CN115968638B - Yield measurement method and system based on agricultural harvester, agricultural harvester - Google Patents
Yield measurement method and system based on agricultural harvester, agricultural harvester Download PDFInfo
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Abstract
本发明公开了一种基于农业收获机的测产方法及系统、农业收获机，该方法根据收割台的压力信号判断车辆是否处于采收状态，进而计算有效采收面积，有效剔除了农机在田地作业时的非采收路径，大大提高了采收面积计算的准确性。基于扶秧机构的张开角度、物料喂入收割台的脉冲数和物料输送宽度可以准确地计算得到喂入的植株体积，实现了植株体积的有效测量。另外，采取拉力称重的方式来测量总体果实重量和优质果实重量，将输送机构和被输送果实视为整体进行称重受力分析，大大提升了果实称重的准确性。最后，基于有效采收面积、植株体积、总体果实重量和优质果实重量进行产量分析，得到的测产结果更加全面，为作物增产研究提供了针对性帮助。
The present invention discloses a yield measurement method and system based on an agricultural harvester, and an agricultural harvester. The method determines whether the vehicle is in a harvesting state according to the pressure signal of the harvesting platform, and then calculates the effective harvesting area, effectively eliminating the non-harvesting path of the agricultural machinery when operating in the field, and greatly improving the accuracy of the harvesting area calculation. Based on the opening angle of the seedling supporting mechanism, the number of pulses of the material feeding harvesting platform and the material conveying width, the volume of the fed plant can be accurately calculated, and the effective measurement of the plant volume is achieved. In addition, the tension weighing method is adopted to measure the overall fruit weight and the high-quality fruit weight, and the conveying mechanism and the conveyed fruit are regarded as a whole for weighing force analysis, which greatly improves the accuracy of fruit weighing. Finally, the yield analysis is performed based on the effective harvesting area, plant volume, overall fruit weight and high-quality fruit weight, and the obtained yield measurement results are more comprehensive, providing targeted help for crop yield increase research.
Description
Technical Field
The invention relates to the technical field of crop yield measurement, in particular to a yield measurement method and system based on an agricultural harvester, and in addition, the invention particularly relates to an agricultural harvester adopting the yield measurement system.
Background
In the agricultural harvesting process, through the accurate measurement of crop yield, the problem analysis of crop production areas, fertilizers, varieties and agronomic related factors is realized, great help is provided for researching how to increase crop yield, and fine agriculture is an important development direction of sustainable development of future agriculture. At present, most of domestic crop harvesting machines do not have acre measurement capacity, crop harvesting work is insufficient for farmland information integration, a plurality of growers only pay attention to crop yield information, information such as growth vigor, fruit setting, achievements and the like of crop plants are judged by relying on artificial subjective experience, quantitative systematic statistical data are difficult to form, and great difficulty exists in judging adverse factors influencing crop yield.
Along with the continuous promotion of the modernization level of agriculture in China, people increasingly need to replace manual work with more efficient harvesting operation by intelligent agricultural mechanical equipment with a refined yield measurement function. However, the farmland area and yield information acquired by the existing agricultural machinery equipment in the harvesting process are insufficient for finely evaluating the growth vigor of field crops, one-time system measurement of the crop yield, the fruit bearing condition, the inferior fruit proportion and the plant growth vigor is difficult to realize, and the special analysis and adjustment of the problems of soil, fertilizer, varieties, agriculture and the like are insufficient, so that the harvesting machinery cannot provide targeted help for the crop yield increase research, and the long-term aims of reasonably utilizing resources, saving investment, reducing agricultural cost, improving crop yield and improving ecological environment are not facilitated.
In summary, for the above problems in the actual harvesting process of crops, it is necessary to research a yield measuring method and system based on a tomato harvester, which can synchronously measure harvesting area, yield and plant growth parameters in the harvesting process.
Disclosure of Invention
The invention provides a yield measuring method and system based on an agricultural harvester and the agricultural harvester, which are used for solving the technical problem that the existing agricultural harvester cannot realize one-time system measurement of crop yield, fruit condition, inferior fruit proportion and plant growth vigor.
According to one aspect of the present invention, there is provided a method of measuring yield based on an agricultural harvester, comprising:
acquiring a pressure signal of the header to judge whether the vehicle is in a harvesting state, if the vehicle is in the harvesting state, detecting the running speed of the vehicle and calculating the effective harvesting area;
detecting the opening angle of the seedling supporting mechanism and the pulse number of the material feeding header, and calculating by combining the material conveying width to obtain the fed plant volume;
Respectively carrying out stress analysis on the first conveying mechanism and the second conveying mechanism in a tension weighing mode, detecting the inclination angle of the vehicle body and the pulse number of the materials fed into the first conveying mechanism and the second conveying mechanism in the weighing process, and calculating to obtain the total fruit weight and the high-quality fruit weight;
Yield analysis is performed based on effective harvest area, plant volume, total fruit weight, and quality fruit weight to obtain yield measurement results.
Further, the fed plant volume was calculated based on the following formula:
V=γ1*∑[(dmax-L1*cosα)*b*dt]
Wherein V represents the fed plant volume, d max represents the maximum opening and closing amount of the seedling supporting mechanism, L 1 represents the length of the seedling supporting mechanism, alpha represents the opening angle of the seedling supporting mechanism, b represents the material conveying width, d t represents the material flow stroke under unit pulse, and gamma 1 represents the first correction coefficient.
Further, the total fruit weight or the quality fruit weight is calculated based on the following formula:
Wherein G represents the total weight of the picked fruits or the weight of the high-quality fruits, gamma 2 represents a second correction coefficient, n represents the number of pulses triggered in the whole transportation process of the fruits by the conveying mechanism, F B represents a tension value measured by a pulling force measuring end of the conveying mechanism, L 2 represents the conveying length of the conveying mechanism, theta represents an included angle between the tension and the conveying mechanism, W represents the dead weight of the conveying mechanism, beta represents the inclination angle of a vehicle body in the weighing process, and S represents the arm of force for conveying materials.
Further, after the pressure signal of the header is obtained, the following contents are included:
Comparing the obtained pressure signal with a preset feeding pressure, controlling the seedling supporting mechanism to rise if the obtained pressure signal is larger than the preset feeding pressure, and controlling the seedling supporting mechanism to fall if the obtained pressure signal is smaller than the preset feeding pressure.
Further, when the obtained pressure signal is not equal to the preset feeding pressure, the fed plant volume is calculated based on the following formula:
V=γ1*αF*∑[(dmax-L1*cosα)*b*dt]
Wherein V represents the fed plant volume, d max represents the maximum opening and closing amount of the seedling supporting mechanism, L 1 represents the length of the seedling supporting mechanism, alpha represents the opening angle of the seedling supporting mechanism, b represents the material conveying width, d t represents the material flow stroke under unit pulse, gamma 1 represents the first correction coefficient, and alpha F represents the pressure compensation coefficient.
Further, in combination with the effect of plant moisture content on plant volume measurement, the fed plant volume was calculated based on the following formula:
V=γ1*αF*αW*∑[(dmax-L1*cosα)*b*dt]
where α W represents the moisture compensation coefficient.
Further, the following is included before the stress analysis:
and detecting the inclination angle of the vehicle body to judge the vehicle posture, and controlling the leveling cylinder to stretch and retract to adjust the vehicle body posture to the horizontal state if the vehicle posture is not in the horizontal state.
Further, the method also comprises the following steps:
and/or transmitting the yield measurement result to a remote platform.
In addition, the invention also provides a yield measuring system based on the agricultural harvester, which adopts the yield measuring method as described above and comprises the following steps:
A pressure sensor for detecting compaction pressure of the material flow in the header;
a vehicle speed sensor for detecting a running speed of the vehicle;
The first angle sensor is used for detecting the opening angle of the seedling supporting mechanism;
The first speed measuring sensor is used for detecting the speed of the feeding roller so as to obtain the pulse number of the material feeding header;
A tension sensor for measuring a tension applied to the conveying mechanism when weighing;
The second angle sensor is used for detecting an included angle between the pulling force and the conveying mechanism during weighing;
the inclination sensor is used for detecting the inclination angle of the vehicle body;
the second speed measuring sensor is used for detecting the speed of the first conveying mechanism so as to obtain the pulse number of the material fed into the first conveying mechanism;
the third speed measuring sensor is used for detecting the speed of the second conveying mechanism so as to obtain the pulse number of the material fed into the second conveying mechanism;
the controller is used for judging whether the vehicle is in a harvesting state or not according to the pressure signal of the header, and calculating to obtain an effective harvesting area by combining the running speed of the vehicle if the vehicle is in the harvesting state; the seedling supporting mechanism is used for calculating the fed plant volume based on the opening angle of the seedling supporting mechanism, the pulse number of material feeding and the material conveying width, carrying out stress analysis on the first conveying mechanism and the second conveying mechanism, calculating to obtain the total fruit weight and the high-quality fruit weight, and carrying out yield analysis based on the effective harvesting area, the plant volume, the total fruit weight and the high-quality fruit weight to obtain the yield measuring result.
In addition, the invention also provides an agricultural harvester which adopts the yield measuring system.
The invention has the following effects:
According to the yield measuring method based on the agricultural harvester, the pressure signal of the header is acquired firstly, if the transported material flow exists in the header, the compaction pressure of the material flow can be detected, so that the vehicle can be judged to be in a harvesting state, and then the effective harvesting area is calculated. Then, based on the opening angle of the seedling supporting mechanism, the pulse number of the material feeding header and the material conveying width, the feeding plant volume can be accurately calculated, and the effective measurement of the plant volume is realized. In addition, the overall fruit weight and the high-quality fruit weight are measured by adopting a tension weighing mode, and the conveying mechanism and the conveyed fruits are regarded as a whole to carry out weighing stress analysis. Finally, yield analysis is carried out based on the effective harvesting area, the plant volume, the total fruit weight and the high-quality fruit weight, the correlation condition between the fruit weight and the plant volume, the ratio of the high-quality fruit to the total fruit, crop yield information, plant growth vigor information and other all-dimensional yield information can be further analyzed, the obtained yield measurement result is more comprehensive, and targeted help is provided for crop yield increase research.
In addition, the yield measuring system based on the agricultural harvester has the advantages.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
fig. 1 is a schematic diagram of the structural layout of a prior art agricultural harvester.
Fig. 2 is a flow chart of a method for measuring yield based on an agricultural harvester according to a preferred embodiment of the invention.
Fig. 3 is a schematic diagram of the measurement of feed thickness of a material stream in a preferred embodiment of the invention.
FIG. 4 is a graph showing the relationship between the daily maximum shrinkage of tomato plant stalks and the relative water loss rate of soil in a preferred embodiment of the invention.
Fig. 5 is a schematic diagram of weighing and stress analysis of a conveying device according to a preferred embodiment of the present invention.
Fig. 6 is another flow chart of the agricultural harvester based yield measurement method according to the preferred embodiment of the present invention.
Fig. 7 is a schematic block diagram of a yield measurement system based on an agricultural harvester according to another embodiment of the invention.
Description of the reference numerals
1. The harvester comprises a header, a cab, a first-stage conveying mechanism, a second-stage conveying mechanism, a 5, a vehicle body, a 11, a seedling picking device, a cutting knife, a 12, a seedling supporting mechanism, a 13, an adjusting oil cylinder, a 14, a conveying belt, a 15 and a fixed support.
Detailed Description
Embodiments of the invention are described in detail below with reference to the attached drawing figures, but the invention can be practiced in a number of different ways, as defined and covered below.
It will be appreciated that the agricultural harvester employed in the present invention, as shown in fig. 1, comprises a header 1, a cab 2, a primary conveyor 3, a secondary conveyor 4 and a vehicle body 5, wherein the header 1 is used for harvesting crops and cutting off seedling stems of the crops to harvest crop fruits and conveying the harvested fruits into the primary conveyor 3, and the cab 2 is used for operators to operate the agricultural harvester. In addition, a vibrating screen or other coarse screening mechanisms are arranged behind the header 1 to separate seedling and fruit, and the separated fruits are conveyed into the primary conveying mechanism 3. The first-stage conveying mechanism 3 is used for conveying crop fruits, a fruit screening device is further arranged between the first-stage conveying mechanism 3 and the second-stage conveying mechanism 4 and used for screening qualified high-quality fruits, and the second-stage conveying mechanism 4 is used for conveying the screened high-quality fruits into a storage bin of the vehicle body 5 or other carrying and transporting vehicles for storage. The specific structure of each part of the agricultural harvester belongs to the existing agricultural machinery, and is not described herein, for example, an existing tomato harvester, a potato harvester and the like can be adopted. It will be appreciated that the primary conveyor 3 may comprise two sets of continuous conveyor belts and screening means to enhance the screening effect of the fruit, and that the screening times may be adjusted according to the actual situation, with the secondary conveyor 4 only delivering the screened good quality fruit. Of course, in other embodiments of the invention, the primary conveyor 3 may also take the form of a single stage conveyor belt.
It will be appreciated that as shown in fig. 2, the preferred embodiment of the present invention provides a method for measuring yield based on an agricultural harvester, comprising the following:
Step S1, acquiring a pressure signal of a header to judge whether a vehicle is in a harvesting state, if the vehicle is in the harvesting state, detecting the running speed of the vehicle and calculating the effective harvesting area;
s2, detecting the opening angle of the seedling supporting mechanism and the pulse number of the material feeding header, and calculating by combining the material conveying width to obtain the fed plant volume;
Step S3, respectively carrying out stress analysis on the first conveying mechanism and the second conveying mechanism in a tension weighing mode, detecting the inclination angle of the vehicle body and the pulse number of the materials fed into the first conveying mechanism and the second conveying mechanism in the weighing process, and calculating to obtain the total fruit weight and the high-quality fruit weight;
and S4, carrying out yield analysis based on the effective harvesting area, the plant volume, the total fruit weight and the high-quality fruit weight to obtain a yield measurement result.
It can be appreciated that in the yield measuring method based on the agricultural harvester of the embodiment, the pressure signal of the header is firstly obtained, if the transported material flow exists in the header, the compaction pressure of the material flow can be detected, so that the vehicle can be judged to be in a harvesting state, and then the effective harvesting area is calculated. Then, based on the opening angle of the seedling supporting mechanism, the pulse number of the material feeding header and the material conveying width, the feeding plant volume can be accurately calculated, and the effective measurement of the plant volume is realized. In addition, the overall fruit weight and the high-quality fruit weight are measured by adopting a tension weighing mode, and the conveying mechanism and the conveyed fruits are regarded as a whole to carry out weighing stress analysis. Finally, yield analysis is carried out based on the effective harvesting area, the plant volume, the total fruit weight and the high-quality fruit weight, the correlation condition between the fruit weight and the plant volume, the ratio of the high-quality fruit to the total fruit, crop yield information, plant growth vigor information and other all-dimensional yield information can be further analyzed, the obtained yield measurement result is more comprehensive, and targeted help is provided for crop yield increase research.
It can be appreciated that in the step S1, the compacting pressure of the material flow is detected by setting the pressure sensor in the header, and the material enters the header when the vehicle is harvesting, so that the compacting pressure of the material flow can be detected by the pressure sensor, and the agricultural harvester is in a harvesting state at the moment, and compared with the existing mode of calculating the harvesting area based on the travel of the vehicle, the non-harvesting path of the agricultural machine in field operation is effectively eliminated, and the accuracy of calculating the harvesting area is greatly improved. The effective harvesting area is calculated specifically based on the running speed of the vehicle, the width of a material opening of the header and the duration of the pressure signal.
It can be understood that in the actual harvesting process, as the characteristic difference of various crop plants is large, the bearing pressure of fruits is different, even like crops are affected by the harvesting time difference, and the characteristic of the plants is correspondingly changed. Therefore, in the step S1, before the harvesting operation, the operator may preset the corresponding feeding pressure on the display screen of the agricultural harvesting machine according to the type of the harvested crop, so as to effectively reduce the damage rate of the fruit, protect the quality of the fruit, and improve the accuracy of the measurement of the plant volume.
Optionally, in the step S1, after acquiring the pressure signal of the header, the following is further included:
Comparing the obtained pressure signal with a preset feeding pressure, controlling the seedling supporting mechanism to rise if the obtained pressure signal is larger than the preset feeding pressure, and controlling the seedling supporting mechanism to fall if the obtained pressure signal is smaller than the preset feeding pressure.
It can be understood that the automatic adjustment of the feeding quantity is realized by detecting the real-time compaction pressure of the feeding material flow and comparing the real-time compaction pressure with the preset feeding pressure and controlling the seedling supporting mechanism to lift according to the comparison result, and compared with the traditional mode of judging the crop growth condition by relying on manual experience and then manually adjusting, the automatic adjustment device is simple to operate, higher in control precision and more stable in header work.
It will be appreciated that, as shown in fig. 3, the header 1 includes a seedling picking device and a cutting knife 11, a seedling supporting mechanism 12, an adjusting cylinder 13, a conveying belt 14 and a fixing support 15, wherein the seedling picking device and the cutting knife 11 are used for picking up crops and cutting off seedling stems of the crops, the seedling supporting mechanism 12 is used for compacting a conveyed material flow, the adjusting cylinder 13 is used for adjusting an opening angle of the seedling supporting mechanism 12, the conveying belt 14 is used for conveying harvested crops and fruits, and the fixing support 15 is used for supporting one end of the seedling supporting mechanism 12. The header 1 has a specific structure, which belongs to the prior art and is not described in detail herein, and the invention is characterized in that an angle sensor is arranged at the shaft end of a fixed support 15 for detecting the opening angle alpha of a seedling supporting mechanism 12, namely the included angle between the seedling supporting mechanism 12 and the fixed support 15, a pressure sensor is arranged at the front end of a conveying belt 14 for detecting the compaction force of the material flow between the conveying belt 14 and the seedling supporting mechanism 12, and a speed sensor is arranged on a feeding roller for detecting the speed of the feeding roller, thereby detecting the pulse number of the material fed into the header.
It can be understood that in the step S2, the opening angle of the seedling supporting mechanism is detected by the angle sensor, the angle signal is transmitted to the controller, and the controller filters and converts the angle signal to obtain the feeding material flow sectional area S t under the current set pressure. The specific calculation process of the flow sectional area of the feed material comprises the following steps: the relation between the feeding thickness d Material of the feeding material flow and the maximum opening and closing amount and length of the seedling supporting mechanism is as follows:
d Material ＝dmax-L1*cosα
Wherein d max represents the maximum opening and closing amount of the seedling supporting mechanism, L 1 represents the length of the seedling supporting mechanism, and alpha represents the opening angle of the seedling supporting mechanism.
Then, after the feeding thickness is calculated, the feeding material flow cross section area under the current set pressure can be calculated by combining the material conveying width b (namely the conveying width of the conveying belt).
Then, the speed of the feeding roller is detected by a speed measuring sensor, a speed signal is transmitted to a controller, the controller utilizes the collected material flow travel information d t under unit pulse and combines the feeding material flow sectional area S t to calculate the plant volume V t,Vt＝St*dt under unit pulse, and then the measurement result V of the feeding plant volume is obtained by accumulation calculation, wherein the specific calculation formula is V= ΣS tdt＝∑[(dmax-L1*cosα)*b*dt. In addition, the calculation result is a theoretical calculation result, and the theoretical value and the actual value have deviation in consideration of the influence of the actual recovery environment. Therefore, the invention also introduces a first correction coefficient gamma 1 to correct the theoretical calculation result, and the specific value of the first correction coefficient gamma 1 is obtained by comparing and analyzing the theoretical calculation result and the actual collection result of the multi-time collection experiment. Thus, the present invention calculates the fed plant volume based on the following formula:
V=γ1*∑[(dmax-L1*cosα)*b*dt]
Wherein V represents the fed plant volume, d max represents the maximum opening and closing amount of the seedling supporting mechanism, L 1 represents the length of the seedling supporting mechanism, alpha represents the opening angle of the seedling supporting mechanism, d t represents the material flow stroke under unit pulse, and gamma 1 represents the first correction coefficient.
It will be appreciated that the plant volume needs to be calculated with the same compaction effort during the agricultural production test to objectively analyze plant vigor. However, the feeding quantity is automatically adjusted according to the material flow compaction pressure detected by the pressure sensor in actual collection in order to protect the completeness of the fruits, and the pressure compensation coefficient is introduced according to the detected actual compaction pressure to carry out pressure compensation, so that the accuracy of calculating the plant volume is improved. Optionally, when the obtained pressure signal is not equal to the preset feeding pressure, the fed plant volume is calculated based on the following formula:
V=γ1*αF*∑[(dmax-L1*cosα)*b*dt]
Wherein V represents the fed plant volume, d max represents the maximum opening and closing amount of the seedling supporting mechanism, L 1 represents the length of the seedling supporting mechanism, alpha represents the opening angle of the seedling supporting mechanism, b represents the material conveying width, d t represents the material flow stroke under unit pulse, gamma 1 represents the first correction coefficient, and alpha F represents the pressure compensation coefficient. The pressure compensation coefficient alpha F can be obtained according to the result of multiple harvesting experiments, and a relation curve of compaction pressure and plant volume can be obtained by fitting through a sample learning method, so that the pressure compensation coefficients corresponding to different compaction pressures can be obtained by analysis. By introducing the pressure compensation coefficient, the influence of nonstandard compaction force on plant volume measurement is reduced, and the accuracy of plant volume measurement is improved.
It will be appreciated that the moisture content of the plant will also have an effect on the plant volume measurement and therefore the moisture compensation coefficient α W needs to be introduced to reduce the effect of the plant moisture content on the plant volume measurement. A certain tomato variety is used as a test material, the relationship between the diameter change of the stem of a tomato plant under different weather conditions and the soil moisture condition is analyzed, and the analysis result shows that the daily change amplitude of the diameter of the stem of the tomato gradually increases along with the reduction of the soil moisture content in a drought period, and the diameter change quantity of the stem can sensitively, timely and accurately reflect the moisture condition in the plant body. Wherein, the fitting relation curve of the daily maximum shrinkage of the tomato plant stems and the relative water loss rate of the soil is shown in figure 4.
Thus, optionally, in combination with the effect of plant moisture content on plant volume measurement, the fed plant volume is calculated based on the following formula:
V=γ1*αF*αW*∑[(dmax-L1*cosα)*b*dt]
Wherein, alpha W represents the moisture compensation coefficient, and the specific value can be analyzed according to the relation between different plant moisture contents and plant volume measurement results to obtain the moisture compensation coefficient corresponding to different plant moisture contents.
It will be appreciated that in said step S3, the total or quality fruit weight is calculated based on the following formula:
Wherein G represents the total weight of the picked fruits or the weight of the high-quality fruits, gamma 2 represents a second correction coefficient, n represents the number of pulses triggered in the whole transportation process of the fruits by the conveying mechanism, F B represents a tension value measured by a pulling force measuring end of the conveying mechanism, L 2 represents the conveying length of the conveying mechanism, theta represents an included angle between the tension and the conveying mechanism, W represents the dead weight of the conveying mechanism, beta represents the inclination angle of a vehicle body in the weighing process, and S represents the arm of force for conveying materials.
Specifically, as shown in fig. 5, taking the stress analysis of one conveying device of the conveying mechanism as an example, the length of the conveying device AB is L 2, the end a is a support fixed end, the end B is a pulling force measuring end, the dead weight of the conveying device is W, the weight of the material flow to be detected is G t, the pulling force measuring end is provided with a tension sensor and an angle sensor, wherein the tension sensor is used for measuring a tension value, and the angle sensor is used for measuring an included angle θ between the tension direction and the conveying direction. The material flow inlet and the feeding end of the conveying device have a certain safety distance S, namely the moment arm for conveying the material is S, and the dead weight moment arm of the conveying device is L 2/2. Thus, from the force system balance equation:
Wherein M AX (F) represents the moment of the support point A in the horizontal direction, M AY (F) represents the moment of the support point A in the vertical direction, and M B (F) represents the moment of the support point B.
Further analysis gave:
moreover, considering that the inclination angle of the vehicle body is continuously changed along with the continuous harvest of fruits in the fruit harvest process, the inclination angle beta of the vehicle body needs to be introduced for compensation, and the formula is optimized as follows:
The conveying device is provided with a speed measuring sensor for detecting the speed of the conveying device so as to obtain the pulse number of material feeding. And when the controller reads the triggering of the pulse number, signals of the tension sensor and the angle sensor are collected once, and the controller obtains the weight G t of the transported material at the moment through data filtering and conversion processing. The fruit is transported in the whole course of the conveying mechanism and triggered n times of pulses, filtering is carried out, each time a new data is sampled, the new data is put into the tail of the queue, the primary data of the original queue head is discarded, namely, the first-in first-out queue principle is adopted, the n data in the queue are subjected to arithmetic average operation, a new filtering result is obtained, and the weight of the fruit calculated at the moment i is as follows: And then, carrying out accumulated calculation and introducing a second correction coefficient gamma 2 to carry out correction, wherein the second correction coefficient gamma 2 is related to the vehicle body inclination angle beta, and the corresponding correction coefficient values under different vehicle body inclination angles can be obtained through carrying out experiments in advance, so that the fruit weight can be obtained:
It can be understood that because the crop fruits are affected by the running vibration of the equipment and the vibration of the screening mechanism in the harvesting process, the fruits jolt and jump in the transmission process, and meanwhile, the working angle of the conveying mechanism in the operation process is not horizontal, the device is not suitable for weighing in a mode of setting a single weighing key point under a belt of the conveying mechanism and combining with a speed integral, the high-frequency vibration effect is obvious, and the actual weighing error is large. Therefore, the weighing thought of the invention is to take the conveying mechanism and the conveyed fruits as a weighing main body, carry out stress analysis in a tension weighing mode, and simultaneously, the conveying mechanism is also provided with a speed measuring sensor for detecting the pulse number fed by the materials, and the weight of the materials at the moment is calculated when each pulse is triggered, and the weighing is carried out by combining the inclination angle of the vehicle body at the moment because the vehicle body needs reaction time for leveling. Compared with the existing method for directly measuring the weight of the fruit by adopting the weighing sensor, the method effectively reduces the error influence of jolt and jump of the fruit in the conveying process, and greatly improves the accuracy of fruit weighing.
It will be appreciated that the fruit weight calculated by the force analysis of the first conveyor means is the total fruit weight harvested, which includes both the high quality fruit weight and the low quality fruit weight, while the fruit weight calculated by the force analysis of the second conveyor means is the final high quality fruit weight harvested.
Optionally, the following is included before the stress analysis:
and detecting the inclination angle of the vehicle body to judge the vehicle posture, and controlling the leveling cylinder to stretch and retract to adjust the vehicle body posture to the horizontal state if the vehicle posture is not in the horizontal state.
It can be understood that before weighing, the body posture is adjusted to be in a horizontal state, so that the influence of the initial body posture on weighing is eliminated, and the accuracy of weighing fruits is further improved.
It can be understood that in the step S4, the plant growth status can be analyzed based on the plant volume obtained by measurement, the association relationship between the plant volume and the quality fruit weight can be obtained by analysis based on the total fruit weight and the quality fruit weight, the occupancy rate of the quality fruit can be obtained by analysis based on the effective harvesting area and the quality fruit weight, and the fruit yield can be obtained by analysis based on the effective harvesting area and the quality fruit weight, so that the information such as the harvesting area, the harvesting yield, the plant growth status, the quality fruit proportion and the like of the farmland crops can be systematically collected in the crop harvesting process, and the yield measurement result obtained by analysis is favorable for improving the agricultural condition analysis level.
It will be appreciated that the agricultural harvester based yield measurement method further comprises the following steps as shown in fig. 6:
And step S5, sending the yield measurement result to a display screen of the vehicle for display, and/or transmitting the yield measurement result to a remote platform.
It can be understood that after analysis obtains the yield measurement result, the controller can send the yield measurement result to the display screen of the cab for display, and can also be remotely transmitted to the big data platform. The big data platform can also receive real-time position parameters of the vehicle in the harvesting process, so that a harvesting path of the vehicle is obtained, colors with different depths are set at different sections of the harvesting path according to numerical changes of harvesting parameters (namely plant volume, total fruit weight and high-quality fruit weight) in the harvesting process, a corresponding crop yield map, a plant growth map, a high-quality fruit ratio map and the like are generated, and a fruit yield information map, a plant growth map and a high-quality fruit ratio map in a unit area can be displayed, so that the agricultural condition analysis level is greatly improved.
In addition, as shown in fig. 7, another embodiment of the present invention further provides a yield measurement system based on an agricultural harvester, preferably adopting the yield measurement method as described above, including:
A pressure sensor for detecting compaction pressure of the material flow in the header;
a vehicle speed sensor for detecting a running speed of the vehicle;
The first angle sensor is used for detecting the opening angle of the seedling supporting mechanism;
The first speed measuring sensor is used for detecting the speed of the feeding roller so as to obtain the pulse number of the material feeding header;
A tension sensor for measuring a tension applied to the conveying mechanism when weighing;
The second angle sensor is used for detecting an included angle between the pulling force and the conveying mechanism during weighing;
the inclination sensor is used for detecting the inclination angle of the vehicle body;
the second speed measuring sensor is used for detecting the speed of the first conveying mechanism so as to obtain the pulse number of the material fed into the first conveying mechanism;
the third speed measuring sensor is used for detecting the speed of the second conveying mechanism so as to obtain the pulse number of the material fed into the second conveying mechanism;
the controller is used for judging whether the vehicle is in a harvesting state or not according to the pressure signal of the header, and calculating to obtain an effective harvesting area by combining the running speed of the vehicle if the vehicle is in the harvesting state; the seedling supporting mechanism is used for calculating the fed plant volume based on the opening angle of the seedling supporting mechanism, the pulse number of material feeding and the material conveying width, carrying out stress analysis on the first conveying mechanism and the second conveying mechanism, calculating to obtain the total fruit weight and the high-quality fruit weight, and carrying out yield analysis based on the effective harvesting area, the plant volume, the total fruit weight and the high-quality fruit weight to obtain the yield measuring result.
It can be appreciated that in the yield measurement system based on the agricultural harvester of the embodiment, the pressure signal of the header is firstly obtained, if the transported material flow exists in the header, the compaction pressure of the material flow can be detected, so that the vehicle can be judged to be in a harvesting state, and then the effective harvesting area is calculated. Then, based on the opening angle of the seedling supporting mechanism, the pulse number of the material feeding header and the material conveying width, the feeding plant volume can be accurately calculated, and the effective measurement of the plant volume is realized. In addition, the overall fruit weight and the high-quality fruit weight are measured by adopting a tension weighing mode, and the conveying mechanism and the conveyed fruits are regarded as a whole to carry out weighing stress analysis. Finally, yield analysis is carried out based on the effective harvesting area, the plant volume, the total fruit weight and the high-quality fruit weight, the correlation condition between the fruit weight and the plant volume, the ratio of the high-quality fruit to the total fruit, crop yield information, plant growth vigor information and other all-dimensional yield information can be further analyzed, the obtained yield measurement result is more comprehensive, and targeted help is provided for crop yield increase research.
It can be understood that the controller is further connected with a seedling supporting mechanism driving oil cylinder, and is used for comparing the compaction pressure detected by the pressure sensor with a preset feeding pressure, if the compaction pressure is greater than the preset feeding pressure, the seedling supporting mechanism driving oil cylinder is controlled to extend so as to drive the seedling supporting mechanism to rise, and if the compaction pressure is less than the preset feeding pressure, the seedling supporting mechanism driving oil cylinder is controlled to contract so as to drive the seedling supporting mechanism to fall.
It can be understood that the controller is further connected with the vehicle body posture driving oil cylinder, and is used for judging the vehicle posture according to the inclination angle of the vehicle body, and if the vehicle posture is not in a horizontal state, the vehicle body posture driving oil cylinder (i.e. the leveling oil cylinder) is controlled to stretch so as to adjust the vehicle body posture to the horizontal state.
In addition, the controller is also connected with the display screen, so that the yield measurement result can be sent to the display screen for display. The controller is also connected with a positioning module, so that the position information of the vehicle can be obtained in real time to generate a running path of the vehicle, and the positioning module is a GPS module or a Beidou module. In addition, the controller is also connected with a communication module, so that the yield measurement result can be remotely transmitted to the cloud platform through the communication module, and the communication module is a 4G module or a 5G module. It will be appreciated that in other embodiments of the present invention, the positioning module has data remote communication capability, and the results of the production measurements may be transmitted to the cloud platform by the positioning module.
In addition, another embodiment of the invention also provides an agricultural harvester, which adopts the yield measuring system. Wherein the agricultural harvester is a tomato harvester, a potato harvester and the like.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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| CN112237089A (en) * | 2020-09-23 | 2021-01-19 | 江苏大学 | Online prediction device and method for feeding amount of combine harvester |
| CN114009207A (en) * | 2021-10-29 | 2022-02-08 | 北京市农林科学院智能装备技术研究中心 | Method for measuring harvesting area and harvester |
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| US6313414B1 (en) * | 2000-01-31 | 2001-11-06 | Harvestmaster, Inc. | Slope and motion compensator for weighing on a dynamic platform |
| JP3869320B2 (en) * | 2002-06-20 | 2007-01-17 | ヤンマー農機株式会社 | Combine |
| EP3190866A4 (en) * | 2014-09-12 | 2018-05-02 | Intelligent Agricultural Solutions LLC | Acoustic material flow sensor |
| US10820504B2 (en) * | 2018-07-03 | 2020-11-03 | Cnh Industrial America Llc | System and method for determining the residue yield of plant materials harvested by an agricultural harvester |
| DE102021107874A1 (en) * | 2021-03-29 | 2022-09-29 | Deere & Company | Method and arrangement for measuring the throughput of a harvesting machine |
| CN115031821B (en) * | 2022-05-26 | 2024-07-02 | 潍柴雷沃智慧农业科技股份有限公司 | Photoelectric production system and method based on inclination angle correction of vehicle body and harvester |
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| CN112237089A (en) * | 2020-09-23 | 2021-01-19 | 江苏大学 | Online prediction device and method for feeding amount of combine harvester |
| CN114009207A (en) * | 2021-10-29 | 2022-02-08 | 北京市农林科学院智能装备技术研究中心 | Method for measuring harvesting area and harvester |
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