CN104322203B - A kind of united reaper feed quantity on-line monitoring system and monitoring method thereof - Google Patents
A kind of united reaper feed quantity on-line monitoring system and monitoring method thereof Download PDFInfo
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- CN104322203B CN104322203B CN201310308385.3A CN201310308385A CN104322203B CN 104322203 B CN104322203 B CN 104322203B CN 201310308385 A CN201310308385 A CN 201310308385A CN 104322203 B CN104322203 B CN 104322203B
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Abstract
The present invention discloses a kind of united reaper feed quantity on-line monitoring system and monitoring method thereof, and united reaper feed quantity on-line monitoring system comprises the rotating speed v of the line shaft for monitoring cutting table augerrAnd power PjPower monitoring device, for monitoring the come up flow Q of cereal of resultsgCereal kernel flow monitoring device, discharge the flow Q of stem stalk for monitoring united reapercStem stalk flow monitoring device and car-carried monitor controller, car-carried monitor controller and power monitoring device, cereal kernel flow monitoring device and stem stalk flow monitoring device respectively communication are connected, wherein, car-carried monitor controller is by Qg、Qc、vrAnd PjAs training sample, adopt BP neural network model to be optimized and obtain the real-time feed quantity q of united reaperd. United reaper feed quantity on-line monitoring system of the present invention and monitoring method thereof adopt multi-sensor Fusion Algorithm, extrapolate the feed quantity of current united reaper, measure accurate, easy to use.
Description
Technical field
The invention belongs to agricultural machinery Study On Intelligent Monitoring Techniques field, relate to one rice wheat combine harvester is fedAmount on-line intelligence monitoring device and use the monitoring method of this device.
Background technology
United reaper is a kind of complex dynamic systems of many input and output variable. When combine operationFirst cutter is cut off cereal, by the conveying chain harrow of inclination delivery chute, crop is fed into threshing cylinder and carries outMillet straw departs from, and stem stalk is discharged from the straw outlet of combining drive end unit, seed, short stem and assortedly remaining etc. deviate fromMixture falls into shuttle board through concave grate, then enters cleaning and sorting system and clean, and will clean seed and be transported toTanker. United reaper is according to certain crop feed quantity, within the unit interval, enters threshing cylinder oneFixed crop amount designs. In harvesting process along with the change of harvesting speed, cutting height and grain cutting widthChange, the crop feed quantity that is sent to harvester is real-time changing also, only under certain feed quantity,Can make united reaper reach best service behaviour and best harvesting state, otherwise will make work qualitySharply worsen, Grain Loss also increases, therefore to the measurement of the crop feed quantity performance indications that are absolutely necessary.
Feed quantity refers to the crop amount of united reaper processing in the unit interval, and its unit is kg/s. In recent years,Expert has done a lot of research and invention to the measurement of feed quantity both at home and abroad, as the U.S. and the former Soviet Union, studies logicalCross torque sensor and measure feed quantity power wheel moment of torsion etc. and carry out the measurement of feed quantity, and have certain researchAchievement, for feed quantity measurement provides test and theoretical foundation, shortcoming is the certainty of measurement that does not reach certain,More do not obtain on-the-spot use. Also has in addition a kind of method for " power being installed at conveyer entrance or exit-electric transducer ", survey the extruding force of cereal to inclined transporter base plate, the method is surveyed by laboratory studyMeasure error to exceed ± 10%, and stability is not high. The third method be the moving cylinder rotating belt pressure of measuring tape andThe mode of grain yield, the method is simple, easily install, but the method is mainly calculated and fed according to grain yieldEnter amount, there is time delay, and on belt setting pressure sensor voluntarily, service life is short and have a peaceFull hidden danger. On the whole to the measurement of feed quantity substantially in theory or laboratory research stage, not do not existRealize in field, more do not reach can volume production level.
Granted publication number is CN102379188B, name be called " united reaper feed quantity measuring method and feedEnter amount monitoring device " Chinese invention patent a kind of united reaper feed quantity measuring method and feeding are disclosedAmount monitoring device, it is by adopting moment of torsion of threshing cylinder to calculate feed quantity, and the moment of torsion of threshing cylinder is insteadReflect on feed quantity and relatively lag behind, affected the accuracy of the feed quantity of monitoring.
Along with united reaper maximization and the development of intelligent monitoring technology, the size of Real-Time Monitoring feed quantity is aobviousParticularly important, feed quantity monitoring is a key point in united reaper line Measurement Technique.
Summary of the invention
The object of the invention is to solve existing united reaper and can not carry out Real-Time Monitoring and fixed to feed quantityProperty measurement causes measuring inaccurate problem, and a kind of rice wheat combine harvester feed quantity on-Line Monitor Device is providedAnd monitoring method, the feed quantity of real time on-line monitoring united reaper, ensures that united reaper reaches bestService behaviour and best harvesting state, improve work quality and efficiency, reduce Grain Loss, reduction machineDevice spoilage.
To achieve these goals, united reaper feed quantity on-line monitoring method of the present invention, for distichClose harvester feed quantity and carry out on-line real time monitoring, it comprises the steps:
S10: by being arranged on the power monitoring device on the cutting table auger line shaft on united reaper,To the peripheral speed v of cutting table auger line shaftrPower P with cutting table augerj, and by peripheral speed vr, powerPjTransfer to the car-carried monitor controller of united reaper;
S20: the cereal kernel flow monitoring device of the grain outlet by being arranged on united reaper is combinedThe flow Q of harvester results cerealg, and by flow QgTransfer to car-carried monitor controller;
S30: the stem stalk flow monitoring device of the straw outlet by being arranged on united reaper obtains combiningMachine is discharged the flow Q of stem stalkc, and by flow QcTransfer to car-carried monitor controller;
S40: car-carried monitor controller is by gathering in the crops the flow Q of cerealg, discharge the flow Q of stem stalkc, cutThe peripheral speed v of platform screw feeder line shaftrPower P with cutting table auger line shaftjAs training sample, adoptBP neural network model is optimized and obtains the real-time feed quantity q of united reaperd。
Above-mentioned united reaper feed quantity on-line monitoring method, wherein, described step S10 also comprises and recordingThe moment of torsion N of cutting table auger line shaftj, according to moment of torsion NjWith rotating speed vrObtain the power P of cutting table auger line shaftjStep.
Above-mentioned united reaper feed quantity on-line monitoring method, wherein, also comprises the steps:
S50: obtain combine operation speed by the GPS locating module being installed on united reaperThe step of V and longitude and latitude positional information.
Above-mentioned united reaper feed quantity on-line monitoring method, wherein, also comprises after described step S50Step:
S60: the step that obtains combine harvester cutting fabric width degree according to longitude and latitude positional information.
Above-mentioned united reaper feed quantity on-line monitoring method, wherein, also comprises after described step S60Step:
S70: according to real-time feed quantity qdAdjust the operating speed V of united reaper and the step of grain cutting width.
The present invention also provides a kind of united reaper feed quantity on-line monitoring system, for united reaper is fedEnter amount and carry out on-line real time monitoring, comprising:
Power monitoring device, is arranged on the line shaft of cutting table auger of described united reaper, for monitoringThe rotating speed v of cutting table auger line shaftrAnd power Pj；
Cereal kernel flow monitoring device, is arranged at the grain outlet of described united reaper, for monitoring resultsThe flow Q of cereal comes upg；
Stem stalk flow monitoring device, is arranged at the straw outlet of described united reaper, for monitoring described associatingHarvester is discharged the flow Q of stem stalkc; And
Car-carried monitor controller, with described power monitoring device, described cereal kernel flow monitoring device, instituteState the communication connection respectively of stem stalk flow monitoring device;
Wherein, car-carried monitor controller is by Qg、Qc、vrAnd PjAs training sample, adopt BP nerve netNetwork model is optimized and obtains the real-time feed quantity q of united reaperd。
Above-mentioned united reaper feed quantity on-line monitoring system, wherein, described cutting table auger power monitoring dressPut and comprise torque measurement part, described torque measurement part is arranged at the line shaft axle head of described cutting table auger.
Above-mentioned united reaper feed quantity on-line monitoring system, wherein, described torque measurement part is that strain is turned roundSquare measuring transducer.
Above-mentioned united reaper feed quantity on-line monitoring system, wherein, also comprises and is arranged at the described receipts of combiningThe GPS locating module at the driver's cabin top of cutting mill, described GPS locating module by connecting circuit with described inCar-carried monitor controller communication connects, for obtaining described combine operation speed V and longitude and latitude positionInformation.
Above-mentioned united reaper feed quantity on-line monitoring system, wherein, described stem stalk flow monitoring device bagDraw together quality information and gather part and the careless container of collection, described quality information gathers part and is arranged on the careless container of described collection,For the stem stalk in the careless container of described collection is carried out to weighing measurement.
Above-mentioned united reaper feed quantity on-line monitoring system, wherein, described stem stalk flow monitoring device alsoComprise actuating motor, described collection grass container also comprises movable floor, described actuating motor and described movable floorBe connected, described actuating motor is opened after described movable floor is discharged the stem stalk in careless described collection container and is closedClose described movable floor.
Above-mentioned united reaper feed quantity on-line monitoring system, wherein, it is to claim that described quality information gathers partRetransmit sensor.
Beneficial functional of the present invention is, united reaper feed quantity on-line monitoring method of the present invention is by realTime monitor the peripheral speed of cutting table auger line shaft and power, cereal kernel flow and straw outlet stem stalk streamAmount, adopts multi-sensor Fusion Algorithm, extrapolates the feed quantity of current united reaper. Vehicle-mounted monitoringController can be effectively gives driver with information intuitively, makes driver accurate to real-time feed quantity sizeSeparate.
And the power monitoring of united reaper feed quantity on-line monitoring system cutting table auger line shaft of the present inventionDevice design organization compactness, combines closely with former machine upper driving power part, easy installation and reliable, wiredSignal transmission form, data are reliable, can realize on-line continuous monitoring.
Further, under the different operating modes in field, according to feeding in real time the real-time change combining of valueMachine travel speed and operation grain cutting width, make united reaper reach best feed quantity, makes it be operated in the bestState, increases work efficiency, and reduces fault rate, saves the energy.
Describe the present invention below in conjunction with the drawings and specific embodiments, but not as to of the present inventionLimit.
Brief description of the drawings
Fig. 1 is a kind of united reaper feed quantity on-line monitoring system structured flowchart of the present invention;
Fig. 2 is the schematic layout pattern of a kind of united reaper feed quantity on-line monitoring system of the present invention;
Fig. 3 is that the power monitoring device of a kind of united reaper feed quantity on-line monitoring system of the present invention showsIntention;
Fig. 4 is the cereal kernel flow prison of a kind of united reaper feed quantity on-line monitoring system of the present inventionSurvey the scheme of installation of device;
Fig. 5 is the stem stalk flow monitoring dress of a kind of united reaper feed quantity on-line monitoring system of the present inventionThe scheme of installation of putting.
Wherein, Reference numeral
100 united reapers
101 winders
102 cutting table augers
103 pass a bridge
210 power monitoring devices
211 torque measurement parts
2111 rotating parts
2112 fixed parts
220 cereal kernel flow monitoring devices
221 screw mechanisms of closing a position
222 motors
223 grain propulsion plants
224 quality informations gather part
225 supports
226 elevators
227 loading hoppers
230 stem stalk flow monitoring devices
231 quality informations gather part
The careless container of 232 collection
233 actuating motors
234 movable floors
240GPS locating module
250 car-carried monitor controllers
260 connecting circuits
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, technical solution of the present invention is described in detail, more to enter oneStep is understood object of the present invention, scheme and effect, but not as claims protection domain of the present inventionRestriction.
The object of rice wheat combine harvester feed quantity on-line monitoring system of the present invention is rice wheat to combine receiptsCutting mill feed quantity carries out on-line monitoring, and makes it measure quantification, and having solved prior art can not Real-Time MonitoringAnd observational measurement causes measuring the problems such as inaccurate. This invention is installed simple, is convenient to mass development, onlineCertainty of measurement is high, can have good directive function for driver's feed quantity size in results process, preventsThe generation of plugging fault, makes harvester reach best efficiency, increases work efficiency, and saves the energy.
Consult Fig. 1, Fig. 1 is the structural frames of a kind of united reaper feed quantity on-line monitoring system of the present inventionFigure. As shown in the figure, a kind of united reaper feed quantity on-line monitoring system of the present invention, is installed on associating receiptsCutting mill for united reaper feed quantity is carried out to on-line real time monitoring, wherein united reaper is existing skillArt repeats no more herein.
United reaper feed quantity on-line monitoring system of the present invention comprises power monitoring device 210, cereal seedGrain flow monitoring device 220, stem stalk flow monitoring device 230, GPS locating module 240 and vehicle-mounted monitoringController 250. Wherein, power monitoring device 210, cereal kernel flow monitoring device 220, stem stalk streamAmount monitoring device 230, GPS locating module 240 are respectively by connecting circuit 260 and car-carried monitor controller250 communications connect.
In the present embodiment, what connecting circuit 260 adopted is CAN bus connecting circuit.
Consult Fig. 2, Fig. 2 is the layout signal of a kind of united reaper feed quantity of the present invention on-line monitoring systemFigure. Power monitoring device 210 is arranged on the line shaft of cutting table auger of united reaper 100; Cereal seedGrain flow monitoring device 220 is arranged on the grain outlet place of united reaper 100, Real-Time Monitoring cereal kernel streamAmount; Stem stalk flow monitoring device 230 is installed on the straw outlet place of united reaper 100, Real-Time Monitoring Lysimachia sikokianaThe stem stalk flow of mouth, GPS locating module 240 is installed on the top of the driver's cabin of united reaper 100. WithLower respectively with regard to power monitoring device 210, cereal kernel flow monitoring device 220, stem stalk flow monitoring device230, GPS locating module 240 and car-carried monitor controller 250 are introduced.
Consult Fig. 2 and Fig. 3, Fig. 3 is a kind of united reaper feed quantity on-line monitoring system of the present inventionPower monitoring device schematic diagram. When united reaper 100 is worked in field, successively by winder 101,Cutting table auger 102 and gap bridge 103 are transported to cereal in threshing cylinder and carry out threshing separation, and power monitoring fillsPut 210 and be arranged on the line shaft of cutting table auger 102 of united reaper 100, Real-Time Monitoring cutting table augerThe power of 102 line shaft.
Consult Fig. 3, power monitoring device 210 comprises the torque measuring being connected on cutting table auger 102 line shaftsAmount part 211, torque measurement part 211 comprises rotating part 2111 and fixed part 2112, cereal is entering the ceding of TaiwanWhen screw feeder 102, record cereal at the moment of torsion at the line shaft place of cutting table auger 102 by torque measurement part 211 andThe rotating speed of the line shaft of cutting table auger 102, and then calculate cereal and consume entering cutting table auger 102Feeding power Pj, wherein,
Pj＝Nj×Vr/9550，
N in formulajFor the moment of torsion of the line shaft of cutting table auger 102, VrFor the line shaft of cutting table auger 102Rotating speed.
The torque measurement part 211 of power monitoring device 210 of the present invention adopts strain-type torque monitoring sensingDevice, and the measurement of line shaft rotating speed is also wherein embedded, save installing space. By the moment of torsion that records andRotating speed, adopts above-mentioned formula to calculating to go out the power P of the line shaft of cutting table auger 102j. United reaper 100The power monitoring device 210 of line shaft of cutting table auger 102 directly on original equipment, improve, installConvenient, matching is good.
Cereal kernel flow monitoring device 220 adopts cereal kernel on transport tape is carried out to continuous weighting measurementDevice, thereby obtain the flow information of grain outlet cereal kernel, install succinctly, it is convenient to measure. As Fig. 4Shown in, Fig. 4 is the cereal kernel flow prison of a kind of united reaper feed quantity on-line monitoring system of the present inventionSurvey the scheme of installation of device. In the present embodiment, cereal kernel flow monitoring device 220 comprises the spiral of closing a positionMechanism 221, motor 222, grain propulsion plant 223, quality information gather part 224, support 225, riseFortune device 226 and loading hopper 227. Seed through threshing cylinder threshing enters loading hopper by elevator 226227, motor 222 drives grain auger apparatus 223 to promote cereal along continuous straight runs and enters tanker, and cereal existsLevel pushes in process comes continuous metering cereal gravimetric value, the screw mechanism of closing a position by quality information collection part 224221 for preventing that grain in tanker from piling up too high and contact grain propulsion plant 223 or quality information collectionPart 224 and cause measuring error. Whole cereal kernel flow 220 is connected to combining by support 225On machine 100. Cereal kernel flow monitoring device 220 can obtain current cereal kernel flow value in real time.
Wherein quality information gathers part 224 and can select LOAD CELLS.
Stem stalk flow monitoring device 230 carries out continuous weighting measurement to stem stalk in grass catcher, obtains currentClose harvester 100 straw outlets and discharge the flow value of stem stalk, as shown in Figure 5, Fig. 5 is a kind of connection of the present inventionClose the scheme of installation of the stem stalk flow monitoring device of harvester feed quantity on-line monitoring system. Stem stalk flow prisonSurvey the straw outlet place that device 230 is arranged on united reaper 100, can obtain in real time the stem stalk flow of dischargeValue. The stem stalk flow monitoring device 230 of the present embodiment comprises that quality information gathers part 231 and the careless container of collection232. Gather part 231 by quality information and carry out continuous weighting measurement to collecting the interior stem stalk of careless container 232, fromAnd obtain out the flow information of straw outlet stem stalk. Stem stalk flow monitoring device 230 also comprises actuating motor 233With movable floor 234, actuating motor 233 can be opened fast movable floor 234 and carry out discharging action, andClosed movable floor 234 after discharging completes.
Wherein quality information gathers part 231 and can select LOAD CELLS.
GPS locating module 240 is arranged on the driver's cabin top of united reaper 100, as shown in Figure 2. AdoptObtain the Position And Velocity information of united reaper 100 with GPS locating module 240, GPS positioning modulePiece 240 can directly be adsorbed on the top of united reaper 100 driver's cabins, united reaper 100 by diskOn axis, quick and easy for installation. GPS locating module 240 provides locating information GGA and RMC numberAccording to, from the latitude and longitude information at GGA extracting data united reaper 100 places, from RMC dataExtract Walking Velocity on Combine V. Calculating after the real-time feed quantity of united reaper 100, according to realityTime feed quantity the size of value, real-time change travel speed and grain cutting width, reach united reaperGood feed quantity, now, adjusts the grain cutting width of united reaper 100 according to the latitude and longitude information of extracting, andAdjust the speed of travel of united reaper 100.
Car-carried monitor controller 250 arrange in pairs or groups solid state hard disc holder, can touch-control liquid crystal display, directly use carCarry storage battery power supply.
Above-mentioned power monitoring device 210, cereal kernel flow monitoring device 220, stem stalk flow monitoring dressPut 230 and GPS locating module 240 enter with car-carried monitor controller 250 respectively by connecting circuit 260The news that work, wiring is simple, and communication is reliable. Vehicle-mounted monitoring device 250 is moving by fixed cutting table augerThe power of mechanical axis and the functional relation of feed quantity, extrapolate real-time feeding value. By cereal kernel is flowedThe historical datas such as the positional information of amount, stem stalk flow, cutting table auger line shaft power and vehicle, to functionCoefficient in relation carries out real time correction, to adapt to complicated field harvesting situation, has ensured to calculate to obtain realityTime feed quantity accuracy. All monitoring informations can show in real time, make to drive on car-carried monitor controller 250The person of sailing can be good at controlling to the size of feed quantity, and according to the real-time change travel speed of actual conditions andGrain cutting width, makes united reaper reach best feed quantity, increases work efficiency, while reducing machine workFault rate.
To achieve these goals, the present invention proposes a kind of rice wheat combine harvester feed quantity on-line monitoring sideMethod, comprises as follows:
Step S10: by being arranged on the power monitoring device on the cutting table auger 102 of united reaper 100210, collect the peripheral speed v of the line shaft of cutting table auger 102rWith the line shaft of cutting table auger 102Power Pj, and peripheral speed vrAnd power PjTransfer to car-carried monitor controller 250 by connecting circuit 260;
Step S20: by being arranged on the cereal kernel flow monitoring device of united reaper 100 grain outlets220, collect the flow Q of the cereal kernel of resultsg, and flow QgTransfer to car by connecting circuit 260Carry monitor controller 250;
Step S30, by being arranged on the stem stalk flow monitoring device 230 of united reaper 100 straw outlets,Collect united reaper and discharge the flow Q of stem stalkc, and flow QcTransfer to car by connecting circuit 260Carry monitor controller 250;
Step S40: car-carried monitor controller 250 is by gathering in the crops the flow Q of cerealg, discharge the stream of stem stalkAmount Qc, cutting table auger line shaft peripheral speed vrPower P with cutting table auger line shaftjAs training sampleThis, thus adopt BP neural network model to be optimized the real-time feed quantity q that obtains united reaperd。
Wherein, by analyzing the power of feed quantity cutting table auger line shaft and the relation of feed quantity, obtain its letterNumber closes:
In formula: qdFor the feed quantity of the real time measure, v is cutting table auger peripheral speed, and α, β are for revising systemNumber.
Taking the positional information of vehicle as coordinate, vehicle records the flow of cereal in the time of i positionThe stream of stem stalkAmountCutting table auger line shaft powerCutting table auger peripheral speed vi, using above-mentioned four parameters as instructionPractice sample, adopt BP neutral net to be optimized, update the system α, β are carried out to real time correction, pass throughAbove-mentioned relation function is calculated and is obtained accurately feed quantity q in real timed。
Specifically, with cutting table auger line shaft powerCutting table auger peripheral speed viFor BP nerve netThe input of network, flowThe flow of stem stalkThe weighted sum desired output that is network, and utilize with oughtFront position approaching historical data composition training example collection, trains the routine sub-set size can be at car-carried monitor controllerOn 250, set. Determine the error allowing between the actual output of network and desired output, adopt MBP to calculateMethod is adjusted all connection weights in network, i.e. update the system α, β parameter value, the output that network is producedThe more approaching output with expecting, until meet definite allowable error.
Further, also comprise:
Step S60: obtain associating by the GPS locating module 240 being installed on united reaper 100Harvester 100 operating speed V and longitude and latitude positional information.
Above step S10, S20, S30 and S60 carry out simultaneously, and monitored data is real-time by CAN busTransmission, at the enterprising row data of vehicle-mounted monitoring device 250 fusion calculation, calculates and obtains feeding in real time of united reaperEnter amount qd。
Above-mentioned step S10 also comprises the moment of torsion N that records cutting table auger 102 line shaftsj, according to square NjWithRotating speed vrObtain the power P of cutting table auger line shaftjStep.
After above-mentioned steps S60, also comprise step:
S70: the step that obtains combine harvester cutting fabric width degree according to longitude and latitude positional information.
After above-mentioned steps S70, also comprise step:
S80: according to real-time feed quantity qdAdjust the operating speed V of united reaper and the step of grain cutting width.
Specifically, feed quantity qdOn car-carried monitor controller 250, show in real time, as feed quantity qdConnectNear or when being greater than united reaper 100 and easily the feed quantity critical point of plugging fault occurring, vehicle-mounted Monitoring and ControllingDevice 250 can prompting feed quantity qdExcessive warning message, the driver that united reaper 100 is driven in suggestion reducesOperating speed or reduce grain cutting width, thus the real-time feed quantity q of united reaper 100 reducedd, avoidThe generation of fault.
In said apparatus, the power monitoring device design organization compactness of cutting table auger line shaft, uploads with former machineMoving power part is combined closely, easy installation and reliable, wire signal transmission means, and data are reliable, can realizeOn-line continuous monitoring; Cereal kernel and stem stalk flow monitoring device adopt High Precision Strength Measurement Sensor, can be accurateMonitor cereal kernel and stem stalk flow value, thereby can extrapolate the feeding value of united reaper; GPS locationInformation not only can provide operating speed information, more can provide longitude and latitude positional information, according to these informationCan set up the relatively accurately corresponding relation of monitored data, ensure to calculate accuracy and the real-time of algorithm;All monitored data send to car-carried monitor controller by CAN bus, and car-carried monitor controller is according to prisonSurvey data, adopt many information fusion algorithms reckonings to obtain united reaper and feed in real time value, and show.Car-carried monitor controller can be effectively gives driver with information intuitively, makes driver large to real-time feed quantityLittle accurate understanding, under the different operating modes in field, real-time change travel speed and operation grain cutting width, make connectionClose harvester and reach best feed quantity, make it be operated in optimum state, increase work efficiency, reduce fault rate.Abnormal conditions are carried out to acousto-optic early warning, and for united reaper, driver provides instruction, makes united reaper workWithin the scope of specified feed quantity, increase work efficiency, thereby reach best efficiency.
Certainly, the present invention also can have other various embodiments, in the feelings that do not deviate from spirit of the present invention and essence thereofUnder condition, those of ordinary skill in the art work as can make according to the present invention various corresponding changes and distortion, butThese corresponding changes and distortion all should belong to the protection domain of the appended claim of the present invention.
Claims (12)
1. a united reaper feed quantity on-line monitoring method, for united reaper feed quantity is carried out to on-line real time monitoring, is characterized in that, comprises the steps:
S10: by being arranged on the power monitoring device on the cutting table auger line shaft on united reaper, obtain the peripheral speed v of cutting table auger line shaftrPower P with cutting table augerj, and by peripheral speed vr, power PjTransfer to the car-carried monitor controller of united reaper;
S20: the flow Q that obtains united reaper results cereal by being arranged on the cereal kernel flow monitoring device of grain outlet of united reaperg, and by flow QgTransfer to car-carried monitor controller;
S30: the flow Q that obtains united reaper and discharge stem stalk by being arranged on the stem stalk flow monitoring device of straw outlet of united reaperc, and by flow QcTransfer to car-carried monitor controller;
S40: car-carried monitor controller is by gathering in the crops the flow Q of cerealg, discharge the flow Q of stem stalkc, cutting table auger line shaft peripheral speed vrPower P with cutting table auger line shaftjAs training sample, adopt BP neural network model to be optimized and obtain the real-time feed quantity q of united reaperd；
In described step S40, feed quantity q in real timedPeripheral speed v with cutting table auger line shaftrPower P with cutting table augerjThere is following functional relation:
In formula: α, β are correction factor, the power P with vehicle at the cutting table auger of current locationj, cutting table auger peripheral speed vrFor the input of BP neutral net, the flow Q of cerealg, stem stalk flow QcThe weighted sum desired output that is network, and utilization and the approaching historical data of current location composition training example collection, determine the error allowing between the actual output of network and desired output, adopt MBP algorithm to adjust all connection weights in network, be update the system α, β parameter value, make the output of network generation closer to the output of expecting, until meet definite allowable error, obtain accurately feed quantity q in real timed。
2. united reaper feed quantity on-line monitoring method according to claim 1, is characterized in that, described step S10 also comprises the moment of torsion N that records cutting table auger line shaftj, according to moment of torsion NjWith rotating speed vrObtain the power P of cutting table auger line shaftjStep.
3. united reaper feed quantity on-line monitoring method according to claim 1, is characterized in that, also comprises the steps:
S50: the step that obtains combine operation speed V and longitude and latitude positional information by being installed on GPS locating module on united reaper.
4. united reaper feed quantity on-line monitoring method according to claim 3, is characterized in that, also comprises step after described step S50:
S60: the step that obtains combine harvester cutting fabric width degree according to longitude and latitude positional information.
5. united reaper feed quantity on-line monitoring method according to claim 4, is characterized in that, also comprises step after described step S60:
S70: according to real-time feed quantity qdAdjust the operating speed V of united reaper and the step of grain cutting width.
6. a united reaper feed quantity on-line monitoring system, for united reaper feed quantity is carried out to on-line real time monitoring, is characterized in that, comprising:
Power monitoring device, is arranged on the line shaft of cutting table auger of described united reaper, for monitoring the rotating speed v of cutting table auger line shaftrAnd power Pj；
Cereal kernel flow monitoring device, is arranged at the grain outlet of described united reaper, for monitoring the come up flow Q of cereal of resultsg；
Stem stalk flow monitoring device, is arranged at the straw outlet of described united reaper, discharges the flow Q of stem stalk for monitoring described united reaperc; And
Car-carried monitor controller, is connected with described power monitoring device, described cereal kernel flow monitoring device, the communication of described stem stalk flow monitoring device difference;
Wherein, car-carried monitor controller is by Qg、Qc、vrAnd PjAs training sample, adopt BP neural network model to be optimized and obtain the real-time feed quantity q of united reaperd；
Be specially, in real time feed quantity qdPeripheral speed v with cutting table auger line shaftrPower P with cutting table augerjThere is following functional relation:
In formula: α, β are correction factor, the power P with vehicle at the cutting table auger of current locationj, cutting table auger peripheral speed vrFor the input of BP neutral net, the flow Q of cerealg, stem stalk flow QcThe weighted sum desired output that is network, and utilization and the approaching historical data of current location composition training example collection, determine the error allowing between the actual output of network and desired output, adopt MBP algorithm to adjust all connection weights in network, be update the system α, β parameter value, make the output of network generation closer to the output of expecting, until meet definite allowable error, obtain accurately feed quantity q in real timed。
7. united reaper feed quantity on-line monitoring system according to claim 6, is characterized in that, described cutting table auger power monitoring device comprises torque measurement part, and described torque measurement part is arranged at the line shaft axle head of described cutting table auger.
8. united reaper feed quantity on-line monitoring system according to claim 7, is characterized in that, described torque measurement part is strain torque measurement sensor.
9. united reaper feed quantity on-line monitoring system according to claim 6, it is characterized in that, also comprise the GPS locating module at the driver's cabin top that is arranged at described united reaper, described GPS locating module is connected with described car-carried monitor controller communication by connecting circuit, for obtaining described combine operation speed V and longitude and latitude positional information.
10. united reaper feed quantity on-line monitoring system according to claim 6, it is characterized in that, described stem stalk flow monitoring device comprises that quality information gathers part and the careless container of collection, described quality information gathers part and is arranged on the careless container of described collection, for the stem stalk in the careless container of described collection is carried out to weighing measurement.
11. united reaper feed quantity on-line monitoring systems according to claim 10, it is characterized in that, described stem stalk flow monitoring device also comprises actuating motor, the careless container of described collection also comprises movable floor, described actuating motor is connected with described movable floor, described actuating motor closed described movable floor again after opening described movable floor stem stalk in careless described collection container being discharged.
12. united reaper feed quantity on-line monitoring systems according to claim 10, is characterized in that, it is LOAD CELLS that described quality information gathers part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310308385.3A CN104322203B (en) | 2013-07-22 | 2013-07-22 | A kind of united reaper feed quantity on-line monitoring system and monitoring method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310308385.3A CN104322203B (en) | 2013-07-22 | 2013-07-22 | A kind of united reaper feed quantity on-line monitoring system and monitoring method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104322203A CN104322203A (en) | 2015-02-04 |
| CN104322203B true CN104322203B (en) | 2016-05-25 |
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| US9788485B2 (en) * | 2015-10-23 | 2017-10-17 | Deere & Company | Variable speed elevator control system |
| CN107660370B (en) * | 2016-07-28 | 2020-04-21 | 中国农业机械化科学研究院 | Feeding amount monitoring method and system of peanut harvester |
| CN106612939A (en) * | 2016-12-30 | 2017-05-10 | 广西民族大学 | Sugarcane harvester and anti-clogging method thereof |
| CN107314803A (en) * | 2017-06-30 | 2017-11-03 | 汤建华 | A kind of agricultural machinery vehicle-mounted weighing system and its Weighing method |
| BE1026659B1 (en) * | 2018-09-28 | 2020-04-29 | Cnh Ind Belgium Nv | CONTROLLER FOR AN AGRICULTURAL HARVESTING MACHINE |
| CN110235600B (en) * | 2019-05-10 | 2021-08-03 | 江苏大学 | Combine harvester feeding amount stable control system based on real-time detection of mature crop attribute information |
| CN111656951B (en) * | 2020-05-13 | 2021-11-12 | 中国农业大学 | Harvester speed control method and system |
| CN113678623A (en) * | 2020-05-18 | 2021-11-23 | 株式会社久保田 | Combine harvester |
| CN115211288A (en) * | 2022-06-23 | 2022-10-21 | 浙江大学 | Peanut picking, harvesting and feeding amount monitoring device and control method |
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