Harvester granary fullness detection method, device and equipment and storage medium
Through the combination of infrared sensors and the inclination angle of the vehicle body, the grain accumulation height is calculated to determine the full status of the harvester granary, which solves the false alarm and damage problems of traditional warehouse switches in humid environments and complex terrain, and achieves efficient and reliable grain full detection.
Patent Information
- Application Number
- CN202411920887.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-25
- Publication Date
- 2025-04-08
AI Technical Summary
Traditional harvester granary full switches are prone to false alarms in humid environments, and are easily damaged by extrusion triggers, especially in complex terrain conditions.
The infrared sensor is used to obtain the distance reflected by the granary inner wall, and combined with the body inclination angle of the harvester, the actual accumulation height of the grain is determined by calculation, and when the predetermined height is reached, it is determined that the granary is full.
It effectively avoids the mistriggering signal of grain fullness, improves the accuracy and reliability of monitoring, and ensures the accuracy and stability of grain fullness detection under complex terrain conditions such as slopes.
Smart Images
Figure CN119780956A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of harvester detection technology, and in particular to a method, device, equipment and storage medium for detecting a fullness of a grain bin of a harvester. Background Art
[0002] As the area of grain cultivation continues to expand, harvesters are also gradually developing. A harvester is a machine that can harvest crops in an integrated manner. It can complete harvesting and threshing at one time, and in some cases it can also have functions such as cleaning, drying, and straw processing. The harvester stores the harvested and separated grains in a granary, and then transports the grains to the transport vehicle through a conveyor belt. The traditional full-storage switch is generally installed on the top of the inner wall of the granary, relying on the pressure generated by the extrusion of the grains to determine whether the grains in the granary are full.
[0003] However, when the traditional bin-full switch is in a wet environment, the grain is very likely to stick to the switch, causing a false alarm of the bin-full signal. In addition, the traditional bin-full switch can only be triggered by the squeezing of grains, which can easily damage the switch during the operation of the harvester. Summary of the invention
[0004] In view of this, the embodiments of the present application provide a method, device, equipment and storage medium for detecting a full grain bin of a harvester, which effectively avoids the problem of false triggering of a full grain signal, significantly improves the accuracy and reliability of monitoring, and can also ensure the accuracy and stability of full grain detection under complex terrain conditions such as slopes, providing efficient and reliable technical support for agricultural harvesting operations.
[0005] This application mainly includes the following aspects:
[0006] In a first aspect, an embodiment of the present application provides a method for detecting a grain bin fullness of a harvester, the method comprising:
[0007] Get the distance of the target grain reflected by the infrared sensor after it irradiates the inner wall of the granary;
[0008] Based on the distance and the inclination angle of the harvester body, determining the actual stacking height of the target grain at the inner wall of the granary;
[0009] If the actual stacking height reaches the target stacking height, it is determined that the harvester grain bin is full.
[0010] Preferably, determining the actual stacking height of the target grain at the inner wall of the granary based on the distance and the inclination angle of the harvester body includes:
[0011] Obtaining a body tilt angle of the harvester, and determining a preset range within which the body tilt angle is located;
[0012] If the vehicle body inclination angle is within the first preset range, then based on the distance, determining the grain stacking height corresponding to the distance as the actual stacking height of the target grain at the inner wall of the granary;
[0013] If the vehicle body tilt angle is within the second preset range, a first distance offset of the distance is determined based on the distance and the vehicle body tilt angle; the sum of the distance and the first distance offset is determined as the first distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor; based on the first distance, the grain stacking height corresponding to the first distance is determined as the actual stacking height of the target grain at the inner wall of the granary;
[0014] If the vehicle body inclination angle is within a third preset range, a second distance offset of the distance is determined based on the distance and the vehicle body inclination angle; the difference between the distance and the second distance offset is determined as the second distance reflected by the target grain at the inner wall of the granary illuminated by the actual infrared sensor; based on the second distance, the grain stacking height corresponding to the second distance is determined as the actual stacking height of the target grain at the inner wall of the granary.
[0015] Preferably, determining the first distance offset of the distance based on the distance and the vehicle body inclination angle includes:
[0016] Based on the distance, determining a first angle of the target grain at the current inner wall of the granary relative to the infrared sensor;
[0017] Based on the distance and the first angle, determining a first horizontal distance between the target grain and a projection point of the infrared sensor vertically projected onto a first horizontal plane where the target grain is located;
[0018] Based on the first horizontal distance and the inclination angle of the vehicle body, determining a first vertical distance between the first horizontal plane and the target grain at the inner wall of the actual granary;
[0019] Based on the first vertical distance and the first angle, a first distance offset of the distance relative to the distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor is determined.
[0020] Preferably, determining the second distance offset of the distance based on the distance and the vehicle body inclination angle includes:
[0021] Based on the distance, determining a second angle of the target grain at the current inner wall of the granary relative to the infrared sensor;
[0022] Based on the distance and the second angle, determining a second horizontal distance between the target grain and a projection point of the infrared sensor vertically projected onto a second horizontal plane where the target grain is located;
[0023] Based on the second horizontal distance and the inclination angle of the vehicle body, determining a second vertical distance between the second horizontal plane and the target grain at the inner wall of the actual granary;
[0024] Based on the second vertical distance and the second angle, a second distance offset of the distance relative to the distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor is determined.
[0025] In a second aspect, the embodiment of the present application further provides a full bin detection device for a grain bin of a harvester, the full bin detection device comprising:
[0026] The acquisition module obtains the distance reflected by the target grain on the inner wall of the granary after the infrared sensor irradiates it;
[0027] An actual position determination module determines the actual stacking height of the target grain at the inner wall of the grain bin based on the distance and the inclination angle of the harvester body;
[0028] The granary is full determining module determines that the harvester granary is full if the actual stacking height reaches the target stacking height.
[0029] Preferably, the actual position determination module is specifically used for:
[0030] Obtaining a body tilt angle of the harvester, and determining a preset range within which the body tilt angle is located;
[0031] If the vehicle body inclination angle is within the first preset range, then based on the distance, determining the grain stacking height corresponding to the distance as the actual stacking height of the target grain at the inner wall of the granary;
[0032] If the vehicle body tilt angle is within the second preset range, a first distance offset of the distance is determined based on the distance and the vehicle body tilt angle; the sum of the distance and the first distance offset is determined as the first distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor; based on the first distance, the grain stacking height corresponding to the first distance is determined as the actual stacking height of the target grain at the inner wall of the granary;
[0033] If the vehicle body inclination angle is within a third preset range, a second distance offset of the distance is determined based on the distance and the vehicle body inclination angle; the difference between the distance and the second distance offset is determined as the second distance reflected by the target grain at the inner wall of the granary illuminated by the actual infrared sensor; based on the second distance, the grain stacking height corresponding to the second distance is determined as the actual stacking height of the target grain at the inner wall of the granary.
[0034] Preferably, when the actual position determination module is used to determine the first distance offset of the distance based on the distance and the vehicle body inclination angle, it is also specifically used to:
[0035] Based on the distance, determining a first angle of the target grain at the current inner wall of the granary relative to the infrared sensor;
[0036] Based on the distance and the first angle, determining a first horizontal distance between the target grain and a projection point of the infrared sensor vertically projected onto a first horizontal plane where the target grain is located;
[0037] Based on the first horizontal distance and the inclination angle of the vehicle body, determining a first vertical distance between the first horizontal plane and the target grain at the inner wall of the actual granary;
[0038] Based on the first vertical distance and the first angle, a first distance offset of the distance relative to the distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor is determined.
[0039] Preferably, when the actual position determination module is used to determine the second distance offset of the distance based on the distance and the vehicle body inclination angle, it is also specifically used to:
[0040] Based on the distance, determining a second angle of the target grain at the current inner wall of the granary relative to the infrared sensor;
[0041] Based on the distance and the second angle, determining a second horizontal distance between the target grain and a projection point of the infrared sensor vertically projected onto a second horizontal plane where the target grain is located;
[0042] Based on the second horizontal distance and the inclination angle of the vehicle body, determining a second vertical distance between the second horizontal plane and the target grain at the inner wall of the actual granary;
[0043] Based on the second vertical distance and the second angle, a second distance offset of the distance relative to the distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor is determined.
[0044] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the method for detecting a full bin of a harvester as described in the first aspect or any possible implementation manner of the first aspect.
[0045] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of detecting the fullness of a harvester grain bin as described in the first aspect or any possible implementation manner of the first aspect are executed.
[0046] The embodiments of the present application provide a method, device, equipment and storage medium for detecting a full grain bin of a harvester. First, the distance reflected by the target grain at the inner wall of the bin after the current infrared sensor is irradiated is obtained. Then, based on the distance and the inclination angle of the harvester body, the actual stacking height of the target grain at the inner wall of the bin is determined. Finally, if the actual stacking height reaches the target stacking height, it is determined that the grain bin of the harvester is full. In this way, the problem of false triggering of the grain full signal is effectively avoided, and the accuracy and reliability of monitoring are significantly improved. It can also ensure the accuracy and stability of grain full detection under complex terrain conditions such as slopes, providing efficient and reliable technical support for agricultural harvesting operations.
[0047] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS
[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0049] Figure 1 A schematic diagram showing the position of an infrared sensor for irradiating target grain on the inner wall of a granary provided in an embodiment of the present application;
[0050] Figure 2 One of the flow charts of a method for detecting a full bin of a harvester grain bin provided in an embodiment of the present application is shown;
[0051] Figure 3 A second flowchart of a method for detecting a grain bin fullness of a harvester provided in an embodiment of the present application is shown;
[0052] Figure 4 One of the geometrical schematic diagrams of the full bin detection of the grain bin of the harvester provided in the embodiment of the present application is shown;
[0053] Figure 5 The second geometrical schematic diagram of the full bin detection of the grain bin of the harvester provided in the embodiment of the present application is shown;
[0054] Figure 6 A schematic diagram of the structure of a grain bin fullness detection device for a grain bin of a harvester provided in an embodiment of the present application is shown;
[0055] Figure 7 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION
[0056] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.
[0057] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.
[0058] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario where a granary fullness detection is required. The embodiments of the present application are not limited to specific application scenarios. Any scheme using the method and device for detecting a full granary of a harvester provided by the embodiments of the present application is within the protection scope of the present application.
[0059] With the continuous expansion of grain planting area, harvesters are also gradually developing. Harvesters are a kind of machinery that can harvest crops in an integrated manner. They can complete harvesting, threshing and other tasks at one time, and in some cases, they can also have functions such as cleaning, drying and straw processing. The harvester stores the harvested and separated grains in the granary, and then transmits the grains to the transport vehicle through a conveyor belt. The traditional full-storage switch is generally installed on the top of the inner wall of the granary, and relies on the pressure generated by the extrusion of grains to determine whether the grains in the granary are full. However, when the traditional full-storage switch is in a humid grain environment, the grains are very likely to stick to the switch, resulting in a false alarm of the full-storage signal. Moreover, the traditional full-storage switch can only be triggered by the extrusion of grains. During the operation of the harvester, this triggering method is prone to damage the switch.
[0060] In response to the above-mentioned problems, the embodiments of the present application provide a method, device, equipment and storage medium for detecting a full grain bin of a harvester, which effectively avoids the problem of false triggering of a full grain signal, significantly improves the accuracy and reliability of monitoring, and can also ensure the accuracy and stability of full grain detection under complex terrain conditions such as slopes, thereby providing efficient and reliable technical support for agricultural harvesting operations.
[0061] To facilitate the understanding of the present application, the technical solution provided by the present application is described in detail below in conjunction with specific embodiments.
[0062] See also Figure 1 , Figure 1 A schematic diagram of the position of the infrared sensor for irradiating target grain on the inner wall of a granary provided in an embodiment of the present application.
[0063] like Figure 1 As shown in , the grain outlet of the harvester elevator is provided with an infrared sensor for irradiating the target grain at the inner wall of the granary.
[0064] See also Figure 2 , Figure 2 This is one of the flow charts of a method for detecting a full bin of a harvester grain bin provided in an embodiment of the present application.
[0065] like Figure 2 As shown in the figure, the method for detecting a full grain bin of a harvester provided in the embodiment of the present application comprises the following steps:
[0066] Step S101, obtaining the distance of the target grain reflected back after being irradiated by the current infrared sensor on the inner wall of the granary.
[0067] Step S102, based on the distance and the inclination angle of the harvester body, determine the actual stacking height of the target grain at the inner wall of the granary.
[0068] Here, a posture sensor for detecting the tilt angle of the vehicle body is provided on the chassis of the harvester.
[0069] See also Figure 3 , Figure 3 This is the second flow chart of a method for detecting a full bin of a harvester grain bin provided in an embodiment of the present application.
[0070] Regarding step S102, in specific implementation, as an example, the following steps may be included:
[0071] Step S1021, obtaining the body tilt angle of the harvester, and determining the preset range of the body tilt angle.
[0072] Here, the preset range of the vehicle body tilt angle includes: the vehicle body tilt angle is greater than 0 (the harvester is in an uphill state), the vehicle body tilt angle is less than 0 (the harvester is in a downhill state), and the vehicle body tilt angle is equal to 0 (the harvester is on flat ground).
[0073] Step S1022: If the inclination angle of the vehicle body is within the first preset range, based on the distance, determine the grain stacking height corresponding to the distance as the actual stacking height of the target grain at the inner wall of the granary.
[0074] Here, the relationship between the reflection distance received by the infrared sensor after irradiating the target grain on the inner wall of the granary and the different stacking heights of the target grain on the inner wall of the granary is pre-set. Specifically, when the infrared sensor emits infrared light to the target grain on the inner wall of the granary, the light will be reflected back after hitting the grain, and the sensor receives the reflected light and calculates the reflection distance. When the grain is stacked at different heights on the inner wall of the granary, the reflection distance will also be different. For example, when the grain stacking height is low, the reflection distance received by the sensor may be longer; as the grain stacking height increases, the reflection distance will gradually become shorter. At the same time, it is also necessary to pre-set the relationship between the reflection distance received by the infrared sensor after irradiating the target grain on the inner wall of the granary and the different angles of the target grain on the inner wall of the granary relative to the infrared sensor. Specifically, due to factors such as the shape of the granary and the distribution of grain, the angle of the target grain on the inner wall of the granary relative to the infrared sensor may be different. Different angles will affect the reflection path of the infrared light, resulting in changes in the reflection distance received by the sensor.
[0075] In the embodiment of the present application, the first preset range is 0, and the harvester is in a flat state, so the grain stacking height corresponding to the distance reflected back after the current infrared sensor irradiates the target grain on the inner wall of the granary is the actual stacking height of the target grain on the inner wall of the granary.
[0076] Step S1023: If the vehicle body inclination angle is within a second preset range, a first distance offset of the distance is determined based on the distance and the vehicle body inclination angle.
[0077] Here, the second preset range is greater than 0, and the harvester is in an uphill state. When the harvester is in an uphill state, the first distance offset is the deviation of the distance reflected back after the current infrared sensor irradiates the target grain at the inner wall of the granary relative to the distance reflected back after the actual infrared sensor irradiates the target grain at the inner wall of the granary.
[0078] Regarding step S1023, in specific implementation, as an example, the following steps may be included:
[0079] First, based on the distance, determine the first angle of the target grain at the current inner wall of the granary relative to the infrared sensor. Here, as an example, Figure 4 As shown in , when the harvester is in an uphill state, α 1 It is the first angle of the target grain at the inner wall of the granary relative to the infrared sensor.
[0080] Then, based on the distance and the first angle, a first horizontal distance between the target grain and the projection point of the infrared sensor vertically projected on the first horizontal plane where the target grain is located is determined. Here, following the above example, Figure 4 As shown in the figure, when the harvester is in the uphill state, A is the infrared sensor, C is the infrared sensor, 1 The target grain on the inner wall of the granary, AC 1 B is the distance reflected by the infrared sensor after irradiating the target grain on the inner wall of the granary, 1 C 1 is the upper surface of grain in the granary, B 2 C 1 At the first horizontal plane where the target grain is located, B 2 C 1 is the first horizontal distance between the target grain and the projection point of the infrared sensor vertically projected on the first horizontal plane where the target grain is located. The first horizontal distance B 2 C 1 =cosα 1 ×AC 1 .
[0081] Then, based on the first horizontal distance and the vehicle body inclination angle, a first vertical distance between the first horizontal plane and the target grain at the actual inner wall of the granary is determined. Here, following the above example, Figure 4 As shown in the figure, when the harvester is in the uphill state, C 2 is the projection point of the target grain on the first horizontal plane, C 1 C 2 The first horizontal plane B 2 C 1 The first vertical distance from the actual target grain on the inner wall of the granary, β 1 is the body tilt angle, then B2 C 1 =B 1 C 2 , C 1 C 2 =tanβ 1 ×B 1 C 2 .
[0082] Finally, based on the first vertical distance and the first angle, a first distance offset is determined relative to the distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor. Here, following the above example, Figure 4 As shown in the figure, when the harvester is in the uphill state, C 1 C 3 AC is the distance AC reflected by the target grain on the inner wall of the granary after the infrared sensor illuminates it 1 The first distance offset relative to the actual infrared sensor irradiating the target grain on the inner wall of the granary is reflected back, then C 1 C 3 =C 1 C 2 / sinα 1 , further, C 1 C 3 =(tanα 1 / tanβ 1 )×AC 1 .
[0083] See again Figure 3 , step S1024, the sum of the distance and the first distance offset is determined as the first distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor. Here, following the above example, Figure 4 As shown in the figure, when the harvester is in the uphill state, AC 3 is the first distance reflected by the target grain from the inner wall of the granary irradiated by the actual infrared sensor, then AC 3 =AC 1 +(tanα 1 / tanβ 1 )×AC 1 .
[0084] Step S1025: Based on the first distance, determine the grain stacking height corresponding to the first distance as the actual stacking height of the target grain on the inner wall of the granary.
[0085] Step S1026: If the vehicle body inclination angle is within a third preset range, a second distance offset of the distance is determined based on the distance and the vehicle body inclination angle.
[0086] Here, the third preset range is less than 0, and the harvester is in a downhill state. When the harvester is in a downhill state, the second distance offset is the deviation of the distance reflected back by the current infrared sensor after irradiating the target grain at the inner wall of the granary relative to the distance reflected back by the actual infrared sensor after irradiating the target grain at the inner wall of the granary.
[0087] Regarding step S1026, in specific implementation, as an example, the following steps may be included:
[0088] First, based on the distance, determine the second angle of the target grain at the current inner wall of the granary relative to the infrared sensor. Here, as an example, Figure 5 As shown in , when the harvester is in a downhill state, α 2 It is the second angle of the target grain at the inner wall of the granary relative to the infrared sensor.
[0089] Then, based on the second horizontal distance and the vehicle body inclination angle, the second vertical distance between the second horizontal plane and the target grain at the actual inner wall of the granary is determined. Here, following the above example, Figure 5 As shown in the figure, when the harvester is in a downhill state, A is an infrared sensor, C is an infrared sensor, 4 The target grain on the inner wall of the granary, AC 4 B is the distance reflected by the infrared sensor after irradiating the target grain on the inner wall of the granary, 4 C 4 is the upper surface of grain in the granary, B 3 C 4 At the second level where the target grain is located, B 3 C 4 is the second horizontal distance between the target grain and the projection point of the infrared sensor vertically projected on the second horizontal plane where the target grain is located. The second horizontal distance B 3 C 4 =cosα 1 ×AC 4 .
[0090] Then, based on the second horizontal distance and the vehicle body inclination angle, a second vertical distance between the second horizontal plane and the target grain at the actual inner wall of the granary is determined. Here, following the above example, Figure 5 As shown in the figure, when the harvester is in a downhill state, C 2 is the projection point of the target grain on the first horizontal plane, C 1 C 2 The first horizontal plane B 2 C 1 The first vertical distance from the actual target grain on the inner wall of the granary, β 1 is the body tilt angle, then B 3 C 4 =B4 C 5 , C 4 C 5 =|tanβ 2 |×B 4 C 5 .
[0091] Finally, based on the second vertical distance and the second angle, a second distance offset is determined relative to the distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor. Here, following the above example, Figure 5 As shown in the figure, when the harvester is in a downhill state, C 4 C 6 AC is the distance AC reflected by the target grain on the inner wall of the granary after the infrared sensor illuminates it 4 The second distance offset relative to the actual infrared sensor irradiating the target grain on the inner wall of the granary is reflected back, then C 4 C 6 =C 4 C 5 / sinα 2 , further, C 4 C 6 =(tanα 2 / |tanβ 2 |)×AC 4 .
[0092] See again Figure 3 , step S1027, the difference between the distance and the second distance offset is determined as the second distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor. Here, following the above example, Figure 5 As shown in the figure, when the harvester is in a downhill state, AC 6 is the second distance reflected by the target grain from the inner wall of the granary irradiated by the actual infrared sensor, then AC 6 =AC 4 -(tanα 1 / tanβ 1 )×AC 4 .
[0093] Step S1028: Based on the second distance, determine the grain stacking height corresponding to the second distance as the actual stacking height of the target grain at the inner wall of the granary.
[0094] Step S103: If the actual stacking height reaches the target stacking height, it is determined that the grain bin of the harvester is full.
[0095] If the actual stacking height does not reach the target stacking height, the process returns to step S101.
[0096] The embodiment of the present application provides a method for detecting a full grain bin of a harvester. Through the method, the problem of false triggering of a full grain signal is effectively avoided, the accuracy and reliability of monitoring are significantly improved, and the accuracy and stability of full grain detection can be ensured under complex terrain conditions such as slopes, thereby providing efficient and reliable technical support for agricultural harvesting operations.
[0097] Based on the same application concept, the embodiment of the present application also provides a full bin detection device for a harvester grain bin corresponding to the full bin detection method for a harvester grain bin provided in the above embodiment. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the full bin detection method for a harvester grain bin in the above embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.
[0098] See also Figure 6 , Figure 6 A structural schematic diagram of a bin fullness detection device for a harvester grain bin provided in an embodiment of the present application is shown.
[0099] like Figure 6 As shown in , the bin full detection device 310 includes:
[0100] The acquisition module 311 acquires the distance reflected by the target grain on the inner wall of the granary after the infrared sensor currently irradiates the target grain;
[0101] The actual position determination module 312 determines the actual stacking height of the target grain at the inner wall of the grain bin based on the distance and the inclination angle of the harvester body;
[0102] The grain bin is full determination module 313 determines that the grain bin of the harvester is full if the actual stacking height reaches the target stacking height.
[0103] Preferably, the actual position determination module 312 is specifically used for:
[0104] Obtaining a body tilt angle of the harvester, and determining a preset range within which the body tilt angle is located;
[0105] If the vehicle body inclination angle is within the first preset range, then based on the distance, determining the grain stacking height corresponding to the distance as the actual stacking height of the target grain at the inner wall of the granary;
[0106] If the vehicle body tilt angle is within the second preset range, a first distance offset of the distance is determined based on the distance and the vehicle body tilt angle; the sum of the distance and the first distance offset is determined as the first distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor; based on the first distance, the grain stacking height corresponding to the first distance is determined as the actual stacking height of the target grain at the inner wall of the granary;
[0107] If the vehicle body inclination angle is within a third preset range, a second distance offset of the distance is determined based on the distance and the vehicle body inclination angle; the difference between the distance and the second distance offset is determined as the second distance reflected by the target grain at the inner wall of the granary illuminated by the actual infrared sensor; based on the second distance, the grain stacking height corresponding to the second distance is determined as the actual stacking height of the target grain at the inner wall of the granary.
[0108] Preferably, when the actual position determination module 312 is used to determine the first distance offset of the distance based on the distance and the vehicle body tilt angle, the actual position determination module 312 is further specifically used to:
[0109] Based on the distance, determining a first angle of the target grain at the current inner wall of the granary relative to the infrared sensor;
[0110] Based on the distance and the first angle, determining a first horizontal distance between the target grain and a projection point of the infrared sensor vertically projected onto a first horizontal plane where the target grain is located;
[0111] Based on the first horizontal distance and the inclination angle of the vehicle body, determining a first vertical distance between the first horizontal plane and the target grain at the inner wall of the actual granary;
[0112] Based on the first vertical distance and the first angle, a first distance offset of the distance relative to the distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor is determined.
[0113] Preferably, when the actual position determination module 312 is used to determine the second distance offset of the distance based on the distance and the vehicle body inclination angle, the actual position determination module 312 is further specifically used to:
[0114] Based on the distance, determining a second angle of the target grain at the current inner wall of the granary relative to the infrared sensor;
[0115] Based on the distance and the second angle, determining a second horizontal distance between the target grain and a projection point of the infrared sensor vertically projected onto a second horizontal plane where the target grain is located;
[0116] Based on the second horizontal distance and the inclination angle of the vehicle body, determining a second vertical distance between the second horizontal plane and the target grain at the inner wall of the actual granary;
[0117] Based on the second vertical distance and the second angle, a second distance offset of the distance relative to the distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor is determined.
[0118] An embodiment of the present application provides a device for detecting a full grain bin of a harvester. Through the device, the problem of false triggering of a full grain signal is effectively avoided, the accuracy and reliability of monitoring are significantly improved, and the accuracy and stability of full grain detection can be ensured under complex terrain conditions such as slopes, thereby providing efficient and reliable technical support for agricultural harvesting operations.
[0119] See also Figure 7 , Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.
[0120] like Figure 7 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .
[0121] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 2 and Figure 3 The specific implementation of the steps of the method for detecting a full bin of a harvester grain bin in the method embodiment shown can be found in the method embodiment, and will not be described in detail here.
[0122] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned Figure 2 and Figure 3 The specific implementation of the steps of the method for detecting a full bin of a harvester grain bin in the method embodiment shown can be found in the method embodiment, and will not be described in detail here.
[0123] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0124] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0125] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0126] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.
[0127] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
Claims
1. A method for detecting a full grain bin of a harvester, characterized in that: The grain outlet of the harvester elevator is provided with an infrared sensor for irradiating target grain on the inner wall of the granary. The method for detecting a full granary includes: Get the distance of the target grain reflected by the infrared sensor after it irradiates the inner wall of the granary; Based on the distance and the inclination angle of the harvester body, determining the actual stacking height of the target grain at the inner wall of the granary; If the actual stacking height reaches the target stacking height, it is determined that the harvester grain bin is full.
2. The method for detecting a full warehouse according to claim 1, characterized in that: The step of determining the actual stacking height of the target grain at the inner wall of the grain bin based on the distance and the inclination angle of the harvester body includes: Obtaining a body tilt angle of the harvester, and determining a preset range within which the body tilt angle is located; If the vehicle body inclination angle is within the first preset range, based on the distance, determining the grain stacking height corresponding to the distance as the actual stacking height of the target grain at the inner wall of the granary; If the vehicle body tilt angle is within the second preset range, a first distance offset of the distance is determined based on the distance and the vehicle body tilt angle; the sum of the distance and the first distance offset is determined as the first distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor; based on the first distance, the grain stacking height corresponding to the first distance is determined as the actual stacking height of the target grain at the inner wall of the granary; If the vehicle body inclination angle is within a third preset range, a second distance offset of the distance is determined based on the distance and the vehicle body inclination angle; the difference between the distance and the second distance offset is determined as the second distance reflected by the target grain at the inner wall of the granary illuminated by the actual infrared sensor; based on the second distance, the grain stacking height corresponding to the second distance is determined as the actual stacking height of the target grain at the inner wall of the granary.
3. The method for detecting a full warehouse according to claim 2, characterized in that: The determining, based on the distance and the vehicle body inclination angle, a first distance offset of the distance comprises: Based on the distance, determining a first angle of the target grain at the current inner wall of the granary relative to the infrared sensor; Based on the distance and the first angle, determining a first horizontal distance between the target grain and a projection point of the infrared sensor vertically projected onto a first horizontal plane where the target grain is located; Based on the first horizontal distance and the inclination angle of the vehicle body, determining a first vertical distance between the first horizontal plane and the target grain at the inner wall of the actual granary; Based on the first vertical distance and the first angle, a first distance offset of the distance relative to the distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor is determined.
4. The method for detecting a full warehouse according to claim 2, characterized in that: The determining, based on the distance and the vehicle body inclination angle, a second distance offset of the distance comprises: Based on the distance, determining a second angle of the target grain at the current inner wall of the granary relative to the infrared sensor; Based on the distance and the second angle, determining a second horizontal distance between the target grain and a projection point of the infrared sensor vertically projected onto a second horizontal plane where the target grain is located; Based on the second horizontal distance and the inclination angle of the vehicle body, determining a second vertical distance between the second horizontal plane and the target grain at the inner wall of the actual granary; Based on the second vertical distance and the second angle, a second distance offset of the distance relative to the distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor is determined.
5. A device for detecting a fullness of a grain bin of a harvester, characterized in that: The warehouse full detection device comprises: The acquisition module obtains the distance reflected by the target grain on the inner wall of the granary after the infrared sensor irradiates it; An actual position determination module determines the actual stacking height of the target grain at the inner wall of the grain bin based on the distance and the inclination angle of the harvester body; The granary is full determining module determines that the harvester granary is full if the actual stacking height reaches the target stacking height.
6. The bin full detection device according to claim 5, characterized in that: The actual position determination module is specifically used for: Obtaining a body tilt angle of the harvester, and determining a preset range within which the body tilt angle is located; If the vehicle body inclination angle is within the first preset range, based on the distance, determining the grain stacking height corresponding to the distance as the actual stacking height of the target grain at the inner wall of the granary; If the vehicle body tilt angle is within the second preset range, a first distance offset of the distance is determined based on the distance and the vehicle body tilt angle; the sum of the distance and the first distance offset is determined as the first distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor; based on the first distance, the grain stacking height corresponding to the first distance is determined as the actual stacking height of the target grain at the inner wall of the granary; If the vehicle body inclination angle is within a third preset range, a second distance offset of the distance is determined based on the distance and the vehicle body inclination angle; the difference between the distance and the second distance offset is determined as the second distance reflected by the target grain at the inner wall of the granary illuminated by the actual infrared sensor; based on the second distance, the grain stacking height corresponding to the second distance is determined as the actual stacking height of the target grain at the inner wall of the granary.
7. The bin full detection device according to claim 6, characterized in that: When the actual position determination module is used to determine a first distance offset of the distance based on the distance and the vehicle body inclination angle, the actual position determination module is further specifically used to: Based on the distance, determining a first angle of the target grain at the current inner wall of the granary relative to the infrared sensor; Based on the distance and the first angle, determining a first horizontal distance between the target grain and a projection point of the infrared sensor vertically projected onto a first horizontal plane where the target grain is located; Based on the first horizontal distance and the inclination angle of the vehicle body, determining a first vertical distance between the first horizontal plane and the target grain at the inner wall of the actual granary; Based on the first vertical distance and the first angle, a first distance offset of the distance relative to the distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor is determined.
8. The bin full detection device according to claim 6, characterized in that: When the actual position determination module is used to determine a second distance offset of the distance based on the distance and the vehicle body inclination angle, the actual position determination module is further specifically used to: Based on the distance, determining a second angle of the target grain at the current inner wall of the granary relative to the infrared sensor; Based on the distance and the second angle, determining a second horizontal distance between the target grain and a projection point of the infrared sensor vertically projected onto a second horizontal plane where the target grain is located; Based on the second horizontal distance and the inclination angle of the vehicle body, determining a second vertical distance between the second horizontal plane and the target grain at the inner wall of the actual granary; Based on the second vertical distance and the second angle, a second distance offset of the distance relative to the distance reflected by the target grain at the inner wall of the granary irradiated by the actual infrared sensor is determined.
9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus. When the machine-readable instructions are run by the processor, the steps of the warehouse full detection method as described in any one of claims 1 to 4 are executed.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the bin full detection method according to any one of claims 1 to 4 are executed.