An on-line combine yield detection device and method

Abstract

The present application relates to a kind of combine harvester yield online detection device and method, device includes guide groove mechanism, yield sensor detection unit, sensor detection compensation unit, data acquisition unit;Guide groove mechanism is set in grain tank inner feed inlet;The yield sensor detection unit of the sensor detection area of guide groove mechanism includes yield detection sensor group and vibration sensor;Sensor detection compensation unit includes inclination sensor and moisture sensor;Data acquisition unit includes signal processing unit and sensor transmitter.The present application is corrected data by anti-interference method and sensor compensation means, improves detection precision, belongs to intelligent agricultural machinery technical field.

Description

Technical Field

[0001] This invention relates to the field of intelligent agricultural machinery technology, specifically to an online detection device and method for the yield of a combine harvester. Background Technology

[0002] Unmanned farming technology is gradually being applied on a large scale. In unmanned rice farms, driverless harvesters are a key component, and significant progress has been made in autonomous driving and harvesting technologies.

[0003] During the harvesting process, the harvested material is conveyed to the grain bin via a screw conveyor or scraper lift. Once the grain bin is full, unloading is performed. A corresponding material yield measurement system for the combine harvester is established to obtain material output information during this operation, enabling real-time detection of material flow. This generates a corresponding yield distribution map, which is used to assess the quality of the harvesting operation and guide precise operations in all stages of cultivation, planting, management, and harvesting for the next season's crop.

[0004] Existing harvester yield detection devices rely on simple sensors, resulting in low detection accuracy. For example, CN111903318A discloses a method and system for monitoring grain harvester yield, which primarily uses a pressure sensor to detect yield. However, this pressure sensor is a piezoelectric type, prone to deformation, leading to decreased accuracy. Another example is CN101995284A, which discloses a calibration and testing device for an impulse-type grain mass flow sensor. This device uses an impulse-type grain flow sensor for flow detection, and also includes vibration and tilt sensors to monitor vibration conditions and installation angles. In other words, the vibration and tilt sensors are only used to monitor the device's operation and do not perform accuracy correction on the detection results.

[0005] Therefore, a high-precision online detection technology specifically for combine harvesters is needed. Summary of the Invention

[0006] To address the technical problems existing in the prior art, the purpose of this invention is to provide an online detection device and method for combine harvester output, which adopts a direct detection method and uses anti-interference methods and sensor compensation to correct data and improve detection accuracy.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] An online yield detection device for a combine harvester includes a guide channel mechanism, a yield sensor detection unit, a sensor detection compensation unit, and a data acquisition unit. The guide channel mechanism is located at the feed inlet inside the grain bin. The yield sensor detection unit, located in the sensing detection area of ​​the guide channel mechanism, includes a yield detection sensor group and a vibration sensor. The sensor detection compensation unit includes an tilt sensor and a moisture sensor. The data acquisition unit includes a signal processing unit and a sensor transmitter. The material flow from the feed inlet through the guide channel mechanism flows at a uniform material flow velocity v through the yield detection sensor group in the sensing detection area. Data is collected at the detection time interval t based on the width d of the sensing detection area and the material flow velocity v. The real-time detection data, combined with the real-time vibration interference compensation of the vibration sensor, is converted into a curve showing the relationship between the weight of the material flow and time. Furthermore, based on the real-time tilt angle compensation of the tilt sensor and the real-time moisture content compensation of the material from the moisture sensor in the sensor detection compensation unit, a time-varying yield curve is obtained.

[0009] As a preferred embodiment, the guide channel mechanism includes a buffer plate installed on the inner wall of the grain tank, a guide channel for the material flow to enter the grain tank from the feed inlet, and an angle adjustment component for adjusting the installation angle of the guide channel; the sensing detection area is located at the end of the guide channel.

[0010] As a preferred embodiment, the buffer plate includes a top plate, two side plates, and a vertical plate forming a box structure; the guide channel includes a guide plate and two side plates forming a channel structure; a gap is left between the vertical plate and the guide plate for material flow; the tilt adjustment assembly includes a tilt arc guide groove, an adjustable elongated hole corner bracket, and a corner bracket; the tilt arc guide groove is opened on the side plate of the guide channel, and the side plate of the buffer plate is provided with mounting holes. Screws pass through the mounting holes and the tilt arc guide groove to achieve an adjustable tilt connection between the buffer plate and the guide channel; the adjustable elongated hole corner bracket is fixed on the side plate of the guide channel, and the corner bracket is fixed on the inner wall of the grain tank. Screws connect the adjustable elongated hole corner bracket and the corner bracket to achieve an adjustable tilt connection between the guide channel and the grain tank.

[0011] As a preferred embodiment, the production sensor detection unit includes a production detection sensor group comprising multiple suspended beam pressure sensors and multiple pressure bearing plates. The multiple suspended beam pressure sensors are evenly distributed along the width direction of the guide channel mechanism at the end of the guide channel mechanism. One end of the suspended beam pressure sensor is connected to the guide channel mechanism, and the other end is connected to the pressure bearing plate. The vibration sensor is located below the suspended beam pressure sensor in the middle.

[0012] As a preferred embodiment, in the sensor detection and compensation unit, the tilt sensor detects the tilt angle α of the entire machine during the movement of the combine harvester, and the tilt sensor is installed below the guide channel mechanism; the moisture sensor records the real-time moisture content of the harvested material, and the moisture sensor is installed inside the grain tank.

[0013] As a preferred option, the signal processing unit in the data acquisition unit uses Delta-Sigma analog-to-digital conversion and digital filtering technology to digitally process the weak weight signal output by the sensor and output it to the host system via serial communication to achieve the sharing of production signals; the sensor transmitter has an AD conversion speed that meets the requirements of high-frequency acquisition, providing hardware conditions for real-time detection of the online detection device.

[0014] A method for online detection of combine harvester yield uses an online combine harvester yield detection device and a multi-sensor fusion algorithm to process the data. The algorithm performs vibration compensation, tilt angle compensation, and moisture content compensation on the yield. Based on the time-varying yield curve and the data measured by the sensors, a yield distribution map is finally generated.

[0015] As a preferred option, the time-varying yield 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 tilt angle α detected by the tilt sensor, and the real-time moisture content R of the material detected by the moisture sensor. H The pressure value F1, obtained by the sensor group for each production output detection after compensation by the vibration sensor, is the vertical pressure of the material flow on the inclined plane. This pressure is then converted to the material weight m based on the tilt angle α of the tilt sensor. The number of data acquisitions per second, n, is determined by the detection time interval t, which is determined by the sensor detection area width d and the material flow velocity v. Therefore, the formula for calculating the production output M per second is as follows:

[0016] F1=F-5β

[0017]

[0018] t = d / v

[0019] n = 1 / t

[0020]

[0021] As a preferred option, the material flow velocity v is determined by known parameters. In the online detection device, after the material reaches the highest point of the ramp under the action of the buffer plate, it undergoes conventional ramp motion with known friction coefficient f, inclination angle α and vertical height h, resulting in a fixed material flow velocity v that is not affected by weight m.

[0022] As a preferred method, the production distribution map is generated by combining the time-varying production curve, the tilt angle α of the tilt sensor, and the real-time moisture content R of the material. H The data is calculated and combined with location information to form a production distribution map.

[0023] The present invention has the following advantages:

[0024] 1. In terms of detection methods, existing technologies commonly employ photoelectric, volumetric, laser beam, and impulse methods, among others. These methods are all indirect, and the relationships established indirectly are highly susceptible to environmental influences. For example, laser beam sensors are affected by smoke and dust in grain silos, and the impact plates of impulse sensors are prone to fatigue. This invention, however, directly detects gravity and corrects the data through anti-interference methods and sensor compensation, making it more direct and reliable.

[0025] 2. In terms of installation, this device features a simplified structure, low cost, and easy disassembly. It is fixed to the grain bin wall of the combine harvester using screws, making installation and use very convenient. It can be added to and modified from existing combine harvesters, demonstrating strong versatility.

[0026] 3. In terms of measurement accuracy, after rice yield measurement experiments, with a field test area of ​​over 1.5 mu, the results showed that the yield measurement accuracy could reach 94%, which is quite accurate. 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 devices.

[0027] 4. The present invention uses a cantilever pressure sensor, which has better stability, durability and accuracy, while the existing piezoelectric pressure sensor is prone to deformation, resulting in a decrease in accuracy. Attached Figure Description

[0028] Figure 1 This is a flowchart of the method of the present invention.

[0029] Figure 2 This is a schematic diagram of the online output detection device for combine harvesters.

[0030] Figure 3 This is a 3D view of the online output monitoring device for combine harvesters.

[0031] Figure 4 This is a three-dimensional view from another perspective of the online output monitoring device for combine harvesters.

[0032] Figure 5 This is a graph showing the output changes of the apparatus and weighing platform in test group 1.

[0033] In the diagram, 1-spiral lifting pipe, 2-feed inlet, 3-buffer plate, 4-guide channel, 5-output detection sensor group, 6-vibration sensor, 7-adjustable elongated hole angle code, 8-tilted arc guide groove, 9-grain box, 10-pressure bearing plate, 11-angle code, 12-cantilever pressure sensor. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to specific embodiments.

[0035] An online yield detection device for a combine harvester includes a guide channel mechanism, a yield sensor detection unit, a sensor detection compensation unit, and a data acquisition unit. The guide channel mechanism is located at the feed inlet inside the grain bin. The yield sensor detection unit, located in the sensing detection area of ​​the guide channel mechanism, includes a yield detection sensor group and a vibration sensor. The sensor detection compensation unit includes an tilt sensor and a moisture sensor. The data acquisition unit includes a signal processing unit and a sensor transmitter.

[0036] The material flow from the feed inlet through the guide channel mechanism flows at a uniform material flow velocity v through the production detection sensor group in the sensing detection zone. Based on the width d of the sensing detection zone and the material flow velocity v, data is collected at the detection time interval t. The real-time detection data, combined with the real-time vibration interference compensation of the vibration sensor, is converted into a curve showing the relationship between the weight of the material flow and time. Then, based on the real-time tilt angle compensation of the tilt sensor and the real-time moisture content compensation of the material from the moisture sensor in the sensor detection compensation unit, the time-varying curve of the production is obtained.

[0037] The guide channel mechanism includes a buffer plate installed on the inner wall of the grain tank, a guide channel for the material flow to enter the grain tank from the feed inlet, and an angle adjustment component for adjusting the installation angle of the guide channel; the sensing detection area is located at the end of the guide channel.

[0038] The buffer plate includes a top plate, two side plates, and a vertical plate forming a box-like structure; the guide channel includes a guide plate and two side plates forming a channel-like structure; a gap is left between the vertical plate and the guide plate for material flow; the tilt adjustment assembly includes a tilt arc guide groove, an adjustable elongated hole bracket, and a bracket; the tilt arc guide groove is formed on the side plate of the guide channel, and the side plate of the buffer plate has mounting holes. Screws pass through the mounting holes and the tilt arc guide groove to achieve an adjustable tilt angle connection between the buffer plate and the guide channel; the adjustable elongated hole bracket is fixed to the side plate of the guide channel, and the bracket is fixed to the inner wall of the grain tank. Screws connect the adjustable elongated hole bracket and the bracket to achieve an adjustable tilt angle connection between the guide channel and the grain tank. The tilt angle of the guide channel is adjusted according to the different material flow rates.

[0039] In the production sensor detection unit, the production detection sensor group includes multiple cantilever pressure sensors and multiple pressure bearing plates. The multiple cantilever pressure sensors are evenly distributed at the end of the guide channel mechanism along the width direction of the guide channel mechanism. One upper end of the cantilever pressure sensor is connected to the guide channel mechanism, and the upper end of the other end is connected to the pressure bearing plate. The vibration sensor is set below the middle cantilever pressure sensor. The vibration sensor is fixed below the sensing detection area in the opposite bearing direction to collect vibration signals to cancel vibration interference in real time.

[0040] In the sensor detection and compensation unit, the tilt sensor detects the tilt angle α of the entire machine during the movement of the combine harvester. This angle will cause errors in the conversion of the sensor value into weight. The tilt sensor is installed below the guide trough 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 inside the grain tank.

[0041] In the data acquisition unit, the signal processing unit uses Delta-Sigma analog-to-digital conversion and digital filtering 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 requirements of high-frequency acquisition, up to 4800 times / second, providing hardware conditions for real-time detection of the online detection device.

[0042] A method for online detection of combine harvester yield uses an online combine harvester yield detection device and a multi-sensor fusion algorithm to process the data. The algorithm performs vibration compensation, tilt angle compensation, and moisture content compensation on the yield. Based on the time-varying yield curve and the data measured by the sensors, a yield distribution map is finally generated.

[0043] The time-varying production curve is composed of the pressure value F detected by the production detection sensor group, the vibration interference signal β compensated by the vibration sensor, the tilt angle α detected by the tilt sensor, and the real-time moisture content R of the material detected by the moisture sensor. H The pressure value F1, obtained by the sensor group for each production output detection after compensation by the vibration sensor, is the vertical pressure of the material flow on the inclined plane. This pressure is then converted to the material weight m based on the tilt angle α of the tilt sensor. The number of data acquisitions per second, n, is determined by the detection time interval t, which is determined by the sensor detection area width d and the material flow velocity v. Therefore, the formula for calculating the production output M per second is as follows:

[0044] F1=F-5β

[0045]

[0046] t = d / v

[0047] n = 1 / t

[0048]

[0049] The material flow velocity v is determined by known parameters. In the online detection device, after the material reaches the highest point of the ramp under the action of the buffer plate, it undergoes conventional ramp motion with known friction coefficient f, inclination angle α and vertical height h, resulting in a fixed material flow velocity v that is not affected by weight m.

[0050] The production distribution map is generated by combining the time-varying production curve, the tilt angle α of the tilt sensor, and the real-time moisture content R of the material. H The data is calculated and displayed, and combined with location information to form a yield distribution map, which can intuitively show the yield of rice fields.

[0051] Before the combine harvester starts operation, the throttle opening of the threshing clutch is set to a fixed position to ensure a stable material flow to the feed inlet of the combine harvester's grain hopper. When the combine harvester starts operation, it first engages the threshing clutch and then the cutting clutch, and begins to move. After completing this action, the unmanned driving system (or driver) uses this as a trigger signal to start working. The online yield detection device begins recording yield signals. During operation, if the grain hopper is full, the device will receive a full grain hopper sensor signal, pause operation, communicate this information to the unmanned driving system (or driver), return to the field edge to unload the grain, and then return to the working position to repeat the above process.

[0052] Material flows through a spiral lift pipe to the feed inlet of the grain bin. After being slowed by a buffer plate, the material flows at a uniform velocity v into the guide trough and then through the sensing detection zone. Data is collected at the detection time interval t calculated based on the width of the sensing detection zone and the material flow velocity v. Real-time pressure data, combined with the real-time tilt angle, is converted into material weight, thus obtaining a weight-time curve. Furthermore, data fusion is performed based on tilt angle compensation and humidity compensation from the sensor detection compensation unit to determine the material yield. This multi-sensor fusion design solves the problems of insufficient accuracy, stability, and poor versatility in current combine harvester yield detection devices.

[0053] To verify the usability and accuracy of the online production monitoring device, this invention constructed a test bench simulating a real-world environment, with the device installed according to actual conditions. Furthermore, to visually monitor real-time changes in actual production, the real-time weight curve of the material flowing through the device and falling onto the weighing platform was recorded and compared. A total of five sets of tests were conducted, recording the real-time production curve measured by the device and the real-time weight curve of the weighing platform, respectively. The curve for set 1 is shown below. Figure 5 As shown in the table below, the real-time weight of the weighing platform is used as the true value of the experimental output, and the error is calculated. The experimental results are shown in the table below.

[0054] according to Figure 5 The curves showing the changes in the device's experimental values ​​and the true output values ​​of the weighing platform reveal that their trends are nearly synchronized, with an average error within 4%. Therefore, this online output monitoring device can accurately reflect real-time output changes, thus verifying its usability and accuracy.

[0055]

[0056] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. An online detection device for combine harvester yield, characterized in that, It includes a flow guide trough mechanism, a yield sensor detection unit, a sensor detection compensation unit, and a data acquisition unit; the flow guide trough mechanism is located at the feed inlet inside the grain tank; the yield sensor detection unit located in the sensing detection area of ​​the flow guide trough mechanism includes a yield detection sensor group and a vibration sensor; the sensor detection compensation unit includes an angle sensor and a moisture sensor; the data acquisition unit includes a signal processing unit and a sensor transmitter; The material flow from the inlet through the guide channel mechanism maintains a uniform material flow rate. The output detection sensor group flowing through the sensing detection zone is based on the width of the sensing detection zone. and material flow rate Calculation of the detection time interval Data acquisition is performed, and real-time detection data is combined with real-time vibration interference compensation from vibration sensors to convert the relationship curve between material flow weight and time. Then, based on the real-time tilt angle compensation from the tilt angle sensor and the real-time moisture content compensation from the moisture sensor in the sensor detection and compensation unit, the time-varying curve of output is obtained. In the production sensor detection unit, the production detection sensor group includes multiple suspended beam pressure sensors and multiple pressure bearing plates. The multiple suspended beam pressure sensors are evenly distributed at the end of the guide channel mechanism along the width direction of the guide channel mechanism. One end of the suspended beam pressure sensor is connected to the guide channel mechanism, and the other end is connected to the pressure bearing plate. The vibration sensor is located below the suspended beam pressure sensor in the middle. The time-varying production curve is the pressure value detected by the production detection sensor group. Vibration interference signal compensated by vibration sensor Tilt angle detected by tilt sensor Real-time moisture content of materials detected by moisture sensors and material flow rate The generated data is determined jointly and recorded according to the time curve. The calculation steps involve obtaining the pressure value from the vibration sensor after compensation by the sensor group for each production output detection. , The vertical pressure of the material flow on the inclined plane is then determined based on the tilt angle measured by the tilt sensor. Convert to material weight Number of data collections per second By detection time interval Confirmed, detection time interval From the width of the sensing detection area and material flow rate Decision; therefore, output per second The calculation formula is as follows: ， ， ， ， 。 2. The online yield detection device for a combine harvester according to claim 1, characterized in that: The guide channel mechanism includes a buffer plate installed on the inner wall of the grain tank, a guide channel for the material flow to enter the grain tank from the feed inlet, and an angle adjustment component for adjusting the installation angle of the guide channel; the sensing detection area is located at the end of the guide channel.

3. The online yield detection device for a combine harvester according to claim 2, characterized in that: The buffer plate includes a top plate, two side plates, and a vertical plate forming a box structure; the guide channel includes a guide plate and two side plates forming a channel structure; a gap is left between the vertical plate and the guide plate to allow material flow. The tilt adjustment assembly includes a tilt arc guide groove, an adjustable elongated hole corner bracket, and a corner bracket. The tilt arc guide groove is formed on the side plate of the flow channel, and the side plate of the buffer plate is provided with mounting holes. Screws pass through the mounting holes and the tilt arc guide groove to achieve an adjustable tilt angle connection between the buffer plate and the flow channel. The adjustable elongated hole corner bracket is fixed on the side plate of the flow channel, and the corner bracket is fixed on the inner wall of the grain tank. Screws connect the adjustable elongated hole corner bracket and the corner bracket to achieve an adjustable tilt angle connection between the flow channel and the grain tank.

4. The online yield detection device for a combine harvester according to claim 1, characterized in that: In the sensor detection and compensation unit, the tilt sensor detects the tilt angle of the entire combine harvester during its movement. The tilt sensor is installed below the guide channel mechanism; the moisture sensor records the real-time moisture content of the harvested material and is installed inside the grain bin.

5. The online yield detection device for a combine harvester 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 technology to digitally process the weak weight signal output by the sensor and output it to the upper system via serial communication to achieve the sharing of production signals; the sensor transmitter has an AD conversion speed that meets the requirements of high-frequency acquisition, providing hardware conditions for real-time detection of the online detection device.

6. The online yield detection device for a combine harvester according to claim 1, characterized in that: A multi-sensor fusion algorithm is used to process the data, and vibration compensation, tilt angle compensation, and moisture content compensation are implemented for the production output. Based on the time-varying curve of production output and the data measured by the sensors, a production output distribution map is finally generated.

7. The online yield detection device for a combine harvester according to claim 1, characterized in that: Material flow rate Determined by known parameters; in the online detection device, after the material reaches the highest point of the ramp under the action of the buffer plate, the coefficient of friction on the ramp is... ,inclination and vertical height Given the given conditions, perform a conventional inclined plane motion to obtain the material flow velocity. It is definite and unaffected by weight. Influence.

8. The online yield detection device for a combine harvester according to claim 6, characterized in that: The production distribution map is generated by combining the time-varying production curve and the tilt angle of the tilt sensor. Real-time moisture content of materials The data is calculated and combined with location information to form a production distribution map.

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