Substance-independent mass flow sensor

Abstract

A mass independent mass flow sensor is used to generate a signal that can be used to calculate the mass flow rate of grain being harvested by the combine. A method for determining a mass of a substance includes receiving data from a three-point measurement transducer and determining an angular center of mass position of an object based on the data from the three-point measurement transducer. A coefficient of friction of the object is determined. A velocity of the object is determined. A mass of the object is determined. The mass of the object can be determined based on the angular position of the mass position of the object, the coefficient of friction of the object, and the velocity of the object.

Description

Technical Field

[0001] The present invention relates to agricultural yield monitoring, and more particularly to a substance-independent mass flow sensor used in yield monitoring.

Background Art

[0002] Many combines used to harvest grains from farmland are equipped with sensors for detecting various characteristics of the harvested grains. Information regarding the mass of the harvested grains is useful for determining the yield of the grains harvested from the farmland. Yield can be determined using mass flow measurement of the harvested grains. The determined yield can also be used to determine how the crops in a particular area should be treated with agricultural materials in order to increase the yield from that area.

[0003] In conventional mass flow measurement in a grain transfer device, the best approximation methods and devices are utilized. In the case of a combine, the grain flow is impeded by a collision plate provided in a force measuring device beyond the polished grain elevator. In the force measuring device, the partial collision of the grains generates an electrical signal proportional to the load, and subsequently a digital display is generated in the provided electronic computing device. The force measuring device is usually a unidirectional sensor that detects the collision force. The grain flow is also impeded by a guiding bend (e.g., a bending plate). When using a bending plate, the grain flow is guided to move along the bending plate, and the sensor detects the forces (e.g., collision force and / or centripetal force) generated by the grains colliding with or moving along the guiding bend. The conversion from the collision or centripetal force to the grain flow utilizes reference tables and / or piecewise non-linear collision force curves created with much labor, and these tables and / or curves depend on many variables including, but not limited to, grain type, moisture content, temperature, grain velocity, physical dimensions of the collision plate and surrounding structure, etc., and usually require constant verification and / or recalibration throughout the harvest season. What is needed is a device that allows the user to easily obtain accurate yield measurements.

Summary of the Invention

Problems to be Solved by the Invention

[0004] The present disclosure relates to a substance-independent mass flow sensor for calculating the mass flow rate of grains harvested by a combine harvester.

Means for Solving the Problems

[0005] In one embodiment, to determine the mass of an object passing through a Material independent mass flow sensor (MIMFS), it includes receiving data from a three-point measurement transducer attached to a load bend when the object passes through the MIMFS. The angular center of the mass position of the object along the load bend based on the data from the three-point measurement transducer is determined. In one embodiment, the angular center of the mass position of the object is the bending force F B , the expansion and contraction force F S , the torque T, the load bend radius R, the transducer mounting offset E, and the transducer mounting angular position β with respect to the mechanical reference plane. The coefficient of friction of the object is determined. In one embodiment, the coefficient of friction of the object is determined based on the angular center α of the mass position, F B , F S , and β. The velocity of the object is determined. In one embodiment, the velocity of the object is based on the angular center α of the mass position, the coefficient of friction μ of the object, the load bend radius R, the acceleration due to gravity g, the angular position δ of the load bend inlet with respect to the mechanical reference plane, and the initial velocity of the object when entering the load bend at position δ being ν0. The mass of the object is determined. In one embodiment, the mass of the object is determined based on the angular center of the mass position of the object, the coefficient of friction of the object, and the velocity of the object. In one embodiment, the mass of the object further includes the load bend radius R, the transducer mounting angular position β with respect to the mechanical reference plane, the acceleration due to gravity g, the angular offset θ of the mechanical reference plane from the true horizontal, and F BIt is based on. In one embodiment, the measurement time, specifically the time when the mass is located at the load bend, is determined. In one embodiment, the measurement time is determined based on the average velocity of the mass along the load bend. In one embodiment, the measurement time is further based on the angular position δ of the load bend inlet with respect to the machine reference plane, the angular position γ of the load bend outlet with respect to the machine reference plane, and the load bend radius R. The mass flow rate is determined. In one embodiment, the mass flow rate is determined based on the mass of the object and the measurement time. The additional mass is determined. In one embodiment, the additional mass is determined based on the mass of the object, the measurement sampling rate of the three-point measurement transducer, and the measurement time. The total mass is determined. In one embodiment, the total mass is determined by summing the additional mass over the duration of the process. A substance-independent mass flow sensor and a combine having the substance-independent mass flow sensor are also described.

Brief Description of the Drawings

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Figure 1

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Figure 7

[0013] FIG. 1 shows a combine 102 located in an agricultural field. The combine 102 is harvesting grain that is transferred to a grain vehicle 122. In one embodiment, the combine 102 is equipped with sensors for determining various attributes of the harvested grain. As the combine 102 moves within the agricultural field, it harvests substances such as grain grown within the agricultural field. The harvested grain moves through a conduit located within the combine 102 and acts on a mass flow sensor. The mass flow sensor determines the mass of substances such as grain flowing through the conduit in which the mass flow sensor is located. Data from the mass flow sensor and data from the grain vehicle 122 can be used to determine the yields produced in different regions of the agricultural field being harvested. And the yield information can be used to change planting and treatment in different regions of the agricultural field.

[0014] Mass flow meters require frequent calibration. One reason for this calibration need is due to the different characteristics of different substances whose mass is measured by the mass flow sensor (for example, the amount of friction that occurs as the substance moves along the flexure impact plate varies depending on the substance). Improvement of mass flow measurement is possible by connecting a force measuring device to the flexure load plate as described in the present disclosure. In one embodiment, the mass flow sensor utilizes a three-point measurement transducer that can sense the force generated by the action of the substance on the flexure impact plate of the mass flow sensor. This sensing of three parameters by the three-point measurement transducer can exclude some variables such as friction from the equation used to calculate the mass of the substance moving the mass flow sensor. Data from such a mass flow sensor can be used to determine the mass flow rate of the substance flowing through the mass flow sensor regardless of the type of substance. As used herein, a mass flow sensor designed to determine the mass flow rate of a substance regardless of the type of substance is referred to as a substance-independent mass flow sensor. In one embodiment, the combine 102 is equipped with a substance-independent force mass flow sensor used to determine the mass of the grain harvested by the combine 102.

[0015] FIG. 2 shows a substance-independent mass flow sensor (MIMFS) 200 having a load flexure 202. In one embodiment, the load flexure 202 is a flexure plate made of stainless steel, but it can also be manufactured from other materials that can maintain their shape in the use of the present disclosure. In one embodiment, the load flexure has a constant radius. A force transfer fixture 204 is attached to the load flexure 202, and the force applied to the load flexure 202 is transmitted to the force transfer fixture 204. The three-point measurement transducer 206 detects the force generated by the substance 210 (for example, grain) that contacts the load flexure 202. In one embodiment, the three-point measurement transducer 206 measures the bending force F B , the tensile force F S , and the torque T. The bending force F Bis the vector component of the net force of the mass on the load bending acting in the bending direction of the sensor, which is parallel to the angular position of the mounting part and is β with respect to the mechanical reference plane. F B can be measured using transducer technologies independent of the load position, such as differential bending cross members and shear cross members. The tensile force F S is the vector component of the net force of the mass on the load bending acting in the tensile direction of the sensor, which is perpendicular to the bending direction of the sensor and is the tangent of the guiding bend in the operating direction of the substance. F S can be measured using transducer technologies independent of the load position, such as differential bending cross members and shear cross members. The torque T is the net moment generated by the bending force and the tensile force and their respective distances from the zero moment position of the sensor. T can be measured using a bending cross member transducer technology that depends on both force and distance. The measurement of the three forces is used to determine the mass of the grain flowing through the MIMFS200.

[0016] Figure 3 is a schematic of the forces acting on the grain 210 and the forces measured by the MIMFS200. The three forces (i.e., bending, tensile, and torque) are measured by the three-point measurement transducer 206. F B is the bending force and is perpendicular to the load bending 202 at the connection position. F S is the tensile force and is parallel to the load bending 202 at the connection position. T is the moment generated by the mass on the load bending 202 around the zero moment position of the transducer and is called torque. The zero moment position on the three-point measurement sensor is the position where the vector of the force in the bending direction or the tensile direction generates a moment of zero. Those at positions not aligned with the zero moment position by these force vectors generate moments proportional to the magnitude of the respective force vectors and their distances from the zero moment position.

[0017] The forces acting on the grain 210 are shown in Figure 3 and can be calculated as follows. F C is calculated as follows. FC = mv 2 / R Here, F C is the centripetal force, m is the mass of the substance 210, v is the velocity of the substance 210, and R is the radius of the load bend 202.

[0018] F F is calculated as follows. F F = μmv 2 / R Here, F F is the frictional force, μ is the coefficient of friction of the mass moving along the load bend 202, m is the mass of the substance 210, v is the velocity of the substance 210, and R is the radius of the load bend 202.

[0019] F g is calculated as follows. F g = mg Here, F g is the force due to gravity, m is the mass of the substance 210, v is the velocity of the substance 210, and g is the acceleration due to gravity.

[0020] As shown in Figure 3, the machine vertical is perpendicular to the machine reference plane. Note that, as shown in Figure 3, the machine reference plane may not be equal to the horizontal, so the machine vertical is not always the same as the true vertical. For example, when the machine is moving on a flat and horizontal surface, the machine reference plane is the same as the true horizontal, and similarly, the machine vertical is the same as the true vertical.

[0021] As shown in FIG. 3, there are several known parameters. δ is the angular position of the load bend inlet with respect to the machine reference plane (i.e., the position along the load bend 202 where a substance such as grain first collides with the load bend). γ is the angular position of the load bend outlet with respect to the machine reference plane (i.e., the position along the load bend 202 where a substance such as grain no longer collides with the load bend). β is the angular position of the load bend / transducer connection point with respect to the machine reference plane. It is defined as the angle between the machine reference plane and the line from the center of curvature of the load bend to the load bend / transducer connection point 202. The angle β also defines the direction of the bending force F B acting on the three-point measurement sensor 206 with respect to the machine reference plane. R is the radius of the load bend 202. E is the offset distance in the β direction from the load bend 202 to the transducer 206 connection position. X is the offset distance perpendicular to the β direction from the transducer connection point position to the zero moment position of the transducer. g is the acceleration due to gravity.

[0022] In one embodiment, based on data from other devices, two specific variables are measured, hypothesized, or input. v0 is the initial velocity of the mass of the grain 210 as it enters the load bend 202 at the angular position δ of the load bend inlet. v0 can be estimated using the equation v0 = ωr when the grain leaves the polished grain elevator and enters the MIMFS, where ω is the rotational speed of the elevator drive sprocket and r is the distance from the axis of the elevator drive sprocket to the center of mass of the grain mass when the grain leaves the elevator paddle. ω can be read in real time and adjusted through combine communication. r can be set manually or read through combine communication and adjusted based on a specific elevator configuration. θ is the angular offset of the machine reference plane from the true horizontal. θ is the pitch angle of the combine, such as the rise / fall of the header when the combine moves across the farmland during harvesting. It can be read and adjusted in real time by using, as part of a three-point measurement sensor or any available built-in angle measurement device (e.g., inclinometer, accelerometer, etc.), or through combine communication.

[0023] There are four unknown physical quantities that affect the forces that occur when a substance (e.g., grain 210) moves along the concave surface of the load bend 202. α is the angular position of the mass along the load bend 202 with respect to the machine reference plane. μ is the coefficient of friction of the mass moving along the load bend 202. v is the velocity of the mass of the substance as it moves along the load bend 202. Finally, m is the mass of the substance (e.g., grain 210) moving along the load bend 202.

[0024] Each unknown physical quantity can be expressed by an equation. In one embodiment, four equations are used to solve for the four unknowns.

[0025] Figure 4 shows the details of the forces associated with the mass flow sensor independent of the substance, and more specifically, shows the forces acting on the substance 210 (e.g., grain). The multiple forces include F, which is perpendicular to the load bend 202.N and F, which is the tangent to the load bend 202 FRICTION is included, and these are due to the substance 210 moving along the load bend 202.

[0026] F N is calculated using the following. F N = mv 2 / R - mgsin(α + θ)

[0027] Here, m is the mass of the substance 210, v is the velocity of the substance 210, R is the radius of the load bend 202, g is the acceleration due to gravity, α is the center of mass of the object, and θ is the angular offset of the mechanical reference plane from the horizontal (true horizontal).

[0028] F FRICTION is calculated using the following. F FRICTION = μ(mv 2 / R - mgsin(α + θ)) Here, μ is the coefficient of friction, m is the mass of the substance 210, v is the velocity of the substance 210, R is the radius of the load bend 202, g is the acceleration due to gravity, α is the center of mass of the object, and θ is the angular offset of the mechanical reference plane from the horizontal (true horizontal).

[0029] The first equation relates to potential energy, mechanical energy, and frictional effects. ΔPE = ΔKE - ΔW FRICTION Here, PE is potential energy, KE is mechanical energy, and W FRICTIONis the work done by friction.

[0030] The above-mentioned parameters and F N and F FRICTION Replacing the delta term by calculations related to and F gives the following equation.

Equation

[0031] And processing this equation generates the following equation.

Equation

[0032] Figure 5 shows additional forces associated with the mass flow sensor independent of the substance, and more specifically, shows the additional forces acting on the substance 210 (e.g., grains).

[0033] The second equation is obtained by adding a plurality of forces in the bending direction and setting them to zero. ΣF B =0 Solving the equation for the bending force, F B is as follows.

Equation

[0034] The third equation is obtained by adding a plurality of forces in the expansion and contraction direction and setting them to zero. ΣF S =0 Solving the equation for the expansion and contraction force, F S is as follows.

Equation

[0035] The fourth equation sums the moments about the zero moment position and sets the summed moment to 0. ΣM = 0

[0036] Solving the torque equation, T is as follows.

Equation

[0037] FIG. 6 shows a flowchart of a method 600 for determining the mass of a substance (e.g., an object such as a grain) based on data from a substance-independent mass flow sensor according to an embodiment. In step 602, data regarding bending force, expansion / contraction force, and torque are received from the three-point measurement transducer 206. In step 604, an angular center α of the mass position of the object along the load bend 202 is determined based on the data from the three-point measurement transducer. The force is due to an object moving along the load bend 202. In one embodiment, the angular center α of the mass position is the F of the sensor measurement B F S , and T, the load bend radius R, the transducer mounting offset E, and the transducer mounting angular position β with respect to the mechanical reference plane. In one embodiment, the angular center α of the mass position is determined by using one of the solutions of α resulting from solving four equations regarding the aforementioned α, μ, v, and m.

Number

[0038] In one embodiment, in the case of a load bend arrangement that produces a force in a bending direction that reverses, this case can be made unnecessary by a specific design of the load bend, but the second solution of α can be replaced.

Number

[0039] In step 606, the friction coefficient μ of the object is determined. In one embodiment, the friction coefficient of the object is calculated based on the angular center α of the mass position determined in step 604, F B F S , and β. Note that calculating the friction coefficient of the object suggests knowledge of friction-dependent properties of the substance such as moisture, dimensions, shape, etc., but data regarding these properties is not required when using the method of the present disclosure. Thus, the mass flow measurement is substance-dependent. In one embodiment, the following equation is used to determine the friction coefficient μ of the object.

Number

[0040] In step 608, the velocity v of the object is determined. In one embodiment, v is based on the angular center α of the mass position determined in step 604, the coefficient of friction μ of the object determined in step 606, the radius of curvature R of the load bend 202, the acceleration due to gravity g, the angular position δ of the inlet of the load bend 202 with respect to the mechanical reference plane, and the initial velocity v0 when the mass enters from δ of the load bend 202. Note that the initial velocity of the object can be estimated or input based on the parameters of the polished grain elevator. v0 can be estimated using the equation v0 = ωr when the grain leaves the polished grain elevator and enters the MIMFS, where ω is the rotational speed of the elevator drive sprocket and r is the distance from the axis of the elevator drive sprocket to the mass center of the grain when the grain leaves the elevator paddle. ω can be read in real time and adjusted through combine communication. r can be set manually or read through combine communication and adjusted based on a specific elevator configuration. The angular offset θ can be directly measured or input from other devices within the system. It should not be assumed that setting the minimum difference in velocity calculation to be equal to zero will result in a clear difference of several percent in the subsequent mass system difference. In one embodiment, the following equation is used to determine v.

Number

[0041] In step 610, the mass m of the object is determined. In one embodiment, the mass m is based on the angular center α of the mass position determined in step 604, the coefficient of friction μ of the object determined in step 606, the velocity v of the object determined in step 608, the measured bending force F B, which is determined based on the radius of curvature R of the load bend 202, the transducer mounting angular position β with respect to the mechanical reference plane, the gravitational acceleration g, and the angular offset θ of the mechanical reference plane from the true horizontal. In one embodiment, the following equation is used to determine the mass m.

Equation

[0042] Note that in order for the solution to be valid, the difference between the centripetal acceleration (v 2 / R) and the centripetal component of gravity (g*sin(α + θ)) must be non - negative. Otherwise, the object will fall off the load bend 202.

[0043] In step 612, the measurement time, specifically the time during which the mass exists in the load bend, is determined. In one embodiment, the measurement time is determined based on the average of the estimated initial velocity at the angular position δ of the load bend inlet and the final velocity calculated using the equation of step 608 together with the value α of the angular position of the center of mass set at the angular position γ of the load bend outlet. In one embodiment, the measurement time is further based on the angular position δ of the load bend inlet with respect to the mechanical reference plane, the angular position γ of the load bend outlet with respect to the mechanical reference plane, and the load bend radius R. In one embodiment, the measurement time is based on the following equation. t m =(δ - γ)R / {(v0 - v f ) / 2} Here, t m is the measurement time, δ is the angular position of the load bend inlet with respect to the mechanical reference plane, γ is the angular position of the load bend outlet with respect to the mechanical reference plane, R is the radius of the load bend, v0 is the estimated initial velocity ωr at the load bend inlet δ, and, v f is the calculated final velocity at the load bend outlet γ.

[0044] In one embodiment, the initial and / or final speed is measured by an optical sensor and used in the aforementioned calculation.

[0045] In step 614, the mass flow rate is determined. In one embodiment, the mass flow rate is determined based on the mass of the object and the measurement time. In one embodiment, the following equation is used to calculate the mass flow rate. dm / dt = m / t m Here, dm / dt is the mass flow rate, m is the mass determined in step 610, and t m is the measurement time determined in step 612.

[0046] In step 616, the incremental mass is determined. In one embodiment, the incremental mass is determined based on the mass of the object, the measurement sampling rate of the three-point measurement transducer, and the measurement time. In one embodiment, the incremental mass is determined based on the following equation. m i = m / (r m * t m ) Here, m i is the incremental mass, m is the mass determined in step 610, r m is the measurement sampling rate of the three-point measurement transducer, and t m is the measurement time determined in step 612.

[0047] In step 618, the total mass is determined. In one embodiment, the total mass is determined by summing the incremental masses from step 616 over the measurement time of the process. In one embodiment, the total mass is determined using the following equation. M = Σm i Here, M is the total mass, and m i is the additional mass.

[0048] Figure 7 represents a high-level overview of a computer that receives data from a three-point measurement sensor, calculates forces, determines mass flow rates, and performs calculations to determine the results of the equations shown in this disclosure.

[0049] In one embodiment, a computer is used to receive data from a three-point measurement sensor, calculate a force, determine a mass flow rate, and execute calculations to determine the result of the equations shown in the present disclosure. A high-level block diagram of such a computer is shown in FIG. 7. Computer 702 includes a processor 704 that controls the overall such operation of computer 702 by executing computer program instructions that define the operations. The computer program instructions are stored in a storage device 712 or other computer-readable medium (e.g., magnetic disk, CDROM, etc.) and are read into memory 710 when execution of the computer program instructions is requested. Thus, the methods and equations of the present disclosure can be defined by computer program instructions stored in memory 710 and / or storage device 712 and are controlled by processor 704 that executes the computer program instructions. For example, the computer program instructions can be executed as computer-executable code programmed by one skilled in the art to execute an algorithm defined by the methods and equations of the present disclosure, such as the method shown in FIG. 6. Thus, by executing the computer program instructions, processor 704 executes an algorithm defined by the methods and equations of the present disclosure, such as the method shown in FIG. 6. Computer 702 also includes one or more network interfaces 706 for communicating with other devices over a network. Computer 702 also includes an input / output device 708 (e.g., display, keyboard, mouse, speaker, button, etc.) that enables a user to interact with computer 702. Those skilled in the art will recognize that the actual execution of a computer can also include other components, and that FIG. 7 is a high-level representative example of some of the components of such a computer for purposes of aiding understanding.

[0050] The above detailed description is for purposes of illustration and understanding in every respect, not for limitation, and it should be understood that the scope of the inventive concept in the present disclosure is to be construed in accordance with all the breadth permitted by patent law. Also, the embodiments shown and described in the present disclosure are only for helping the understanding of the principles of the inventive concept, and it should be understood that various improvements can be made by those skilled in the art without departing from the scope and essence of the inventive concept. Those skilled in the art can implement various combinations of other features without departing from the scope and essence of the inventive concept.

Claims

1. A method for determining the mass of an object moving within a mass independent mass flow sensor (MIMFS), comprising: Receiving data from a three-point measurement transducer attached to a load bend when the object moves within the MIMFS; Determining an angular center of a mass position of the object along the load bend based on the data from the three-point measurement transducer; Determining a friction coefficient of the object based on the data from the three-point measurement transducer; Determining a velocity of the object based on the data from the three-point measurement transducer; Determining the mass of the object based on the angular center of the mass position of the object, the friction coefficient of the object, and the velocity of the object; The method, wherein the data received from the three-point measurement transducer includes bending force data FB, stretching force data FS, and torque data T.

2. Determining the angular center of the mass position of the object further involves F Ｂ , F Ｓ , T, the load bending radius R, the transducer mounting offset E, and the transducer mounting angular position β with respect to the mechanical reference plane, according to the method of claim 1.

3. Buckling force F Ｂ When the value of Ｂ is positive, the angular center of the mass position of the object is calculated using the following formula, the method according to claim 2, characterized in that. 【Number 6】

4. Buckling force F Ｂ The method according to claim 2, characterized in that when the value of Ｂ is negative, the angular center of the mass position of the object is calculated using the following formula. 【Number 7】

5. Determining the coefficient of friction of the object is based on the angular center α, F of the mass position Ｂ , F Ｓ , and β, and the method according to claim 1, characterized in that it is based on β.

6. The method according to claim 5, wherein the friction coefficient of the object is calculated using the following formula. 【Number 8】

7. Determining the velocity of the object is based on the angular center α of the mass position of the object, the friction coefficient μ of the object, the radius R of the load bend, the gravitational acceleration g, the angular position δ of the load inlet of the load bend with respect to the mechanical reference plane, the angular offset θ of the mechanical reference plane from the true horizontal, and the initial velocity v of the object when the object enters the load bend at the position δ. ０ The method according to claim 1, characterized in that it is based on ０ .

8. The method according to claim 7, wherein the velocity of the object is calculated using the following formula. 【Number 9】

9. Determining the mass of the object further includes the bending force F measured by the three-point measurement transducer Ｂ , the radius R of the load bending attached to the three-point measurement transducer, the angular position β of the transducer attachment with respect to the mechanical reference plane, the acceleration of gravity g, the calculated velocity v, and the angle offset θ of the mechanical reference plane from the true horizontal, according to the method of claim 1.

10. The method according to claim 9, wherein the mass of the object is calculated using the following formula. 【Number 10】

11. Furthermore, Determining a measurement time based on a time during which the mass is located on the load bend; Determining a mass flow rate based on the mass and the measurement time; Determining an incremental mass based on the mass and a measurement sampling rate, and Determining a total mass by adding the incremental mass The method according to claim 1, characterized in that.

12. The load bend configured to guide an object received at one end of the load bend to the other end of the load bend, Buckling force F Ｂ and a three-point measurement transducer attached to the load buckling for measuring the expansion and contraction force F Ｓ and torque T A processor, A memory storing computer program instructions A mass independent mass flow sensor (MIMFS) comprising: The computer program instructions, when executed on the processor, cause the processor to perform an operation comprising the following steps: The steps are: Determining an angular center of a mass position of the object along the load bend based on data received from the three-point measurement transducer; Determining a friction coefficient of the object based on the data from the three-point measurement transducer; Determine the velocity of the object based on the data from the three-point measurement transducer, and, Determine the mass of the object based on the angular center of the mass position of the object, the coefficient of friction of the object, and the velocity of the object. The data received from the three-point measurement transducer includes bending force data FB, stretching force data FS, and torque data T, characterized by a substance-independent mass flow sensor (MIMFS). **Claim 13** Determining the angular center of the mass position of the object further comprises F Ｂ , F Ｓ , T, load bending radius R, transducer mounting offset E, and the transducer mounting angular position β with respect to the mechanical reference plane, the mass-independent mass flow sensor according to claim 12. **Claim 14** A combine for harvesting substances from farmland, the combine having a substance-independent mass flow sensor (MIMFS), The substance-independent mass flow sensor (MIMFS) The load bend configured to guide an object received at one end of the load bend to the other end of the load bend, Buckling force F Ｂ and a three-point measurement transducer attached to the load buckling for measuring the tensile and compressive force F Ｓ and torque T A processor, A memory storing computer program instructions And comprising The computer program instructions, when executed on the processor, cause the processor to perform an operation comprising the following steps, The steps are Determine the angular center of the mass position of the object along the load bend based on the data received from the three-point measurement transducer, Determine the coefficient of friction of the object based on the data from the three-point measurement transducer, Determine the velocity of the object based on the data from the three-point measurement transducer, and, Determine the mass of the object based on the angular center of the mass position of the object, the coefficient of friction of the object, and the velocity of the object. The data received from the three-point measurement transducer includes bending force data FB, stretching force data FS, and torque data T, characterized by a combine. **Claim 15** Determining the angular center of the mass position of the object further comprises F Ｂ , F Ｓ , T, load bending radius R, transducer mounting offset E, and transducer mounting angular position β with respect to the machine reference plane, the combine according to claim 14, characterized in that it is based on these parameters. **Claim 16** Determining the mass of the object further includes the angular position δ of the inlet to the load bend with respect to the mechanical reference plane, the angular offset θ of the mechanical reference plane from the true horizontal, the initial velocity v of the mass entering the load bend ０ The substance-independent mass flow rate sensor according to claim 12, characterized in that it is based on the initial velocity v, the angular position δ of the inlet to the load bend with respect to the mechanical reference plane, the angular offset θ of the mechanical reference plane from the true horizontal, and the acceleration of gravity g. **Claim 17** The mass of the object is calculated using the following formula, characterized by the substance-independent mass flow sensor according to claim 16. 【Number 10】

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