A High-Efficiency and Low-Loss Combine Harvesting Method and System for Forage Seeds Based on the Internet of Things

Abstract

This invention relates to the field of forage seeds, disclosing an efficient and low-loss combined harvesting method and system for forage seeds based on the Internet of Things (IoT). The method includes: sending a detection laser from a combine harvester in the forward direction, and receiving the reflected laser in the combine harvester; constructing a density map and height map of forage plants in the forward direction; adjusting the height of the cutting module to obtain a cutting module with adjusted height; adjusting the perimeter of the conveying module using the height map to obtain a conveying module with adjusted perimeter; adjusting the size of the sieve aperture of the threshing module using the particle diameter to obtain a threshing module with adjusted sieve aperture; adjusting the wind speed of the separation module to obtain a separation module with adjusted wind speed; and completing the combined harvesting of forage seeds using the height-adjusted cutting module, the perimeter-adjusted conveying module, the sieve-aperture-adjusted threshing module, and the wind speed-adjusted separation module. This invention enables efficient and low-loss adjustment of the combine harvester through IoT technology.

Description

Technical Field

[0001] This invention relates to the field of forage seeds, and more particularly to a method and system for efficient and low-loss combined harvesting of forage seeds based on the Internet of Things. Background Technology

[0002] The process of efficient and low-loss combined harvesting of forage seeds based on the Internet of Things (IoT) involves using IoT technology to reduce the wear and tear on the combined harvester and improve its efficiency when harvesting forage seeds from forage plants.

[0003] Currently, harvesting forage seeds using combine harvesters suffers from problems such as high losses and low efficiency. A combine harvester includes a module for cutting forage plants, a module for feeding the cut forage plants into the forage seed threshing process, and a module for separating the threshed forage seed from the forage plant. In the forage plant cutting module, if the cutting height is too low while the plant height is too high, the plant will become entangled in the cutter. Secondly, if the plant length is greater than the wheel circumference, the plant will also become entangled in the wheel. Finally, if the wind speed during threshing is too low, the threshed forage seed may not separate from the forage plant. All of these problems require manual adjustments by the combine harvester operator and cannot be addressed using IoT technology. Therefore, there is an urgent need for a solution that allows for efficient and low-loss adjustments of combine harvesters using IoT technology. Summary of the Invention

[0004] To address the aforementioned issues, this invention provides a method and system for efficient and low-loss combined harvesting of forage seeds based on the Internet of Things (IoT), which enables efficient and low-loss adjustment of the combine harvester through IoT technology.

[0005] In a first aspect, the present invention provides a highly efficient and low-loss combined harvesting method for forage seeds based on the Internet of Things, comprising:

[0006] The direction of travel of the combine harvester harvesting forage plants is identified, wherein the combine harvester includes a cutting module, a conveying module, a threshing module, and a separating module;

[0007] After the combine harvester sends a probe laser in the direction of travel, the combine harvester receives the reflected laser light reflected back from the direction of travel.

[0008] 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. According to the density map and the height map, the height of the cutting module is adjusted to obtain a cutting module with the adjusted height.

[0009] The perimeter of the conveying module is adjusted using the height map to obtain a conveying module with an adjusted perimeter.

[0010] Images of forage plants in the forward direction are acquired, the particle diameter of the forage plants is identified from the images, the size of the sieve holes of the threshing module is adjusted using the particle diameter, and the threshing module with the sieve holes adjusted is obtained. The wind speed of the separation module is adjusted, and the separation module with the wind speed adjusted is obtained.

[0011] The combined harvesting of forage seeds from the forage plants is completed 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, resulting in a combined harvest of forage seeds.

[0012] In one possible implementation of the first aspect, after the probe laser is sent from the combine harvester in the forward direction, the method further includes:

[0013] A laser emitter and an image recognition device are configured at the highest position of the combine harvester;

[0014] The image recognition device is used to acquire images of forage plants in the direction of travel;

[0015] The location of the forage plants is obtained by locating the forage plant position using the image of the forage plants;

[0016] The machine-to-plant distance between the combine harvester and the forage plant location at the start of emitting the probe laser is calculated using the following formula:

[0017] ;

[0018] in, This indicates the machine-plant distance. This indicates the time elapsed from the moment the image recognizer acquires the image of the forage plant to the moment the laser emitter receives the location of the forage plant. This indicates the forward speed of the combine harvester. This indicates the machine-plant distance between the combine harvester and the location of the forage plant at the moment when the image recognition device acquires the image of the forage plant;

[0019] Based on the machine-plant distance, the laser emission angle range of the laser emitter is calculated using the following formula:

[0020] ;

[0021] in, This indicates the range of laser emission angles. Indicates the minimum laser emission angle. Indicates the maximum laser emission angle. This indicates the machine-plant distance. This represents the difference between the highest position of the laser emitter and the highest position of the forage plant. This represents the difference between the highest position of the laser emitter and the lowest position of the forage plant;

[0022] The probe laser is sent from the combine harvester in the forward direction in the order of emission from the maximum laser emission angle to the minimum laser emission angle within the laser emission angle range.

[0023] In one possible implementation of the first aspect, constructing a density map and height map of forage vegetation in the forward direction based on the probe laser and the reflected laser includes:

[0024] Identify the strongest reflected laser at different laser emission angles from the reflected laser;

[0025] 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 the strongest reflected laser sequence;

[0026] Extract the maximum laser intensity from the strongest reflected laser sequence;

[0027] Query the target emission angle within the laser emission angle range of the probe laser, where the maximum laser intensity is specified.

[0028] The height and position of the plant tip of the forage plant are calculated using the target launch angle;

[0029] A dense map of forage plants in the forward direction is constructed using the plant tips.

[0030] Construct a height map of forage plants in the forward direction using the height of the plant tips;

[0031] The density map represents the positional distribution of the plant tips of forage plants, while the height map represents the height distribution of the plant tips of forage plants.

[0032] In one possible implementation of the first aspect, adjusting the height of the cutting module based on the density map and the height map to obtain a cutting module with adjusted height includes:

[0033] Perform plant edge segmentation on the dense graph to obtain edge-segmented plants;

[0034] Select the largest plant area from the plant areas of the edge-segmented plants;

[0035] The plant volume of the edge-segmented plant corresponding to the maximum plant area is calculated using the maximum plant area and the height distribution in the height map;

[0036] 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:

[0037] ;

[0038] ;

[0039] in, This indicates the height adjustment value of the cutting module. This indicates the volume of the plant. This indicates the volume capacity of the cutting module. This indicates the width adjustment value of the cutting module. This indicates the length adjustment value of the cutting module;

[0040] The height of the cutting module is adjusted using the height adjustment value to obtain a cutting module with the adjusted height.

[0041] In one possible implementation of the first aspect, adjusting the perimeter of the conveying module using the height map to obtain a conveying module with adjusted perimeter includes:

[0042] Determine whether the perimeter of the conveying module is less than the highest height in the height diagram;

[0043] When the perimeter of the conveying module is less than the highest height in the height diagram, the perimeter adjustment value of the conveying module is calculated using the following formula:

[0044] ;

[0045] ;

[0046] in, This indicates the circumference adjustment value of the conveying module. This represents the highest height in the height map. This indicates the radius of the wheels of the conveyor module. The perimeter of the conveying module is indicated as The radius of the wheel at that time;

[0047] The perimeter of the conveying module is adjusted using the perimeter adjustment value to obtain a conveying module with an adjusted perimeter.

[0048] In one possible implementation of the first aspect, identifying the particle diameter of the forage plant from the forage plant image includes:

[0049] Locate the forage seed particles in the forage plant image;

[0050] The diameter of the forage seed pellets can be calculated using the following formula:

[0051] ;

[0052] in, Indicates the diameter of the particle. This represents the coordinates of the j-th pixel on the edge of the forage seed particle. This represents the coordinates of the k-th pixel on the edge of the forage seed particle.

[0053] In one possible implementation of the first aspect, adjusting the size of the sieve apertures of the threshing module using the particle diameter to obtain a threshing module with adjusted sieve apertures includes:

[0054] The mean diameter of the particles is calculated using the following formula:

[0055] ;

[0056] in, This represents the average diameter. This represents the total number of pixels on the edge of the forage seed grain. The diameter of the particle is represented by j and k, which represent the pixel numbers on the edge of the forage seed particle.

[0057] Based on the scaling factor between the forage plant image and the forage plant, the average diameter is amplified to obtain the particle diameter.

[0058] In one possible implementation of the first aspect, adjusting the wind speed of the separation module to obtain a separation module with adjusted wind speed includes:

[0059] The suspension velocity of the forage plants under different wind speeds was measured in the separation module;

[0060] The loss rate of the forage plants was calculated using the following formula:

[0061] ;

[0062] in, This represents the loss rate. This indicates the initial weight of the forage plants. This indicates the remaining weight of the forage plants;

[0063] Construct a regression model between the suspension speed and the loss rate;

[0064] The target suspension velocity is selected from the suspension velocities using the regression model.

[0065] The wind speed corresponding to the target levitation speed is used as the wind speed adjustment value of the separation module;

[0066] The wind speed of the separation module is adjusted using the wind speed adjustment value to obtain a separation module with adjusted wind speed.

[0067] In one possible implementation of the first aspect, the combined harvesting of forage seeds from the forage plants is achieved by utilizing the height-adjusted cutting module, the perimeter-adjusted conveying module, the threshing module with adjusted sieve apertures, and the wind speed-adjusted separation module, resulting in a combined harvest of forage seeds, including:

[0068] The height-adjusted cutting module is used to harvest forage plants in the direction of travel;

[0069] The forage plants are transferred from the height-adjusted cutting module to the threshing module with adjusted sieve holes using the conveying module with adjusted circumference.

[0070] In the threshing module with the screen holes adjusted, the separation module with the wind speed adjusted separates the forage seeds from the forage plants, and the forage seeds are used as the result of the combined harvest of forage seeds.

[0071] Secondly, the present invention provides a high-efficiency, low-loss combined harvesting system for forage seeds based on the Internet of Things, the system comprising:

[0072] A direction recognition module is used to identify 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 separating module;

[0073] A laser receiving module is used to receive reflected laser light reflected back from the direction of travel after the combine harvester sends a probe laser light in the direction of travel.

[0074] The height adjustment module is used to construct a density map and a height map of forage plants in the forward direction based on the detection laser and the reflected laser, and to adjust the height of the cutting module according to the density map and the height map to obtain a cutting module with adjusted height;

[0075] The perimeter adjustment module is used to adjust the perimeter of the conveying module using the height map to obtain a conveying module with an adjusted perimeter.

[0076] The wind speed adjustment module is used to acquire images of forage plants in the forward direction, identify the particle diameter of the forage plants from the images, adjust the size of the sieve holes of the threshing module using the particle diameter 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.

[0077] The combined harvesting module is used to complete the combined harvesting of forage seeds from the forage plants by using the height-adjusted cutting module, the perimeter-adjusted conveying module, the threshing module with adjusted sieve holes, and the wind speed-adjusted separation module, thereby obtaining the combined harvesting result of forage seeds.

[0078] Compared with existing technologies, the technical principles and beneficial effects of this solution are as follows:

[0079] This invention embodiment sends a detection laser from the combine harvester toward the forward direction to pre-determine the height and position distribution of forage plants in the forward direction using the laser emitter and image recognition device. Then, the detection laser is precisely emitted for each plant at its designated location. Based on the detection laser and the reflected laser, this invention embodiment constructs a density map and height map of the forage plants in the forward direction. This allows for intelligent measurement of the position and height distribution of the forage plants using the detection and reflected lasers, facilitating subsequent adjustments to the combine harvester based on the measured position and height. This results in a more efficient and less damaged combine harvester. Furthermore, this invention embodiment uses the density map and height map to adjust the cutting module... The invention employs several techniques to address the issue of plant entanglement in the forage cutting module. First, it adjusts the height of the conveying module using a height map to reduce plant entanglement when the plant length exceeds the wheel's circumference. Second, it adjusts the size of the sieve openings in the threshing module based on the particle diameter to replace clogging sieves caused by forage seeds passing through but forage plants adhering to them. Third, it adjusts the wind speed in the separation module to increase the separation between forage plants and seeds. Therefore, this invention provides a highly efficient and low-loss combined harvesting method and system for forage seeds based on the Internet of Things (IoT), enabling efficient and low-loss adjustment of the combine harvester through IoT technology. Attached Figure Description

[0080] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0081] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0082] Figure 1 This is a schematic flowchart illustrating an efficient and low-loss combined harvesting method for forage seeds based on the Internet of Things, provided in an embodiment of the present invention.

[0083] Figure 2 As shown 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 for forage seeds based on the Internet of Things;

[0084] Figure 3 As shown in one embodiment of the present invention Figure 1 A schematic diagram of one step in a method for efficient and low-loss combined harvesting of forage seeds based on the Internet of Things;

[0085] Figure 4 This is 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 in an embodiment of the present invention. Detailed Implementation

[0086] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0087] This invention provides a method for efficient and low-loss combined harvesting of forage seeds based on the Internet of Things (IoT). The executing entity of this method includes, but is not limited to, at least one of the following electronic devices that can be configured to execute the method provided in this invention: a server, a terminal, etc. In other words, the method can be executed by software or hardware installed on a terminal device or a server device. The software may be a blockchain platform. The server includes, but is not limited to, a single server, a server cluster, a cloud server, or a cluster of cloud servers. The server can be an independent server or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0088] See Figure 1The diagram shown is a flowchart illustrating a method for efficient and low-loss combined harvesting of forage seeds based on the Internet of Things, according to an embodiment of the present invention. Figure 1 The efficient and low-loss combined harvesting method for forage seeds based on the Internet of Things described herein includes:

[0089] S1. Identify the forward direction of the combine harvester harvesting forage plants, wherein the combine harvester includes a cutting module, a conveying module, a threshing module, and a separating module.

[0090] In this embodiment of the invention, the forage plants refer to plants used to feed animals, including alfalfa, oat grass, soybean grass, corn stalks, pasture, etc., and the combine harvester refers to a component or device used to harvest crops.

[0091] Furthermore, the cutting module mainly includes a rotating cutter head with multiple blades mounted on it for cutting the stems of crops. The conveying module transports the forage plants cut by the cutting module in front of the combine harvester to the threshing module behind the combine harvester via a rotating wheel. The threshing module separates the forage seeds from the forage plants. The separation module uses a pre-set wind speed to suspend the forage seeds and 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.

[0092] S2. After sending a probe laser from the combine harvester in the forward direction, the combine harvester receives the reflected laser reflected back from the forward direction.

[0093] In this embodiment of the invention, a detection laser is sent from the combine harvester toward the direction of travel to pre-determine the height and position distribution of forage plants in the direction of travel using the laser emitter and image recognition device, and then the detection laser is precisely emitted for each plant in the positioning position.

[0094] In one embodiment of the present invention, after the combine harvester sends a probe laser in the forward direction, the method further includes: configuring a laser emitter and an image recognition device at the highest position of the combine harvester; using the image recognition device to acquire images of forage plants in the forward direction; using the forage plant images to locate the position of the forage plants, thereby obtaining the forage plant position; and calculating the machine-plant distance between the combine harvester and the forage plant position when it begins to emit the probe laser using the following formula:

[0095] ;

[0096] in, This indicates the machine-plant distance. This indicates the time elapsed from the moment the image recognizer acquires the image of the forage plant to the moment the laser emitter receives the location of the forage plant. This indicates the forward speed of the combine harvester. This indicates the machine-plant distance between the combine harvester and the location of the forage plant at the moment when the image recognition device acquires the image of the forage plant;

[0097] Based on the machine-plant distance, the laser emission angle range of the laser emitter is calculated using the following formula:

[0098] ;

[0099] in, This indicates the range of laser emission angles. Indicates the minimum laser emission angle. Indicates the maximum laser emission angle. This indicates the machine-plant distance. This represents the difference between the highest position of the laser emitter and the highest position of the forage plant. This represents the difference between the highest position of the laser emitter and the lowest position of the forage plant;

[0100] The probe laser is sent from the combine harvester in the forward direction in the order of emission from the maximum laser emission angle to the minimum laser emission angle within the laser emission angle range.

[0101] See Figure 2 As shown, this is one embodiment of the present invention. Figure 1 A schematic diagram of a detection laser for a highly efficient and low-loss combined harvesting method for forage seeds based on the Internet of Things (IoT). Figure 3 In the text, 1 represents the combine harvester, and 2 represents the forage plant. Indicates the minimum laser emission angle. This indicates the maximum laser emission angle.

[0102] S3. Based on the detection laser and the reflected laser, construct a density map and a height map of the forage plants in the forward direction. According to the density map and the height map, adjust the height of the cutting module to obtain a cutting module with the adjusted height.

[0103] This invention constructs a density map and a height map of forage plants along the forward direction based on the detection laser and the reflected laser. This allows for intelligent measurement of the position and height distribution of the forage plants using the detection laser and the reflected laser, facilitating subsequent adjustments to the combine harvester based on the measured position and height, thereby making the combine harvester highly efficient and with low loss.

[0104] In one embodiment of the present invention, constructing a density map and a height map of forage plants in the forward direction based on the probe laser and the reflected laser includes: identifying the strongest reflected laser at different laser emission angles from the reflected laser; sorting the strongest reflected lasers according to the emission order of the probe 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 probe laser; calculating the plant tip height and plant tip position of the forage plants using the target emission angle; constructing a density map of forage plants in the forward direction using the plant tip position; and constructing a height map of forage plants in the forward direction using the plant tip height; wherein the density map is the positional 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.

[0105] The strongest reflected laser refers to the laser with the highest intensity among multiple reflected lasers when the same detection laser corresponds to multiple reflected lasers. The strongest reflected laser indicates the laser reflected from the destination of the detection laser, while the non-strongest reflected laser indicates 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 at the highest point of a single plant among the forage plants.

[0106] It should be noted that the forage plants include the rootstock and leaves. Therefore, the strongest reflected laser includes the strongest reflected laser from the rootstock and the strongest reflected laser from the leaves. The maximum laser intensity refers to the maximum laser intensity among the strongest reflected laser from the rootstock and the strongest reflected laser from the leaves. This maximum laser intensity represents the intensity of the strongest reflected laser from the rootstock because the leaves are generally shorter than the rootstock, while the rootstock, due to its greater height, can receive the detection laser the most, thus the intensity of the reflected laser is also the greatest.

[0107] Optionally, the process of constructing a dense map of forage plants in the forward direction using the plant tip positions refers to: using a dense map generation tool to scan a top-view image of the plant region in the forward direction; finding the image pixel where each plant tip is located in the top-view image; marking the position of the plant tip of each individual plant on the image pixel, i.e., adding the previously calculated plant tip positions to the top-view image; and calculating the coordinate positions of other intermediate roots, stems, leaves, etc., based on the marked plant tip positions in the top-view image. The top-view image with all the real coordinate positions marked is used as the constructed dense map. Further, the forage plants in the forward direction are constructed using the plant tip heights. The process of creating a plant height map involves: using a height map generation tool to scan a side view image of the plant area in the direction of travel; finding the pixel at the tip of each individual plant in the side view image; marking the height of the plant tip at this pixel; and adding the previously calculated plant tip height to the side view image. The side view image marked with the plant tip height is then used as the constructed height map. Here, both density map generation tools and height map generation tools refer to tools capable of generating graphics or images containing a large amount of detail and information. The difference is that density map generation tools are used to acquire top-view images, such as remote sensing image tools, while height map generation tools are used to acquire side-view images, such as cameras mounted on combine harvesters.

[0108] Furthermore, in this embodiment of the invention, the height of the cutting module is adjusted according to the density map and the height map 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, by utilizing Internet of Things technology.

[0109] In one embodiment of the present invention, adjusting the height of the cutting module according to the density map and the height map to obtain a cutting module with adjusted height includes: performing plant edge segmentation on the density map to obtain edge-segmented plants; selecting the largest plant area from the plant areas of the edge-segmented plants; calculating the plant volume of the edge-segmented plant corresponding to the largest plant area using the largest plant area and the height distribution in the height map; and calculating the height adjustment value of the cutting module using the following formula based on the plant volume and the volume capacity of the cutting module:

[0110] ;

[0111] ;

[0112] in, This indicates the height adjustment value of the cutting module. This indicates the volume of the plant. This indicates the volume capacity of the cutting module. This indicates the width adjustment value of the cutting module. This indicates the length adjustment value of the cutting module;

[0113] The height of the cutting module is adjusted using the height adjustment value to obtain a cutting module with the adjusted height.

[0114] It should be noted that the process of calculating the plant volume of the edge segmented plant corresponding to the maximum plant area using the maximum plant area and the height distribution in the height map is as follows: the maximum plant area is used as the base area of ​​the column, and the height distribution in the height map is used as the height of the column to calculate the plant volume.

[0115] S4. Adjust the perimeter of the conveying module using the height map to obtain a conveying module with the adjusted perimeter.

[0116] This invention utilizes the height map to adjust the circumference of the conveying module, thereby reducing the problem of plants getting tangled on the rotating wheel when the plant length is greater than the circumference of the rotating wheel, using Internet of Things technology.

[0117] In one embodiment of the present invention, adjusting the perimeter of the conveying module using the height map to obtain a conveying module with an adjusted perimeter includes: determining whether the perimeter of the conveying module is less than the highest height in the height map; and when the perimeter of the conveying module is less than the highest height in the height map, calculating the perimeter adjustment value of the conveying module using the following formula:

[0118] ;

[0119] ;

[0120] in, This indicates the circumference adjustment value of the conveying module. This represents the highest height in the height map. This indicates the radius of the wheels of the conveyor module. The perimeter of the conveying module is indicated as The radius of the wheel at that time;

[0121] The perimeter of the conveying module is adjusted using the perimeter adjustment value to obtain a conveying module with an adjusted perimeter.

[0122] S5. Acquire images of forage plants in the forward direction, identify the particle diameter of the forage plants from the images, adjust the size of the sieve holes of the threshing module using the particle diameter, 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.

[0123] The forage plant image is consistent with the forage plant image in the forward direction acquired using the image recognizer.

[0124] 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 seed is used as the particle diameter.

[0125] In one embodiment of the present invention, 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:

[0126] ;

[0127] in, Indicates the diameter of the particle. This represents the coordinates of the j-th pixel on the edge of the forage seed particle. This represents the coordinates of the k-th pixel on the edge of the forage seed particle.

[0128] Furthermore, in this embodiment of the invention, the size of the sieve holes in the threshing module is adjusted by utilizing the particle diameter, so that when forage seeds pass through the sieve holes but forage plants stick to the sieve holes, causing blockage, a sieve hole of appropriate size is selected to replace the original sieve holes.

[0129] In one embodiment of the present invention, adjusting the size of the sieve aperture of the threshing module using the particle diameter to obtain a threshing module with adjusted sieve aperture includes: calculating the average diameter of the particle using the following formula:

[0130] ;

[0131] in, This represents the average diameter. This represents the total number of pixels on the edge of the forage seed grain. The diameter of the particle is represented by j and k, which represent the pixel numbers on the edge of the forage seed particle.

[0132] Based on the scaling factor between the forage plant image and the forage plant, the average diameter is amplified to obtain the particle diameter.

[0133] The scaling factor refers to the scaling factor between the size of an object in the image and the actual size of the object.

[0134] Furthermore, in this embodiment of the invention, the wind speed of the separation module is adjusted to increase the degree of separation between the forage plants and the forage seeds.

[0135] In one embodiment of the present invention, 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 plants under different wind speeds in the separation module; and calculating the loss rate of the forage plants using the following formula:

[0136] ;

[0137] in, This represents the loss rate. This indicates the initial weight of the forage plants. This indicates the remaining weight of the forage plants;

[0138] A regression model is constructed between the suspension speed and the loss rate; a target suspension speed is selected from the suspension speeds using the regression model; the wind speed corresponding to the target suspension speed is used as the wind speed adjustment value of the separation module; the wind speed of the separation module is adjusted using the wind speed adjustment value to obtain a separation module with adjusted wind speed.

[0139] S6. Using the height-adjusted cutting module, the circumference-adjusted conveying module, the threshing module with adjusted sieve holes, and the wind speed-adjusted separation module, the combined harvesting of forage seeds from the forage plants is completed, and the combined harvesting result of forage seeds is obtained.

[0140] In one embodiment of the present invention, see reference Figure 3 As shown, the combined harvesting of forage seeds from forage plants is achieved using the height-adjusted cutting module, the circumference-adjusted conveying module, the sieve aperture-adjusted threshing module, and the wind speed-adjusted separation module, resulting in a combined harvest of forage seeds, including:

[0141] S301. Harvest the forage plants in the forward direction using the height-adjusted cutting module;

[0142] S302. The forage plants are transferred from the height-adjusted cutting module to the threshing module with adjusted sieve holes using the conveying module with adjusted circumference.

[0143] S303. In the threshing module with the screen holes adjusted, the forage seeds in the forage plants are separated by the separation module with the wind speed adjusted, and the forage seeds are used as the result of the combined harvest of forage seeds.

[0144] As can be seen, this embodiment of the invention sends a detection laser from the combine harvester toward the forward direction to pre-determine the height and position distribution of forage plants in the forward direction using the laser emitter and image recognition device. Then, the detection laser is precisely emitted for each plant at its designated location. This embodiment of the 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. This allows for intelligent measurement of the position and height distribution of the forage plants using the detection laser and the reflected laser, facilitating subsequent adjustments to the combine harvester based on the measured position and height. This results in a more efficient and less damaged combine harvester. Furthermore, this embodiment of the invention uses the density map and the height map to adjust the cutting mold... The height of the blocks is adjusted to reduce the problem of plants entanglement in the cutter when the cutting height in the forage cutting module is low and the plant height is high. This invention utilizes IoT technology to reduce the problem of plants entanglement on the cutter. Furthermore, this invention adjusts the circumference of the conveying module using the height map to reduce the problem of plants entanglement on the rotor when the plant length is greater than the rotor circumference. Further, this invention adjusts the size of the sieve holes in the threshing module using the particle diameter to replace the original sieve holes when forage seeds pass through but forage plants stick to them, causing blockage. Further, this invention adjusts the wind speed of the separation module to increase the separation degree between forage plants and forage seeds. Therefore, the efficient and low-loss combined harvesting method for forage seeds based on IoT proposed in this invention can achieve efficient and low-loss adjustment of the combine harvester through IoT technology.

[0145] like Figure 4 The diagram shown is a functional block diagram of the efficient and low-loss combined harvesting system for forage seeds based on the Internet of Things of this invention.

[0146] The IoT-based high-efficiency, low-loss combined harvesting system 400 forage seeds described in this invention can be installed in an electronic device. Depending on the functions implemented, the IoT-based high-efficiency, low-loss combined harvesting system for forage seeds may 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 described in this invention can also be called a unit, referring to a series of computer program segments that can be executed by the processor of an electronic device and perform a fixed function, stored in the memory of the electronic device.

[0147] In this embodiment of the invention, the functions of each module / unit are as follows:

[0148] The direction recognition module 401 is used to identify the forward direction of the combine harvester harvesting forage plants, wherein the combine harvester includes a cutting module, a conveying module, a threshing module, and a separating module;

[0149] The laser receiving module 402 is used to receive the reflected laser reflected back from the forward direction after sending a detection laser from the combine harvester to the forward direction;

[0150] The height adjustment module 403 is used to construct a density map and a height map of forage plants in the forward direction based on the detection laser and the reflected laser, and to adjust the height of the cutting module according to the density map and the height map to obtain a cutting module with adjusted height;

[0151] 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.

[0152] The wind speed adjustment module 405 is used to acquire images of forage plants in the forward direction, identify the particle diameter of the forage plants from the images, adjust the size of the sieve holes of the threshing module using the particle diameter 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.

[0153] The combined harvesting module 406 is used to complete the combined harvesting of forage seeds from the forage plants by using the height-adjusted cutting module, the perimeter-adjusted conveying module, the threshing module with adjusted sieve holes, and the wind speed-adjusted separation module, thereby obtaining the combined harvesting result of forage seeds.

[0154] In detail, the modules in the IoT-based high-efficiency, low-loss combined harvesting system 400 forage seeds described in this embodiment of the invention employ the same methods as described above during use. Figures 1 to 3 The method used is the same as the efficient and low-loss combined harvesting method for forage seeds based on the Internet of Things described above, and can produce the same technical effect, so it will not be repeated here.

[0155] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0156] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0157] Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within the invention. No appended diagram markings in the claims should be construed as limiting the scope of the claims.

[0158] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0159] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily 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 invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A highly efficient and low-loss combined harvesting method for forage seeds based on the Internet of Things, characterized in that, The method includes: The direction of travel of the combine harvester harvesting forage plants is identified, wherein the combine harvester includes a cutting module, a conveying module, a threshing module, and a separating module; After the combine harvester sends a probe laser in the direction of travel, the combine harvester receives the reflected laser light reflected back from the direction of travel. 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. According to the density map and the height map, the height of the cutting module is adjusted to obtain a cutting module with the adjusted height. The perimeter of the conveying module is adjusted using the height map to obtain a conveying module with an adjusted perimeter. Images of forage plants in the forward direction are acquired, the particle diameter of the forage plants is identified from the images, the size of the sieve holes of the threshing module is adjusted using the particle diameter, and the threshing module with the sieve holes adjusted is obtained. The wind speed of the separation module is adjusted, and the separation module with the wind speed adjusted is obtained. The combined harvesting of forage seeds from the forage plants is completed 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, resulting in a combined harvest of forage seeds. The process of constructing a density map and height map of forage vegetation along the forward direction based on the detected laser and the reflected laser includes: Identify the strongest reflected laser at different laser emission angles from the reflected laser; 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 the strongest reflected laser sequence; Extract the maximum laser intensity from the strongest reflected laser sequence; Query the target emission angle within the laser emission angle range of the probe laser, where the maximum laser intensity is specified. The height and position of the plant tip of the forage plant are calculated using the target launch angle; A dense map of forage plants in the forward direction is constructed using the plant tips. Construct a height map of forage plants in the forward direction using the height of the plant tips; The density map represents the positional distribution of the plant tips of forage plants, while the height map represents the height distribution of the plant tips of forage plants. The process of constructing a dense map of forage plants in the forward direction using the plant tip positions refers to: using a dense map generation tool to scan a top-view image of the plant area in the forward direction, finding the image pixel where each plant tip position is located in the top-view image, marking the plant tip position of each individual plant on the image pixel, that is, adding the plant tip positions calculated above to the top-view image, and calculating the coordinate positions of other intermediate root and leaf parts sequentially based on the plant tip positions marked in the top-view image, and using the top-view image with all real coordinate positions marked as the constructed dense map; The process of constructing a height map of forage plants in the forward direction using the plant tip height 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 of the plant tip of each individual plant in the side view image, marking the plant tip height on the pixel of the plant tip, thereby adding the previously calculated plant tip height to the side view image, and using the side view image marked with the plant tip height as the constructed height map.

2. The method according to claim 1, characterized in that, After the probe laser is sent from the combine harvester in the forward direction, the preceding steps include: A laser emitter and an image recognition device are configured at the highest position of the combine harvester; The image recognition device is used to acquire images of forage plants in the direction of travel; The location of the forage plants is obtained by locating the forage plant position using the image of the forage plants; The machine-to-plant distance between the combine harvester and the forage plant location at the start of emitting the probe laser is calculated using the following formula: ； in, This indicates the machine-plant distance. This indicates the time elapsed from the moment the image recognizer acquires the image of the forage plant to the moment the laser emitter receives the location of the forage plant. This indicates the forward speed of the combine harvester. This indicates the machine-plant distance between the combine harvester and the location of the forage plant at the moment when the image recognition device acquires the image of the forage plant; Based on the machine-plant distance, the laser emission angle range of the laser emitter is calculated using the following formula: ； in, This indicates the range of laser emission angles. Indicates the minimum laser emission angle. Indicates the maximum laser emission angle. This indicates the machine-plant distance. This represents the difference between the highest position of the laser emitter and the highest position of the forage plant. This represents the difference between the highest position of the laser emitter and the lowest position of the forage plant; The probe laser is sent from the combine harvester in the forward direction in the order of emission from the maximum laser emission angle to the minimum laser emission angle within the laser emission angle range.

3. The method according to claim 1, characterized in that, The step of adjusting the height of the cutting module based on the density map and the height map to obtain a cutting module with adjusted height includes: Perform plant edge segmentation on the dense graph to obtain edge-segmented plants; Select the largest plant area from the plant areas of the edge-segmented plants; The plant volume of the edge-segmented plant corresponding to the maximum plant area is calculated 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, This indicates the height adjustment value of the cutting module. This indicates the volume of the plant. This indicates the volume capacity of the cutting module. This indicates the width adjustment value of the cutting module. This 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 the adjusted height.

4. The method according to claim 1, characterized in that, The step of adjusting the perimeter of the conveying module using the height map to obtain a conveying module with an adjusted perimeter includes: Determine whether the perimeter of the conveying module is less than the highest height in the height diagram; When the perimeter of the conveying module is less than the highest height in the height diagram, the perimeter adjustment value of the conveying module is calculated using the following formula: ； ； in, This indicates the circumference adjustment value of the conveying module. This represents the highest height in the height map. This indicates the radius of the wheels of the conveyor module. The perimeter of the conveying module is indicated as The radius of the wheel at that time; The perimeter of the conveying module is adjusted using the perimeter adjustment value to obtain a conveying module with an adjusted perimeter.

5. The method according to claim 1, characterized in that, The step of identifying the particle diameter of the forage plants from the forage plant image includes: Locate the forage seed particles in the forage plant image; The diameter of the forage seed pellets can be calculated using the following formula: ； in, Indicates the diameter of the particle. This represents the coordinates of the j-th pixel on the edge of the forage seed particle. This represents the coordinates of the k-th pixel on the edge of the forage seed particle.

6. The method according to claim 1, characterized in that, The step of adjusting the size of the sieve apertures of the threshing module using the particle diameter to obtain a threshing module with adjusted sieve apertures includes: The mean diameter of the particles is calculated using the following formula: ； in, This represents the average diameter. This represents the total number of pixels on the edge of the forage seed grain. The diameter of the particle is represented by j and k, which represent the pixel numbers on the edge of the forage seed particle. Based on the scaling factor between the forage plant image and the forage plant, the average diameter is amplified to obtain the particle diameter.

7. 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: The suspension velocity of the forage plants under different wind speeds was measured in the separation module; The loss rate of the forage plants was calculated using the following formula: ； in, This represents the loss rate. This indicates the initial weight of the forage plants. This indicates the remaining weight of the forage plants; Construct a regression model between the suspension speed and the loss rate; The target suspension velocity is selected from the suspension velocities using the regression model. The wind speed corresponding to the target levitation speed is used as the wind speed adjustment value of the separation module; The wind speed of the separation module is adjusted using the wind speed adjustment value to obtain a separation module with adjusted wind speed.

8. The method according to claim 1, characterized in that, The combined harvesting of forage seeds from forage plants is achieved using the height-adjusted cutting module, the circumference-adjusted conveying module, the threshing module with adjusted sieve apertures, and the wind speed-adjusted separation module, resulting in the combined harvesting of forage seeds, including: The height-adjusted cutting module is used to harvest forage plants in the direction of travel; The forage plants are transferred from the height-adjusted cutting module to the threshing module with adjusted sieve holes using the conveying module with adjusted circumference. In the threshing module with the screen holes adjusted, the separation module with the wind speed adjusted separates the forage seeds from the forage plants, and the forage seeds are used as the result of the combined harvest of forage seeds.

9. A high-efficiency, low-loss combined harvesting system for forage seeds based on the Internet of Things (IoT), used to implement the high-efficiency, low-loss combined harvesting method for forage seeds based on the IoT as described in claim 1, characterized in that, The system includes: A direction recognition module is used to identify 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 separating module; A laser receiving module is used to receive reflected laser light reflected back from the direction of travel after the combine harvester sends a probe laser light in the direction of travel. The height adjustment module is used to construct a density map and a height map of forage plants in the forward direction based on the detection laser and the reflected laser, and to 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 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 is used to acquire images of forage plants in the forward direction, identify the particle diameter of the forage plants from the images, adjust the size of the sieve holes of the threshing module using the particle diameter 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. The combined harvesting module is used to complete the combined harvesting of forage seeds from the forage plants by using the height-adjusted cutting module, the perimeter-adjusted conveying module, the threshing module with adjusted sieve holes, and the wind speed-adjusted separation module, thereby obtaining the combined harvesting result of forage seeds.

Images