Combined harvester yield online detection device and method

Abstract

The invention relates to a combined harvester yield online detection device and method. The device comprises a diversion trench mechanism, a yield sensor detection unit, a sensor detection compensation unit and a data acquisition unit. The diversion trench mechanism is arranged at a feeding hole in the grain tank; the yield sensor detection unit arranged in the sensing detection area of the diversion trench mechanism comprises a yield detection sensor group and a vibration sensor; the sensor detection compensation unit comprises a tilt angle sensor and a moisture sensor; the data acquisition unit comprises a signal processing unit and a sensor transmitter. According to the invention, data is corrected through an anti-interference method and a sensor compensation means, and the detection precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent agricultural machinery, and in particular to an online detection device and method for the yield of a combine harvester. Background Art

[0002] Unmanned farm technology is gradually being applied on a larger scale. In unmanned rice farms, unmanned harvesters are one of the key links, and good progress has been made in automatic driving and autonomous harvesting technology.

[0003] During the harvesting process of the combine harvester, the harvested materials are transported to the grain box through the spiral grain conveyor or scraper elevator, and the grain is unloaded when the grain box is full. By establishing a corresponding combine harvester material yield measurement system, the yield information of the materials during the operation is obtained, and the real-time detection of the material flow is realized. By generating the corresponding yield distribution map, it is used to evaluate the quality of the harvesting operation and guide the precise operation of each link of the next crop plowing, planting, management and harvesting.

[0004] The sensor device of the yield detection device of the prior art combine harvester is single and has low detection accuracy. For example, CN111903318A discloses a yield monitoring method and system for grain harvesters, which mainly uses a pressure sensor to detect the yield. The pressure sensor is a piezoelectric pressure sensor, which is easy to deform, resulting in reduced accuracy. Another example is CN101995284 A discloses an impulse type grain mass flow sensor calibration and test device, which uses an impulse type grain flow sensor for flow detection. The equipment is also equipped with a vibration sensor and an inclination sensor for monitoring vibration conditions and installation angles, that is, the vibration sensor and the inclination sensor are only used to monitor the operation of the device, and the detection results are not corrected for accuracy.

[0005] Therefore, a high-precision online detection technology dedicated to combine harvesters is needed. Summary of the invention

[0006] In view of the technical problems existing in the prior art, the purpose of the present invention is to provide an online detection device and method for combine harvester yield, which adopts direct detection mode, corrects data through anti-interference methods and sensor compensation means, and improves detection accuracy.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] The invention discloses an online detection device for the yield of a combine harvester, comprising a guide trough mechanism, a yield sensor detection unit, a sensor detection compensation unit and a data acquisition unit; the guide trough mechanism is arranged at a feed inlet in a grain box; the yield sensor detection unit arranged in a sensing detection area of ​​the guide trough mechanism comprises a yield detection sensor group and a vibration sensor; the sensor detection compensation unit comprises an inclination sensor and a moisture sensor; the data acquisition unit comprises a signal processing unit and a sensor transmitter; a material flow flowing through the guide trough mechanism from the feed inlet flows through the yield detection sensor group in the sensing detection area at a uniform material flow rate v, data is collected for a detection time interval t according to the width d of the sensing detection area and the material flow rate v, and real-time detection data is converted into a relationship curve between material flow weight and time in combination with real-time vibration interference compensation of a vibration sensor, and then a yield time-varying curve is obtained according to the real-time inclination compensation of the inclination sensor in the sensor detection compensation unit and the real-time moisture content compensation of the material by the moisture sensor.

[0009] As a preferred embodiment, the guide trough mechanism includes a buffer plate installed on the inner wall of the grain box, a guide trough for guiding the material flow from the feed port into the grain box, and an inclination adjustment component for adjusting the installation inclination of the guide trough; the sensor detection area is located at the end of the guide trough.

[0010] As a preferred embodiment, the buffer plate includes a top plate, two side plates, and a vertical plate that form a box structure; the guide trough includes a guide plate and two side plates that form a trough structure; a gap is left between the vertical plate and the guide plate for material flow to pass through; the inclination adjustment component includes an inclination arc guide groove, an adjustable long hole angle code, and an angle code; the inclination arc guide groove is opened on the side plate of the guide trough, and the side plate of the buffer plate is provided with a mounting hole, and screws pass through the mounting hole and the inclination arc guide groove to achieve an adjustable inclination connection between the buffer plate and the guide trough; the adjustable long hole angle code is fixed on the side plate of the guide trough, and the angle code is fixed on the inner wall of the grain box, and the screws connect the adjustable long hole angle code and the angle code to achieve an adjustable inclination connection between the guide trough and the grain box.

[0011] As a preferred embodiment, in the yield sensor detection unit, the yield detection sensor group includes a plurality of cantilever beam pressure sensors and a plurality of pressure bearing plates, the plurality of cantilever beam pressure sensors are evenly distributed at the end of the guide trough mechanism along the width direction of the guide trough mechanism, one end of the cantilever beam pressure sensor is connected to the guide trough mechanism, and the other end is connected to the pressure bearing plate; the vibration sensor is arranged below the cantilever beam pressure sensor in the middle.

[0012] As a preferred embodiment, in the sensor detection compensation unit, the inclination sensor detects the inclination angle α of the whole combine harvester during movement, and the inclination sensor is installed under the guide chute mechanism; the moisture sensor records the real-time moisture content of the harvested material, and the moisture sensor is installed in the grain box.

[0013] As a preferred embodiment, in the data acquisition unit, the signal processing unit adopts Delta-sigma analog-to-digital conversion and digital filtering processing technology to digitally process the weak weight signal output by the sensor, and output it to the upper system through serial communication to realize the sharing of production signals; the sensor transmitter, whose AD conversion speed meets the needs of high-frequency acquisition, provides hardware conditions for real-time detection of the online detection device.

[0014] An online detection method for combine harvester yield uses an online detection device for combine harvester yield and adopts a multi-sensor fusion algorithm to process data. Vibration compensation, inclination compensation and moisture content compensation are implemented in the algorithm. A yield distribution map is finally generated according to a yield time-varying curve and data measured by sensors.

[0015] As a preferred embodiment, the yield time-varying curve is composed of the pressure value F detected by the yield detection sensor group, the vibration interference signal β compensated by the vibration sensor, the inclination α detected by the inclination sensor, and the real-time moisture content R of the material detected by the moisture sensor. H and the material flow rate v, and is generated according to the time curve record; the calculation step is that the pressure value obtained by the sensor group for each production detection after the vibration sensor compensation is F 1 , F 1 is the vertical pressure of the material flow on the inclined surface, which is then converted into the material weight m according to the inclination angle α of the inclination sensor; the number of acquisitions per second n is determined by the detection time interval t, which is determined by the width d of the sensor detection area and the material flow rate v; therefore, the calculation formula for the output M per second is as follows:

[0016] F 1 =F-5β

[0017]

[0018] t=d / v

[0019] n=1 / t

[0020]

[0021] As a preferred embodiment, the material flow rate v is determined by known parameters; in the online detection device, after the material reaches the highest point of the slope of the guide groove under the action of the buffer plate, it performs conventional slope motion when the friction coefficient f, inclination angle α and vertical height h of the inclined surface are known, and the material flow rate v is determined and is not affected by the weight m.

[0022] As a preferred method, the method for generating the yield distribution map is: the yield time-varying curve, the inclination angle α of the inclination sensor, and the real-time moisture content R of the material are combined into a single matrix. H The data is calculated and combined with the positioning information to form a yield distribution map.

[0023] The present invention has the following advantages:

[0024] 1. In terms of detection methods, the methods commonly used in the prior art are basically photoelectric, volumetric, laser beam and impulse, etc., which have the common point of indirectness. Such indirect relationships have the disadvantage of being greatly affected by the environment, such as the laser beam sensor being affected by smoke and dust in the granary, and the impact piece of the impulse sensor being not fatigue-resistant. The present invention adopts the method of directly detecting gravity, and corrects the data through anti-interference methods and sensor compensation means, so it is more direct and reliable.

[0025] 2. In terms of installation, the device has the characteristics of being simple, low-cost and easy to disassemble. It is fixed on the grain bin wall of the combine harvester with screws, which is very convenient to install and use. It can be installed and modified on the existing combine harvester, and has strong versatility.

[0026] 3. In terms of measurement accuracy, after the rice yield measurement test, the field test area exceeded 1.5 acres, and the results showed that the yield measurement accuracy could reach 94%, with good accuracy; in addition, a multi-sensor fusion design was adopted, which solved the problems of insufficient accuracy, stability and poor versatility of the current combine harvester yield detection device.

[0027] 4. The present invention uses a cantilever pressure sensor, which has better stability, durability and high accuracy, while the piezoelectric pressure sensor in the prior art is easy to deform, resulting in reduced accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a flow chart of the method of the present invention.

[0029] Figure 2 It is a structural schematic diagram of an online yield detection device for a combine harvester.

[0030] Figure 3 It is a stereoscopic diagram of an online yield detection device for a combine harvester.

[0031] Figure 4 It is a stereoscopic diagram of the online yield detection device for a combine harvester from another perspective.

[0032] Figure 5 This is the curve chart of the device and weighing platform output changes in test group 1.

[0033] In the figure, 1- spiral lifting pipe, 2- feed port, 3- buffer plate, 4- guide groove, 5- yield detection sensor group, 6- vibration sensor, 7- adjustable long hole angle code, 8- inclined arc guide groove, 9- grain box, 10- pressure bearing plate, 11- angle code, 12- cantilever beam pressure sensor. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with specific implementation methods.

[0035] An online yield detection device for a combine harvester comprises a guide trough mechanism, a yield sensor detection unit, a sensor detection compensation unit, and a data acquisition unit; the guide trough mechanism is arranged at a feed inlet in a grain box; the yield sensor detection unit arranged in a sensor detection area of ​​the guide trough mechanism comprises a yield detection sensor group and a vibration sensor; the sensor detection compensation unit comprises an inclination sensor and a moisture sensor; the data acquisition unit comprises a signal processing unit and a sensor transmitter.

[0036] The material flow flowing from the feed port through the guide trough mechanism flows through the production detection sensor group in the sensing detection area at a uniform material flow rate v. The detection time interval t is calculated according to the width d of the sensing detection area and the material flow rate v, and data is collected. The real-time detection data is converted into a relationship curve between the material flow weight and time in combination with the real-time vibration interference compensation of the vibration sensor. Then, the production time-varying curve is obtained according to the real-time inclination compensation of the inclination sensor in the sensor detection compensation unit and the real-time moisture content compensation of the material by the moisture sensor.

[0037] The guide trough mechanism includes a buffer plate installed on the inner wall of the grain box, a guide trough for guiding the material flow from the feed port into the grain box, and an inclination adjustment component for adjusting the installation inclination of the guide trough; the sensor detection area is located at the end of the guide trough.

[0038] The buffer plate includes a top plate, two side plates, and a vertical plate that form a box structure; the guide trough includes a guide plate and two side plates that form a trough structure; a gap is left between the vertical plate and the guide plate for the material flow to pass through; the inclination adjustment component includes an inclination circular arc guide groove, an adjustable long hole angle code, and an angle code; the inclination circular arc guide groove is opened on the side plate of the guide trough, and the side plate of the buffer plate is provided with a mounting hole, and screws pass through the mounting hole and the inclination circular arc guide groove to achieve an adjustable inclination connection between the buffer plate and the guide trough; the adjustable long hole angle code is fixed on the side plate of the guide trough, and the angle code is fixed on the inner wall of the grain box, and the screws connect the adjustable long hole angle code and the angle code to achieve an adjustable inclination connection between the guide trough and the grain box. According to the different fluidity of the material, the inclination of the guide trough is adjusted.

[0039] In the yield sensor detection unit, the yield detection sensor group includes a plurality of cantilever beam pressure sensors and a plurality of pressure load-bearing plates. The plurality of cantilever beam pressure sensors are evenly distributed at the end of the guide trough mechanism along the width direction of the guide trough mechanism. The upper end of one end of the cantilever beam pressure sensor is connected to the guide trough mechanism, and the upper end of the other end is connected to the pressure load-bearing plate. The vibration sensor is arranged below the cantilever beam pressure sensor in the middle, and the vibration sensor is fixed below the sensing detection area in the opposite load-bearing direction to collect vibration signals to offset vibration interference in real time.

[0040] In the sensor detection and compensation unit, the inclination sensor detects the inclination angle α of the whole combine harvester during its movement. This angle will cause errors in the conversion of the sensor value into weight. The inclination sensor is installed under the guide chute mechanism; the moisture sensor records the real-time moisture content of the harvested material, which is an important parameter for yield conversion. The moisture sensor is installed in the grain tank.

[0041] In the data acquisition unit, the signal processing unit uses Delta-sigma analog-to-digital conversion and digital filtering processing technology to digitally process the weak weight signal output by the sensor, and output it to the upper system through serial communication to realize the sharing of production signals; the sensor transmitter has an AD conversion speed that meets the needs of high-frequency acquisition, up to 4800 times / second, providing hardware conditions for real-time detection of online detection devices.

[0042] An online detection method for combine harvester yield uses an online detection device for combine harvester yield and adopts a multi-sensor fusion algorithm to process data. Vibration compensation, inclination compensation and moisture content compensation are implemented in the algorithm. A yield distribution map is finally generated according to a yield time-varying curve and data measured by sensors.

[0043] The output time-varying curve is composed of the pressure value F detected by the output detection sensor group, the vibration interference signal β compensated by the vibration sensor, the inclination angle α detected by the inclination sensor, and the real-time moisture content R of the material detected by the moisture sensor. H and the material flow rate v, and is generated according to the time curve record; the calculation step is that the pressure value obtained by the sensor group for each production detection after the vibration sensor compensation is F 1 , F 1 is the vertical pressure of the material flow on the inclined surface, which is then converted into the material weight m according to the inclination angle α of the inclination sensor; the number of acquisitions per second n is determined by the detection time interval t, which is determined by the width d of the sensor detection area and the material flow rate v; therefore, the calculation formula for the output M per second is as follows:

[0044] F 1 =F-5β

[0045]

[0046] t=d / v

[0047] n=1 / t

[0048]

[0049] The material flow rate v is determined by known parameters; in the online detection device, after the material reaches the highest point of the slope of the guide trough under the action of the buffer plate, it performs conventional slope motion when the friction coefficient f, inclination angle α and vertical height h of the inclined surface are known, and the material flow rate v is determined and is not affected by the weight m.

[0050] The method for generating the output distribution diagram is as follows: the output time-varying curve, the inclination angle α of the inclination sensor, and the real-time moisture content R of the material are combined into a H The data is calculated and displayed, and combined with the positioning information to form a yield distribution map. By presenting it in the form of a yield distribution map, the yield situation of the rice field can be intuitively seen.

[0051] Before the combine harvester starts working, the throttle opening of the threshing clutch is set to a fixed position to ensure that the material flow is stably transported to the feed port of the grain tank of the combine harvester; when the combine harvester starts working, the combine harvester will first open the threshing clutch and then the harvesting clutch, and start moving. After completing the action, the unmanned driving system (or driver) uses this as a trigger signal to start working. The online yield detection device starts recording the yield signal; during the working process, if the grain tank is full, the device will suspend work when it receives the sensor signal that the grain tank is full, and communicate this information with the unmanned driving system (or driver), return to the edge of the field to unload the grain, and then return to the working position to repeat the above process.

[0052] The material passes through the spiral lifting pipe to the feed port of the grain box. After the slow flow of the buffer plate, the material flow flows into the guide groove at a uniform speed v, and passes through the sensor detection area. The detection time interval t calculated by the width of the sensor detection area and the material flow rate v is used for data collection. The real-time pressure data is combined with the real-time inclination angle to convert the material weight, thereby obtaining the relationship curve between weight and time. Then, the data is fused according to the inclination compensation and humidity compensation of the sensor detection compensation unit to obtain the material yield. The multi-sensor fusion design solves the problems of insufficient accuracy, stability and poor versatility of the current combine harvester yield detection device.

[0053] In order to verify the availability and accuracy of the online production detection device, the present invention built a test bench simulating the actual environment, and the device was installed in accordance with the actual situation. In addition, in order to visually monitor the real-time changes in the actual production, the real-time weight curve of the material flowing through the device and falling into the weighing platform was recorded in real time, and a comparative test was conducted. There were 5 groups of tests, which recorded the real-time production curve measured by the device and the real-time weight curve of the weighing platform respectively; among them, the curve of group 1 is as follows Figure 5 The real-time weight of the weighing platform is taken as the true value of the test output, and the error is calculated. The test results are shown in the following table.

[0054] according to Figure 5The curves of the device test value and the true value of the weighing platform output show that the change trends of the two are almost synchronized, and the average error is within 4%. Therefore, the online output detection device can truly reflect the real-time changes in output, thereby verifying its availability and accuracy.

[0055]

[0056] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. An online detection device for combine harvester yield, characterized in that: It includes a guide trough mechanism, a yield sensor detection unit, a sensor detection compensation unit, and a data acquisition unit; the guide trough mechanism is arranged at the feed inlet in the grain box; the yield sensor detection unit arranged in the sensor detection area of ​​the guide trough mechanism includes a yield detection sensor group and a vibration sensor; the sensor detection compensation unit includes an inclination sensor and a moisture sensor; the data acquisition unit includes a signal processing unit and a sensor transmitter; The material flow flowing from the feed port through the guide trough mechanism flows through the production detection sensor group in the sensing detection area at a uniform material flow rate v. The detection time interval t is calculated according to the width d of the sensing detection area and the material flow rate v, and data is collected. The real-time detection data is converted into a relationship curve between the material flow weight and time in combination with the real-time vibration interference compensation of the vibration sensor. Then, the production time-varying curve is obtained according to the real-time inclination compensation of the inclination sensor in the sensor detection compensation unit and the real-time moisture content compensation of the material by the moisture sensor.

2. The on-line detection device for combine harvester yield according to claim 1, characterized in that: The guide trough mechanism includes a buffer plate installed on the inner wall of the grain box, a guide trough for guiding the material flow from the feed port into the grain box, and an inclination adjustment component for adjusting the installation inclination of the guide trough; the sensor detection area is located at the end of the guide trough.

3. The on-line detection device for combine harvester yield according to claim 2, characterized in that: The buffer plate includes a top plate, two side plates, and a vertical plate that form a box structure; the guide trough includes a guide plate and two side plates that form a trough structure; a gap is left between the vertical plate and the guide plate for the material flow to pass through; The inclination adjustment component includes an inclination arc guide groove, an adjustable long hole angle code, and an angle code; the inclination arc guide groove is opened on the side panel of the guide groove, the side panel of the buffer plate is provided with a mounting hole, and screws pass through the mounting hole and the inclination arc guide groove to realize the inclination adjustable connection between the buffer plate and the guide groove; the adjustable long hole angle code is fixed on the side panel of the guide groove, the angle code is fixed on the inner wall of the grain box, and the screws connect the adjustable long hole angle code and the angle code to realize the inclination adjustable connection between the guide groove and the grain box.

4. The on-line detection device for combine harvester yield according to claim 1, characterized in that: In the yield sensor detection unit, the yield detection sensor group includes multiple cantilever beam pressure sensors and multiple pressure-bearing plates. The multiple cantilever beam pressure sensors are evenly distributed at the end of the guide trough mechanism along the width direction of the guide trough mechanism. One end of the cantilever beam pressure sensor is connected to the guide trough mechanism, and the other end is connected to the pressure-bearing plate. The vibration sensor is arranged below the cantilever beam pressure sensor in the middle.

5. The on-line detection device for combine harvester yield according to claim 1, characterized in that: In the sensor detection and compensation unit, the inclination sensor detects the inclination angle α of the whole combine harvester during its movement, and the inclination sensor is installed under the guide chute mechanism; the moisture sensor records the real-time moisture content of the harvested material, and the moisture sensor is installed in the grain box.

6. The on-line detection device for combine harvester yield according to claim 1, characterized in that: In the data acquisition unit, the signal processing unit uses Delta-sigma analog-to-digital conversion and digital filtering processing technology to digitally process the weak weight signal output by the sensor, and output it to the upper system through serial communication to realize the sharing of production signals; the sensor transmitter, whose AD conversion speed meets the needs of high-frequency acquisition, provides hardware conditions for real-time detection of online detection devices.

7. A method for online detection of combine harvester yield, using an online detection device for combine harvester yield according to any one of claims 1 to 6, characterized in that: A multi-sensor fusion algorithm is used to process the data. The algorithm realizes vibration compensation, inclination compensation and moisture content compensation for the output. According to the time-varying output curve and the data measured by the sensor, the output distribution map is finally generated.

8. The on-line detection method for combine harvester yield according to claim 7, characterized in that: The output time-varying curve is composed of the pressure value F detected by the output detection sensor group, the vibration interference signal β compensated by the vibration sensor, the inclination angle α detected by the inclination sensor, and the real-time moisture content R of the material detected by the moisture sensor. H and material flow rate v, and is generated according to the time curve record; The calculation steps are as follows: each time the output detection sensor group obtains a pressure value F1 after compensation by the vibration sensor, F1 is the vertical pressure of the material flow on the inclined surface, and then converted into the material weight m according to the inclination angle α of the inclination sensor; the number of acquisitions per second n is determined by the detection time interval t, which is determined by the width d of the sensor detection area and the material flow rate v; therefore, the calculation formula for the output M per second is as follows: F1=F-5β t=d / v n=1 / t 9. The on-line detection method for combine harvester yield according to claim 8, characterized in that: The material flow rate v is determined by known parameters; in the online detection device, after the material reaches the highest point of the slope of the guide trough under the action of the buffer plate, it performs conventional slope motion when the friction coefficient f, inclination angle α and vertical height h of the inclined surface are known, and the material flow rate v is determined and is not affected by the weight m.

10. The on-line detection method for combine harvester yield according to claim 7, characterized in that: The method for generating the output distribution diagram is as follows: the output time-varying curve, the inclination angle α of the inclination sensor, and the real-time moisture content R of the material are combined into a H The data is calculated and combined with the positioning information to form a yield distribution map.

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