A vibrating comb brush type seed harvesting system for the shrub plant Hippophae rhamnoides

Abstract

The application provides a vibrating comb brush type seed harvesting system of a shrub seed, determines a basic vibration amplitude of a vibrating unit in a seed harvester based on a plant density per unit area in a scanning area and a main branch diameter of a main branch of a shrub canopy; when a real-time torque value of a comb brush driving motor in the seed harvester exceeds a preset load threshold value, proportionally adjusts a current vibration frequency in the vibrating unit according to the real-time torque value, simultaneously reversely compensates the current vibration frequency in the vibrating unit according to a current working speed of the comb brush driving motor, and further determines a target vibration frequency of the comb brush driving motor in the seed harvester; generates a control instruction of the seed harvester based on the target vibration frequency and the basic vibration amplitude, drives an eccentric shaft servo driver in the seed harvester, and makes the vibration frequency and the vibration amplitude of the vibrating unit work cooperatively. Based on the above scheme, the vibration amplitude and the vibration frequency in the vibrating unit of the seed harvester can be cooperatively regulated.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of seed harvesting, and more particularly to a vibration combing type seed harvesting system for Hippophae rhamnoides. BACKGROUND

[0002] The vibration combing type seed harvesting for Hippophae rhamnoides is a highly efficient mechanized operation mode. High-frequency vibration is generated by a vibration device, combined with the reciprocating motion of the combing component, simulating the manual picking action. The seed harvesting machine travels between Hippophae rhamnoides plants, the vibration loosens the pods, and the combing component precisely combs the mature pods from the branches and collects them into a hopper. It can adapt to Hippophae rhamnoides plants of different heights and densities, has high harvesting efficiency, and can significantly reduce labor costs. At the same time, the gentle action of vibration and combing reduces damage to the plants and improves the integrity and quality of the seeds. The harvested seeds can be directly fed into the subsequent processing process after preliminary cleaning.

[0003] In traditional mechanized harvesting operations of Hippophae rhamnoides seeds, the frequency and amplitude parameters of the vibration combing device are usually fixed values set in advance. This rigid operation mode cannot perceive and adapt to the real morphology of the crop population. When the seed harvesting machine travels to areas with sparse plants and weak canopy, the excessive vibration energy has nowhere to dissipate and all acts on a few plants, which can easily cause the bark of the branches to tear and the wood to be damaged, affecting the germination next year and causing excessive damage. On the contrary, when entering areas with dense plants and thick main branches, the fixed vibration energy is not enough to make the combing head effectively penetrate the canopy, resulting in insufficient combing and shaking of the pods attached to the internal branches, leaving a large number of mature seeds unharvested, and the loss rate is significantly increased. This seriously restricts the overall quality and efficiency of the harvesting operation. Therefore, how to realize the coordinated regulation of the vibration amplitude and frequency in the vibration unit of the seed harvesting machine to improve the harvesting efficiency of Hippophae rhamnoides seeds has become a difficult problem in the industry. SUMMARY

[0004] The present application provides a vibration combing type seed harvesting system for Hippophae rhamnoides, which can realize the coordinated regulation of the vibration amplitude and frequency in the vibration unit of the seed harvesting machine, thereby improving the harvesting efficiency of Hippophae rhamnoides seeds.

[0005] In a first aspect, the present application provides a vibration combing type seed harvesting system for Hippophae rhamnoides, comprising:

[0006] The acquisition module is configured to acquire the morphology image of the Hippophae rhamnoides plants in front of the seed harvesting machine through the machine vision unit in the seed harvesting machine.

[0007] a vibration amplitude decision module, configured to identify a plant density per unit area and a main branch diameter of a main branch of a crown layer of the plant within a scanning area from the morphological image, query a vibration amplitude mapping table for seed harvesting of the plant based on the plant density and the main branch diameter, and determine a basic vibration amplitude of a vibration unit in the seed harvesting machine;

[0008] a vibration frequency decision module, configured to determine that the seed harvesting machine enters a working load state when a real-time torque value of a brushing driving motor in the seed harvesting machine exceeds a preset load threshold, acquire a current working speed of the brushing driving motor in real time, proportionally adjust a current vibration frequency in the vibration unit according to the real-time torque value, inversely compensate the current vibration frequency in the vibration unit according to the current working speed, and determine a target vibration frequency of the brushing driving motor in the seed harvesting machine;

[0009] a cooperative control module, configured to generate a control instruction of the seed harvesting machine based on the target vibration frequency and the basic vibration amplitude, and drive an eccentric shaft servo driver in the seed harvesting machine to make the vibration frequency and the vibration amplitude of the vibration unit work cooperatively.

[0010] In some embodiments, the seed harvesting machine includes the brushing driving motor, the vibration unit and the eccentric shaft servo driver.

[0011] In some embodiments, identifying the plant density per unit area and the main branch diameter of the main branch of the crown layer of the plant within the scanning area from the morphological image specifically includes:

[0012] instance separating each pixel point in the morphological image to obtain a plurality of plant instances and a crown layer skeleton of each plant instance;

[0013] counting a number of all the plant instances to obtain the plant density per unit area within the scanning area;

[0014] determining the main branch diameter of the main branch of the crown layer of the plant within the scanning area through the diameter of each crown layer skeleton.

[0015] In some embodiments, querying the vibration amplitude mapping table for seed harvesting of the plant based on the plant density and the main branch diameter to determine the basic vibration amplitude of the vibration unit in the seed harvesting machine specifically includes:

[0016] obtaining a vibration amplitude mapping table for seed harvesting of the plant;

[0017] determining a vibration amplitude query condition for seed harvesting of the plant through the plant density and the main branch diameter;

[0018] screening the basic vibration amplitude of the vibration unit in the seed harvesting machine from the vibration amplitude mapping table using the vibration amplitude query condition.

[0019] In some embodiments, proportionally adjusting the current vibration frequency in the vibration unit according to the real-time torque value specifically comprises:

[0020] Obtaining the no-load torque of the brush driving motor and reading the real-time torque value of the brush driving motor;

[0021] Determining the torque deviation of the brush driving motor in the seed harvester through the no-load torque and the real-time torque value;

[0022] Proportionally adjusting the current vibration frequency of the vibration unit according to the torque deviation to obtain a proportional gain amount of the vibration frequency.

[0023] In some embodiments, inversely compensating the current vibration frequency in the vibration unit according to the current working speed specifically comprises:

[0024] Obtaining a standard working speed in the seed harvester that can ensure the quality of harvesting;

[0025] Calculating a speed deviation between the standard working speed and the current working speed;

[0026] Speed compensating the current vibration frequency in the vibration unit through the speed deviation to obtain an inverse compensation amount of the vibration frequency.

[0027] In some embodiments, the load threshold is a minimum critical value that distinguishes the no-load running state from the effective brush working state.

[0028] In some embodiments, determining the target vibration frequency of the brush driving motor in the seed harvester specifically comprises:

[0029] Obtaining the proportional gain amount and the inverse compensation amount of the vibration frequency;

[0030] Jointly adjusting the current vibration frequency in the vibration unit through the proportional gain amount and the inverse compensation amount to obtain the target vibration frequency of the brush driving motor in the seed harvester.

[0031] In some embodiments, generating the control instruction of the seed harvester based on the target vibration frequency and the basic vibration amplitude specifically comprises:

[0032] Packaging the target vibration frequency and the basic vibration amplitude into a data frame conforming to the communication protocol of the eccentric shaft servo driver;

[0033] Sending the data frame to the servo driver to obtain the control instruction of the seed harvester.

[0034] In some embodiments, a rotary torque sensor is used to monitor the real-time torque value of the brush driving motor in the seed harvester.

[0035] The technical scheme provided by the embodiments disclosed in the application has the following beneficial effects:

[0036] In the vibration comb brush type cistus seed harvesting system provided by the application, a machine vision unit in the seed harvester acquires a morphological image of the cistus plant in front; the plant density per unit area and the main branch diameter of the cistus canopy in a scanning area are identified from the morphological image; a basic vibration amplitude of the vibration unit in the seed harvester is determined based on the plant density and the main branch diameter to query a range mapping table of cistus seed harvesting; when the real-time torque value of the comb brush driving motor in the seed harvester exceeds a preset load threshold, it is determined that the seed harvester enters a working load state, and the current working speed of the comb brush driving motor is acquired in real time; the current vibration frequency in the vibration unit is proportionally adjusted according to the real-time torque value, and the current vibration frequency in the vibration unit is inversely compensated according to the current working speed, so as to determine the target vibration frequency of the comb brush driving motor in the seed harvester; based on the target vibration frequency and the basic vibration amplitude, a control instruction of the seed harvester is generated to drive the eccentric shaft servo driver in the seed harvester, so that the vibration frequency and the vibration amplitude of the vibration unit work cooperatively.

[0037] Therefore, in the present application, based on the target vibration frequency and the basic vibration amplitude, the control instruction of the seed harvester is generated to drive the eccentric shaft servo driver in the seed harvester, so that the vibration frequency and the vibration amplitude of the vibration unit work cooperatively; first, the basic vibration amplitude can be obtained by querying the amplitude mapping table according to the plant density and the main branch diameter collected by the machine vision unit, so that the initial working state of the vibration unit can be accurately set according to different plant growth conditions, so that the vibration amplitude matches the actual physical characteristics of the plant, avoiding unnecessary damage to the plant caused by excessive vibration amplitude, or incomplete seed harvesting caused by insufficient vibration amplitude. By accurately setting the basic vibration amplitude, the vibration unit can start working in the most suitable state, providing a reasonable basis for subsequent vibration frequency adjustment, and then realizing the cooperative regulation of the vibration amplitude and the vibration frequency, improving the harvesting efficiency of the seed harvester, and ensuring the integrity of the seed harvesting and the integrity of the plant; then, the target vibration frequency is obtained by proportionally adjusting the vibration frequency based on the real-time torque value, and inversely compensating the vibration frequency according to the current working speed, which can reflect the load condition and the working speed change of the seed harvester in the actual work in real time, and ensure that the vibration frequency is always in the optimal state. When the torque value exceeds the threshold value, it indicates that the load increases, and the vibration frequency needs to be increased to maintain the harvesting efficiency; and the change of the working speed needs to be inversely compensated to avoid the instability of the vibration frequency caused by the change of the speed. By accurately determining the target vibration frequency, the vibration unit can dynamically adjust the vibration frequency according to the actual working conditions, and work cooperatively with the basic vibration amplitude, further optimizing the seed harvesting process, improving the harvesting efficiency and quality, and reducing the seed omission and plant damage caused by improper vibration frequency. In summary, based on the above scheme, the cooperative regulation of the vibration amplitude and the vibration frequency of the vibration unit of the seed harvester can be realized, so as to improve the harvesting efficiency of the seed harvester. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0039] Figure 1 is a module structure diagram of the vibration comb type seed harvesting system of the shrub seed according to some embodiments of the present application;

[0040] Figure 2 is a flowchart for realizing proportional adjustment according to some embodiments of the present application. DETAILED DESCRIPTION

[0041] For better understanding of the technical solutions of the present application, the technical solutions of the present application will be described in detail below in combination with the drawings of the specification and specific embodiments.

[0042] For better understanding of the above technical solutions, the above technical solutions will be described in detail below in combination with the drawings of the specification and specific embodiments, with reference to Figure 1 As shown in the figure, the figure is a module structure diagram of a vibrating combing type seed harvesting system according to the embodiment of the present application, the diagnosis and monitoring system comprises: a collection module 100, a vibration amplitude decision module 200, a vibration frequency decision module 300 and a cooperative control module 400, which are described as follows:

[0043] The collection module 100 is used for collecting the morphological image of the front shrub willow plant through the machine vision unit in the seed harvester.

[0044] It should be noted that in the present application, the seed harvester comprises a combing driving motor, a vibrating unit and an eccentric shaft servo driver, wherein the combing driving motor refers to the motor in the seed harvester which provides rotary power for the combing head, the output shaft of which is directly or through a transmission mechanism connected to the combing head, responsible for driving the combing head to rotate at high speed to perform the actions of “combing” and “brushing” to peel the shrub willow pods from the branches; the vibrating unit is the assembly of the execution mechanism responsible for generating and transmitting mechanical vibration in the seed harvester, the vibrating unit takes the eccentric shaft servo driver as the power source, converts the rotary motion of the servo motor into mechanical vibration of a specific frequency and amplitude, and finally transmits the vibration to the combing head to assist in shaking off the pods; the eccentric shaft servo driver is a servo motor system capable of receiving digital control instructions and accurately controlling the angle and speed of the output shaft, an eccentric block is installed on the output shaft, and controllable centrifugal force is generated by rotating the eccentric block, thereby serving as the vibration source of the vibrating unit, and the vibration frequency (controlled by the speed) and the vibration amplitude (controlled by the eccentric distance or torque) are adjusted synchronously according to the control instructions; the machine vision unit is an image acquisition hardware system integrated at the front end of the seed harvester, which is composed of an industrial camera, an optical lens and a fill-in light; the front shrub willow plant is the shrub willow plant group to be processed by the combing mechanism on the working path of the seed harvester in the field; the morphological image is a digital image containing the front shrub willow plant group in a two-dimensional plane.

[0045] In specific implementation, when the seed harvester travels in the field, the machine vision unit located at the front part thereof performs image shooting of the front shrub willow plant group at a fixed interval (the default interval is 1s) under the auxiliary illumination of the fill-in light, the original image data collected by the image shooting is transmitted in real time to the on-board computing controller through the internal bus, and after standardization preprocessing process including color space conversion and contrast enhancement, a format-unified and feature-clear image is finally generated as the morphological image of the front shrub willow plant.

[0046] a vibration amplitude decision module 200, configured to identify the plant density per unit area and the main branch diameter of the crown layer main branch of the plant within the scanning area from the morphological image, and determine the basic vibration amplitude of the vibration unit in the seed harvester based on the plant density and the main branch diameter and a seed harvest amplitude mapping table.

[0047] In some embodiments, the identification of the plant density per unit area and the main branch diameter of the crown layer main branch of the plant within the scanning area from the morphological image can be achieved by the following steps:

[0048] instance separation is performed on each pixel point in the morphological image to obtain a plurality of plant instances and a crown layer skeleton of each plant instance;

[0049] the number of all plant instances is counted to obtain the plant density per unit area within the scanning area;

[0050] the main branch diameter of the crown layer main branch within the scanning area is determined by the diameter of each crown layer skeleton.

[0051] It should be noted that in the present application, the plant density is a quantitative value reflecting the density of the plant within a unit area of land; the main branch diameter is a quantitative value reflecting the thickness of the main branch within the scanning area; the plant instance is a single connected region formed by separating each independent plant from its background and other plants in the morphological image; and the crown layer skeleton is a single-pixel-width line set capable of representing the topology and center position of the main branch and branches in each plant instance.

[0052] In a specific implementation, first, a deep learning-based semantic segmentation model is used to process the morphological image, which can classify each pixel point in the image as a plant or background; the pixel region of the separated plant is analyzed by connected component analysis, so as to separate each independent plant instance, and a plurality of plant instances are obtained; a thinning algorithm is applied to the pixel region corresponding to each plant instance, and the edge pixels are gradually removed until they become single-pixel-width lines, and the collection of all lines is taken as the shrub canopy skeleton representing the structural characteristics of the plant, so as to obtain the shrub canopy skeleton of each plant instance; then, a counter is used to count the number of all plant instances in the scanning area, and the ratio of the total number obtained by counting to the known physical area value of the scanning area is taken as the plant density of the current working area; finally, for each shrub canopy skeleton, a normal line is drawn at a plurality of equal points of the line segment of the shrub canopy skeleton, and the length of the line segment intersected by the normal line and the boundary of the original plant instance region is calculated, and the median of the set of lengths of each line segment is taken as the representative diameter of the shrub canopy skeleton, and the average value of all representative diameters is taken as the main branch diameter of the main branch of the shrub canopy in the current scanning area.

[0053] In some embodiments, the method for determining the basic vibration amplitude of the vibration unit in the seed harvester based on the plant density and the main branch diameter can comprise the following steps:

[0054] Obtaining a mapping table of the amplitude of the shrub seed harvesting;

[0055] Determining the amplitude query condition of the shrub seed harvesting by the plant density and the main branch diameter;

[0056] Using the amplitude query condition to filter the basic vibration amplitude of the vibration unit in the seed harvester from the amplitude mapping table.

[0057] It should be noted that, in this application, the basic vibration amplitude is a reference value of the amplitude set for the vibration unit to ensure that the comb head can normally cut into the shrub canopy; the amplitude mapping table is a table used to describe the corresponding relationship between the plant density range, the main branch diameter range and the recommended vibration amplitude value; and the amplitude query condition is an index value used to locate the data of the amplitude mapping table.

[0058] In a specific implementation, first, a pre-stored amplitude mapping table in a matrix form is read from the non-volatile memory of the seed harvester console, which contains vibration amplitude values verified by a large number of tests under different combinations of density intervals and diameter intervals, and the amplitude mapping table is used as a query basis for current vibration amplitude decision; then, the set of plant density and main branch diameter is used as the amplitude query condition for the seed harvesting of the Chinese schmidtia; finally, the vibration amplitude value meeting the amplitude query condition is filtered from the amplitude mapping table as the basic vibration amplitude of the vibration unit in the seed harvester.

[0059] The vibration frequency decision module 300 is configured to determine that the seed harvester enters a working load state when the real-time torque value of the brush driving motor in the seed harvester exceeds a preset load threshold, to obtain a current working speed of the brush driving motor in real time, to proportionally adjust the current vibration frequency in the vibration unit according to the real-time torque value, to reversely compensate the current vibration frequency in the vibration unit according to the current working speed, and to determine a target vibration frequency of the brush driving motor in the seed harvester.

[0060] It should be noted that, in the present application, the real-time torque value of the brush driving motor in the seed harvester is monitored by using a rotary torque sensor, and when the real-time torque value of the brush driving motor in the seed harvester exceeds a preset load threshold, the seed harvester is determined to enter a working load state, and the current working speed of the brush driving motor can be obtained in real time by using the following method, that is, the rotary torque sensor directly connected in series to the output shaft of the brush driving motor is used to continuously monitor the mechanical torque transmitted to the brush head, so as to obtain the real-time torque value of the brush driving motor; the real-time torque value is compared with a load threshold for distinguishing the idling and effective contact of the seed harvester, which is pre-labeled by no-load experiment; when the real-time torque value continuously exceeds the load threshold for a preset stable time length (1 minute by default), the state flag bit is triggered to jump, and the seed harvester is determined to enter a working load state; the state jump signal activates a data acquisition thread, which obtains the linear speed value after conversion as the current working speed of the brush driving motor by accessing the rotary encoder installed on the walking wheel shaft and calculating the pulse number per unit time; wherein, the load threshold is the minimum threshold for distinguishing the no-load running state and the effective brush working state.

[0061] In some embodiments, the current vibration frequency in the vibration unit is proportionally adjusted according to the real-time torque value, which is referred to as the following figure, which is a flowchart of the proportional adjustment in some embodiments of the present application, and the proportional adjustment in the present embodiment can be implemented by using the following steps: Figure 2

[0062] ​In step 3001, the no-load torque of the brush driving motor is acquired, and the real-time torque value of the brush driving motor is read;

[0063] In step 3002, the torque deviation of the brush driving motor in the seed harvester is determined by the no-load torque and the real-time torque value;

[0064] In step 3003, the current vibration frequency of the vibration unit is proportionally gained according to the torque deviation, to obtain a proportional gain amount of the vibration frequency.

[0065] It should be noted that in the present application, the proportional gain amount represents the quantitative value of the vibration frequency that needs to be adjusted due to the change of the load; the no-load torque is a quantitative value representing the basic mechanical resistance in the operation of the seed harvester; the real-time torque value is a dynamic torque measurement value reflecting the instantaneous load size of the brush driving motor during the operation of the seed harvester; and the torque deviation is a quantitative value reflecting the additional load generated by the brush head due to the contact and brushing of the shrub plants.

[0066] In specific implementation, first, after each power-on initialization, before the brush head starts operation, the brush driving motor is controlled to idle at a rated speed, during which the rotating torque sensor is sampled and the average value of the measurement is calculated, which is recorded as the no-load torque of the current operation cycle; and the real-time torque value of the brush driving motor is read in the above-mentioned manner; then, the absolute value of the difference between the no-load torque and the real-time torque value is taken as the torque deviation of the brush driving motor in the seed harvester; finally, the torque deviation and the proportional gain coefficient previously set in the parameter list in the seed harvester console are multiplied in the multiplier, the proportional gain coefficient is the amplification multiple defining the sensitivity degree of the vibration frequency to the unit torque deviation, and the numerical result obtained by multiplication is taken as the proportional adjustment amount of the vibration frequency that needs to be adjusted due to the change of the load, to obtain the proportional gain amount of the vibration frequency.

[0067] In some embodiments, the reverse compensation of the current vibration frequency in the vibration unit according to the current operation speed can be implemented by the following steps:

[0068] The standard operation speed of the seed harvester that can ensure the harvesting quality is acquired;

[0069] The speed deviation between the standard operation speed and the current operation speed is calculated;

[0070] The current vibration frequency in the vibration unit is speed-compensated by the speed deviation, to obtain a reverse compensation amount of the vibration frequency.

[0071] It should be noted that in the present application, the reverse compensation amount is a value for adjusting the vibration frequency in the opposite direction, which can reduce the vibration frequency to protect the yield when the working speed is too fast, and avoid excessive damage to the plant when the speed is too slow; the standard working speed is a standard speed value that can balance the harvesting efficiency and the pure rate of harvesting under the current planting mode of the shrub; the speed deviation represents the degree of deviation of the actual working speed from the ideal speed.

[0072] In specific implementation, first, a fixed speed value pre-set according to the shrub variety, planting row spacing, and target yield, etc. agricultural requirements is read from the non-volatile parameter storage area of the seed harvester, and this fixed speed value is taken as the standard working speed of the seed harvester that can ensure the harvesting quality; then, the absolute value of the difference between the standard working speed and the current working speed is taken as the speed deviation; finally, the speed deviation and the negative speed compensation coefficient pre-set in the seed harvester console are operated in the multiplier, and the speed compensation coefficient is a reduction factor that defines the sensitivity of the vibration frequency to the amount of deviation of the travel speed, and since the speed compensation coefficient is negative, the sign of the operation result is opposite to that of the speed deviation, and the product result is taken as the reverse compensation amount of the vibration frequency.

[0073] In some embodiments, determining the target vibration frequency of the brush driving motor in the seed harvester can be achieved by the following steps:

[0074] Obtaining the proportional gain amount and the reverse compensation amount of the vibration frequency;

[0075] Jointly adjusting the current vibration frequency in the vibration unit by the proportional gain amount and the reverse compensation amount to obtain the target vibration frequency of the brush driving motor in the seed harvester.

[0076] It should be noted that in the present application, the target vibration frequency is the expected vibration frequency value sent to the vibration unit servo driver after balancing the load condition and the working efficiency; in specific implementation, first, the proportional gain amount and the reverse compensation amount of the vibration frequency are obtained; then, the sum of the proportional gain amount and the reverse compensation amount is taken as the joint adjustment amount of the current vibration frequency in the vibration unit, so that the sum of the current vibration frequency in the vibration unit and the joint adjustment amount is taken as the target vibration frequency of the brush driving motor in the seed harvester.

[0077] The cooperative control module 400 is used to generate a control instruction of the seed harvester based on the target vibration frequency and the basic vibration amplitude, and drive the eccentric shaft servo driver in the seed harvester to make the vibration frequency and the vibration amplitude of the vibration unit work cooperatively.

[0078] In some embodiments, generating a control instruction of the seed harvester based on the target vibration frequency and the basic vibration amplitude can be achieved by the following steps:

[0079] encapsulate the target vibration frequency and the base vibration amplitude into a data frame conforming to a communication protocol of the eccentric shaft servo driver;

[0080] send the data frame to the servo driver to obtain a control instruction of the seed harvester.

[0081] It should be noted that in the present application, the data frame is a binary digital sequence with a specific arrangement format according to the eccentric shaft servo driver manufacturer, which contains instruction header, vibration frequency data segment, vibration amplitude data segment and check code, and is an information carrier for reliable communication between the controller and the driver; the control instruction is a data frame successfully sent to the servo driver receiving buffer through the communication bus, which contains the final execution parameters, and the control instruction will directly drive the motor to generate mechanical vibration with specific frequency and amplitude after being parsed by the driver.

[0082] In specific implementation, first, the main controller of the seed harvester fills the target vibration frequency value and the base vibration amplitude value into the corresponding address positions in the pre-defined data structure according to the provisions of the servo drive unit communication protocol manual, and attaches the frame header and calculates the cyclic redundancy check code, and the complete binary data packet assembled is a data frame conforming to the communication protocol of the eccentric shaft servo driver; then, the main controller of the seed harvester sends the encapsulated data frame to the communication interface of the eccentric shaft servo driver through the integrated field bus controller in the form of asynchronous serial communication, and waits for the response signal returned by the driver to confirm the successful reception, and takes the driving information successfully received and to be executed by the servo driver as the final control instruction of the seed harvester.

[0083] In some embodiments, the driving of the eccentric shaft servo driver in the seed harvester and the cooperative work of the vibration frequency and the vibration amplitude of the vibration unit can be realized in the following manner, that is, after successfully receiving and parsing the control instruction, the core processor in the servo driver accurately controls the rotation speed of the eccentric shaft servo drive unit by adjusting the pulse frequency or the current size output to the servo motor according to the target vibration frequency value contained in the instruction, so as to realize the control of the vibration frequency; at the same time, the driver obtains the corresponding control parameters (for example, the signal for adjusting the phase angle of the double eccentric blocks or the current value for maintaining a specific torque) by looking up the table or calculating according to the base vibration amplitude value contained in the instruction, and drives the amplitude adjustment mechanism inside the eccentric shaft servo drive unit, so as to realize the setting of the vibration amplitude; finally, the drive unit outputs a stable mechanical vibration that meets the requirements of frequency and amplitude, and the working mode of synchronously matching the frequency and amplitude parameters according to the instruction requirements is taken as the cooperative work state of the vibration unit.

[0084] The above describes in detail the example of the vibration comb brush type seed harvesting system of the application, and it can be understood that the corresponding device includes the hardware structure and / or software module for executing the respective functions in order to realize the above functions. Those skilled in the art should easily realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. The skilled person can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0085] Although the preferred embodiments of the application have been described, those skilled in the art who have the basic inventive concept can make further changes and modifications to the embodiments. Therefore, the appended claims are intended to include the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0086] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application also intends to include these modifications and variations.

Claims

1. A vibrating comb-type Caragana korshinskii seed harvesting system, characterized in that, Includes the following modules: The acquisition module is used to acquire morphological images of the Caragana korshinskii plants in front of the seed harvester through the machine vision unit in the seed harvester; The vibration amplitude decision module is used to identify the plant density per unit area and the main branch diameter of the canopy of Caragana korshinskii from the morphological image, and to query the amplitude mapping table of Caragana korshinskii seed harvesting based on the plant density and the main branch diameter to determine the basic vibration amplitude of the vibration unit in the seed harvester. The vibration frequency decision module is used to determine that the seed harvester has entered a working load state when the real-time torque value of the brush drive motor in the seed harvester exceeds the preset load threshold, and to obtain the current operating speed of the brush drive motor in real time. The module adjusts the current vibration frequency in the vibration unit proportionally according to the real-time torque value, and performs reverse compensation on the current vibration frequency in the vibration unit according to the current operating speed, thereby determining the target vibration frequency of the brush drive motor in the seed harvester. The collaborative control module is used to generate control commands for the seed harvester based on the target vibration frequency and the basic vibration amplitude, drive the eccentric shaft servo driver in the seed harvester, and make the vibration frequency and vibration amplitude of the vibration unit work in coordination. Specifically, adjusting the current vibration frequency in the vibration unit proportionally based on the real-time torque value includes: Obtain the no-load torque of the brush drive motor and read the real-time torque value of the brush drive motor; The torque deviation of the brush drive motor in the seed harvester is determined by the no-load torque and the real-time torque value. The proportional gain of the vibration frequency is obtained by proportionally increasing the current vibration frequency of the vibration unit based on the torque deviation. Specifically, the reverse compensation of the current vibration frequency in the vibration unit based on the current operating speed includes: Obtain the standard operating speed of a seed harvester that ensures harvesting quality; Calculate the speed deviation between the standard operating speed and the current operating speed; The current vibration frequency in the vibration unit is compensated for by the velocity deviation to obtain the reverse compensation amount of the vibration frequency.

2. The vibrating comb-type Caragana korshinskii seed harvesting system as described in claim 1, characterized in that, Identifying the plant density per unit area and the main branch diameter of the main branches of the Caragana canopy within the scanned area from the morphological image specifically includes: Each pixel in the morphological image is separated into instances to obtain multiple plant instances and the canopy skeleton of each plant instance. The number of all plant instances is counted to obtain the plant density per unit area within the scanned region; The diameter of the main branch of the main branch of the Caragana canopy within the scanning area is determined by the diameter of each Caragana canopy skeleton.

3. The vibrating comb-type Caragana korshinskii seed harvesting system as described in claim 1, characterized in that, Based on the plant density and the main branch diameter, the amplitude mapping table for Caragana korshinskii seed harvesting is consulted to determine the basic vibration amplitude of the vibration unit in the seed harvester, specifically including: Obtain the range mapping table for the harvest of Caragana korshinskii seeds; The range of Caragana seed harvesting criteria are determined by the plant density and the diameter of the main branch. Use the amplitude query criteria to filter the basic vibration amplitude of the vibration unit in the seed harvester from the amplitude mapping table.

4. The vibrating comb-type Caragana korshinskii seed harvesting system as described in claim 1, characterized in that, The load threshold is the minimum critical value that distinguishes between no-load operation and effective brushing operation.

5. The vibrating comb-type Caragana korshinskii seed harvesting system as described in claim 1, characterized in that, Determining the target vibration frequency of the brush drive motor in a seed harvester specifically includes: Obtain the proportional gain and reverse compensation of the vibration frequency; The target vibration frequency of the brush drive motor in the seed harvester is obtained by jointly adjusting the current vibration frequency in the vibration unit through the proportional gain and the reverse compensation.

6. The vibrating comb-type Caragana korshinskii seed harvesting system as described in claim 1, characterized in that, Based on the target vibration frequency and the basic vibration amplitude, the control commands for the seed harvester are generated specifically including: The target vibration frequency and the basic vibration amplitude are encapsulated into a data frame that conforms to the communication protocol of the eccentric shaft servo driver. The data frame is sent to the servo driver to obtain control commands for the seed harvester.

7. The vibrating comb-type Caragana korshinskii seed harvesting system as described in claim 1, characterized in that, A rotary torque sensor is used to monitor the real-time torque value of the brush drive motor in the seed harvester.

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