutting module; The height of the cutting module is adjusted using the height adjustment value to obtain a cutting module with an adjusted height.

[0009] In a possible implementation of the first aspect, using the height map to adjust the circumference of the conveying module to obtain the conveying module with adjusted circumference includes: Determine whether the perimeter of the conveying module is less than the highest height in the height map; When the perimeter of the conveying module is less than the highest height in the height map, the perimeter adjustment value of the conveying module is calculated using the following formula: ; ; in, represents the circumference adjustment value of the conveying module, represents the highest height in the height map, represents the wheel radius of the conveying module, Indicates that the perimeter of the conveying module is The wheel radius at ; The circumference of the conveying module is adjusted using the circumference adjustment value to obtain a conveying module with an adjusted circumference.

[0010] In a possible implementation manner of the first aspect, identifying the particle diameter of the forage plant from the forage plant image includes: locating forage seed particles in the forage plant image; The particle diameter of the forage seed particles is calculated using the following formula: ; in, represents the particle diameter, represents the coordinates of the j-th pixel point on the edge of the forage seed particle, Represents the coordinates of the kth pixel point on the edge of the forage seed particle.

[0011] In a possible implementation of the first aspect, the size of the sieve hole of the threshing module is adjusted by using the particle diameter to obtain the threshing module with the adjusted sieve hole, including: The mean diameter of the particle diameters was calculated using the following formula: ; in, represents the mean diameter, Represents the total number of pixels on the edge of the forage seed particle, represents the particle diameter, j and k represent the serial numbers of the pixel points on the edge of the forage seed particle; Based on the proportionality coefficient between the forage plant image and the forage plant, the diameter mean is mean-amplified to obtain the particle diameter.

[0012] In a possible implementation manner of the first aspect, adjusting the wind speed of the separation module to obtain the separation module with adjusted wind speed includes: measuring the suspension velocity of the forage plant at different wind speeds in the separation module; The loss rate of the forage plants was calculated using the following formula: ; in, represents the loss rate, represents the initial weight of the forage plant, indicating the remaining weight of said forage plant; constructing a regression model between the suspension speed and the loss rate; selecting a target suspension speed from the suspension speeds using the regression model; Using the wind speed corresponding to the target suspension speed as the wind speed adjustment value of the separation module; The wind speed adjustment value is used to adjust the wind speed of the separation module to obtain a separation module with adjusted wind speed.

[0013] In a possible implementation of the first aspect, the combined harvesting of forage seeds from the forage plants is completed by using the cutting module with adjusted height, the conveying module with adjusted circumference, the threshing module with adjusted sieve holes, and the separation module with adjusted wind speed to obtain a combined harvesting result of forage seeds, including: Harvesting the forage plants in the forward direction using the cutting module with the adjusted height; Using the conveying module with adjusted circumference to transfer the forage plants from the cutting module with adjusted height to the threshing module with adjusted sieve aperture; In the threshing module with the adjusted sieve holes, the separation module with the adjusted wind speed is used to separate the forage seeds in the forage plants, and the forage seeds are used as the forage seed combined harvesting result.

[0014] In a second aspect, the present invention provides an efficient and low-loss combined harvesting system for forage seeds based on the Internet of Things, the system comprising: a direction recognition module, for recognizing the advancing direction of the combine harvester in harvesting forage plants, wherein the combine harvester comprises a cutting module, a conveying module, a threshing module, and a separating module; A laser receiving module, for receiving, in the combine harvester, reflected laser light reflected from the forward direction after the detection laser light is sent from the combine harvester to the forward direction; A height adjustment module, used for constructing a density map and a height map of the forage plants in the forward direction based on the detection laser and the reflected laser, and adjusting the height of the cutting module according to the density map and the height map to obtain a cutting module with adjusted height; A perimeter adjustment module, used to adjust the perimeter of the conveying module using the height map to obtain a conveying module with an adjusted perimeter; a wind speed adjustment module, used for collecting images of forage plants in the forward direction, identifying the particle diameter of the forage plants from the forage plant images, adjusting the size of the sieve holes of the threshing module using the particle diameter to obtain a threshing module with adjusted sieve holes, and adjusting the wind speed of the separation module to obtain a separation module with adjusted wind speed; The combined harvesting module is used to complete the combined harvesting of forage seeds in the forage plants by using the cutting module with adjusted height, the conveying module with adjusted circumference, the threshing module with adjusted sieve holes and the separation module with adjusted wind speed to obtain the combined harvesting result of forage seeds.

[0015] Compared with the prior art, the technical principle and beneficial effects of this solution are: The embodiment of the present invention transmits a detection laser from the combine harvester to the forward direction, so as to use the laser transmitter and the image recognizer to determine the height distribution and position distribution of the forage plants in the forward direction in advance, and then accurately transmits the detection laser to each located plant. The embodiment of the present invention constructs a density map and a height map of the forage plants in the forward direction based on the detection laser and the reflected laser, so as to use the detection laser and the reflected laser to intelligently measure the position distribution and height distribution of the forage plants, so as to facilitate the subsequent adjustment of the combine harvester based on the measured position and height, so as to make the combine harvester efficient and low-loss. Furthermore, the embodiment of the present invention adjusts the cutting module according to the density map and the height map. The row height is adjusted to reduce the problem of plants being entangled with the cutter by using the Internet of Things technology when the cutting height in the forage plant cutting module is low and the plant height is high. The embodiment of the present invention adjusts the circumference of the conveying module by using the height map to reduce the problem of plants being entangled with the runner by using the Internet of Things technology when the length of the plant is greater than the circumference of the runner. Furthermore, the embodiment of the present invention adjusts the size of the sieve holes of the threshing module by using the particle diameter to select a sieve hole of a suitable size to replace the original sieve hole when the forage seeds pass through the sieve holes and the forage plants adhere to the sieve holes, resulting in clogging the sieve holes. Furthermore, the embodiment of the present invention adjusts the wind speed of the separation module to increase the degree of separation between the forage plants and the forage seeds. Therefore, the embodiment of the present invention proposes an efficient and low-loss combine harvesting method and system for forage seeds based on the Internet of Things, which can achieve efficient and low-loss adjustment of the combine harvester through the Internet of Things technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 A schematic flow chart of a method for efficient and low-loss combined harvesting of forage seeds based on the Internet of Things provided in one embodiment of the present invention; Figure 2 In one embodiment of the present invention Figure 1 A schematic diagram of a detection laser for an efficient and low-loss combined harvesting method of forage seeds based on the Internet of Things is provided; Figure 3 In one embodiment of the present invention Figure 1 A schematic diagram of one of the steps of a method for efficient and low-loss combined harvesting of forage seeds based on the Internet of Things is provided; Figure 4 A schematic diagram of a module of an efficient and low-loss combined harvesting system for forage seeds based on the Internet of Things provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0019] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0020] The embodiment of the present invention provides a method for efficient and low-loss combined harvesting of forage seeds based on the Internet of Things. The execution subject of the method for efficient and low-loss combined harvesting of forage seeds based on the Internet of Things includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present invention. In other words, the method for efficient and low-loss combined harvesting of forage seeds based on the Internet of Things can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0021] See also Figure 1 FIG. 1 is a flow chart of a method for efficiently and low-loss combined harvesting of forage seeds based on the Internet of Things provided by an embodiment of the present invention. Figure 1 The IoT-based high-efficiency and low-loss combined harvesting method for forage seeds described in the paper includes: S1. Identify the forward direction of a combine harvester for harvesting forage plants, wherein the combine harvester includes a cutting module, a conveying module, a threshing module, and a separation module.

[0022] In the embodiment of the present invention, the forage plants refer to plants used to feed animals, and the forage plants include alfalfa, oat grass, soybean grass, corn stalks, pasture grass, etc. The combine harvester refers to a component or device used to harvest crops.

[0023] Furthermore, the cutting module mainly comprises a rotating cutter disc on which a plurality of blades are mounted for cutting the stems of crops, the conveying module is used to convey the forage plants cut by the cutting module in front of the combine harvester to the threshing module at the rear of the combine harvester through a rotating wheel, the threshing module is used to separate the forage seeds in the forage plants from the forage plants, and the separation module utilizes a pre-set wind speed to suspend the forage seeds and the forage plants to different degrees, thereby allowing the suspended forage seeds to pass through the sieve holes of the threshing module, while isolating the suspended forage plants outside the sieve holes of the threshing module.

[0024] S2. After the detection laser is sent from the combine harvester to the forward direction, the reflected laser reflected from the forward direction is received in the combine harvester.

[0025] The embodiment of the present invention sends a detection laser from the combine harvester to the forward direction, so as to use the laser transmitter and the image recognizer to determine the height distribution and position distribution of forage plants in the forward direction in advance, and then accurately emit the detection laser to each located plant.

[0026] In one embodiment of the present invention, after the detection laser is sent from the combine harvester to the forward direction, the method also includes: configuring a laser transmitter and an image recognizer at the highest position of the combine harvester; using the image recognizer to collect a forage plant image in the forward direction; using the forage plant image to locate the position of the forage plant to obtain the forage plant position; and using the following formula to calculate the machine-plant distance between the combine harvester and the forage plant position when the detection laser is started to be emitted: ; in, represents the machine-plant distance, represents the time from the moment the image recognizer collects the forage plant image to the moment the laser transmitter receives the forage plant position, represents the forward speed of the combine harvester, represents a machine-plant distance between the combine harvester and the position of the forage plant at the moment when the image recognizer acquires the forage plant image; Based on the machine-plant distance, the laser emission angle range of the laser transmitter is calculated using the following formula: ; in, represents the laser emission angle range, Indicates the minimum laser emission angle, Indicates the maximum laser emission angle, represents the machine-plant distance, represents the difference between the highest position of the laser transmitter and the highest position of the forage plant, represents the difference between the highest position of the laser emitter and the lowest position of the forage plant; The detection laser is sent from the combine harvester toward the forward direction in an emission order from the maximum laser emission angle to the minimum laser emission angle in the laser emission angle range.

[0027] See also Figure 2 As shown, an embodiment of the present invention Figure 1 A schematic diagram of a detection laser for an efficient and low-loss combined harvesting method of forage seeds based on the Internet of Things is provided. Figure 3 , 1 represents the combine harvester, 2 represents the forage plant, Indicates the minimum laser emission angle, Indicates the maximum laser emission angle.

[0028] S3. Based on the detection laser and the reflected laser, a density map and a height map of the forage plants in the forward direction are constructed, and according to the density map and the height map, the cutting module is height-adjusted to obtain a cutting module with adjusted height.

[0029] The embodiment of the present invention constructs a dense map and a height map of the forage plants in the forward direction based on the detection laser and the reflected laser, so as to utilize the detection laser and the reflected laser to intelligently measure the position distribution and height distribution of the forage plants, thereby facilitating subsequent adjustment of the combine harvester based on the measured position and height, thereby making the combine harvester efficient and low-loss.

[0030] In one embodiment of the present invention, the dense map and height map of the forage plants in the forward direction are constructed based on the detection laser and the reflected laser, including: identifying the strongest reflected laser at different laser emission angles from the reflected laser; sorting the reflected lasers according to the emission order of the detection laser from the maximum laser emission angle to the minimum laser emission angle to obtain a strongest reflected laser sequence; extracting the maximum laser intensity from the strongest reflected laser sequence; querying the target emission angle of the maximum laser intensity within the laser emission angle range of the detection laser; calculating the plant tip height and plant tip position of the forage plants using the target emission angle; constructing a dense map of the forage plants in the forward direction using the plant tip position; and constructing a height map of the forage plants in the forward direction using the plant tip height; wherein the dense map is the position distribution of the plant tip positions of the forage plants, and the height map is the height distribution of the plant tip heights of the forage plants.

[0031] Among them, the strongest reflected laser refers to the reflected laser with the largest intensity among multiple reflected lasers, under the premise that the same detection laser corresponds to multiple reflected lasers, the strongest reflected laser represents the laser reflected from the destination of the detection laser, and the non-strongest reflected laser represents the laser reflected from the non-destination of the detection laser. Furthermore, the plant tip height refers to the highest height of a single plant among the forage plants, and the plant tip position refers to the position of the highest height of a single plant among the forage plants.

[0032] It should be noted that the forage plant includes a middle rhizome and leaves, therefore, the strongest reflected laser includes the strongest reflected laser of the rhizome and the strongest reflected laser of the leaves, and the maximum laser intensity refers to the maximum laser intensity of the strongest reflected laser of the rhizome and the strongest reflected laser of the leaves. This maximum laser intensity represents the intensity of the strongest reflected laser of the rhizome. This is because leaves are generally shorter than rhizomes, and rhizomes are taller and can receive the detection laser the highest, so the intensity of the reflected laser is also the largest.

[0033] Optionally, the process of using the plant tip positions to construct a dense map of forage plants in the forward direction refers to: using a dense map generation tool to scan a top-down image of the plant area in the forward direction, finding the image pixel point where each plant tip position is located in the top-down image, marking the position of the plant tip of each individual plant on the image pixel point, that is, adding the aforementioned calculated plant tip position to the top-down image, and calculating the coordinate positions of other intermediate roots, stems, leaves and other parts in sequence based on the plant tip positions marked in the top-down image, using the top-down image with all the real coordinate positions marked as the constructed dense map, and further using the plant tip height to construct the forage plants in the forward direction. The process of generating a height map of a plant refers to: using a height map generation tool to scan a side view image of the plant area in the forward direction, finding the pixel point of the plant tip of each individual plant in the side view image, marking the height of the plant tip at the pixel point of the plant tip, thereby adding the aforementioned calculated plant tip height to the side view image, and using the side view image marked with the plant tip height as a constructed height map, wherein a dense map generation tool and a height map generation tool refer to tools that can generate graphics or images containing a large amount of details and information, the difference being that a dense map generation tool is used to collect overhead images, such as a remote sensing image tool, and a height map generation tool is used to collect side view images, such as a camera mounted on a combine harvester.

[0034] Furthermore, the embodiment of the present invention adjusts the height of the cutting module according to the density map and the height map, so as to use the Internet of Things technology to reduce the problem of plants entangled in the cutter when the cutting height in the forage plant cutting module is low and the plant height is high.

[0035] In one embodiment of the present invention, the height of the cutting module is adjusted according to the dense map and the height map to obtain a cutting module with adjusted height, including: performing plant edge segmentation on the dense map to obtain edge segmented plants; selecting a maximum plant area from the plant areas of the edge segmented plants; calculating the plant volume of the edge segmented plants corresponding to the maximum plant area using the maximum plant area and the height distribution in the height map; and calculating the height adjustment value of the cutting module based on the plant volume and the volume capacity of the cutting module using the following formula: ; ; in, represents the height adjustment value of the cutting module, represents the plant volume, represents the volume capacity of the cutting module, Indicates the width adjustment value of the cutting module, Indicates the length adjustment value of the cutting module; The height of the cutting module is adjusted using the height adjustment value to obtain a cutting module with an adjusted height.

[0036] It should be noted that the process of calculating the plant volume of the edge-segmented plant corresponding to the maximum plant area by using the maximum plant area and the height distribution in the height map is: taking the maximum plant area as the base area of ​​the cylinder and the height distribution in the height map as the height of the cylinder to calculate the plant volume.

[0037] S4, adjusting the circumference of the conveying module using the height map to obtain a conveying module with an adjusted circumference.

[0038] The embodiment of the present invention uses the height map to adjust the circumference of the conveying module, so as to use the Internet of Things technology to reduce the problem of plants being entangled on the rotating wheel when the length of the plants is greater than the circumference of the rotating wheel.

[0039] In one embodiment of the present invention, the use of the height map to adjust the circumference of the conveying module to obtain the conveying module with adjusted circumference includes: determining whether the circumference of the conveying module is less than the highest height in the height map; when the circumference of the conveying module is less than the highest height in the height map, calculating the circumference adjustment value of the conveying module using the following formula: ; ; in, represents the circumference adjustment value of the conveying module, represents the highest height in the height map, represents the wheel radius of the conveying module, Indicates that the perimeter of the conveying module is The wheel radius at ; The circumference of the conveying module is adjusted using the circumference adjustment value to obtain a conveying module with an adjusted circumference.

[0040] S5. Collect images of forage plants in the forward direction, identify the particle diameter of the forage plants from the forage plant images, use the particle diameter to adjust the size of the sieve holes of the threshing module to obtain a threshing module with adjusted sieve holes, and adjust the wind speed of the separation module to obtain a separation module with adjusted wind speed.

[0041] The forage plant image is consistent with the forage plant image in the forward direction collected by the image recognizer.

[0042] It should be noted that, since the forage seeds of the forage plants do not present a standard spherical shape, the distance between every two edge pixels of the forage seeds is used as the particle diameter.

[0043] In one embodiment of the present invention, the identifying the particle diameter of the forage plant from the forage plant image includes: locating forage seed particles in the forage plant image; and calculating the particle diameter of the forage seed particles using the following formula: ; in, represents the particle diameter, represents the coordinates of the j-th pixel point on the edge of the forage seed particle, Represents the coordinates of the kth pixel point on the edge of the forage seed particle.

[0044] Furthermore, the embodiment of the present invention uses the particle diameter to adjust the size of the sieve holes of the threshing module, so that when forage seeds pass through the sieve holes and forage plants adhere to the sieve holes, resulting in blockage of the sieve holes, sieve holes of appropriate size are selected to replace the original sieve holes.

[0045] In one embodiment of the present invention, the sieve hole of the threshing module is adjusted in size by using the particle diameter to obtain the threshing module with the adjusted sieve hole, comprising: calculating the mean diameter of the particle diameter by using the following formula: ; in, represents the mean diameter, Represents the total number of pixels on the edge of the forage seed particle, represents the particle diameter, j and k represent the serial numbers of the pixel points on the edge of the forage seed particle; Based on the proportionality coefficient between the forage plant image and the forage plant, the diameter mean is mean-amplified to obtain the particle diameter.

[0046] The proportionality coefficient refers to the proportionality coefficient between the size of the object in the image and the actual size of the object.

[0047] Furthermore, the embodiment of the present invention adjusts the wind speed of the separation module to increase the degree of separation between the forage plants and the forage seeds.

[0048] In one embodiment of the present invention, the wind speed of the separation module is adjusted to obtain a separation module with adjusted wind speed, comprising: measuring the suspension speed of the forage plant at different wind speeds in the separation module; and calculating the loss rate of the forage plant using the following formula: ; in, represents the loss rate, represents the initial weight of the forage plant, indicating the remaining weight of said forage plant; A regression model between the suspension speed and the loss rate is constructed; a target suspension speed is selected from the suspension speeds using the regression model; a wind speed corresponding to the target suspension speed is used as a wind speed adjustment value of the separation module; and the wind speed of the separation module is adjusted using the wind speed adjustment value to obtain a separation module with adjusted wind speed.

[0049] S6. Combined harvesting of forage seeds from the forage plants is completed by using the cutting module with adjusted height, the conveying module with adjusted circumference, the threshing module with adjusted sieve holes, and the separation module with adjusted wind speed to obtain a combined harvesting result of forage seeds.

[0050] In one embodiment of the present invention, referring to Figure 3 As shown, the combined harvesting of forage seeds in the forage plants is completed by using the cutting module with adjusted height, the conveying module with adjusted circumference, the threshing module with adjusted sieve holes, and the separation module with adjusted wind speed, and the combined harvesting result of forage seeds is obtained, including: S301, harvesting the forage plants in the forward direction using the cutting module with the height adjusted; S302, using the conveying module with adjusted circumference to transfer the forage plants from the cutting module with adjusted height to the threshing module with adjusted sieve aperture; S303: In the threshing module with the adjusted sieve holes, forage seeds in the forage plants are separated by using the separation module with the adjusted wind speed, and the forage seeds are used as the forage seed combined harvesting result.

[0051] It can be seen that the embodiment of the present invention sends a detection laser from the combine harvester to the forward direction, so as to use the laser transmitter and the image recognizer to determine the height distribution and position distribution of the forage plants in the forward direction in advance, and then accurately transmit the detection laser to each located plant. The embodiment of the present invention constructs a density map and a height map of the forage plants in the forward direction based on the detection laser and the reflected laser, so as to use the detection laser and the reflected laser to intelligently measure the position distribution and height distribution of the forage plants, so as to facilitate the subsequent adjustment of the combine harvester based on the measured position and height, so as to make the combine harvester efficient and low-loss. Furthermore, the embodiment of the present invention adjusts the cutting module according to the density map and the height map. The height of the block is adjusted so that when the cutting height in the forage plant cutting module is low and the plant height is high, the problem of plant entanglement with the cutter is reduced by using the Internet of Things technology. The embodiment of the present invention uses the height map to adjust the circumference of the conveying module so that when the length of the plant is greater than the circumference of the wheel, the problem of plant entanglement with the wheel is reduced by using the Internet of Things technology. Further, the embodiment of the present invention uses the particle diameter to adjust the size of the sieve hole of the threshing module so that when the forage seeds pass through the sieve hole and the forage plants adhere to the sieve hole, resulting in clogging the sieve hole, the sieve hole is replaced with a sieve hole of a suitable size. Further, the embodiment of the present invention adjusts the wind speed of the separation module so as to increase the degree of separation between the forage plants and the forage seeds. Therefore, the efficient and low-loss combine harvesting method of forage seeds based on the Internet of Things proposed in the embodiment of the present invention can achieve efficient and low-loss adjustment of the combine harvester through the Internet of Things technology.

[0052] like Figure 4 Shown is a functional module diagram of the efficient and low-loss combined harvesting system for forage seeds based on the Internet of Things of the present invention.

[0053] The efficient and low-loss combined harvesting system 400 for forage seeds based on the Internet of Things of the present invention can be installed in an electronic device. According to the functions implemented, the efficient and low-loss combined harvesting system for forage seeds based on the Internet of Things can include a direction recognition module 401, a laser receiving module 402, a height adjustment module 403, a perimeter adjustment module 404, a wind speed adjustment module 405 and a combined harvesting module 406. The module of the present invention can also be referred to as a unit, which refers to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, which are stored in the memory of the electronic device.

[0054] In the embodiment of the present invention, the functions of each module / unit are as follows: The direction recognition module 401 is used to recognize the forward direction of the combine harvester in harvesting forage plants, wherein the combine harvester includes a cutting module, a conveying module, a threshing module, and a separation module; The laser receiving module 402 is used for receiving the reflected laser reflected from the forward direction in the combine harvester after the detection laser is sent from the combine harvester to the forward direction; The height adjustment module 403 is used to construct a density map and a height map of the forage plants in the forward direction based on the detection laser and the reflected laser, and adjust the height of the cutting module according to the density map and the height map to obtain a cutting module with adjusted height; The perimeter adjustment module 404 is used to adjust the perimeter of the conveying module using the height map to obtain a conveying module with an adjusted perimeter; The wind speed adjustment module 405 is used to collect the forage plant image in the forward direction, identify the particle diameter of the forage plant from the forage plant image, adjust the size of the sieve hole of the threshing module according to the particle diameter, obtain the threshing module with the adjusted sieve hole, and adjust the wind speed of the separation module to obtain the separation module with the adjusted wind speed; The combined harvesting module 406 is used to complete the combined harvesting of forage seeds in the forage plants by using the cutting module with adjusted height, the conveying module with adjusted circumference, the threshing module with adjusted sieve holes and the separation module with adjusted wind speed to obtain the combined harvesting result of forage seeds.

[0055] In detail, each module in the high-efficiency and low-loss combined harvesting system 400 for forage seeds based on the Internet of Things in the embodiment of the present invention is used in the same manner as described above. Figures 1 to 3 The same technical means as the efficient and low-loss combined harvesting method of forage seeds based on the Internet of Things described in the text and can produce the same technical effects will not be repeated here.

[0056] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0057] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0058] Therefore, no matter from which point of view, the embodiments should be regarded as illustrative and non-restrictive, and the scope of the present invention is limited by the appended claims rather than the above description, so it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any attached figure mark in the claims should not be regarded as limiting the claims involved.

[0059] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0060] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. An efficient and low-loss combined harvesting method for forage seeds based on the Internet of Things, characterized in that: The method comprises: Identifying the advancing direction of a combine harvester for harvesting forage plants, wherein the combine harvester comprises a cutting module, a conveying module, a threshing module, and a separating module; After the detection laser is sent from the combine harvester to the forward direction, the reflected laser reflected from the forward direction is received in the combine harvester; Based on the detection laser and the reflected laser, a density map and a height map of the forage plants in the forward direction are constructed, and according to the density map and the height map, the height of the cutting module is adjusted to obtain a cutting module with adjusted height; Using the height map, the circumference of the conveying module is adjusted to obtain a conveying module with an adjusted circumference; Collecting an image of a forage plant in the forward direction, identifying a particle diameter of the forage plant from the image of the forage plant, adjusting the size of a sieve hole of the threshing module using the particle diameter to obtain a threshing module with an adjusted sieve hole, and adjusting the wind speed of the separation module to obtain a separation module with an adjusted wind speed; Combined harvesting of forage seeds in the forage plants is accomplished by utilizing the cutting module with adjusted height, the conveying module with adjusted circumference, the threshing module with adjusted sieve apertures, and the separation module with adjusted wind speed, thereby obtaining a combined harvesting result of forage seeds.

2. The method according to claim 1, characterized in that After the detection laser is sent from the combine harvester to the forward direction, the method also includes: Disposing a laser transmitter and an image recognizer at the highest position of the combine harvester; Using the image recognizer to collect images of forage plants in the forward direction; Locating the position of the forage plant using the forage plant image to obtain the forage plant position; The machine-plant distance between the combine harvester and the forage plant position when the detection laser is started is calculated using the following formula: ； in, represents the machine-plant distance, represents the time from the moment the image recognizer collects the forage plant image to the moment the laser transmitter receives the forage plant position, represents the forward speed of the combine harvester, represents a machine-plant distance between the combine harvester and the position of the forage plant at the moment when the image recognizer acquires the forage plant image; Based on the machine-plant distance, the laser emission angle range of the laser transmitter is calculated using the following formula: ； in, represents the laser emission angle range, Indicates the minimum laser emission angle, Indicates the maximum laser emission angle, represents the machine-plant distance, represents the difference between the highest position of the laser transmitter and the highest position of the forage plant, represents the difference between the highest position of the laser emitter and the lowest position of the forage plant; The detection laser is sent from the combine harvester toward the forward direction in an emission order from the maximum laser emission angle to the minimum laser emission angle in the laser emission angle range.

3. The method according to claim 1, characterized in that The step of constructing a density map and a height map of the forage plants in the advancing direction based on the detection laser and the reflected laser includes: Identify the strongest reflected laser light at different laser emission angles from the reflected laser light; According to the emission order of the detection laser from the maximum laser emission angle to the minimum laser emission angle, the strongest reflected laser is sorted to obtain a strongest reflected laser sequence; Extracting the maximum laser intensity from the strongest reflected laser sequence; Querying the target emission angle of the maximum laser intensity within the laser emission angle range of the detection laser; calculating the plant tip height and plant tip position of the forage plant using the target emission angle; constructing a dense map of forage plants in the advancing direction using the plant tip positions; constructing a height map of forage plants in the advancing direction using the plant tip heights; The density map is the position distribution of the plant tip positions of the forage plants, and the height map is the height distribution of the plant tip heights of the forage plants.

4. The method according to claim 1, characterized in that: The step of adjusting the height of the cutting module according to the dense map and the height map to obtain a cutting module with an adjusted height includes: Performing plant edge segmentation on the dense graph to obtain edge segmented plants; Selecting the maximum plant area from the plant areas of the edge segmented plants; Calculate the plant volume of the edge segmented plant corresponding to the maximum plant area by using the maximum plant area and the height distribution in the height map; Based on the plant volume and the volume capacity of the cutting module, the height adjustment value of the cutting module is calculated using the following formula: ； ； in, represents the height adjustment value of the cutting module, represents the plant volume, represents the volume capacity of the cutting module, Indicates the width adjustment value of the cutting module, Indicates the length adjustment value of the cutting module; The height of the cutting module is adjusted using the height adjustment value to obtain a cutting module with an adjusted height.

5. The method according to claim 1, characterized in that The method of adjusting the perimeter of the conveying module by using the height map to obtain the conveying module with adjusted perimeter includes: Determine whether the perimeter of the conveying module is less than the highest height in the height map; When the perimeter of the conveying module is less than the highest height in the height map, the perimeter adjustment value of the conveying module is calculated using the following formula: ； ； in, represents the circumference adjustment value of the conveying module, represents the highest height in the height map, represents the wheel radius of the conveying module, Indicates that the perimeter of the conveying module is The wheel radius at ; The circumference of the conveying module is adjusted using the circumference adjustment value to obtain a conveying module with an adjusted circumference.

6. The method according to claim 1, characterized in that The step of identifying the particle diameter of the forage plant from the forage plant image comprises: locating forage seed particles in the forage plant image; The particle diameter of the forage seed particles is calculated using the following formula: ； in, represents the particle diameter, represents the coordinates of the j-th pixel point on the edge of the forage seed particle, Represents the coordinates of the kth pixel point on the edge of the forage seed particle.

7. The method according to claim 1, characterized in that The method of adjusting the size of the sieve hole of the threshing module by using the particle diameter to obtain the threshing module with the adjusted sieve hole comprises: The mean diameter of the particle diameters was calculated using the following formula: ； in, represents the mean diameter, Represents the total number of pixels on the edge of the forage seed particle, represents the particle diameter, j and k represent the serial numbers of the pixel points on the edge of the forage seed particle; Based on the proportionality coefficient between the forage plant image and the forage plant, the diameter mean is mean-amplified to obtain the particle diameter.

8. The method according to claim 1, characterized in that The step of adjusting the wind speed of the separation module to obtain a separation module with adjusted wind speed includes: measuring the suspension velocity of the forage plant at different wind speeds in the separation module; The loss rate of the forage plants was calculated using the following formula: ； in, represents the loss rate, represents the initial weight of the forage plant, indicating the remaining weight of said forage plant; constructing a regression model between the suspension speed and the loss rate; selecting a target suspension speed from the suspension speeds using the regression model; Using the wind speed corresponding to the target suspension speed as the wind speed adjustment value of the separation module; The wind speed adjustment value is used to adjust the wind speed of the separation module to obtain a separation module with adjusted wind speed.

9. The method according to claim 1, characterized in that: The combined harvesting of forage seeds from the forage plants is completed by using the cutting module with adjusted height, the conveying module with adjusted circumference, the threshing module with adjusted sieve apertures, and the separation module with adjusted wind speed, and the forage seed combined harvesting result is obtained, including: Harvesting the forage plants in the forward direction using the cutting module with the adjusted height; Using the conveying module with adjusted circumference to transfer the forage plants from the cutting module with adjusted height to the threshing module with adjusted sieve aperture; In the threshing module with the adjusted sieve holes, the separation module with the adjusted wind speed is used to separate the forage seeds in the forage plants, and the forage seeds are used as the forage seed combined harvesting result.

10. An efficient and low-loss combined harvesting system for forage seeds based on the Internet of Things, characterized in that: The system comprises: a direction recognition module, for recognizing the advancing direction of the combine harvester in harvesting forage plants, wherein the combine harvester comprises a cutting module, a conveying module, a threshing module, and a separating module; A laser receiving module, for receiving, in the combine harvester, reflected laser light reflected from the forward direction after the detection laser light is sent from the combine harvester to the forward direction; A height adjustment module, used for constructing a density map and a height map of the forage plants in the forward direction based on the detection laser and the reflected laser, and adjusting the height of the cutting module according to the density map and the height map to obtain a cutting module with adjusted height; A perimeter adjustment module, used to adjust the perimeter of the conveying module using the height map to obtain a conveying module with an adjusted perimeter; a wind speed adjustment module, used for collecting images of forage plants in the forward direction, identifying the particle diameter of the forage plants from the forage plant images, adjusting the size of the sieve holes of the threshing module using the particle diameter to obtain a threshing module with adjusted sieve holes, and adjusting the wind speed of the separation module to obtain a separation module with adjusted wind speed; The combined harvesting module is used to complete the combined harvesting of forage seeds in the forage plants by using the cutting module with adjusted height, the conveying module with adjusted circumference, the threshing module with adjusted sieve holes and the separation module with adjusted wind speed to obtain the combined harvesting result of forage seeds.

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