Silage maize harvester metal detection method and system, electronic equipment and storage medium

Abstract

The invention relates to a silage maize harvester metal detection method and system, electronic equipment and a storage medium. The method comprises the steps that a current voltage signal, collected by a metal detection sensor of a silage maize harvester, of a current time point is obtained; judging whether a voltage peak value in the current voltage signal is within a preset reference threshold voltage range or not; if the voltage peak value is within the reference threshold voltage range, determining the pulse width of the voltage peak value between a first pulse corresponding to the first time point and a second pulse corresponding to the second time point; and judging whether the pulse width is within a preset pulse width reference range, and if the pulse width is within the preset pulse width reference range, determining that the metal object is detected. According to the method, a voltage peak value and pulse width dual judgment mechanism is adopted, the reasonable recognition threshold value is determined in combination with different metal sample characteristics, and high-precision real-time detection of the metal foreign matter in the feeding device is achieved.

Description

Technical Field

[0001] This invention relates to the field of forage harvesting technology, and more specifically, to a metal detection method, system, electronic device, and storage medium for silage harvesters. Background Technology

[0002] In the field of forage harvesting, magnetic metal objects mixed in with forage crops are a long-standing potential hazard. These metal objects not only cause severe wear and even breakage of vehicle parts during harvesting, significantly shortening equipment lifespan and increasing maintenance costs, but also, if stored with the forage, are easily ingested by livestock during subsequent feeding, leading to digestive system damage and even endangering their lives. Based on this, metal detection sensors have emerged. They can detect magnetic metal objects in crops in real time and accurately, effectively preventing accidental damage to the harvester's blades and other vehicle parts, while eliminating the risk of livestock ingesting metal foreign objects. Metal detection technology is widely used in silage harvesters, becoming a key technological means to ensure the safety of forage production.

[0003] Metal detectors operate on the principle of electromagnetic induction; the presence of a metallic object causes a change in its magnetic field. Therefore, detecting this change in magnetic field is the core of metal detection. However, the detection performance of existing metal detectors is affected by the shape of the metallic object. For example, small metallic objects generate a weak induced electromotive force, leading to detection failure. Furthermore, the detection sensitivity of metal detectors decreases after prolonged use, and current technology lacks a dynamic adjustment mechanism to accommodate this decrease. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a metal detection method, system, electronic device and storage medium for silage harvesters, aiming to solve at least one of the above-mentioned technical problems.

[0005] In a first aspect, the technical solution of the present invention to solve the above-mentioned technical problems is as follows: a metal detection method for silage harvesters, the method comprising: Obtain the current voltage signal at the current time point collected by the metal detection sensor of the forage harvester; Determine whether the peak voltage in the current voltage signal is within the preset reference threshold voltage range; If the voltage peak is within the reference threshold voltage range, then the pulse width between the first pulse corresponding to the voltage peak at the first time point and the second pulse corresponding to the second time point is determined. The first time point is the time when the voltage value corresponding to the rising edge of the pulse corresponding to the voltage peak first reaches the maximum reference threshold voltage in the reference threshold voltage range, and the second time point is the time when the voltage value corresponding to the falling edge of the pulse corresponding to the voltage peak drops to the minimum reference threshold voltage in the reference threshold voltage range. Determine whether the pulse width is within the preset pulse width reference range. If the pulse width is within the preset pulse width reference range, it is determined that a metal object has been detected.

[0006] The beneficial effects of this invention are: real-time acquisition of voltage signals collected by the metal detection sensor. By setting a reference threshold voltage range and a pulse width reference range, and employing a dual judgment mechanism of voltage peak value and pulse width, combined with the characteristics of different metal samples, a reasonable identification threshold is determined, achieving high-precision real-time detection of metal foreign objects in the feeding device; significantly improving the accuracy and stability of metal detection, and reducing false alarms and accidental shutdowns caused by false detections.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, if the voltage peak value is not within the reference threshold voltage range, the voltage signal of the next time point acquired by the metal detection sensor will be used as the new current voltage signal.

[0009] Furthermore, the above methods also include: When a metal object is detected, an alarm message is generated and sent to the forage harvester's vehicle controller, so that the vehicle controller can control the forage harvester to stop operating based on the alarm message.

[0010] Furthermore, the aforementioned reference threshold voltage range is determined based on the following method: Acquire multiple metal samples, including metals of different types and sizes; For each metal sample, the metal sample is passed through the detection range of the metal detection sensor in different orientations to obtain multiple sample voltage signals corresponding to the metal sample; Calculate the voltage peak value of all pulses in all sample voltage signals to determine the minimum and maximum voltage peak values; The minimum voltage peak value is determined as the minimum reference threshold voltage, and the maximum voltage peak value is determined as the maximum reference threshold voltage. The reference threshold voltage range is determined based on the minimum and maximum reference threshold voltages.

[0011] Furthermore, the above methods also include: Control the engine speed of the silage harvester so that the engine speed is within different speed ranges; For each metal sample, the metal sample is passed through the detection range of the metal detection sensor in different orientations to obtain multiple sample voltage signals corresponding to the metal sample, including: For each metal sample, in each rotation speed range, the metal sample passes through the detection range of the metal detection sensor in different postures to obtain multiple sample voltage signals corresponding to the metal sample in each rotation speed range.

[0012] Furthermore, the aforementioned pulse width reference range is determined based on the following method: For each sample voltage signal, extract the sample pulse width corresponding to the voltage value of each pulse in the sample voltage signal when the voltage value is within the reference threshold voltage range; Statistical analysis was performed on the pulse width of all samples. The minimum pulse width among all samples was taken as the minimum reference value of pulse width, and the maximum pulse width among all samples was taken as the maximum reference value of pulse width. The pulse width reference range is determined based on the minimum and maximum pulse width reference values.

[0013] Secondly, to solve the above-mentioned technical problems, the present invention also provides a metal detection system for silage harvesters. This system includes a metal detection device, which comprises a metal detection sensor and a processor. The processor is used for: Obtain the current voltage signal at the current time point collected by the metal detection sensor of the forage harvester; Determine whether the peak voltage in the current voltage signal is within the preset reference threshold voltage range; If the voltage peak is within the reference threshold voltage range, then the pulse width between the first pulse corresponding to the voltage peak at the first time point and the second pulse corresponding to the second time point is determined. The first time point is the time when the voltage value corresponding to the rising edge of the pulse corresponding to the voltage peak first reaches the maximum reference threshold voltage in the reference threshold voltage range, and the second time point is the time when the voltage value corresponding to the falling edge of the pulse corresponding to the voltage peak drops to the minimum reference threshold voltage in the reference threshold voltage range. Determine whether the pulse width is within the preset pulse width reference range. If the pulse width is within the preset pulse width reference range, it is determined that a metal object has been detected.

[0014] Thirdly, in order to solve the above-mentioned technical problems, the present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the silage machine metal detection method of the present application.

[0015] Fourthly, in order to solve the above-mentioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the silage machine metal detection method of the present application.

[0016] Fifthly, in order to solve the above-mentioned technical problems, the present invention also provides a silage harvester, including the electronic equipment described in the third aspect.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below.

[0019] Figure 1 This is a schematic flowchart of a metal detection method for silage harvesters according to an embodiment of the present invention; Figure 2 A schematic flowchart illustrating another metal detection method for silage harvesters provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a metal detection system for a silage harvester according to an embodiment of the present invention; Figure 4 A schematic diagram of a reference voltage and pulse width threshold provided in one embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0020] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0021] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0022] The solution provided in this invention can be applied to any application scenario requiring metal detection in forage harvesters. The solution provided in this invention can be executed by any electronic device, such as a data processor with processing capabilities installed on the forage harvester.

[0023] This invention provides a possible implementation, such as... Figure 1 As shown, a flowchart of a metal detection method for a silage harvester is provided. For ease of description, the method provided in this embodiment of the invention will be described below using a data processor with processing capabilities installed on the silage harvester as the execution entity. Figure 1The flowchart shown indicates that the method may include the following steps: S10, acquire the current voltage signal at the current time point collected by the metal detection sensor of the silage harvester; S20, determine whether the voltage peak value in the current voltage signal is within the preset reference threshold voltage range; S30, if the voltage peak is within the reference threshold voltage range, then determine the pulse width between the first pulse corresponding to the voltage peak at the first time point and the second pulse corresponding to the second time point. The first time point is the time when the voltage value corresponding to the rising edge of the pulse corresponding to the voltage peak first reaches the maximum reference threshold voltage in the reference threshold voltage range, and the second time point is the time when the voltage value corresponding to the falling edge of the pulse corresponding to the voltage peak drops to the minimum reference threshold voltage in the reference threshold voltage range. S40, determine whether the pulse width is within the preset pulse width reference range. If the pulse width is within the preset pulse width reference range, determine that a metal object has been detected.

[0024] The method of this invention acquires the voltage signal collected by the metal detection sensor in real time. By setting a reference threshold voltage range and a pulse width reference range, and employing a dual judgment mechanism of voltage peak value and pulse width, a reasonable identification threshold is determined in combination with the characteristics of different metal samples, achieving high-precision real-time detection of metal foreign objects in the feeding device; significantly improving the accuracy and stability of metal detection, and reducing false alarms and accidental shutdowns caused by false detection.

[0025] The following specific embodiments further illustrate the solution of the present invention. In this embodiment, the metal detection method for silage harvesters may include the following steps: S10, acquire the current voltage signal at the current time point collected by the metal detection sensor of the silage harvester; In this application, voltage signals can be acquired in real time according to a set acquisition frequency, and then the voltage signals acquired at each time point are subjected to the same subsequent processing.

[0026] Among them, the metal detection sensor can be an electromagnetic induction element. The specific principle is as follows: When a metallic object enters the detection range of an electromagnetic induction element, a large number of freely moving electrons inside the metal undergo directional movement under the cutting action of the magnetic field, forming an induced current. The new magnetic field generated by the induced current interacts with the original magnetic field of the electromagnetic induction element, disrupting the magnetic field balance and causing a change in the magnetic field. As the metallic object moves from entering to leaving the detection range, this change in the magnetic field will generate a corresponding voltage change on the electromagnetic induction element, thus forming a pulse signal. Specifically, when the metal just enters the voltage detection area, the magnetic field change intensifies, and the voltage gradually increases; when the metal is fully inside and within the detection area, if the metal passes through at a constant speed and the magnetic field is stable, the voltage will remain in a relatively stable state; and when the metal begins to leave the detection area, the magnetic field change weakens, and the voltage decreases accordingly, until the metal completely leaves, at which point the voltage returns to the reference level.

[0027] S20, determine whether the voltage peak value in the current voltage signal is within the preset reference threshold voltage range; Each voltage signal may contain multiple pulses, and each pulse may correspond to a voltage peak. Therefore, the current voltage signal may correspond to multiple voltage peaks. The following processing steps S30 to S40 are performed for each voltage peak.

[0028] S30, if the voltage peak is within the reference threshold voltage range, then determine the pulse width between the first pulse corresponding to the voltage peak at the first time point and the second pulse corresponding to the second time point. The first time point is the time when the voltage value corresponding to the rising edge of the pulse corresponding to the voltage peak first reaches the maximum reference threshold voltage in the reference threshold voltage range, and the second time point is the time when the voltage value corresponding to the falling edge of the pulse corresponding to the voltage peak drops to the minimum reference threshold voltage in the reference threshold voltage range. If the voltage peak is not within the reference threshold voltage range, that is, the voltage peak is less than the minimum reference threshold voltage or greater than the maximum reference threshold voltage, it indicates that the pulse corresponding to the voltage peak is likely caused by non-target factors such as environmental interference, and the pulse can be directly filtered without processing; if the voltage peak is within the reference threshold voltage range, it indicates that the pulse corresponding to the voltage peak may be generated by a metal object, and proceed to the next step (S40) for more accurate judgment.

[0029] S40, determine whether the pulse width is within the preset pulse width reference range. If the pulse width is within the preset pulse width reference range, determine that a metal object has been detected.

[0030] For voltage peaks within the reference threshold voltage range, the pulse width corresponding to the voltage peaks within the reference threshold voltage range can be measured more precisely. For measurement, refer to... Figure 4For each voltage peak within the reference threshold voltage range, timing begins at the point when the voltage value corresponding to the rising edge of the pulse corresponding to the voltage peak first reaches the maximum reference threshold voltage, denoted as time point 1 (first time point). Timing ends at the point when the voltage value corresponding to the falling edge of the pulse drops back to the minimum reference threshold voltage, denoted as time point 2 (second time point). The difference between the pulse widths corresponding to the two time points is taken as the pulse width corresponding to the voltage value within the reference threshold voltage range. The calculated pulse width is compared with the set pulse width reference range (including the maximum and minimum pulse width reference values). If the pulse width is within the pulse width reference range, it indicates that the pulse characteristics match those of a pulse signal generated by a metal object, thus determining that a metal object has been detected. If the pulse width exceeds the pulse width reference range, whether it is greater than the maximum or less than the minimum pulse width reference value, it indicates that the pulse may be abnormal, possibly a special interference signal or a signal generated by a non-target metal object, and is therefore not considered a valid metal signal.

[0031] Optionally, if the voltage peak value is not within the reference threshold voltage range, the voltage signal at the next time point acquired by the metal detection sensor will be used as the new current voltage signal. Then, the processing steps S20 to S40 will be executed in the same way to achieve real-time detection.

[0032] Optionally, the above method further includes: S50, when it determines that a metal object has been detected, generates an alarm message and sends it to the vehicle controller of the forage harvester, so that the vehicle controller can control the forage harvester to stop operation based on the alarm message.

[0033] In addition, when an alarm message is generated, it can also be displayed to the driver on the screen. Specifically, after receiving the alarm message, the screen will display it with a conspicuous red warning box on the screen and flash it, while playing an alarm.

[0034] Optionally, the above-mentioned reference threshold voltage range is determined based on the following method: Acquire multiple metal samples, including metals of different types and sizes; As an example, different types can be classified based on the material of the metal, such as iron, copper, aluminum, etc.; different sizes refer to different lengths and different diameters, for example, the length ranges from 1cm to 10cm, and the diameter ranges from 0.5cm to 3cm.

[0035] For each metal sample, the metal sample is passed through the detection range of the metal detection sensor in different orientations to obtain multiple sample voltage signals corresponding to the metal sample; Calculate the voltage peak value of all pulses in all sample voltage signals to determine the minimum and maximum voltage peak values; The minimum voltage peak value is determined as the minimum reference threshold voltage, and the maximum voltage peak value is determined as the maximum reference threshold voltage. The reference threshold voltage range is determined based on the minimum and maximum reference threshold voltages.

[0036] Optionally, the above method further includes: The engine speed of the silage harvester can be controlled to keep the engine speed within different speed ranges; different speed ranges can correspond to different voltage signals, and by controlling the engine speed, the voltage signals corresponding to the metals in different speed ranges can be collected.

[0037] To ensure the comprehensiveness and accuracy of the collected data, the metal detection sensor synchronously acquires the voltage signals generated by metal objects passing through the feeding device at different engine speed ranges using a high sampling frequency (no less than 10kHz). In actual operation, the engine speed varies with the workload of the forage harvester, and different speeds affect the speed at which metal objects pass through the detection area, thus causing changes in the voltage signal characteristics. By dividing the engine into multiple speed ranges (e.g., low speed range 800-1200 rpm, medium speed range 1200-1800 rpm, and high speed range 1800-2500 rpm), the voltage signals generated by metal objects in each range are acquired independently.

[0038] For each metal sample, the metal sample is passed through the detection range of the metal detection sensor in different orientations to obtain multiple sample voltage signals corresponding to the metal sample, including: For each metal sample, in each rotation speed range, the metal sample passes through the detection range of the metal detection sensor in different postures to obtain multiple sample voltage signals corresponding to the metal sample in each rotation speed range.

[0039] Optionally, the above pulse width reference range is determined based on the following method: For each sample voltage signal, extract the sample pulse width corresponding to the voltage value of each pulse in the sample voltage signal when the voltage value is within the reference threshold voltage range; Statistical analysis was performed on the pulse width of all samples. The minimum pulse width among all samples was taken as the minimum reference value of pulse width, and the maximum pulse width among all samples was taken as the maximum reference value of pulse width. The pulse width reference range is determined based on the minimum and maximum pulse width reference values.

[0040] When metal objects of different sizes and materials pass through the detection area, the pulse widths generated have a certain distribution pattern. By setting a reasonable pulse width range, the metal object signal and the interference signal can be effectively distinguished.

[0041] Based on and Figure 1 Using the same principle as the method shown, this embodiment of the invention also provides a metal detection system for silage harvesters, such as... Figure 3 As shown, the metal detection system for the silage harvester ( Figure 3 The real-time metal detection system shown may include a metal detection device, which includes a metal detection sensor and a processor. Figure 3 The data processor shown in the figure), combined with Figure 2 The flowchart shown indicates that the processor is used for: Obtain the current voltage signal at the current time point collected by the metal detection sensor of the forage harvester; Determine whether the peak voltage in the current voltage signal is within the preset reference threshold voltage range; If the voltage peak is within the reference threshold voltage range, then the pulse width between the first pulse corresponding to the voltage peak at the first time point and the second pulse corresponding to the second time point is determined. The first time point is the time when the voltage value corresponding to the rising edge of the pulse corresponding to the voltage peak first reaches the maximum reference threshold voltage in the reference threshold voltage range, and the second time point is the time when the voltage value corresponding to the falling edge of the pulse corresponding to the voltage peak drops to the minimum reference threshold voltage in the reference threshold voltage range. Determine whether the pulse width is within the preset pulse width reference range. If the pulse width is within the preset pulse width reference range, it is determined that a metal object has been detected.

[0042] Optionally, the metal detection system for the silage harvester also includes a vehicle controller, and the metal detection device is connected to the vehicle controller. The metal detection device is also used to generate an alarm message and send it to the vehicle controller when a metal object is detected. The vehicle controller is used to stop the forage harvester based on alarm information.

[0043] Optionally, the forage harvester metal detection system also includes a display screen connected to the vehicle controller for displaying alarm information.

[0044] Once the metal detector detects a metal object, the data processor sends an alarm message to the vehicle controller via the CAN bus. Upon receiving the alarm, the vehicle controller immediately initiates an emergency braking procedure, cutting off power transmission and stopping the feeding and transmission mechanisms to prevent damage to vehicle components from the metal object. The vehicle controller also sends the alarm data again to the display screen via the CAN bus. Upon receiving the alarm data, the display screen will display a prominent red warning box on the screen, flashing the warning while simultaneously playing an alarm.

[0045] The metal detection device employs a high-speed microcontroller unit (MCU) to achieve millisecond-level response in data acquisition, feature extraction, and decision-making. Specifically, the data processor is the MCU, and the MCU's signal processing module is connected in real-time to the voltage sampling channel of the metal detection sensor, acquiring voltage signals at the same sampling frequency as the metal detection sensor. The metal detection device can be installed in the feed preload roller.

[0046] Optionally, to address the issue of decreased detection sensitivity of metal detectors over time, users can set the detection sensitivity via a display screen. Users can select different sensitivity levels (1-10) through the screen interface, each level corresponding to a different reference threshold coefficient (e.g., level 1 corresponds to a coefficient of 0.75, level 10 to a coefficient of 1.25). Once a level is selected, the display screen sends the corresponding sensitivity to the metal detector via the CAN bus. Upon receiving the sensitivity, the metal detector automatically multiplies the original reference threshold voltage by the corresponding coefficient, thus dynamically adjusting the voltage threshold. For example, if the original minimum reference threshold voltage is 1V, selecting level 5 (corresponding to a coefficient of 1.0) will still maintain the minimum reference threshold at 1V; selecting level 7 (corresponding to a coefficient of 1.1) will adjust the minimum reference threshold voltage to 1.1V. In this way, users can conveniently adjust the detection sensitivity of the metal detector based on factors such as usage time and environmental changes, ensuring that the system maintains consistent metal detection accuracy over long-term use.

[0047] Based on and Figure 1 Based on the same principle as the method shown, this embodiment of the invention also provides a metal detection device for silage harvesters, comprising: The acquisition module is used to acquire the current voltage signal at the current time point collected by the metal detection sensor of the silage harvester; The judgment module is used to determine whether the peak voltage in the current voltage signal is within the preset reference threshold voltage range; The first processing module is used to determine the pulse width between the first pulse corresponding to the voltage peak at the first time point and the second pulse corresponding to the second time point when the voltage peak is within the reference threshold voltage range. The first time point is the time point when the voltage value corresponding to the rising edge of the pulse of the voltage peak first reaches the maximum reference threshold voltage in the reference threshold voltage range, and the second time point is the time point when the voltage value corresponding to the falling edge of the pulse of the voltage peak drops to the minimum reference threshold voltage in the reference threshold voltage range. The second processing module is used to determine whether the pulse width is within the preset pulse width reference range. If the pulse width is within the preset pulse width reference range, it is determined that a metal object has been detected.

[0048] The solution of the present invention has the following beneficial effects: This invention proposes a real-time metal detection system that can effectively identify potential metal risks by real-time monitoring of metal foreign objects in the feeding device, avoid damage to vehicle parts, and improve the service life of forage harvester parts.

[0049] This invention employs a dual judgment mechanism of voltage peak value and pulse width, and determines a reasonable recognition threshold by combining the characteristics of different metal samples. This significantly improves the accuracy and stability of metal detection and reduces false alarms and accidental shutdowns caused by false detection.

[0050] The control logic of this invention is simple, efficient, and highly real-time, and can adapt to the continuous operation requirements under complex working conditions, ensuring the continuity and reliability of the forage harvester operation process.

[0051] The metal detection device for silage harvesters in this embodiment of the invention can execute the metal detection method for silage harvesters provided in this embodiment of the invention. The implementation principle is similar. The actions performed by each module and unit in the metal detection device for silage harvesters in each embodiment of the invention correspond to the steps in the metal detection method for silage harvesters in each embodiment of the invention. For detailed functional descriptions of each module of the metal detection device for silage harvesters, please refer to the descriptions in the corresponding metal detection methods for silage harvesters shown above. They will not be repeated here.

[0052] The metal detection device for the silage harvester can be a computer program (including program code) running on a computer device, such as an application software; the device can be used to perform the corresponding steps in the method provided in the embodiments of the present invention.

[0053] In some embodiments, the metal detection device for silage harvesters provided in this invention can be implemented using a combination of hardware and software. As an example, the metal detection device for silage harvesters provided in this invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the metal detection method for silage harvesters provided in this invention. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0054] The modules described in the embodiments of the present invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0055] Based on the same principles as the methods shown in the embodiments of the present invention, the embodiments of the present invention also provide an electronic device, which may include, but is not limited to: a processor and a memory; the memory for storing computer programs; and the processor for executing the methods shown in any embodiment of the present invention by invoking the computer programs.

[0056] In one alternative embodiment, an electronic device is provided, such as Figure 5 As shown, Figure 5 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0057] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0058] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0059] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0060] The memory 4003 stores application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0061] Among these, electronic devices can also be terminal devices. Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0062] This invention provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments.

[0063] According to another aspect of the present invention, a computer program product or computer program is also provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various embodiments described above.

[0064] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0065] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0066] The computer-readable storage medium provided in this invention can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0067] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0068] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A method for detecting metal in a silage harvester, characterized in that, include: Obtain the current voltage signal at the current time point collected by the metal detection sensor of the forage harvester; Determine whether the peak voltage in the current voltage signal is within a preset reference threshold voltage range; If the voltage peak value is within the reference threshold voltage range, then the pulse width between the first pulse corresponding to the voltage peak value at the first time point and the second pulse corresponding to the second time point is determined. The first time point is the time when the voltage value corresponding to the rising edge of the pulse corresponding to the voltage peak value first reaches the maximum reference threshold voltage in the reference threshold voltage range, and the second time point is the time when the voltage value corresponding to the falling edge of the pulse corresponding to the voltage peak value drops to the minimum reference threshold voltage in the reference threshold voltage range. Determine whether the pulse width is within a preset pulse width reference range. If the pulse width is within the preset pulse width reference range, determine that a metal object has been detected.

2. The method according to claim 1, characterized in that, If the voltage peak value is not within the reference threshold voltage range, the voltage signal of the next time point collected by the metal detection sensor will be used as the new current voltage signal.

3. The method according to claim 1, characterized in that, The method further includes: When a metal object is detected, an alarm message is generated and sent to the vehicle controller of the forage harvester, so that the vehicle controller can control the forage harvester to stop operating based on the alarm message.

4. The method according to any one of claims 1 to 3, characterized in that, The reference threshold voltage range is determined based on the following method: Obtain multiple metal samples, wherein the multiple metal samples include metals of different types and sizes; For each metal sample, the metal sample is passed through the detection range of the metal detection sensor in different orientations to obtain multiple sample voltage signals corresponding to the metal sample; Calculate the voltage peak value of all pulses in all sample voltage signals to determine the minimum and maximum voltage peak values; The minimum voltage peak value is determined as the minimum reference threshold voltage, and the maximum voltage peak value is determined as the maximum reference threshold voltage. The reference threshold voltage range is determined based on the minimum reference threshold voltage and the maximum reference threshold voltage.

5. The method according to claim 4, characterized in that, The method further includes: The engine speed of the forage harvester is controlled so that the engine speed is within different speed ranges; For each metal sample, the metal sample is passed through the detection range of the metal detection sensor in different orientations to obtain multiple sample voltage signals corresponding to the metal sample, including: For each metal sample, in each rotation speed range, the metal sample is passed through the detection range of the metal detection sensor in different postures to obtain multiple sample voltage signals corresponding to the metal sample in each rotation speed range.

6. The method according to claim 4, characterized in that, The pulse width reference range is determined based on the following method: For each of the sample voltage signals, extract the sample pulse width corresponding to the voltage value of each pulse in the sample voltage signal when the voltage value is within the reference threshold voltage range; Statistical analysis was performed on the pulse width of all samples. The minimum pulse width among all samples was taken as the minimum reference value of pulse width, and the maximum pulse width among all samples was taken as the maximum reference value of pulse width. The pulse width reference range is determined based on the minimum pulse width reference value and the maximum pulse width reference value.

7. A metal detection system for a silage harvester, characterized in that, The device includes a metal detection unit, which comprises a metal detection sensor and a processor, the processor being used for: Obtain the current voltage signal at the current time point collected by the metal detection sensor of the forage harvester; Determine whether the peak voltage in the current voltage signal is within a preset reference threshold voltage range; If the voltage peak value is within the reference threshold voltage range, then the pulse width between the first pulse corresponding to the voltage peak value at the first time point and the second pulse corresponding to the second time point is determined. The first time point is the time when the voltage value corresponding to the rising edge of the pulse corresponding to the voltage peak value first reaches the maximum reference threshold voltage in the reference threshold voltage range, and the second time point is the time when the voltage value corresponding to the falling edge of the pulse corresponding to the voltage peak value drops to the minimum reference threshold voltage in the reference threshold voltage range. Determine whether the pulse width is within a preset pulse width reference range. If the pulse width is within the preset pulse width reference range, determine that a metal object has been detected.

8. The system according to claim 7, characterized in that, The metal detection system for the silage harvester also includes a vehicle controller, and the metal detection device is connected to the vehicle controller. The metal detection device is also used to generate an alarm message and send it to the vehicle controller when it determines that a metal object has been detected. The vehicle controller is used to control the forage harvester to stop operating based on the alarm information.

9. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1-6.

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