CN112020986B - Impulse type grain combine harvester yield monitoring system and method - Google Patents

Impulse type grain combine harvester yield monitoring system and method Download PDF

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CN112020986B
CN112020986B CN202010938540.XA CN202010938540A CN112020986B CN 112020986 B CN112020986 B CN 112020986B CN 202010938540 A CN202010938540 A CN 202010938540A CN 112020986 B CN112020986 B CN 112020986B
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grain
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harvesting
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CN112020986A (en
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张漫
刘仁杰
张振乾
孙意凡
李民赞
杨玮
李寒
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China Agricultural University
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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/127—Control or measuring arrangements specially adapted for combines
    • A01D41/1277—Control or measuring arrangements specially adapted for combines for measuring grain quality
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
    • A01D41/12—Details of combines
    • A01D41/14—Mowing tables
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
    • G01F1/00—Measuring the volume flow or mass flow of fluid or fluent solid material wherein the fluid passes through a meter in a continuous flow
    • G01F1/76—Devices for measuring mass flow of a fluid or a fluent solid material
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
    • G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
    • G01N27/22—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating capacitance
    • G01N27/223—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating capacitance for determining moisture content, e.g. humidity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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    • G01S15/88—Sonar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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Abstract

The invention belongs to the technical field of agricultural detection, and particularly relates to an impulse type grain combine harvester yield monitoring system and method. The invention uses the CAN bus as a basic communication mode and realizes the yield calculation, the yield display and the remote transmission of yield data through the display terminal. In order to reduce the influence of the swept edge harvesting on the calibration of the yield coefficient and improve the calculation accuracy of the yield of the sampling point, the invention provides a method for calibrating the yield coefficient on the basis of summarizing the structure of the existing yield monitoring system, the method uses a GNSS positioning sensor 7 to respectively identify a swept edge harvesting area and a rotary harvesting area according to the feedback values of all collectors in the system, respectively provides the yield calibration coefficients of the two areas, identifies the real-time position of a harvester during conventional harvesting, and calculates the yield value of the sampling point by adopting the corresponding yield coefficient, thereby achieving the purposes of improving the yield monitoring precision and restoring the real yield distribution of a farmland.

Description

Impulse type grain combine harvester yield monitoring system and method
Technical Field
The invention belongs to the technical field of agricultural detection, and particularly relates to an impulse type grain combine harvester yield monitoring system and method.
Background
The yield monitoring system of the combine harvester is one of the modes for realizing the yield monitoring of farmland crops and restoring the real yield distribution of the farmland, and can realize the yield spatial distribution information acquisition with low cost, high precision and high resolution. At present, impulse type yield monitoring systems are widely used by domestic and foreign scholars with the advantages of low cost, high universality and the like, and related research contents mainly comprise sensor technology, communication technology, software development technology and yield coefficient calibration algorithm. However, the yield coefficient calibration method of the sampling point mainly establishes a linear relationship between the instantaneous voltage acquired by the impulse sensor and the actual weighing yield, does not consider the influence of the sweeping-edge harvesting process of the actual harvester on the instantaneous yield voltage, and the harvesting process causes the increase of the change frequency of the lifting, the advancing speed, the advancing direction and the harvesting swath of the header, and influences the grain filling time and the delay time to cause the abnormal fluctuation of the instantaneous yield voltage, so that the yield value of the sampling point in the harvesting state changes violently, and the situation of the actual field yield distribution is not met.
Disclosure of Invention
In view of the above technical problems, the present invention provides a system and a method for monitoring the yield of an impulse type grain combine.
In order to achieve the purpose, the invention provides the following technical scheme:
an impulse type grain combine harvester yield monitoring system comprises a remote monitoring terminal and vehicle-mounted equipment arranged on a harvester; the harvester comprises a harvester body, and a cutting table, an inclined conveyor 21, a clean grain elevator and a grain box which are sequentially connected, wherein the cutting table comprises a nearside divider 11 and a cutting knife 12; the net grain elevator comprises a trough plate 45, a net grain elevator scraper 42, a net grain elevator bottom transmission shaft 41, a net grain elevator top transmission shaft 51 and a net grain elevator outlet 61; a plurality of net grain elevator scrapers 42 are arranged on the chain wheel of the net grain elevator bottom transmission shaft 41; a cab is arranged on the vehicle body; wheels are arranged below the vehicle body; wherein the wheels comprise front wheels 31.
The vehicle-mounted equipment comprises a signal collector, a signal processor 9, a grain yield metering display terminal 8 and a remote communication module.
The signal collector comprises a swath width sensor 1, a header height sensor 2, a vehicle speed sensor 3, a humidity sensor 4, a net grain elevator rotation speed sensor 5, an impulse type flow sensor 6 and a GNSS positioning sensor 7.
The swath width sensor 1 comprises an ultrasonic wave reflection plate 13 and an ultrasonic wave sensor 14 which are arranged between the nearside divider 11 and the cutting knife 12 at intervals; the ultrasonic reflection plate 13 is positioned in the mounting groove behind the nearside divider 11; the ultrasonic sensor 14 is positioned in the baffle of the divider 11 behind the ultrasonic reflecting plate 13; the signal receiving and transmitting end of the ultrasonic sensor 14 is parallel to the advancing direction of the machine, and the included angle between the reflecting surface of the ultrasonic reflecting plate 13 and the signal receiving and transmitting end of the ultrasonic sensor 14 is 135 degrees, so that the signal receiving and transmitting end of the ultrasonic sensor 14 collects the reflected signals of the harvested crops at an included angle of 90 degrees.
The header height sensor 2 comprises an angular displacement sensor 22, a connecting rod 23 and a connecting rod fixing bracket 24; wherein, the angular displacement sensor 22 is arranged on the side end surface of the inclined conveyor 21 and is separated from the connection part of the vehicle body by a certain distance; the connecting rod fixing support 24 is fixedly connected to the vehicle body, and two connecting ends of the connecting rod 23 are respectively connected with the connecting rod fixing support 24 and the angular displacement sensor 22; so that the header stays at the median position of the descending and ascending limits, the connecting rod 23 is perpendicular to the ground, and the top point of the connecting rod 23 and the connecting rod fixing bracket 24 are on the same horizontal plane.
The vehicle speed sensor 3 comprises a vehicle speed Hall probe 34, vehicle speed magnetic steel 33 and a vehicle speed fixing bracket 35; wherein, a plurality of speed magnet steels 33 are fixedly connected on the circumferential surface of the front wheel tie rod 32 at equal intervals to form a speed magnet steel ring; the outer side end of the speed fixing bracket 35 is fixedly connected to the vehicle body on the outer side of the harvester front wheel 31, the inner side end is fixedly connected with a speed Hall probe 34, and the speed Hall probe 34 is positioned above the speed magnetic steel ring.
The humidity sensor 4 comprises a capacitive sensor 43 and a fixed collar 44; the fixed lantern ring 44 is arranged at the opening at the bottom of the trough plate 45 of the net grain elevator; the capacitive sensor 43 is mounted on a fixed collar 44.
The clean grain elevator rotating speed sensor 5 comprises a clean grain rotating speed Hall probe 53, a clean grain rotating speed magnetic steel 52 and a clean grain rotating speed fixing support 54; a plurality of net grain rotating speed magnetic steels 52 are fixedly connected on the axial surface of the top transmission shaft 51 of the net grain elevator at equal intervals to form a net grain rotating speed magnetic steel ring; one end of the clean grain rotating speed fixing support 54 is fixedly connected to a fixing bolt at the top end of the elevator, the other end of the clean grain rotating speed fixing support is fixedly connected with a clean grain rotating speed Hall probe 53, and the clean grain rotating speed Hall probe 53 is positioned on one side of the clean grain rotating speed magnetic steel ring.
The impulse type flow sensor 6 is arranged at an outlet 61 of a net grain elevator in the grain box and comprises a Wheatstone strain bridge 62, a sensitive beam 63 and a force sensing plate 64; the top end of the sensitive beam 63 is fixedly connected to the top wall of the sealed shell of the net grain elevator outlet 61, the bottom end of the sensitive beam is fixedly connected with the force sensing plate 64, and the force sensing plate 64 is positioned at the net grain elevator outlet 61 in the grain box; the wheatstone strain bridge 62 is fixedly connected to the sensitive beam 63.
The GNSS positioning sensor 7 comprises a GNSS mobile station receiver antenna 71, a GNSS mobile station radio antenna 72 and a GNSS receiver 73, wherein the GNSS mobile station receiver antenna 71 and the GNSS mobile station radio antenna 72 are both connected with the GNSS receiver 73 through wires, and the GNSS mobile station receiver antenna 71 and the GNSS mobile station radio antenna 72 are installed on the top of the harvester cab; the GNSS receiver 73 is mounted on the floor of the cab.
The signal processor 9 is installed on the floor of the harvester cab and comprises a USB-CAN interface card, a CAN digital signal transceiver, a CAN analog signal transceiver, an amplification module, a filtering module and two terminal resistors R.
The CAN digital signal transceiver is respectively connected with the vehicle speed sensor 3 and the clean grain elevator rotating speed sensor 5 and is used for acquiring switching signals of the vehicle speed sensor 3 and the clean grain elevator rotating speed sensor 5; the CAN analog signal transceiver is respectively connected with the swath width sensor 1, the header height sensor 2, the humidity sensor 4 and the impulse type flow sensor 6 through a filtering module and an amplifying module in sequence, and acquires voltage signals of the swath width sensor 1, the header height sensor 2, the humidity sensor 4 and the impulse type flow sensor 6 after amplification and filtering; the two terminal resistors are mutually connected in parallel with the USB-CAN interface card, the CAN digital signal transceiver and the CAN analog signal transceiver; the USB-CAN interface card is connected with a grain yield measurement display terminal 8.
The grain yield metering display terminal 8 is fixed on the right side beam body 81 of the driver seat; the grain yield measurement display terminal 8 is used for counting, analyzing, displaying and remotely transmitting data acquired by each sensor and is divided into a calibration mode and a harvesting mode; and the grain yield measurement display terminal 8 completes the processing and mapping of yield data and sends the result to the remote monitoring terminal by using the remote communication module.
The distance between the adjacent vehicle speed magnetic steels 33 is 0.5 cm.
The distance between the vehicle speed Hall probe 34 and the vehicle speed magnetic steel 33 is 1 cm.
The distance between the adjacent net grain rotating speed magnetic steels 52 is 0.5 cm.
The distance between the clean grain rotating speed Hall probe 53 and the clean grain rotating speed magnetic steel 52 is 1 cm.
The capacitive sensor 43 is flush with the surface of the slot plate 45 or is sunk 1-2mm into the surface of the slot plate 45.
The GNSS mobile station receiver antenna 71 and the GNSS mobile station radio antenna 72 are fixed by selecting the central axis position of the roof of the harvester cab.
The display content of the grain yield measurement display terminal 8 comprises: real-time cutting width, cutting table lifting state, real-time moisture content, real-time vehicle speed, harvesting position of the harvester, real-time net grain elevator rotating speed and real-time grain flow.
A yield monitoring method of an impulse type grain combine harvester comprises the following steps:
s1, before harvesting, establishing a coordinate boundary of a harvest farmland, dividing a sweeping edge and a rotation harvest area, and determining a sweeping edge and a rotation calibration operation area according to the size of the actual harvest area;
s2, calibrating the yield coefficient;
s2.1, performing edge sweeping calibration operation, namely, finishing the edge sweeping harvesting operation after the harvester is in a field-off harvesting preparation stage and finishing the harvesting requirement of edge sweeping calibration, unloading and weighing at a specified position, inputting the weighed weight into a grain yield metering display terminal 8, and obtaining the edge sweeping calibration operation according to a formula 4While calibrating the yield coefficient k1；
S2.2, performing rotary calibration operation, namely emptying the sweeping edge in the grain box of the harvester to calibrate residual grains, and performing rotary calibration operation; in the operation process, a driver needs to adjust the driving speed and the swath according to the driving habit and the actual field condition; after the harvest requirement of the rotation calibration is finished, the rotation harvest operation is finished, grain unloading and weighing are carried out at the designated position, the weighed weight is input into a grain yield metering display terminal 8, and a rotation calibration yield coefficient k is obtained according to a formula 42；
Figure BDA0002672797560000051
Y1、Y2Edge sweeping calibration and rotary calibration of the total weighing output, wherein the unit is t;
S1、S2-edge sweeping and rotation calibration of the total area of harvest in hm2；
k1、k2-edge sweeping calibration, revolution calibration yield coefficient;
U1、U2the average flow voltage calculation value of the sweeping edge calibration sampling point and the rotation calibration sampling point is in a unit of V;
W1、W2the real-time swath of the edge sweeping calibration and the rotation calibration sampling point is m;
V1、V2the real-time speed of the edge sweeping calibration and the rotation calibration sampling point is in m/s;
M1、M2the moisture content of the grains at the sampling points is subjected to edge sweeping calibration and rotation calibration, and the unit is;
FGNSS-the sampling frequency of the GNSS coordinates in Hz;
Mr-standard moisture content of the grain, in units;
s3, performing conventional harvesting operation;
after the harvester is aligned, the crop yield measurement display terminal 8 displays the farmland to be harvestedThe positions of the sweeping-edge harvesting area and the rotary harvesting area are adopted, when the harvester drives into the sweeping-edge harvesting area or the rotary harvesting area, the system uses the corresponding yield calibration coefficient k1Or k2Calculating the yield value of the sampling point according to the formula 1;
Figure BDA0002672797560000061
y-sampling point yield per unit area, in t/hm2；
k is the calibrated yield coefficient of the farmland grain to be obtained;
Fs-the sampling frequency of each sensor in Hz;
w is the real-time swath of the sampling point, and the unit is m;
v is the real-time vehicle speed of the sampling point, and the unit is m/s;
u is the flow voltage of the sampling point, and the unit is V;
m is the moisture content of the grain at the sampling point, and the unit is;
Mr-standard moisture content of the grain to be harvested in units;
when the field harvesting requirement is finished, a driver needs to finish the conventional harvesting operation and unload grains at a specific position; at this time, the system displays the total yield value of the harvested position, the average yield value of the sampling points, the harvested area, the non-harvested area, and the operation condition of each sensor.
The remote communication module carries out real-time monitoring in the calibration and harvesting processes, and sends the output calculation result to the remote monitoring terminal after harvesting.
Compared with the prior art, the invention has the beneficial effects that:
the invention uses the CAN bus as a basic communication mode and realizes the yield calculation, the yield display and the remote transmission of yield data through the display terminal. In order to reduce the influence of the swept edge harvesting on the calibration of the yield coefficient and improve the calculation accuracy of the yield of the sampling point, the invention provides a method for calibrating the yield coefficient on the basis of summarizing the structure of the existing yield monitoring system, the method uses a GNSS positioning sensor 7 to respectively identify a swept edge harvesting area and a rotary harvesting area according to the feedback values of all collectors in the system, respectively provides the yield calibration coefficients of the two areas, identifies the real-time position of a harvester during conventional harvesting, and calculates the yield value of the sampling point by adopting the corresponding yield coefficient, thereby achieving the purposes of improving the yield monitoring precision and restoring the real yield distribution of a farmland.
Drawings
FIG. 1 is a schematic view of the installation position of the impulse type grain combine harvester yield monitoring system of the present invention;
FIG. 2 is a block diagram of the impulse type grain combine harvester yield monitoring system of the present invention;
fig. 3a is a first schematic view of the installation of the swath width sensor 1;
FIG. 3b is a second schematic view of the installation of swath width sensor 1;
fig. 4 is a schematic view of the installation of the header height sensor 2;
fig. 5 is a schematic view of the installation of the vehicle speed sensor 3;
fig. 6 is a schematic view of the installation of the humidity sensor 4;
FIG. 7 is a schematic view of the installation of a net lift sensor;
FIG. 8 is a schematic view of the installation of the impulse flow sensor 6;
FIG. 9 is a schematic diagram of an installation of a GNSS differential locator;
fig. 10 is a schematic diagram of the composition of the signal processor 9;
FIG. 11 is a schematic view showing the installation of the grain yield measuring display terminal 8;
fig. 12 is a schematic diagram of a signal acquisition process of the impulse flow sensor 6;
FIG. 13 is a pre-operation debugging flow diagram of an impulse type grain combine yield monitoring system;
fig. 14 is a harvesting flow diagram of a system for monitoring the output of a pulse-type grain combine.
Wherein the reference numerals are:
1 swath width sensor and 2 header height sensor
3 vehicle speed sensor 4 humidity sensor
5 clean grain elevator speed sensor 6 impulse type flow sensor
7 GNSS positioning sensor 8 grain yield measurement display terminal
9 signal processor 11 divider
12-cutter 13 ultrasonic reflection plate
14 ultrasonic sensor 21 oblique conveyor
22 angular displacement type sensor 23 connecting rod
24 connecting rod fixing bracket 31 left front wheel
32 front wheel tie rod 33 speed magnet steel
34 speed Hall probe 35 speed fixed bolster
41 net grain elevator bottom transmission shaft 42 net grain elevator scraper
43 capacitive sensor 44 fixed collar
Top transmission shaft of 45-groove plate 51 clean grain elevator
52-net-grain rotating speed magnetic steel 53-net-grain rotating speed Hall probe
54 net grain rotating speed fixing support 61 net grain elevator outlet
62 Wheatstone strain bridge 63 sensing beam
64-force sensing plate 71 GNSS mobile station receiver antenna
72 GNSS mobile station radio antenna 73 GNSS receiver
81 cab right side beam body
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 2, the yield monitoring system of the impulse type grain combine harvester comprises a remote monitoring terminal and vehicle-mounted equipment arranged on the harvester. The harvester comprises a harvester body, and a cutting table, an inclined conveyor 21, a clean grain elevator and a grain box which are sequentially connected, wherein the cutting table comprises a nearside divider 11 and a cutting knife 12. The net grain elevator comprises a trough plate 45, a net grain elevator scraper 42, a net grain elevator bottom transmission shaft 41, a net grain elevator top transmission shaft 51 and a net grain elevator outlet 61. A plurality of net grain elevator flights 42 are provided on the chain on the sprockets of the net grain elevator bottom drive shaft 41. A cab is arranged on the vehicle body; wheels are arranged below the vehicle body; wherein the wheels comprise front wheels 31.
The vehicle-mounted equipment comprises a signal collector, a signal processor 9, a grain yield metering display terminal 8 and a remote communication module.
The signal collector comprises a swath width sensor 1, a header height sensor 2, a vehicle speed sensor 3, a humidity sensor 4, a net grain elevator rotation speed sensor 5, an impulse type flow sensor 6 and a GNSS positioning sensor 7.
As shown in fig. 1 and fig. 3a and 3b, the swath width sensor 1 includes an ultrasonic reflection plate 13 and an ultrasonic sensor 14 which are disposed between the crop divider 11 and the cutter 12 at a front-rear interval; the ultrasonic reflection plate 13 is positioned in the mounting groove behind the divider 11 to prevent dust from interfering with incident or reflected waves, and the ultrasonic sensor 14 is positioned in the baffle of the divider 11 behind the ultrasonic reflection plate 13. The signal receiving and transmitting end of the ultrasonic sensor 14 is parallel to the advancing direction of the machine, and the included angle between the reflecting surface of the ultrasonic reflecting plate 13 and the signal receiving and transmitting end of the ultrasonic sensor 14 is 135 degrees, so that the signal receiving and transmitting end of the ultrasonic sensor 14 collects the reflected signals of harvested crops at an included angle of 90 degrees, and the variation of the harvested cutting width can be conveniently collected in real time.
As shown in fig. 4, the header height sensor 2 includes an angular displacement sensor 22, a connecting rod 23, and a connecting rod fixing bracket 24; wherein the angular displacement sensor 22 is installed on the side end surface of the inclined conveyor 21 at a distance of about 0.15m from the vehicle body junction. The connecting rod fixing support 24 is fixedly connected to the vehicle body, and two connecting ends of the connecting rod 23 are respectively connected with the connecting rod fixing support 24 and the angular displacement sensor 22. During installation, the header is required to be kept at the median position of the descending limit value and the ascending limit value, the connecting rod 23 is perpendicular to the ground, and the top point of the connecting rod 23 and the connecting rod fixing support 24 are located on the same horizontal plane. The angular displacement sensor 22 records the descending and ascending limit values of the header and is used for identifying the harvesting state of the harvester, and the grain yield metering display terminal 8 controls the starting and stopping of the signal collector according to the harvesting state of the harvester. Wherein, the descending limit value is the harvest condition, and signal acquisition is started; and stopping signal acquisition under the condition that the rising and the median limit value are not harvested.
As shown in fig. 5, the vehicle speed sensor 3 is used for recording the running speed of the harvester, and comprises a vehicle speed hall probe 34, a vehicle speed magnetic steel 33 and a vehicle speed fixing bracket 35. The plurality of vehicle speed magnetic steels 33 are fixedly connected to the circumferential surface of the front wheel tie rod 32 at equal intervals to form a vehicle speed magnetic steel ring, and the interval between the adjacent vehicle speed magnetic steels 33 is about 0.5 cm. The outer side end of the speed fixing support 35 is fixedly connected to a vehicle body on the outer side of a front wheel of the harvester, the inner side end of the speed fixing support is fixedly connected with a speed Hall probe 34, the speed Hall probe 34 is located above a speed magnetic steel ring, and the distance between the speed Hall probe 34 and the speed magnetic steel 33 is about 1 cm.
As shown in FIG. 6, the humidity sensor 4 is used for collecting the moisture content of the grain in the instant yield, and comprises a capacitive sensor 43 and a fixed collar 44.
The fixed collar 44 is mounted at an opening in the bottom of the trough plate 45 of the net elevator. The capacitive sensor 43 is mounted on a fixed collar 44, the capacitive sensor 43 being flush with the surface of the slotted plate 45 or being sunk 1-2mm into the surface of the slotted plate 45, prohibiting the plate from being extended out. If the channel plate 45 is extended, this may cause the grain to squeeze the capacitive sensor 43, causing an inaccurate signal, or may cause the capacitive sensor 43 to rub against the net elevator blade 42, causing sensor damage. The transmission shaft 41 at the bottom of the net grain elevator rotates to drive the scraper 42 of the net grain elevator to move, so that grains loaded by the scraper 42 of the net grain elevator pass through the capacitive sensor 43, and the capacitive sensor 43 finishes the collection of the moisture content of the grains.
As shown in fig. 7, the net grain elevator rotation speed sensor 5 is used for recording the rotation speed of the net grain elevator, and includes a net grain rotation speed hall probe 53, a net grain rotation speed magnetic steel 52, and a net grain rotation speed fixing support 54. A plurality of net grain rotating speed magnetic steels 52 are fixedly connected on the axial surface of the top transmission shaft 51 of the net grain elevator at equal intervals to form a net grain rotating speed magnetic steel ring, and the interval between the adjacent net grain rotating speed magnetic steels 52 is about 0.5 cm. One end of a clean grain rotating speed fixing support 54 is fixedly connected to a fixing bolt at the top end of the elevator, the other end of the clean grain rotating speed fixing support is fixedly connected with a clean grain rotating speed Hall probe 53, the clean grain rotating speed Hall probe 53 is located on one side of a clean grain rotating speed magnetic steel ring, and the distance between the clean grain rotating speed Hall probe 53 and the clean grain rotating speed magnetic steel 52 is about 1 cm.
As shown in fig. 8, the impulse flow sensor 6 is installed at the outlet 61 of the net elevator in the grain box, and comprises a wheatstone strain bridge 62, a sensing beam 63 and a force sensing plate 64; the top end of the sensitive beam 63 is fixedly connected to the top wall of the sealed shell of the net grain elevator outlet 61, the bottom end of the sensitive beam is fixedly connected with the force sensing plate 64, and the force sensing plate 64 is positioned at the net grain elevator outlet 61 in the grain box; the wheatstone strain bridge 62 is fixedly connected to the sensitive beam 63. After grains enter from a header of the harvester, pure grains are obtained through processing procedures of threshing, separating, cleaning and the like, the grains are conveyed to an outlet 61 of a clean grain elevator by a scraper type clean grain elevator, the grains are thrown onto a force sensing plate 64 by means of inertia, the force sensing plate 64 deforms, and then a sensitive beam 63 is driven to deform, so that the acquisition voltage of a Wheatstone strain bridge 62 is changed, and the acquisition of flow voltage is completed. The grain is then directed by the force sensing plate 64 into the grain bin.
As shown in fig. 9, the GNSS positioning sensor 7 comprises a GNSS mobile station receiver antenna 71, a GNSS mobile station radio antenna 72 and a GNSS receiver 73, wherein the GNSS mobile station receiver antenna 71 and the GNSS mobile station radio antenna 72 are both connected with the GNSS receiver 73 through wires, and the GNSS mobile station receiver antenna 71 and the GNSS mobile station radio antenna 72 are mounted on the top of the cab of the harvester; the GNSS receiver 73 is mounted on the floor of the cab.
Preferably, the GNSS mobile station receiver antenna 71 and the GNSS mobile station radio antenna 72 are fixed by selecting the central axis position of the roof of the cab of the harvester, so as to facilitate the calibration calculation of the relative position of the harvester.
The signal processor 9 is installed on the floor of the harvester cab and comprises a USB-CAN interface card, a CAN digital signal transceiver, a CAN analog signal transceiver, an amplification module, a filtering module and two terminal resistors R. As shown in figure 10 of the drawings,
the CAN digital signal transceiver is respectively connected with the vehicle speed sensor 3 and the clean grain elevator rotating speed sensor 5 and is used for acquiring switching signals of the vehicle speed sensor 3 and the clean grain elevator rotating speed sensor 5; the CAN analog signal transceiver is sequentially connected with the swath width sensor 1, the header height sensor 2, the humidity sensor 4 and the impulse type flow sensor 6 through the filtering module and the amplifying module respectively, and acquires voltage signals of the swath width sensor 1, the header height sensor 2, the humidity sensor 4 and the impulse type flow sensor 6 after amplification and filtering processing. The two terminal resistors are connected with the USB-CAN interface card, the CAN digital signal transceiver and the CAN analog signal transceiver in parallel. The USB-CAN interface card is connected with a grain yield measurement display terminal 8.
The switch signal enters the CAN bus through the code of the CAN digital signal transceiver, the voltage signal enters the CAN bus through the code of the CAN analog signal transceiver after being processed by the amplifying module and the filtering module, the CAN bus is changed into two states of 'dominant' (representing '0') and 'recessive' (representing '1') by the coded switch signal and the voltage signal, and the CAN bus is rapidly brought into the recessive state through two 120 omega terminal resistors R, so that the signal quality and the anti-interference capability are improved. Then the required data is extracted by the USB-CAN interface card and transmitted to the grain yield metering display terminal 8.
The grain yield measurement display terminal 8 is fixed on the driver seat right side beam body 81, as shown in fig. 11. When the space of the cab is large, the cab can be fixed on the beam body on the left side of the driver seat, and the operation and the viewing of a driver are facilitated. The grain yield measurement display terminal 8 is used for statistics, analysis, display and remote transmission of data collected by each sensor, and is divided into a calibration mode and a harvesting mode, as shown in fig. 11, the display content of the grain yield measurement display terminal 8 includes: real-time swath (m), header lifting state (0/1), real-time moisture content (%), real-time vehicle speed (m/s), harvester harvesting position (X, Y), real-time net grain elevator rotation speed (rps), real-time grain flow (V) and the like.
Each sensor carries out signal acquisition according to a specific sampling frequency, and transmits signals to the grain yield metering display terminal 8 through a CAN digital signal transceiver, a CAN analog signal transceiver and a USB-CAN interface card in the signal processor 9, and the GNSS positioning sensor 7 CAN be directly connected to the grain yield metering display terminal 8. The processing and the mapping of the yield data are completed through the grain yield measurement display terminal 8, and the result is sent to the remote monitoring terminal through the remote communication module, so that the integration and the management of the data are facilitated.
The processing of the harvest parameter signals by the grain yield measurement display terminal 8 is focused on calibrating yield coefficients and yield assignments of sampling points.
The yield coefficient is calibrated to ensure that the harvester harvests cereal farmland crops in a certain range under specific harvesting conditions, the obtained cereals are weighed, and the weight of the cereals is input into the cereal yield measurement display terminal 8, so that the yield coefficient k of the cereal of the farmland variety is obtained.
The yield assignment of the sampling points is based on a calibrated yield coefficient, a harvester driver performs conventional harvesting operation on a farmland to be harvested according to a planned harvesting mode, and the yield value of each sampling point is determined according to the mathematical relationship between the yield coefficient and a harvesting parameter signal, as shown in formula 1.
Figure BDA0002672797560000131
Y-sample Point area per unit area yield (t/hm)2)；
k is the calibrated yield coefficient of the farmland grain to be obtained;
Fs-sampling frequency (Hz) of each sensor;
w-real time swath of sample points (m);
v-real time vehicle speed (m/s) at the sample point;
u-flow voltage (V) at the sampling point;
m-moisture percentage of grain at sample site (%)
Mr-standard moisture content (%) of the grain to be harvested;
is composed of1, the calculation of the output Y per unit area of the sampling point is related to a calibration coefficient k and signals collected by each sensor in real time, the impulse type flow sensor 6 is used for collecting a voltage signal U of the grain flow in real time, and the voltage output signal is an average value U of the flow voltage of the sampling point output by the impulse type flow sensor 6 after the sampling frequency calculationAVE. Real-time swath W of sampling points acquired by swath width sensor 1, real-time vehicle speed V of sampling points acquired by vehicle speed sensor 3 and sampling frequency F of each sensorsThe device is used for calculating the real-time harvesting area of the sampling point, and the humidity sensor 4 is used for collecting a grain water content signal M in real time. In addition, the header height sensor 2 is used for identifying the harvesting condition of the harvester in real time, the rotating speed value of the elevator collected by the net grain elevator rotating speed sensor 5 is used for determining the sampling frequency of the impulse type flow sensor 6, and the GNSS positioning sensor 7 is used for providing the relative position of the harvester in the field to be harvested in real time.
Sensor sampling frequency and telecommunications frequency settings
The sampling frequency of each exemplary sensor is set according to the characteristics and requirements of the acquired signal. The sampling frequency of each sensor is generally set by taking the GNSS position information sampling frequency of a sampling point as a reference, and includes a swath width sensor 1, a header height sensor 2, a vehicle speed sensor 3, a humidity sensor 4 and a net grain elevator rotation speed sensor 5, and is generally set to 2 Hz. According to the actual yield monitoring experience of many years, when the wheat field and the paddy field of conventional 0.67ha (about 10 mu) are harvested, the sampling frequency is set to be 2Hz, so that the sampling frequency is more suitable, the harvesting area is relatively small, the total harvesting area occupied by the corner area of the harvester is larger, the number of sampling points needs to be increased, and the yield interpolation precision of the edge-sweeping harvesting area can be improved. When the farmland area is far over 0.67ha (about 10 mu), the sampling frequency (such as 1Hz) can be properly reduced.
The sampling frequency of the impulse-type flow sensor 6 needs to be calculated according to the rotation speed R of the net grain elevator, the radius R of the top transmission shaft, the distance l between the scrapers and a sampling theorem, as shown in fig. 12 and formula 2. And outputs a flow voltage calculation value according to the sampling frequency of the GNSS coordinates of the sampling point in a manner of calculating an average value, which may represent an average instantaneous yield of the sampling point, as shown in equation 3. In addition, the calibration method and sensitivity test of each exemplary sensor are performed in accordance with the calibration rule and sensitivity test rule of each sensor.
Figure BDA0002672797560000141
FFLowThe sampling frequency (Hz) of the impulse flow sensor 6;
r-radius of transmission shaft at top of the net grain elevator;
r is a rotating speed value (rps) measured by a rotating speed sensor of a top transmission shaft of the net grain elevator;
l-the distance (m) between two scrapers of the net grain elevator;
Figure BDA0002672797560000142
FGNSS-GNSS module sampling frequency (Hz);
u is the voltage value (V) collected by the impulse type flow sensor 6;
n-the number (ones) of the mean values selected for calculation in the acquisition order;
UAVE-sampling the average value (V) of the flow voltage;
the remote communication is divided into a real-time monitoring mode and a result sending mode, and when the harvester is running and the remote communication module is monitoring in real time, the communication frequency is preferably set to be the same as the GNSS coordinate sampling frequency of the sampling point (for example: 2 Hz). And when the harvest is finished and the output data processing result needs to be sent, setting the communication frequency according to the requirement of the remote monitoring terminal.
Most harvesting methods in the conventional wheat field operation are a clockwise centripetal rotation method and a counterclockwise centripetal rotation method, and the harvesting method is characterized in that before a harvester enters a farmland, one corner of the farmland is cut into an open space by using a straight harvesting mode of the harvester, and when the harvester runs to the place, the rotation harvesting can be continuously carried out by adopting a reverse turning method and a right-angle turning method. And when other corners of the field are harvested, the wheat is harvested and turned by the same method, so that the wheat which is not harvested is prevented from being pressed down.
According to the characteristics of the conventional harvest, the farmland harvest process is divided into yield coefficient calibration operation and conventional harvest operation. The yield coefficient calibration operation comprises edge sweeping calibration operation and rotation calibration operation. Conventional harvesting operations include edge-sweeping harvesting and swing harvesting.
The area (field edge or field corner) where the field block can not be smoothly subjected to rotary harvesting is defined as a sweeping-edge harvesting area, and the sweeping-edge harvesting can cause multiple lifting of a header, multiple changes of cutting width, multiple changes of advancing direction and multiple changes of vehicle speed, and is influenced by grain filling time and delay time, so that inaccurate yield coefficient calibration and reduction of the calculation precision of the yield value of a sampling point can be caused. Therefore, the swept edge harvesting area is divided to be independently used for calibrating the yield coefficient calculation, and the yield calculation precision of the whole farmland can be further improved.
The rotary harvesting is the forward and counterclockwise harvesting processes of the harvester, has the characteristic that harvesting parameters such as cutting width, cutting table and vehicle speed are basically constant, and can carry out more accurate yield coefficient calibration and sampling point yield value calculation.
As shown in fig. 14, a method for monitoring the yield of an impulse type grain combine harvester comprises the following steps:
s1, before harvesting, establishing a coordinate boundary of a harvesting farmland, dividing a sweeping edge and a rotation harvesting area, and determining a sweeping edge and a rotation calibration operation area according to the size of the actual harvesting area.
S2 production coefficient calibration operation
S2.1, performing edge sweeping calibration operation, namely, enabling the harvester to be in a field unloading and harvesting preparation stage, finishing the edge sweeping harvesting operation after finishing the harvesting requirement of edge sweeping calibration (for example, finishing the harvesting requirement of a turning area at one corner of a field block), unloading grains and weighing at a specified position, inputting the weighed weight into a grain yield measurement display terminal 8 to obtain an edge sweeping calibration yield coefficient k1As shown in equation 4.
S2.2, performing rotary calibration operation, namely emptying the sweeping edge in the grain box of the harvester to calibrate residual grains, and performing rotary calibration operation. In the process of the operation,the driver needs to adjust the driving speed and the cutting width according to the driving habit and the actual field condition (for example, the speed of the harvester is basically kept at about 1m/s or 2m/s, and the cutting width is full). After finishing the harvest requirement of the rotation calibration (for example, finishing the harvest requirement of one-side back-and-forth two times), finishing the rotation harvest operation, unloading and weighing at the designated position, inputting the weighed weight into a grain yield measurement display terminal 8 to obtain a rotation calibration yield coefficient k2As shown in equation 4.
Figure BDA0002672797560000161
Y1、Y2-edge sweeping calibration, rotary calibration of the total yield (t) weighed;
S1、S2-edge sweeping calibration, rotation calibration total harvest area (hm)2)；
k1、k2-edge sweeping calibration, revolution calibration yield coefficient;
U1、U2-calculating the average flow voltage value (V) of the swept edge calibration and the revolution calibration sampling points;
W1、W2-sweeping and rotating to calibrate the real-time swath (m) of the sampling points;
V1、V2-sweeping and rotating to calibrate the real-time vehicle speed (m/s) of the sampling point;
M1、M2the moisture content (%) of the grains at the sampling points are subjected to edge sweeping calibration and rotation calibration;
FGNSS-sampling frequency (Hz) of GNSS coordinates;
Mr-standard moisture content (%) of the grain;
the regular harvesting operation is carried out after the calibration operation, and the grain yield metering display terminal 8 calculates the yield coefficient k1、k2And the method is used for calculating the yield value of the sampling point in real time in the conventional harvesting operation.
S3, conventional harvesting operation
After the harvester is in opposite rows, the grain yield measurement display terminal 8 displays the positions of the edge sweeping harvest area and the rotary harvest area of the farmland to be harvested, and when the harvester drives into the edge sweeping harvest area or the rotary harvest area, the system uses a corresponding yield calibration coefficient k1Or k2And calculating the yield value of the sampling point, wherein the calculation process is shown as the formula 1. When the field harvesting requirement is finished (such as full-load of the grain box of the harvester, alarm of the grain box, complete harvest of grains in the field and the like), the driver needs to finish the conventional harvesting operation and unload grains at a specific position. At this point, the system may display the total yield value for the harvested location, the average yield value for the sample points, the harvested area, the non-harvested area, the operating conditions of each sensor, and the like.
In addition, the remote communication module can carry out real-time monitoring in the calibration and harvesting processes, can also select the result to be sent after harvesting is finished, and sends the output calculation result to the remote monitoring terminal.
Generally, the yield coefficient calibration operation is performed first, and then the conventional harvesting operation is performed. After the yield coefficient calibration operation is selected, the edge sweeping calibration operation or the rotation calibration operation is carried out, and under the general condition, the edge sweeping calibration operation is firstly carried out, and then the rotation calibration operation is carried out.
Preferably, the pre-job system debugging is performed before step S1, and as shown in fig. 13, the method includes the following steps:
firstly, sensor connection and system debugging are carried out before the impulse type yield monitoring system is installed on the harvester, the system debugging comprises the debugging of parameters such as resolution, sensitivity, measuring range, measuring error and the like of each sensor in the system, the debugging of long-time stable operation and remote transmission of the system, and the system is embedded into the harvester after meeting the operation requirements of the system.
Secondly, accomplish system's embedding and joint debugging under the prerequisite that does not disturb harvester normal operating, the joint debugging of system and harvester mainly includes: determining the position and the deflection angle of an ultrasonic wave reflecting plate 13 of the swath width sensor 1; determining a limit value of the header height sensor 2; determining that the moisture sensor 4 does not cause grain build-up; determining the stability and reliability of the net grain elevator speed sensor 5 and the vehicle speed sensor 3; determining the impact area and the flow guiding position of a force sensing plate 64 of the impulse type flow sensor 6; determining the center position of the GNSS mobile station antenna; the reliability of the grain yield metric display terminal 8, signal processor 9 and GNSS mobile station receiver is determined.
And finally, within a specific combined debugging time, the harvester and the monitoring system both meet the harvesting requirement of farmland operation, and the system debugging before the operation is finished is shown.

Claims (2)

1. An impulse type grain combine yield monitoring method utilizes an impulse type grain combine yield monitoring system, and is characterized by comprising the following steps:
s1, before harvesting, establishing a coordinate boundary of a harvest farmland, dividing a sweeping edge and a rotation harvest area, and determining a sweeping edge and a rotation calibration operation area according to the size of the actual harvest area;
s2, calibrating the yield coefficient;
s2.1, performing edge sweeping calibration operation, namely, finishing the edge sweeping harvesting operation after the harvester is in a field-off harvesting preparation stage and finishing the harvesting requirement of edge sweeping calibration, unloading and weighing at a specified position, inputting the weighed weight into a grain yield metering display terminal (8), and obtaining an edge sweeping calibration yield coefficient k according to a formula 41；
S2.2, performing rotary calibration operation, namely emptying the sweeping edge in the grain box of the harvester to calibrate residual grains, and performing rotary calibration operation; in the operation process, a driver needs to adjust the driving speed and the swath according to the driving habit and the actual field condition; after the harvest requirement of the rotation calibration is finished, the rotation harvest operation is finished, grain unloading and weighing are carried out at the designated position, the weighed weight is input into a grain yield metering display terminal (8), and a rotation calibration yield coefficient k is obtained according to a formula 42；
Figure FDA0003017442740000011
Y1、Y2Edge sweeping calibration and rotary calibration of the total weighing output, wherein the unit is t;
S1、S2-edge sweeping and rotation calibration of the total area of harvest in hm2；
k1、k2-edge sweeping calibration, revolution calibration yield coefficient;
U1、U2the average flow voltage calculation value of the sweeping edge calibration sampling point and the rotation calibration sampling point is in a unit of V;
W1、W2the real-time swath of the edge sweeping calibration and the rotation calibration sampling point is m;
V1、V2the real-time speed of the edge sweeping calibration and the rotation calibration sampling point is in m/s;
M1、M2the moisture content of the grains at the sampling points is subjected to edge sweeping calibration and rotation calibration, and the unit is;
FGNSS-the sampling frequency of the GNSS coordinates in Hz;
Mr-standard moisture content of the grain, in units;
s3, performing conventional harvesting operation;
after the harvester is in opposite running, the grain yield measurement display terminal (8) displays the positions of the swept edge harvesting area and the rotary harvesting area of the farmland to be harvested, and when the harvester drives into the swept edge harvesting area or the rotary harvesting area, the system uses a corresponding yield calibration coefficient k1Or k2Calculating the yield value of the sampling point according to the formula 1;
Figure FDA0003017442740000021
y-sampling point yield per unit area, in t/hm2；
k is the calibrated yield coefficient of the farmland grain to be obtained;
Fs-the sampling frequency of each sensor in Hz;
w is the real-time swath of the sampling point, and the unit is m;
v is the real-time vehicle speed of the sampling point, and the unit is m/s;
u is the flow voltage of the sampling point, and the unit is V;
m is the moisture content of the grain at the sampling point, and the unit is;
Mr-standard moisture content of the grain to be harvested in units;
when the field harvesting requirement is finished, a driver needs to finish the conventional harvesting operation and unload grains at a specified position; at the moment, the system displays the total yield value of the collected position, the average yield value of the sampling points, the collected area, the non-collected area and the operation condition of each sensor;
the yield monitoring system of the impulse type grain combine harvester comprises a remote monitoring terminal and vehicle-mounted equipment arranged on the harvester; the harvester comprises a harvester body, and a cutting table, an inclined conveyor (21), a net grain elevator and a grain box which are sequentially connected, wherein the cutting table comprises a divider (11) and a cutter (12); the net grain elevator comprises a groove plate (45), a net grain elevator scraper (42), a net grain elevator bottom transmission shaft (41), a net grain elevator top transmission shaft (51) and a net grain elevator outlet (61); a plurality of net grain elevator scrapers (42) are arranged on a chain wheel of a transmission shaft (41) at the bottom of the net grain elevator; a cab is arranged on the vehicle body; wheels are arranged below the vehicle body; wherein the wheel comprises a front wheel (31);
the vehicle-mounted equipment comprises a signal collector, a signal processor (9), a grain yield metering display terminal (8) and a remote communication module;
the signal collector comprises a swath width sensor (1), a header height sensor (2), a vehicle speed sensor (3), a humidity sensor (4), a net grain elevator rotating speed sensor (5), an impulse type flow sensor (6) and a GNSS positioning sensor (7);
the swath width sensor (1) comprises an ultrasonic reflection plate (13) and an ultrasonic sensor (14) which are arranged between the nearside divider (11) and the cutting knife (12) at intervals; the ultrasonic reflection plate (13) is positioned in the mounting groove behind the nearside divider (11); the ultrasonic sensor (14) is positioned in a baffle of the divider (11) behind the ultrasonic reflection plate (13); the signal receiving and transmitting end of the ultrasonic sensor (14) is parallel to the advancing direction of the machine, the included angle between the reflecting surface of the ultrasonic reflecting plate (13) and the signal receiving and transmitting end of the ultrasonic sensor (14) is 135 degrees, so that the signal receiving and transmitting end of the ultrasonic sensor (14) collects the reflected signals of the harvested crops at the included angle of 90 degrees;
the header height sensor (2) comprises an angular displacement sensor (22), a connecting rod (23) and a connecting rod fixing bracket (24); wherein, the angular displacement sensor (22) is arranged on the side end surface of the inclined conveyor (21) and is separated from the connection part of the vehicle body by a certain distance; the connecting rod fixing support (24) is fixedly connected to the vehicle body, and two connecting ends of the connecting rod (23) are respectively connected with the connecting rod fixing support (24) and the angular displacement sensor (22); the header stays at the median position of the descending limit value and the ascending limit value, the connecting rod (23) is vertical to the ground, and the top point of the connecting rod (23) and the connecting rod fixing bracket (24) are positioned on the same horizontal plane;
the vehicle speed sensor (3) comprises a vehicle speed Hall probe (34), vehicle speed magnetic steel (33) and a vehicle speed fixing support (35); wherein, a plurality of speed magnet steels (33) are fixedly connected on the circumferential surface of the front wheel tie rod (32) at equal intervals to form a speed magnet steel ring; the outer side end of the speed fixing support (35) is fixedly connected to a vehicle body on the outer side of a front wheel (31) of the harvester, the inner side end of the speed fixing support is fixedly connected with a speed Hall probe (34), and the speed Hall probe (34) is positioned above a speed magnetic steel ring;
the humidity sensor (4) comprises a capacitive sensor (43) and a fixed collar (44); the fixed lantern ring (44) is arranged at an opening at the bottom of a trough plate (45) of the net grain elevator; the capacitive sensor (43) is mounted on the fixed collar (44);
the clean grain elevator rotating speed sensor (5) comprises a clean grain rotating speed Hall probe (53), a clean grain rotating speed magnetic steel (52) and a clean grain rotating speed fixing support (54); a plurality of net grain rotating speed magnetic steels (52) are fixedly connected on the axial surface of a transmission shaft (51) at the top of the net grain elevator at equal intervals to form a net grain rotating speed magnetic steel ring; one end of a net grain rotating speed fixing support (54) is fixedly connected to a fixing bolt at the top end of the elevator, the other end of the net grain rotating speed fixing support is fixedly connected with a net grain rotating speed Hall probe (53), and the net grain rotating speed Hall probe (53) is positioned on one side of a net grain rotating speed magnetic steel ring;
the impulse type flow sensor (6) is arranged at an outlet (61) of a net grain elevator in the grain box and comprises a Wheatstone strain bridge (62), a sensitive beam (63) and a sensitive plate (64); the top end of the sensitive beam (63) is fixedly connected to the top wall of the sealed shell of the clean grain elevator outlet (61), the bottom end of the sensitive beam is fixedly connected with the force sensing plate (64), and the force sensing plate (64) is positioned at the clean grain elevator outlet (61) in the grain box; the Wheatstone strain bridge (62) is fixedly connected to the sensitive beam (63);
the GNSS positioning sensor (7) comprises a GNSS mobile station receiver antenna (71), a GNSS mobile station radio antenna (72) and a GNSS receiver (73), wherein the GNSS mobile station receiver antenna (71) and the GNSS mobile station radio antenna (72) are both connected with the GNSS receiver (73) through wires, and the GNSS mobile station receiver antenna (71) and the GNSS mobile station radio antenna (72) are installed on the top of the cab of the harvester; the GNSS receiver (73) is arranged on the floor of the cab;
the signal processor (9) is arranged on the floor of the harvester cab and comprises a USB-CAN interface card, a CAN digital signal transceiver, a CAN analog signal transceiver, an amplification module, a filtering module and two terminal resistors R;
the CAN digital signal transceiver is respectively connected with the vehicle speed sensor (3) and the net grain elevator rotating speed sensor (5) and is used for acquiring switching signals of the vehicle speed sensor (3) and the net grain elevator rotating speed sensor (5); the CAN analog signal transceiver is respectively connected with the swath width sensor (1), the header height sensor (2), the humidity sensor (4) and the impulse type flow sensor (6) through a filtering module and an amplifying module in sequence, and acquires voltage signals of the swath width sensor (1), the header height sensor (2), the humidity sensor (4) and the impulse type flow sensor (6) after amplification and filtering; the two terminal resistors are mutually connected in parallel with the USB-CAN interface card, the CAN digital signal transceiver and the CAN analog signal transceiver; the USB-CAN interface card is connected with a grain yield metering display terminal (8);
the grain yield metering display terminal (8) is fixed on a right side beam body (81) of the driver seat; the grain yield measurement display terminal (8) is used for counting, analyzing, displaying and remotely transmitting data acquired by each sensor and is divided into a calibration mode and a harvesting mode; the grain yield measurement display terminal (8) completes the processing and the mapping of yield data, and a remote communication module is used for sending results to a remote monitoring terminal.
2. The method for monitoring the yield of the impulse type grain combine harvester of claim 1, wherein the remote communication module monitors in real time during the calibration and harvesting processes, and sends the yield calculation result to the remote monitoring terminal after the harvest is finished.
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