Online yield measuring method and device for combine harvester and storage medium
By employing a dual-path differential structure and an adaptive interference noise cancellation algorithm on a combine harvester, combined with voltage-quality mapping, the problem of parameter influence not being considered in existing technologies has been solved, achieving high-precision, real-time grain yield measurement and improving operational efficiency and measurement accuracy.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-28
- Publication Date
- 2026-04-03
AI Technical Summary
Existing combine harvesters fail to effectively consider parameters such as grain mass flow rate, moisture content, operating position, operating width, and operating speed when measuring grain yield, resulting in low measurement accuracy and efficiency.
A dual-path differential structure and an adaptive interference noise cancellation algorithm are adopted. By acquiring the original voltage signal and the reference voltage signal, adaptive interference cancellation processing is performed. Combined with the pre-established voltage-mass mapping relationship, the dry weight yield per unit area is calculated, taking into account parameters such as grain mass flow rate, moisture content, operating location, operating width, and operating speed.
It enables real-time and accurate grain yield measurement, improves measurement accuracy and efficiency, reduces downtime for unloading grain, saves labor costs, and ensures the stability of yield measurement accuracy under different plots and operating conditions.
Smart Images
Figure CN121783318A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of agricultural harvester technology, and in particular to an online yield measurement method, device and storage medium for combine harvesters. Background Technology
[0002] Online yield measurement systems for combine harvesters are one of the core pieces of equipment in precision agriculture. They provide data support for refined farmland management by measuring grain yield in real time and mapping yield distribution during the harvesting process. However, most harvesters currently lack real-time grain yield measurement capabilities. During field operations, the grain must first be unloaded onto a transfer vehicle and then transported to a collection point for weighing, resulting in low efficiency and only obtaining data on the weight of the entire truckload, making it impossible to accurately calculate the yield of a single plot.
[0003] With technological advancements, a small number of existing harvesters, such as those using weighing, impulse, or volumetric flow measurement methods, are capable of measuring the weight of harvested grain. However, these existing technologies do not consider the impact of parameters such as grain mass flow rate, moisture content, operating position, operating width, and operating speed on measurement accuracy during actual measurement, thus affecting the accuracy and efficiency of the actual measurement.
[0004] Therefore, there is an urgent need for an online yield measurement method, device, and storage medium for combine harvesters to solve the above-mentioned technical problems. Summary of the Invention
[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an online yield measurement method, device and storage medium for combine harvesters. This invention can solve the technical problem that the prior art does not consider the influence of parameters such as grain mass flow rate, moisture content, working position, working width and working speed on the measurement accuracy during actual measurement, thus affecting the accuracy and efficiency of actual measurement.
[0006] To achieve the above objectives, the present invention is implemented using the following technical solution: In a first aspect, the present invention provides an online yield measurement method for a combine harvester, comprising: Acquire the raw voltage signal and reference voltage signal generated by the impulse-type grain flow sensor as the grain grains flow through it; The original voltage signal and the reference voltage signal are converted to obtain the first sensor sampling sequence and the second sensor sampling sequence; Adaptive interference cancellation processing is performed on the sampling sequences of the first and second sensors to obtain a pure grain flow voltage signal. Based on the pre-established voltage-mass mapping relationship, the pure grain flow voltage signal is converted into instantaneous grain mass flow rate; The dry weight yield per unit area is calculated based on the instantaneous grain mass flow rate.
[0007] Furthermore, calculating the dry weight yield per unit area based on the instantaneous grain mass flow rate includes: , in, This represents the dry weight yield per unit area of the i-th sampling cell. This represents the weight of grain in the i-th sampling cell. This represents the area of the i-th sampling cell. This represents the grain moisture content of the i-th sampling cell. Indicates the standard moisture content of grains. Let T represent the forward speed of the combine harvester in the i-th sampling cell, and let T represent the system sampling period. This represents the cut width of the i-th sampling cell.
[0008] Furthermore, adaptive interference cancellation processing is performed on the sampling sequences of the first and second sensors to obtain a pure grain flow voltage signal: An error signal is constructed based on the sampling sequences of the first and second sensors: ; Construct an error energy function based on the error signal: , Take the first derivative of the error energy function: , Setting the first derivative to 0, we obtain the expression: , Solving for the optimal interference reduction factor ; Based on the aforementioned optimal interference reduction factor, a pure grain flow voltage signal is obtained: , in, For error signals, This is the sampling sequence of the first sensor. This is the sampling sequence for the second sensor. For the index of the detection signal sampling points, for Zhongyu The most similar subsequence of waveforms express Zhongyu The starting position of the subsequence with the most similar waveform. To eliminate interference factors, Let be the error energy function. The length of the first sensor sampling sequence. To be the optimal interference reduction factor, This is the voltage signal for the pure grain flow rate.
[0009] Furthermore, before performing adaptive interference cancellation processing, the following steps are also included: Calculate the cross-correlation sequence based on the first sensor sampling sequence and the second sensor sampling sequence: , Align the waveforms of the first sensor sampling sequence and the second sensor sampling sequence, and determine the optimal alignment position based on the cross-correlation sequence: , in, For cross-correlation sequences, when and When aligning noise waveforms, Reaching the extreme value, For the sliding alignment window of the reference signal, To maximize the cross-correlation coefficient, The starting position of the reference signal sliding window. The length of the sampling sequence for the second sensor.
[0010] Secondly, the present invention provides an online yield measurement device for a combine harvester, characterized in that it comprises: The signal acquisition module is used to acquire the raw voltage signal and reference voltage signal generated by the impulse grain flow sensor as the grain grains flow through it; The signal conversion module is used to convert the original voltage signal and the reference voltage signal to obtain the first sensor sampling sequence and the second sensor sampling sequence; An interference cancellation module is used to perform adaptive interference cancellation processing on the sampling sequences of the first sensor and the second sensor to obtain a pure grain flow voltage signal. The mapping module is used to convert the pure grain flow voltage signal into instantaneous grain mass flow rate based on a pre-established voltage-mass mapping relationship. The yield calculation module is used to calculate the dry weight yield per unit area based on the instantaneous grain mass flow rate.
[0011] Furthermore, it also includes: Grain moisture sensor is used to measure the moisture content of grain in real time, and then to calculate the dry yield of grain; A GNSS receiver is used to receive satellite positioning signals and provide location coordinates. The operating speed sensor is used to measure the real-time travel speed of the harvester in the field.
[0012] A cutting width sensor is used to monitor the actual operating cutting width of the header of a combine harvester in real time.
[0013] Furthermore, the impulse-type grain flow sensor includes: The detection plate, a sensing element used to withstand the impact of the grain flow, is directly facing the impacting grain flow; Reference plate, used to detect vibration and noise in the measurement environment; The detection cantilever beam is fixed to the combine harvester housing at one end via a connecting plate, and rigidly connected to the detection plate at the other end, which is used to convert the impact force received by the detection plate into elastic deformation. The reference cantilever beam is fixed at one end to the combine harvester housing via a connecting plate, and the other end is rigidly connected to the reference plate. It is used to convert the force caused by vibration and noise on the reference plate into elastic deformation. A pressure-sensitive element is installed on the detection cantilever beam to convert the deformation of the detection cantilever beam into a first sensor sampling sequence, which includes the target signal generated by grain impact and the interference noise introduced by machine vibration.
[0014] A reference pressure-sensitive element is mounted on the reference cantilever beam to convert the deformation of the reference cantilever beam into a second sensor sampling sequence, the second sensor sampling sequence including environmental vibration noise.
[0015] Thirdly, the present invention provides an electronic terminal, including a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the method described in any of the preceding claims are performed.
[0016] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described above.
[0017] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: This invention first proposes an online yield measurement method for combine harvesters. By converting the acquired raw voltage signal and reference voltage signal, a first sensor sampling sequence and a second sensor sampling sequence are obtained. Then, adaptive interference cancellation processing is applied to the first and second sensor sampling sequences to obtain a pure grain flow voltage signal. Based on a pre-established voltage-mass mapping relationship, the pure grain flow voltage signal is converted into an instantaneous grain mass flow rate. The dry weight yield per unit area is then calculated based on this instantaneous grain mass flow rate. Furthermore, the specific calculation of the yield per unit area considers parameters such as grain mass flow rate, moisture content, operating position, operating width, and operating speed, thus improving measurement accuracy and efficiency. This has enabled a shift from post-harvest weighing to real-time yield measurement during operations, changing the traditional inefficient and slow manual weighing mode and greatly improving operational efficiency. Yield data can be obtained continuously without stopping the grain to unload, saving a lot of time and labor costs.
[0018] The dual-path differential structure and adaptive interference noise cancellation algorithm can greatly suppress mechanical vibration and impact interference, accurately extract weak grain impact signals from strong noise background, and significantly improve yield measurement accuracy.
[0019] The adaptive interference noise can update the filtering parameters online in real time and automatically track the random drift of vibration noise caused by terrain undulation, engine speed changes, component wear, etc., ensuring the stability of production measurement accuracy under different plots and different working conditions. Attached Figure Description
[0020] Figure 1 This is a flowchart of an online yield measurement method for a combine harvester provided in an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the principle of the adaptive interference noise cancellation algorithm provided in this embodiment of the invention; Figure 3 This is a schematic diagram of the impulse-type grain flow sensor structure provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the workflow of the yield measurement system for a high-impact grain combine harvester; Figure 5 This is a schematic diagram illustrating the principle of the adaptive interference noise cancellation algorithm; Among them, 1. Impulse-type grain flow sensor; 2. Grain moisture sensor; 3. GNSS receiver; 4. Yield monitoring terminal screen; 5. Operating speed sensor; 6. Cutting width sensor; 7. Detection plate; 8. Detection cantilever beam; 9. Reference plate; 10. Reference cantilever beam; 11. Detection pressure-sensitive element; 12. Reference pressure-sensitive element; 13. Connecting plate; 14. Harvester housing. Detailed Implementation
[0021] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.
[0022] In this invention, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B together, or B alone. Additionally, in this invention, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Example
[0023] Figure 1 This is a flowchart of the online yield measurement method for combine harvesters in Embodiment 1 of the present invention. This flowchart only illustrates the logical sequence of the method described in this embodiment. Provided there are no conflicts, different methods may be used in other possible embodiments of the present invention. Figure 1 Complete the steps shown or described in the order indicated.
[0024] The online yield measurement method for combine harvesters provided in this embodiment can be applied to a terminal and can be executed by a mechanical equipment fault identification device. This device can be implemented in software and / or hardware and can be integrated into the terminal, such as any smartphone, tablet, or computer device with communication capabilities. The method in this embodiment specifically includes the following steps: Step 1: Acquire the raw voltage signal and reference voltage signal generated by the impulse grain flow sensor as the grain grains flow through it; Among them, the detection board of the impulse grain flow sensor is used to receive the target signal (i.e., the attached...) Figure 2 x) and interference noise The reference plate of the impulse grain flow sensor only receives interference noise. Related noise The difference in sensor parameters between the two detection boards leads to and They are related but have different waveforms and are unrelated to the target signal.
[0025] Step 2: Control the ADC unit to convert the original voltage signal and the reference voltage signal to obtain the first sensor sampling sequence and the second sensor sampling sequence; The standard English translation of ADC unit is Analog-to-Digital-Converter, which is common in the industry and belongs to conventional existing technology. In this application, it only plays a conventional signal conversion role and will not be described in detail.
[0026] Step 3: As Figure 2 As shown, adaptive interference cancellation processing (i.e., adaptive interference noise cancellation algorithm) is performed on the sampling sequences of the first and second sensors to obtain a pure grain flow voltage signal: An error signal is constructed based on the sampling sequences of the first and second sensors: ; The optimal interference reduction factor is found using the least squares criterion to maximize the elimination of interference noise introduced by machine vibration, thereby obtaining a pure grain impact signal. Specifically: Construct an error energy function based on the error signal: , Take the first derivative of the error energy function: , Setting the first derivative to 0, we obtain the expression: , Solving for the optimal interference reduction factor ; Based on the aforementioned optimal interference reduction factor, a pure grain flow voltage signal is obtained: , in, For error signals, This is the sampling sequence of the first sensor. This is the sampling sequence for the second sensor. For the index of the detection signal sampling points, for Zhongyu The most similar subsequence of waveforms express Zhongyu The starting position of the subsequence with the most similar waveform. To eliminate interference factors, Let be the error energy function. The length of the first sensor sampling sequence. To be the optimal interference reduction factor, The pure grain flow voltage signal is p(n)≈s (interference noise is canceled), which is used to accurately extract the grain flow signal under strong vibration environment, greatly improving the stability and accuracy of the combine harvester yield measurement system.
[0027] Step 4: Based on the pre-established voltage-mass mapping relationship, convert the pure grain flow voltage signal into instantaneous grain mass flow rate; The pre-established voltage-mass mapping relationship mentioned above is generally completed through static calibration experiments. Standard weights are used on the calibration platform to simulate impact and establish a voltage-mass conversion model. The voltage signal generated by the impact of grain is linearly related to the mass flow rate. The collected voltage and mass data points are linearly fitted to obtain the pre-established voltage-mass mapping relationship. The specific implementation method is a conventional existing technology and will not be elaborated here.
[0028] Step 5: Calculate the dry weight yield per unit area based on the instantaneous grain mass flow rate, and finally bind it with GNSS coordinates to generate a spatialized yield distribution map displayed on the terminal screen. The calculation of the dry weight yield per unit area based on the instantaneous grain mass flow rate includes: , in, This represents the dry weight yield per unit area of the i-th sampling cell (in kg / hm2). This represents the weight of grain (in kg) in the i-th sampling cell. This represents the area of the i-th sampling cell (in m2). This represents the grain moisture content (in %) of the i-th sampling cell. This indicates the standard moisture content of grains (in %). Let T represent the forward speed of the combine harvester in the i-th sampling cell (in m / s), and let T represent the system sampling period. This represents the cut width (in meters) of the i-th sampling cell.
[0029] It should be noted that, before performing adaptive interference cancellation processing, a cross-correlation sequence can be calculated based on the sampling sequences of the first and second sensors: , Align the waveforms of the first sensor sampling sequence and the second sensor sampling sequence, and determine the optimal alignment position based on the cross-correlation sequence: , in, For cross-correlation sequences, when and When aligning noise waveforms, Reaching the extreme value, For the sliding alignment window of the reference signal, To maximize the cross-correlation coefficient, The starting position of the reference signal sliding window. The length of the sampling sequence of the second sensor. Provides redundancy for sliding alignment.
[0030] The purpose of the alignment described above is to resolve the time delay issue between the sensor signals in the two detection boards. and The waveforms are similar but have unknown delays, so they need to be aligned to eliminate subsequent interference.
[0031] Example 2: Embodiment 2 of the present invention provides an online yield measurement device for a combine harvester, comprising: The signal acquisition module is used to acquire the raw voltage signal and reference voltage signal generated by the impulse grain flow sensor 1 as the grain grains flow through it; The signal conversion module is used to convert the original voltage signal and the reference voltage signal to obtain the first sensor sampling sequence and the second sensor sampling sequence; An interference cancellation module is used to perform adaptive interference cancellation processing on the sampling sequences of the first sensor and the second sensor to obtain a pure grain flow voltage signal. The mapping module is used to convert the pure grain flow voltage signal into instantaneous grain mass flow rate based on a pre-established voltage-mass mapping relationship. The yield calculation module is used to calculate the dry weight yield per unit area based on the instantaneous grain mass flow rate.
[0032] Regarding the aforementioned combine harvester, such as Figure 3 As shown, it includes: Grain moisture sensor 2 is installed in the flow path after the threshing and cleaning system and before the grains enter the grain bin (e.g., Figure 3 The outlet of the elevator (as shown) is used to measure the moisture content of the grain in real time, and then to calculate the dry yield of the grain; GNSS receiver 3, mounted on top of the harvester, is used to receive satellite positioning signals and provide position coordinates; The operating speed sensor 5 can be a radar speed sensor or a wheel speed sensor installed on the drive wheel / shaft, used to measure the real-time travel speed (ground speed) of the harvester in the field.
[0033] The cutting width sensor 6 is used to monitor the actual operating cutting width of the combine harvester header in real time.
[0034] The yield monitoring terminal screen 4 is the central processing and display unit of the system, installed in the cab. The yield monitoring terminal screen 4 receives and processes in real time the dual-channel signals (including noise reduction processing) from the impulse grain flow sensor 1, the moisture signal from the grain moisture sensor 2, the position signal from the GNSS receiver 3, the cutting width signal from the cutting width sensor 6, and the speed signal from the operating speed sensor 5 via the CAN bus. It calculates the yield based on these signals and displays a yield distribution map. The specific calculation method has been disclosed in Embodiment 1. Generating a yield distribution map based on the calculated yield and displaying it on the yield monitoring terminal screen 4 is conventional prior art and will not be elaborated further here.
[0035] Regarding the aforementioned impulse grain flow sensor 1, as follows: Figure 4 As shown, it includes: The detection plate 7 is a sensing element used to withstand the impact of the grain flow, and it faces the impacting grain flow directly. Reference plate 9 is used to detect vibration and noise in the measurement environment; The detection cantilever beam 8 is fixed at one end to the combine harvester housing 14 via a connecting plate 13, and the other end is rigidly connected to the detection plate 7, which is used to convert the impact force received by the detection plate 7 into elastic deformation. The reference cantilever beam 10 has one end fixed to the combine harvester housing 14 via a connecting plate 13, and the other end rigidly connected to the reference plate 9, which is used to convert the force caused by vibration and noise on the reference plate 9 into elastic deformation. A pressure-sensitive element 11 is installed on the detection cantilever beam 8 to convert the deformation of the detection cantilever beam 8 into a first sensor sampling sequence, which includes the target signal generated by grain impact and the interference noise introduced by machine vibration.
[0036] A reference pressure-sensitive element 12 is mounted on the reference cantilever beam 10 to convert the deformation of the reference cantilever beam 10 into a second sensor sampling sequence. The second sensor sampling sequence includes environmental vibration noise, which is related to the interference noise n1 introduced by machine vibration and does not contain the effective signal generated by grain impact.
[0037] After fully disclosing the structure of the online yield measurement device for the combine harvester, the flowchart of the device's operation is as follows: Figure 5 As shown.
[0038] The online yield measurement device for combine harvesters provided in Embodiment 2 of the present invention can execute the online yield measurement method for combine harvesters provided in Embodiment 1 of the present invention, and has the corresponding functional modules and beneficial effects of the method. Example 3:
[0039] Embodiment 3 of the present invention also provides an electronic terminal, including a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and the processor is used to perform operations according to the instructions to execute the steps of the method described in Embodiment 1.
[0040] The electronic terminal provided in Embodiment 3 of the present invention can execute the online yield measurement method for combine harvesters provided in Embodiment 1 of the present invention, and has the corresponding functional modules and beneficial effects of the method. Example 4:
[0041] Embodiment 4 of the present invention also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the steps of the method described in Embodiment 1, and has the corresponding functional modules and beneficial effects of the method.
[0042] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0043] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.
[0044] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.
[0045] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0046] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.
Claims
1. A method for online yield measurement of a combine harvester, characterized in that, include: Acquire the raw voltage signal and reference voltage signal generated by the impulse-type grain flow sensor as the grain grains flow through it; The original voltage signal and the reference voltage signal are converted to obtain the first sensor sampling sequence and the second sensor sampling sequence; Adaptive interference cancellation processing is performed on the sampling sequences of the first and second sensors to obtain a pure grain flow voltage signal. Based on the pre-established voltage-mass mapping relationship, the pure grain flow voltage signal is converted into instantaneous grain mass flow rate; The dry weight yield per unit area is calculated based on the instantaneous grain mass flow rate.
2. The online yield measurement method for combine harvesters according to claim 1, characterized in that, The calculation of dry weight yield per unit area based on the instantaneous grain mass flow rate includes: ， in, This represents the dry weight yield per unit area of the i-th sampling cell. This represents the weight of grain in the i-th sampling cell. This represents the area of the i-th sampling cell. This represents the grain moisture content of the i-th sampling cell. Indicates the standard moisture content of grains. Let T represent the forward speed of the combine harvester in the i-th sampling cell, and let T represent the system sampling period. This represents the cut width of the i-th sampling cell.
3. The online yield measurement method for combine harvesters according to claim 2, characterized in that, Adaptive interference cancellation processing is performed on the sampling sequences of the first and second sensors to obtain a pure grain flow voltage signal. An error signal is constructed based on the sampling sequences of the first and second sensors: ； Construct an error energy function based on the error signal: ， Take the first derivative of the error energy function: ， Setting the first derivative to 0, we obtain the expression: ， Solving for the optimal interference reduction factor ; Based on the aforementioned optimal interference reduction factor, a pure grain flow voltage signal is obtained: ， in, For error signals, This is the sampling sequence of the first sensor. This is the sampling sequence from the second sensor. For the index of the detection signal sampling points, for Zhongyu The most similar subsequence of waveforms express Zhongyu The starting position of the most similar subsequence of waveforms. To eliminate interference factors, Let be the error energy function. The length of the first sensor sampling sequence. To be the optimal interference reduction factor, This is the voltage signal for the pure grain flow rate.
4. The online yield measurement method for combine harvesters according to claim 3, characterized in that, Before performing adaptive interference cancellation processing, the following is also included: Calculate the cross-correlation sequence based on the first sensor sampling sequence and the second sensor sampling sequence: ， Align the waveforms of the first sensor sampling sequence and the second sensor sampling sequence, and determine the optimal alignment position based on the cross-correlation sequence: ， in, For cross-correlation sequences, when and When aligning noise waveforms, Reaching the extreme value, For the sliding alignment window of the reference signal, To maximize the cross-correlation coefficient, The starting position of the reference signal sliding window. The length of the sampling sequence for the second sensor.
5. An online yield measurement device for a combine harvester, characterized in that, include: The signal acquisition module is used to acquire the original voltage signal and reference voltage signal generated by the grain grain flow through the impulse grain flow sensor (1); The signal conversion module is used to convert the original voltage signal and the reference voltage signal to obtain the first sensor sampling sequence and the second sensor sampling sequence; An interference cancellation module is used to perform adaptive interference cancellation processing on the sampling sequences of the first sensor and the second sensor to obtain a pure grain flow voltage signal. The mapping module is used to convert the pure grain flow voltage signal into instantaneous grain mass flow rate based on a pre-established voltage-mass mapping relationship. The yield calculation module is used to calculate the dry weight yield per unit area based on the instantaneous grain mass flow rate.
6. The online yield measurement device for combine harvesters according to claim 5, characterized in that, Also includes: Grain moisture sensor (2) is used to measure the moisture content of grain in real time, and then to calculate the dry yield of grain; GNSS receiver (3) is used to receive satellite positioning signals and provide position coordinates; The operating speed sensor (5) is used to measure the real-time travel speed of the harvester in the field. The cutting width sensor (6) is used to monitor the actual operating cutting width of the combine harvester header in real time.
7. The online yield measurement device for combine harvesters according to claim 5, characterized in that, The impulse grain flow sensor (1) includes: The detection plate (7) is a sensing element used to withstand the impact of the grain flow and is directly facing the impacting grain flow; Reference plate (9) is used to detect vibration and noise in the measurement environment; The detection cantilever beam (8) is fixed at one end to the combine harvester housing (14) via a connecting plate (13), and the other end is rigidly connected to the detection plate (7) to convert the impact force on the detection plate (7) into elastic deformation. The reference cantilever beam (10) is fixed at one end to the combine harvester housing (14) via a connecting plate (13), and at the other end is rigidly connected to the reference plate (9) to convert the force caused by vibration and noise on the reference plate (9) into elastic deformation. A pressure-sensitive element (11) is installed on the detection cantilever beam (8) to convert the deformation of the detection cantilever beam (8) into a first sensor sampling sequence, the first sensor sampling sequence including the target signal generated by the grain impact and the interference noise introduced by the machine vibration; A reference pressure-sensitive element (12) is mounted on the reference cantilever beam (10) to convert the deformation of the reference cantilever beam (10) into a second sensor sampling sequence, the second sensor sampling sequence including environmental vibration noise.
8. An electronic terminal, characterized in that, It includes a processor and a memory connected to the processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, it performs the steps of the method as described in any one of claims 1 to 4.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 4.