CN101904250A - Method and device for measuring feeding amount of combine harvester - Google Patents

Abstract

The invention discloses a method and a device for measuring the feeding amount of a combine harvester. The method comprises the following steps: a seed weight value measuring step: obtaining a first charge signal generated when seeds fall and impact a first sensor in real time and performing A/D conversion on the first charge signal; a straw weight value measuring step: obtaining a second charge signal generated when straw fall and impact a second sensor in real time and performing A/D conversion on the second charge signal; a feeding amount obtaining step: performing integral calculation on the converted first charge signal and the second charge signal to obtain a straw weight value in unit time, and obtaining the feeding amount of the combine harvester according to the seed weight value and the straw weight value. The invention can accurately reflect the feeding amount of the harvester in real time and make corresponding prompt or alarm according to the feeding amount so as to improve the operating efficiency and reduce the load for drivers.

Description

A kind of combine feed quantity measuring method and feed quantity monitoring device

Technical field

The invention belongs to the precision agriculture mechanized equipment and detect monitoring technical field, relate to a kind of work tool of crops results, particularly relate to a kind of combine feed quantity measuring method and feed quantity monitoring device.

Background technology

Feed quantity is the important design parameter and the performance parameter of cereal harvesting machinery.In the harvest season,, even cause the workpiece frequent jams on the one hand because super feed quantity work meeting reduces the operation quality of combine; Do not cause the performance of combine to descend inefficiency owing to reaching specified feed quantity or best feed quantity on the other hand.In recent years, doing many work aspect the quantification test of combine feed quantity both at home and abroad, as some agricultural machinery experts of the U.S. in order to study combine feed quantity tester, once to carrying torque sensor, engine speed sensor, ceding of Taiwan screw feeder torque sensor, grain auger pusher torque sensor, multiple feed quantity testing sensor such as air pressure probe and grain flow meter carries out field trial, obtained certain achievement, domestic also someone proposes when measuring cereal by inclined transporter the pressure measxurement feed quantity to base plate, but because influence of various factors still belongs to the experimental study stage basically.

Kalman filtering is a kind of optimal estimation techniques.In the engineering, in order to understand the definite numerical value of engineering object each physical quantity of (being called system in the filtering) (being called state in the filtering), or, must utilize measurement means that each state of system is measured in order to reach the purpose that engineering object is controlled.But measuring value may only be the linear combination of the partial status or the partial status of system, and random error (often being called measurement noise) is arranged in the measuring value.Optimal estimation is exactly a kind of solution at the problems referred to above.It can be handled only relevant with partial status measurement, draws from the more multi-mode valuation of certain statistical significance error minimum.Kalman filtering obtains using more widely in fields such as space technology, communication engineering, Industry Control.

Summary of the invention

Technical problem to be solved by this invention is to provide a kind of combine feed quantity measuring method and feed quantity monitoring device, is used for reacting real-time and accurately the feed quantity of grain header, and makes corresponding prompt or warning according to feed quantity.

To achieve these goals, the invention provides a kind of combine feed quantity measuring method, it is characterized in that, comprising:

Kernel weight value measuring process obtains first charge signal that the drop impact first sensor produces under the seed in real time, and described first charge signal is carried out the A/D conversion;

Stalk gravimetric value measuring process obtains second charge signal that drop impact second sensor produces under the stalk in real time, and described second charge signal is carried out the A/D conversion;

The feed quantity obtaining step, described first charge signal after the conversion is obtained kernel weight value in the unit interval by integral and calculating, described second charge signal after the conversion is obtained stalk gravimetric value in the unit interval by integral and calculating, and obtain the feed quantity of combine according to described kernel weight value, described stalk gravimetric value.

Described combine feed quantity measuring method wherein, in the described feed quantity obtaining step, further comprises: described first charge signal after the described conversion is obtained at k constantly the described kernel weight value in the τ section time of integration by following formula:

$G_w\left(k\right)=C_1{\∫}_0^{\mathrm{\τ}}{Q}_G(k,t)\mathrm{dt}$

In the formula, G _w(k), kernel weight value;

Q _G(k, t), first charge signal;

C ₁, constant obtains by the test demarcation.

Described combine feed quantity measuring method wherein, in the described feed quantity obtaining step, further comprises: described second charge signal after the described conversion is obtained at k-d constantly the described stalk gravimetric value in the τ section time of integration by following formula:

$S_w(k-d)=C_2{\∫}_0^{\mathrm{\τ}}{Q}_s(k-d,t)\mathrm{dt}$

In the formula, S _w(k-d), the stalk gravimetric value of the previous moment d of k;

Q _S(k-d, t), second charge signal;

C ₂, constant obtains by the test demarcation.

Described combine feed quantity measuring method, wherein, in the described feed quantity obtaining step, further comprise: described kernel weight value, described stalk gravimetric value are carried out obtaining based on the information fusion algorithm of Kalman filter the step of described feed quantity, be specially:

X(k)＝A*X(k-1)+W(k)

Z(k)＝H*X(k)+V(k)

$X\left(k\right)=\left[\begin{array}{c}{G}_w\left(k\right)\\ S_w(k-d)\end{array}\right]$

In the formula, W (k), system mode noise;

V (k) measures noise;

A, H, systematic parameter;

X (k), state variable;

Z (k), feed quantity.

Described combine feed quantity measuring method, wherein, in the described feed quantity obtaining step, further comprise: the step that changes the gait of march of described combine according to the situation of change of described feed quantity, be specially: when described feed quantity is excessive, reduce the gait of march of described combine; Or when described feed quantity is too small, improve the gait of march of described combine.

To achieve these goals, the present invention also provides a kind of combine feed quantity monitoring device, it is characterized in that, comprising:

The kernel weight value measurement mechanism is used for obtaining in real time first charge signal that the drop impact first sensor produces under the seed, and described first charge signal is carried out the A/D conversion;

Stalk gravimetric value measurement mechanism is used for obtaining in real time second charge signal that drop impact second sensor produces under the stalk, and described second charge signal is carried out the A/D conversion;

Controller warning indication device, connect described kernel weight value measurement mechanism, described stalk gravimetric value measurement mechanism, be used for described first charge signal after the conversion is obtained kernel weight value in the unit interval by integral and calculating, described second charge signal after the conversion is obtained stalk gravimetric value in the unit interval by integral and calculating, obtain the feed quantity of combine according to described kernel weight value, described stalk gravimetric value, and control the gait of march of described combine according to the situation of change of described feed quantity.

Described combine feed quantity monitoring device, wherein, described kernel weight value measurement mechanism comprises:

Described first piezoelectric transducer is installed in below the cylinder and notch board of described combine, is used for obtaining in real time described first charge signal;

A/D converter connects described first piezoelectric transducer, is used for described first charge signal is carried out the A/D conversion.

Described combine feed quantity monitoring device, wherein, described stalk gravimetric value measurement mechanism comprises:

Described second piezoelectric transducer is installed in the sorting screen afterbody of described combine, is used for obtaining in real time described second charge signal;

A/D converter connects described second piezoelectric transducer, is used for described second charge signal is carried out the A/D conversion.

Described combine feed quantity monitoring device, wherein, described controller warning indication device comprises:

Singlechip controller, be used for described first charge signal after the conversion is obtained kernel weight value in the unit interval by integral and calculating, described second charge signal after the conversion is obtained stalk gravimetric value in the unit interval by integral and calculating, and obtain described feed quantity according to described kernel weight value, described stalk gravimetric value;

Acousto-optic warning unit connects described singlechip controller, is used for making warning or idle signal according to the control of described singlechip controller, to reduce or to improve the gait of march of described combine.

Described combine feed quantity monitoring device, wherein, described singlechip controller is controlled described acousto-optic warning unit and is made warning when described feed quantity is excessive, to reduce the gait of march of described combine; Or when described feed quantity is too small, controls described acousto-optic warning unit and make idle signal, to improve the gait of march of described combine.

Described combine feed quantity monitoring device wherein, also comprises:

The serial communication unit connects described singlechip controller, is used for useful information with described singlechip controller and is sent to calculator and preserves; And/or

Display unit connects described singlechip controller, is used to show described feed quantity.

Described combine feed quantity monitoring device, wherein, described first charge signal of described controller warning indication device after to described conversion obtains at k constantly by following formula, the described kernel weight value in the τ section time of integration:

$G_w\left(k\right)=C_1{\∫}_0^{\mathrm{\τ}}{Q}_G(k,t)\mathrm{dt}$

In the formula, G _w(k), kernel weight value;

Q _G(k, t), first charge signal;

C ₁, constant obtains by the test demarcation.

Described combine feed quantity monitoring device, wherein, described second charge signal of described controller warning indication device after to described conversion obtains at k-d constantly by following formula, the described stalk gravimetric value in the τ section time of integration:

$S_w(k-d)=C_2{\∫}_0^{\mathrm{\τ}}{Q}_s(k-d,t)\mathrm{dt}$

In the formula, S _w(k-d), the stalk gravimetric value of the previous moment d of k;

Q _S(k-d, t), second charge signal;

C ₂, constant obtains by the test demarcation.

Described combine feed quantity monitoring device, wherein, described controller warning indication device is undertaken obtaining described feed quantity based on the information fusion algorithm of Kalman filter by following formula to described kernel weight value, described stalk gravimetric value:

X(k)＝A*X(k-1)+W(k)

Z(k)＝H*X(k)+V(k)

$X\left(k\right)=\left[\begin{array}{c}{G}_w\left(k\right)\\ S_w(k-d)\end{array}\right]$

In the formula, W (k), system mode noise;

V (k) measures noise;

A, H, systematic parameter;

X (k), state variable;

Z (k), feed quantity.

Compared with prior art, useful technique effect of the present invention is:

The present invention is directed to the feed quantity of combine, a kind of feed quantity measuring method and feed quantity monitoring device have been proposed, guaranteed that combine can be operated in stable status in the farm work process, and according to kernel weight value and stalk gravimetric value, react the feed quantity of grain header real-time and accurately, and make corresponding prompt or warning, thereby improve operating efficiency and reduce driver's burden according to feed quantity.

Describe the present invention below in conjunction with the drawings and specific embodiments, but not as a limitation of the invention.

Description of drawings

Fig. 1 is a combine feed quantity monitoring device structured flowchart of the present invention;

Fig. 2 is a feed quantity intelligent controller structured flowchart of the present invention;

Fig. 3 is a combine feed quantity measuring method flow chart of the present invention;

Fig. 4 is a singlechip controller process chart of the present invention.

Embodiment

Below in conjunction with the drawings and specific embodiments technical scheme of the present invention is made further more detailed description.

As shown in Figure 1, be combine feed quantity monitoring device structured flowchart of the present invention, Fig. 2 is a feed quantity intelligent controller structured flowchart of the present invention.

In Fig. 1, this feed quantity monitoring device 100 comprises: cylinder 10, notch board 20, piezoelectric transducer 31, piezoelectric transducer 32, feed quantity intelligent monitor system 40, sorting screen 50.Also further comprise calculator 60 (host computer).

Piezoelectric transducer 31 is installed in the oblique below of cylinder 10 and notch board 20, is used for obtaining in real time first charge signal that the seed whereabouts percussive pressure electric transducer 31 after cylinder 10 threshings is produced, and this first charge signal is sent to feed quantity intelligent monitor system 40;

Piezoelectric transducer 32 is installed in the afterbody of sorting screen 50, is used for obtaining in real time second charge signal that the stalk whereabouts percussive pressure electric transducer 32 after the crop threshing is produced, and this second charge signal is sent to feed quantity intelligent monitor system 40.

In Fig. 2, feed quantity intelligent monitor system 40 comprises: A/D converter 41, singlechip controller 42, serial communication unit 43, display unit 44, acousto-optic warning unit 45 and memory 46.

A/D converter 41, first charge signal that is used for piezoelectric transducer 31 is produced, second charge signal that piezoelectric transducer 32 is produced carry out the A/D conversion, and the data after the A/D conversion are sent to singlechip controller 42 handle.

Singlechip controller 42, be used for the data that A/D converter 41 carries out after A/D changes are handled, particularly, first charge signal after the A/D conversion is obtained kernel weight value in the unit interval by integral and calculating, second charge signal after the A/D conversion is obtained stalk gravimetric value in the unit interval by integral and calculating, again kernel weight value and stalk gravimetric value are carried out information fusion algorithm based on Kalman filter, thereby obtain the current feeding value of combine, and show the feeding value by display unit 44.

When the feeding value is excessive, cause cylinder 10 to stop up easily, singlechip controller 42 is made the signal of reporting to the police immediately, and acousto-optic warning unit 45 sends sounding and lighting alarm, and the indication driver in time adjusts the grain header travel speed; When feed quantity is smaller, represent that then unit do not bring into play maximum efficiency, singlechip controller 42 is made signal, and acousto-optic warning unit 45 carries out the free time signal by charactron and LED lamp, reminds the driver can improve the grain header travel speed.

First charge signal after 42 pairs of conversions of singlechip controller obtains at k constantly by following formula, the kernel weight value in the τ section time of integration:

$G_w\left(k\right)=C_1{\∫}_0^{\mathrm{\τ}}{Q}_G(k,t)\mathrm{dt}$

In the formula, G _w(k), expression kernel weight value;

Q _G(k, t), first charge signal that seed whereabouts percussive pressure electric transducer 31 produces;

C ₁, constant obtains by the test demarcation.

Second charge signal after 42 pairs of conversions of singlechip controller obtains at k-d constantly by following formula, the described stalk gravimetric value in the τ section time of integration:

$S_w(k-d)=C_2{\∫}_0^{\mathrm{\τ}}{Q}_s(k-d,t)\mathrm{dt}$

In the formula, S _w(k-d), the stalk gravimetric value of the previous moment d of expression k;

Q _S(k-d, t), second charge signal that expression stalk whereabouts percussive pressure electric transducer 32 produces;

C ₂, constant obtains by the test demarcation.

42 pairs of kernel weight values of singlechip controller, stalk gravimetric value are undertaken obtaining described feed quantity based on the information fusion algorithm of Kalman filter by following formula:

X(k)＝A*X(k-1)+W(k)

Z(k)＝H*X(k)+V(k)

$X\left(k\right)=\left[\begin{array}{c}{G}_w\left(k\right)\\ S_w(k-d)\end{array}\right]$

In the formula, the system mode noise of W (k) expression feed quantity monitoring device 100; Noise is measured in V (k) expression, and they can be assumed to white Gaussian noise, and A, H are systematic parameters, can demarcate it by test.

Wherein, A/D converter 41 has been formed the kernel weight value measurement mechanism jointly with piezoelectric transducer 31; A/D converter 41 has been formed stalk gravimetric value measurement mechanism jointly with piezoelectric transducer 32.

Wherein, singlechip controller 42, acousto-optic warning unit 45 have constituted controller warning indication device jointly; Acousto-optic warning unit 45 carries out free time signal by charactron and LED lamp, and acousto-optic warning unit 45 is reported to the police by buzzer.

Kernel weight value measurement mechanism, stalk gravimetric value measurement mechanism are connected with singlechip controller 42 by A/D converter 41.Simultaneously, singlechip controller 42 also is kept at information in the memory 46, and by serial communication unit 43 information is sent to calculator 60 preservations.Calculator 60 is preserved the running of studying and further controlling combine after these information are waited until.

Combine is in the farm work process, piezoelectric transducer 31 is as No. one sensor, first charge signal that seed whereabouts percussive pressure electric transducer 31 after 10 threshings of measurement cylinder produces, piezoelectric transducer 32 is as another road sensor, second charge signal that stalk whereabouts percussive pressure electric transducer 32 after the threshing of measurement crop produces, by A/D converter 41 respectively to first charge signal, second charge signal carries out the A/D conversion, then the data in real time after the A/D conversion is transferred to singlechip controller 42, singlechip controller 42 is converted into kernel weight value in this time period by integration with the value of unit interval section, the stalk gravimetric value, by Kalman filter the stalk gravimetric value of kernel weight value and eve is carried out information fusion at last, real-time judge goes out the feed quantity size of combine.

Singlechip controller 42 is with the i.e. current feed quantity size of grain header as can be known of kernel weight value and the addition of stalk gravimetric value, and can be according to the variation of combine feed quantity, make corresponding warning signal, in order to guarantee combine situation according to feed quantity in the farm work process, regulate gait of march, prevent that cylinder from stopping up, improve operating efficiency, all information can be sent to calculator 60 by serial communication unit 43 simultaneously.Particularly:

When feed quantity is excessive, cause cylinder 10 to stop up easily, singlechip controller 42 is made the signal of reporting to the police immediately, in time adjusts the grain header travel speed; When feed quantity is smaller, represent that then unit do not bring into play maximum efficiency, singlechip controller 42 is made signal, reminds the driver to improve the grain header travel speed.As a kind of intelligentized combine feed quantity monitoring device, the requirement that reaches high-efficiency homework and reduce driver's burden.

As shown in Figure 3, be combine feed quantity measuring method flow chart of the present invention.In conjunction with Fig. 1, Fig. 2, this measuring method flow process specifically comprises the steps:

Step 310, be equipped in cylinder 10 and notch board 20 tiltedly the piezoelectric transducer 31 of below real-time obtain first charge signal that the seed whereabouts percussive pressure electric transducer 31 after cylinder 10 threshings produces;

Step 312 is sent into singlechip controller 42 with first charge signal that obtains after by A/D converter 41 conversions;

Step 314, first charge signal after 42 pairs of conversions of singlechip controller obtains kernel weight value in the unit interval by integral and calculating, changes step 316 over to;

Step 311, be equipped in the piezoelectric transducer 32 of sorting screen 50 afterbodys real-time obtain second charge signal that stalk whereabouts percussive pressure electric transducer 32 produces;

Step 313 is sent into singlechip controller 42 with second charge signal that obtains after by A/D converter 41 conversions;

Step 315, second charge signal after 42 pairs of conversions of singlechip controller obtains stalk gravimetric value in the unit interval by integral and calculating, changes step 316 over to;

Step 316, the kernel weight value of 42 pairs of inputs of singlechip controller and stalk gravimetric value information are carried out the data processing, promptly carry out the information fusion algorithm based on Kalman filter, thereby obtain current feeding value.

Further, in the step 316, utilize Kalman filter that information such as kernel weight value, stalk gravimetric value are merged.Kernel weight value and stalk gravimetric value sum are the feed quantity of combine, the mechanical realization of combine makes the weight measurement with moment stalk that the hysteresis of certain hour d be arranged than the weight measurement of seed, therefore the stalk weight measurement of the weight measurement of seed and previous time d need be carried out prediction based on Kalman filter, thereby obtain the feeding value, and can obtain effective informations such as grain weight, stalk weight and ratio of grain to straw simultaneously.

The kalman filter state equation is:

X(k)＝A*X(k-1)+W(k)

Output equation is:

Z(k)＝H*X(k)+V(k)

In the formula, the system mode noise of W (k) expression feed quantity monitoring device 100; Noise is measured in V (k) expression, and they can be assumed to white Gaussian noise, and A, H are systematic parameters, can demarcate it by test.

Output valve Z (k) represents feed quantity, and state variable X (k) is the array of 2*1:

$X\left(k\right)=\left[\begin{array}{c}{G}_w\left(k\right)\\ S_w(k-d)\end{array}\right]$

In the formula, G _w(k) expression kernel weight value, S _w(k-d) the stalk gravimetric value of the previous moment d of expression k.

Kernel weight value and stalk gravimetric value are that τ carries out integration and obtains in the time period by with first charge signal after the A/D conversion, second charge signal at k constantly, and equation is as follows:

$G_w\left(k\right)=C_1{\∫}_0^{\mathrm{\τ}}{Q}_G(k,t)\mathrm{dt}$

$S_w(k-d)=C_2{\∫}_0^{\mathrm{\τ}}{Q}_s(k-d,t)\mathrm{dt}$

In the formula, C ₁And C ₂Be two constants, can demarcate it by test; Q _G(k, t) and Q _S(k-d is respectively first charge signal of seed whereabouts percussive pressure electric transducer 31 generations, second charge signal that stalk whereabouts percussive pressure electric transducer 32 produces t), and τ is meant the section time of integration.

Further describe technical scheme of the present invention below in conjunction with specific embodiment.

As shown in Figure 4, be singlechip controller process chart of the present invention.When combine in the farm work process, No. one piezoelectric transducer 31 is constantly gathered crop first charge signal that seed whereabouts percussive pressure electric transducer 31 produces after cylinder 10 threshings, another road piezoelectric transducer 32 is gathered second charge signal that sorting screen 50 afterbody stalk whereabouts percussive pressure electric transducers 32 produce, the charge signal that respectively the two-way piezoelectric transducer is produced by A/D converter 41 carries out the A/D conversion, be transferred to singlechip controller 42 then, 42 pairs of interior values of unit interval of singlechip controller are carried out Integral Transformation and are become corresponding kernel weight value, the stalk gravimetric value, at last according to Kalman filter algorithm, with the kernel weight value, information such as stalk gravimetric value are carried out information fusion, whether the combine feed quantity of judging this moment is suitable, excessive as feed quantity, the possibility that then has threshing cylinder 10 to stop up, singlechip controller 42 demand working buzzers are reported to the police, and remind the driver to reduce the unit gait of march; Less than normal as feed quantity, and make the free time with charactron and LED lamp and illustrate that expression can improve the unit gait of march a little, final to reach the purpose of increasing work efficiency, simultaneously, singlechip controller 42 sends to calculator with useful information by serial communication unit 43.In conjunction with Fig. 4, wherein, the handling process of singlechip controller 42 specifically comprises the steps:

Step 401, singlechip controller 42 carries out initialization;

Step 402, the A/D channel selecting;

In this step, because two- way piezoelectric transducer 31,32 is arranged, and have only an AD converter 41, but the AD sensor can be multichannel,, select to be connected, can only carry out one tunnel conversion at every turn with any road piezoelectric transducer so will carry out channel selecting.

Step 403, singlechip controller 42 initialization A/D converters 41 enter step 405;

Step 405 is gathered first charge signal that seed whereabouts percussive pressure electric transducer 31 produces from A/D converter 41, enters step 407;

Does step 407 judge that 41 pairs first electric charge letters of A/D converter finish the A/D conversion? as finishing, enter step 409, otherwise continue this step;

Step 409, the value in 42 unit interval of singlechip controller is carried out Integral Transformation and is become corresponding kernel weight value, changes step 411 over to;

Step 404, initialization A/D converter 41 enters step 406;

Step 406 is gathered second charge signal that A/D converter 41 stalk whereabouts percussive pressure electric transducers 32 produce, and enters step 408;

Does step 408 judge that 41 pairs second electric charge letters of A/D converter finish the A/D conversion? as finishing, enter step 410, otherwise continue this step;

Step 410, the value in 42 unit interval of singlechip controller is carried out Integral Transformation and is become corresponding stalk gravimetric value, changes step 411 over to;

Step 411 according to Kalman filter algorithm, is carried out information fusion with information such as kernel weight value, stalk gravimetric values, obtains the combine feed quantity of this moment;

Step 412, singlechip controller 42 show the combine feed quantity of this moment by display unit 44;

Step 413, does singlechip controller 42 judge whether the combine feed quantity of this moment too high? if too high, then enter step 414, otherwise enter step 415;

Step 414, singlechip controller 42 demand working buzzers are reported to the police;

Step 415, singlechip controller 42 also is sent to host computer 60 with useful information by serial communication unit 43 and shows.

The present invention has installed a kind of kernel weight measurement mechanism, stalk Weight-measuring device, serial communication unit and singlechip controller warning indication device on grain combine basis commonly used, thereby constitutes combine feed quantity monitoring system.It has guaranteed that combine can be operated in stable status in the farm work process, and according to kernel weight value and stalk gravimetric value, react the feed quantity of grain header real-time and accurately, and make corresponding prompt or warning according to feed quantity, with the purpose that realizes improving operating efficiency and reduce driver's burden.

Certainly; the present invention also can have other various embodiments; under the situation that does not deviate from spirit of the present invention and essence thereof; those of ordinary skill in the art work as can make various corresponding changes and distortion according to the present invention, but these corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.

Claims (14)

1. a combine feed quantity measuring method is characterized in that, comprising:

Kernel weight value measuring process obtains first charge signal that the drop impact first sensor produces under the seed in real time, and described first charge signal is carried out the A/D conversion;

Stalk gravimetric value measuring process obtains second charge signal that drop impact second sensor produces under the stalk in real time, and described second charge signal is carried out the A/D conversion;

The feed quantity obtaining step, described first charge signal after the conversion is obtained kernel weight value in the unit interval by integral and calculating, described second charge signal after the conversion is obtained stalk gravimetric value in the unit interval by integral and calculating, and obtain the feed quantity of combine according to described kernel weight value, described stalk gravimetric value.

2. combine feed quantity measuring method according to claim 1, it is characterized in that, in the described feed quantity obtaining step, further comprise: described first charge signal after the described conversion is obtained at k constantly the described kernel weight value in the τ section time of integration by following formula:

$G_w\left(k\right)=C_1{\∫}_0^{\mathrm{\τ}}{Q}_G(k,t)\mathrm{dt}$

In the formula, G _w(k), kernel weight value;

Q _G(k, t), first charge signal;

C ₁, constant obtains by the test demarcation.

3. combine feed quantity measuring method according to claim 1 and 2, it is characterized in that, in the described feed quantity obtaining step, further comprise: described second charge signal after the described conversion is obtained at k-d constantly the described stalk gravimetric value in the τ section time of integration by following formula:

$S_w(k-d)=C_2{\∫}_0^{\mathrm{\τ}}{Q}_s(k-d,t)\mathrm{dt}$

In the formula, S _w(k-d), the stalk gravimetric value of the previous moment d of k;

Q _S(k-d, t), second charge signal;

C ₂, constant obtains by the test demarcation.

4. combine feed quantity measuring method according to claim 3, it is characterized in that, in the described feed quantity obtaining step, further comprise: described kernel weight value, described stalk gravimetric value are carried out obtaining based on the information fusion algorithm of Kalman filter the step of described feed quantity, be specially:

X(k)＝A*X(k-1)+W(k)

Z(k)＝H*X(k)+V(k)

$X\left(k\right)=\left[\begin{array}{c}{G}_w\left(k\right)\\ S_w(k-d)\end{array}\right]$

In the formula, W (k), system mode noise;

V (k) measures noise;

A, H, systematic parameter;

X (k), state variable;

Z (k), feed quantity.

5. according to claim 1,2 or 4 described combine feed quantity measuring methods, it is characterized in that, in the described feed quantity obtaining step, further comprise: the step that changes the gait of march of described combine according to the situation of change of described feed quantity, be specially: when described feed quantity is excessive, reduce the gait of march of described combine; Or when described feed quantity is too small, improve the gait of march of described combine.

6. a combine feed quantity monitoring device is characterized in that, comprising:

The kernel weight value measurement mechanism is used for obtaining in real time first charge signal that the drop impact first sensor produces under the seed, and described first charge signal is carried out the A/D conversion;

Stalk gravimetric value measurement mechanism is used for obtaining in real time second charge signal that drop impact second sensor produces under the stalk, and described second charge signal is carried out the A/D conversion;

Controller warning indication device, connect described kernel weight value measurement mechanism, described stalk gravimetric value measurement mechanism, be used for described first charge signal after the conversion is obtained kernel weight value in the unit interval by integral and calculating, described second charge signal after the conversion is obtained stalk gravimetric value in the unit interval by integral and calculating, obtain the feed quantity of combine according to described kernel weight value, described stalk gravimetric value, and control the gait of march of described combine according to the situation of change of described feed quantity.

7. combine feed quantity monitoring device according to claim 6 is characterized in that, described kernel weight value measurement mechanism comprises:

Described first piezoelectric transducer is installed in below the cylinder and notch board of described combine, is used for obtaining in real time described first charge signal;

A/D converter connects described first piezoelectric transducer, is used for described first charge signal is carried out the A/D conversion.

8. combine feed quantity monitoring device according to claim 6 is characterized in that, described stalk gravimetric value measurement mechanism comprises:

Described second piezoelectric transducer is installed in the sorting screen afterbody of described combine, is used for obtaining in real time described second charge signal;

A/D converter connects described second piezoelectric transducer, is used for described second charge signal is carried out the A/D conversion.

9. according to claim 6,7 or 8 described combine feed quantity monitoring devices, it is characterized in that described controller warning indication device comprises:

Singlechip controller, be used for described first charge signal after the conversion is obtained kernel weight value in the unit interval by integral and calculating, described second charge signal after the conversion is obtained stalk gravimetric value in the unit interval by integral and calculating, and obtain described feed quantity according to described kernel weight value, described stalk gravimetric value;

Acousto-optic warning unit connects described singlechip controller, is used for making warning or idle signal according to the control of described singlechip controller, to reduce or to improve the gait of march of described combine.

10. combine feed quantity monitoring device according to claim 9 is characterized in that, described singlechip controller is controlled described acousto-optic warning unit and made warning when described feed quantity is excessive, to reduce the gait of march of described combine; Or when described feed quantity is too small, controls described acousto-optic warning unit and make idle signal, to improve the gait of march of described combine.

11. combine feed quantity monitoring device according to claim 9 is characterized in that, also comprises:

The serial communication unit connects described singlechip controller, is used for useful information with described singlechip controller and is sent to calculator and preserves; And/or

Display unit connects described singlechip controller, is used to show described feed quantity.

12. according to claim 6,7,8,10 or 11 described combine feed quantity monitoring devices, it is characterized in that, described first charge signal of described controller warning indication device after to described conversion obtains at k constantly by following formula, the described kernel weight value in the τ section time of integration:

$G_w\left(k\right)=C_1{\∫}_0^{\mathrm{\τ}}{Q}_G(k,t)\mathrm{dt}$

In the formula, G _w(k), kernel weight value;

Q _G(k, t), first charge signal;

C ₁, constant obtains by the test demarcation.

13. combine feed quantity monitoring device according to claim 12, it is characterized in that, described second charge signal of described controller warning indication device after to described conversion obtains at k-d constantly by following formula, the described stalk gravimetric value in the τ section time of integration:

$S_w(k-d)=C_2{\∫}_0^{\mathrm{\τ}}{Q}_s(k-d,t)\mathrm{dt}$

In the formula, S _w(k-d), the stalk gravimetric value of the previous moment d of k;

Q _S(k-d, t), second charge signal;

C ₂, constant obtains by the test demarcation.

14. combine feed quantity monitoring device according to claim 13, it is characterized in that described controller warning indication device is undertaken obtaining described feed quantity based on the information fusion algorithm of Kalman filter by following formula to described kernel weight value, described stalk gravimetric value:

X(k)＝A*X(k-1)+W(k)

Z(k)＝H*X(k)+V(k)

$X\left(k\right)=\left[\begin{array}{c}{G}_w\left(k\right)\\ S_w(k-d)\end{array}\right]$

In the formula, W (k), system mode noise;

V (k) measures noise;

A, H, systematic parameter;

X (k), state variable;

Z (k), feed quantity.

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