CN106508256A - Rice-wheat combine harvester and swath detection device and detection method thereof - Google Patents
Rice-wheat combine harvester and swath detection device and detection method thereof Download PDFInfo
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- CN106508256A CN106508256A CN201510574897.3A CN201510574897A CN106508256A CN 106508256 A CN106508256 A CN 106508256A CN 201510574897 A CN201510574897 A CN 201510574897A CN 106508256 A CN106508256 A CN 106508256A
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Abstract
The invention discloses a rice-wheat combine harvester and a swath detection device and detection method thereof. The rice-wheat combine harvester comprises the swath detection device; the swath detection device comprises a laser sensor, a signal collector and a vehicle-mounted monitor; the laser sensor is installed above a header of the rice-wheat combine harvester and used for acquiring the boundary of a harvested area and an unharvested area of the rice-wheat combine harvester and outputting distance and angle information of a measured object; the signal collector is installed on the rice-wheat combine harvester, connected with the laser sensor through a data bus and used for acquiring and sending distance and angle information data output by the laser sensor; the vehicle-mounted monitor is installed on the rice-wheat combine harvester, connected with the signal collector and used for completing processing, analyzing and displaying on signals sent by the signal collector and data storage. The invention further discloses the swath detection method of the swath detection device.
Description
Technical field
The present invention relates to a kind of agricultural combine, particularly a kind of rice wheat combine harvester and its contactless swath
Detection means and detection method.
Background technology
At present, united reaper just develops towards maximization, high speed direction, and the vision of only employment goes identification to harvest side
Boundary, it is ensured that swath concordance will become more and more difficult during harvester operation.When united reaper is in farm work, generally exist
Operation in the case of full swath, has reached specified feed quantity, obtains higher productivity ratio, and it is higher that this requires that driver has
Driving efficiency, keeps full width tracking operation, driver's high labor intensive for a long time, and farm work dust is big, by naked eyes
It is difficult to harvest accurate border.United reaper system for measuring yield needs according to harvesting swath and actual vehicle speed to calculate results in real time
Area, united reaper system for measuring yield is also manually entered harvesting amplitude mainly by operator both at home and abroad at present, but reality is gathered in
When, it is difficult to ensure that full width harvesting, but swath operation is become according to practical situation.In the detection for carrying out united reaper feed quantity
When, it is also desirable to obtained to calculate according to swath, millet straw density, operating speed.Combining machine automatic drive system can also root
Carry out from motion tracking driving according to border is harvested, therefore, swath on-line checking is one of united reaper intelligent monitor system heavy
Want index.In recent years, with computer and the development of sensor detecting, domestic and international researcher is permitted to swath detection
Many researchs and invention, can be divided into contact method and eyes with non-contact method.Typical contact method be using spring control one end of detection bar with
Crop is in close contact, and goniometer measures the deflection angle of detection bar, then calculates crop and support bar according to trigonometric function
The distance between.Two support bars are arranged on two nearside dividers of combine harvester cutting table, and the spacing of two support bars is subtracted
Crop is gone to leave the actual harvesting amplitude of the distance with regard to measurable united reaper of two support bars.The letter of the method frame for movement
It is single, but poor reliability, and there is potential safety hazard.Eyes with non-contact method mainly employs two ultrasonic sensors and leaves measuring crop
The distance of two nearside dividers, so that calculate actual swath.But ultrasonic measurement angular dispersed, while the density degree of crop
The reflection of ultrasound wave can be affected to cause the error for measuring.For the Oryza sativa L. of branch's plantation, ultrasonic sensor is just worn sometimes
There is no reflection in that crosses crop.It is substantially at theory or laboratory research stage on the whole to the measurement of swath, and
Realize that being more not reaching to can be with the level of volume production without in field.As united reaper maximizes and intelligent monitoring technology
Development, aobvious particularly important of the size of real-time monitoring swath, swath monitoring is one in united reaper line Measurement Technique
Key parameter.
The content of the invention
The technical problem to be solved is to provide a kind of rice wheat combine harvester swath detection method and device, uses
In swath on-line monitoring is solved the problems, such as, key foundation data are provided for feed quantity on-line monitoring, self-navigation and job accounting.
To achieve these goals, the invention provides a kind of swath detection means of rice wheat combine harvester, wherein, wraps
Include：
Laser sensor, is installed on above the ceding of Taiwan of rice wheat combine harvester, for obtaining the rice wheat combine harvester
Harvest region and do not harvest the border in region, and export distance and the angle information of measured object；
Signal picker, on the rice wheat combine harvester, is connected with the laser sensor by data/address bus
Connect, for obtaining and sending distance and the Angle Information data of the laser sensor output；And
Vehicle-mounted monitoring device, on the rice wheat combine harvester, is connected with the signal picker, for completing
State signal processing, analysis, display and the data storage of signal picker transmission.
Above-mentioned swath detection means, wherein, the laser sensor is line scan mode to the object in sector region
Detection is circulated, the laser sensor is installed on the upper left side or upper right side of the ceding of Taiwan by retractable support lever.
Above-mentioned swath detection means, wherein, the signal picker and the vehicle-mounted monitoring device are arranged on the rice wheat
The driving of united reaper is indoor.
In order to above-mentioned purpose is better achieved, present invention also offers a kind of swath detection side of rice wheat combine harvester
Method, wherein, is detected using above-mentioned swath detection means, is comprised the steps：
S100, the running parameter for setting laser sensor by vehicle-mounted monitoring device, the laser sensor is according to setting
Running parameter, is circulated detection to the object in the plane of scanning motion, obtains detection data group (ρ, θ), and wherein ρ is the laser
Distance of the sensor to measured object, θ are the angle of laser beam and Ox axles in the reference frame of the laser sensor, described to swash
The reference frame of optical sensor is R=(O, Ox, Oy, Oz), and the laser sensor detects that Ox axles are parallel in plane Ozx
In ground；
S200, signal picker obtain the detection data group (ρ, θ) of the laser sensor, and are sent to the vehicle-mounted prison
Control device；
S300, the vehicle-mounted monitoring device carry out polar coordinate to the conversion of plane coordinates to the detection data group；
S400, using moving average filtering method to conversion after the detection data group carry out data filtering process；
S500, to Filtering Processing after the data of the detection data group carry out first-order difference calculating, by difference result with
Threshold value δ of setting compares, and obtains sequence number j of the data point more than threshold value δ, thereby determines that
Separation, and according to installation site deviation delta x of the laser sensor, and projection x of the separation on axle OxjWith cut
Platform width d0, calculate actual swath dsFor：
Above-mentioned swath detection method, wherein, the running parameter of the laser sensor includes scanning angle, scanning sample
Frequency and scanning angle step-length.
Above-mentioned swath detection method, wherein, carries out polar coordinate to flat to the detection data group in step S300
Areal coordinate conversion formula is as follows：
Above-mentioned swath detection method, wherein, step S300 is further included：By the laser sensor from scanning
Start angle is defined as a frame to one group of sensing data that termination point is obtained, and the data amount check N of a frame is by scanning angle
Scope and scanning angle step-length determine, carry out Coordinate Conversion according to conversion formula to frame sensor data, obtain：
Wherein k ∈ [1, N].
Above-mentioned swath detection method, wherein, the moving average filtering method in step S400 includes：
S401, continuous sampling data are regarded as a length be N queue；
S402, the first data for after a new sampled data is obtained, removing above-mentioned queue, remaining N-1 data is successively
Reach, and new sampled data is inserted into the afterbody of queue；
S403, arithmetical operation is carried out to whole queue, and as the result that this measures, computing formula is as follows：
Wherein zk-jFor the Cephalometry of the laser beam on axle Oz at kth-j moment,For the filter value at kth moment,
N is filter window；
S404, whenAndzkFor wrong data, rejected,
Wherein h is rice straw height average or estimated value, and α is regulation coefficient.
Data after Oz direction of principal axis Filtering Processing wherein, are carried out in step S500 by above-mentioned swath detection method
First-order difference is calculated, and discrete data first-order difference defined formula is as follows：
Wherein εkFor kth point data difference value.
In order to above-mentioned purpose is better achieved, present invention also offers a kind of rice wheat combine harvester, wherein, including swath
Detection means, the swath detection means carry out swath detection using above-mentioned swath detection method.
The beneficial effects of the present invention is：
As combine harvester cutting table is more and more wider, experienced driver's worsening shortages, farm work dust are larger, according to
Judge that by driver's naked eyes harvesting border will become difficult, harvesting swath concordance cannot be protected, and united reaper is fed
Enter amount fluctuation larger, affect machine operation performance.Compared with prior art, the present invention using non-contact laser detection technique,
Digital Signal Processing, mode identification technology etc., can in real time, accurately obtain the actual swath of united reaper, solve to harvest
The identification on border and the problem of swath real time on-line monitoring, provide pass for feed quantity on-line monitoring, self-navigation and job accounting
Key basic data, improves united reaper visualization level, and the practical application of united reaper intelligent monitoring equipment is played
Facilitation.
Describe the present invention below in conjunction with the drawings and specific embodiments, but it is not as a limitation of the invention.
Description of the drawings
Rice wheat combine harvester structural representations of the Fig. 1 for one embodiment of the invention；
Swath structure of the detecting device block diagrams of the Fig. 2 for one embodiment of the invention；
Laser sensor fundamental diagrams of the Fig. 3 for one embodiment of the invention；
Fig. 4 is that the swath of the present invention calculates schematic diagram.
Wherein, reference
1 ceding of Taiwan
2 support bars
3 laser sensors
31 generating lasers
32 laser pickoffs
33 rotary prisms
34 fixed prisms
35 motors
4 signal pickers
5 vehicle-mounted monitoring devices
6 driver's cabins
7 do not gather in region
8 have gathered in region
9 measured objects
Specific embodiment
Below in conjunction with the accompanying drawings the structural principle and operation principle of the present invention are described in detail：
Referring to Fig. 1, rice wheat combine harvester structural representations of the Fig. 1 for one embodiment of the invention.The rice wheat connection of the present invention
Harvester is closed, including contactless swath detection means, the swath detection means is used for solving the problems, such as that swath is monitored on-line, is
Feed quantity on-line monitoring, self-navigation and job accounting provide key foundation data.Because of the group of the united reaper other parts
Into, structure, mutual alignment relation, annexation and function etc. be more ripe prior art, therefore will not be described here, below
Only the swath detection means and its detection method of the present invention are described in detail.
Referring to Fig. 2, swath structure of the detecting device block diagrams of the Fig. 2 for one embodiment of the invention.The swath detection dress of the present invention
Put, including：Laser sensor 3, is installed on above the ceding of Taiwan 1 of rice wheat combine harvester, for obtaining the rice wheat combining
Machine harvests region and does not harvest the border in region, and exports distance and the angle information of measured object 9, with certainty of measurement it is high,
Sample rate is fast, little interference by environment the advantages of；Signal picker 4, on the rice wheat combine harvester, by data
Bus is connected with the laser sensor 3, for obtaining and sending distance and the angle information number of the output of the laser sensor 3
According to；And vehicle-mounted monitoring device 5, on the rice wheat combine harvester, connected with the signal picker 4 by CAN
Connect, be integrated with data processing software, signal processing, analysis, display and the data for completing the transmission of the signal picker 4 are deposited
The functions such as storage.Vehicle-mounted monitoring device 5 be collocated with CAN module, solid state hard disc bin, can touch-control liquid crystal display screen and various serials
Data-interface, directly using vehicle-mounted 24V storage battery power supplies.Whole detection means is connected using CAN, and wiring is simple, communication
It is reliable.
Wherein, the laser sensor 3 is circulated detection for line scan mode to the object in sector region, described to swash
Optical sensor 3 is installed on the upper left side or upper right side of the ceding of Taiwan 1 by retractable support lever 2, and united reaper is generally suitable
Laser sensor 3 is preferably installed on top on the left of the ceding of Taiwan 1 by hour hands harvester operation.The signal picker 4 and described vehicle-mounted
Watch-dog 5 is preferably mounted in the driver's cabin 6 of the rice wheat combine harvester.
Referring to Fig. 3, laser sensor fundamental diagrams of the Fig. 3 for one embodiment of the invention.Laser in the present embodiment
Sensor 3 is main by generating laser 31, laser pickoff 32, prism group (including rotary prism 33 and fixed prism 34) and motor
35, motor 35 is connected with rotary prism 33.The exploring laser light beam that generating laser 31 is launched Jing after the direct reflection of prism group,
Get on measured object 9.Meanwhile, the direct reflection of the laser Jing prism groups that measured object 9 is reflected back is picked up by laser pickoff 32, is led to
Laser beam is crossed from pickup elapsed time t and aerial spread speed C of light is transmitted into, can be calculated measured object 9 with
The distance between laser sensor 3.Rotary prism 33 is rotated by motor 35, so that laser beam can be certain fan-shaped
Region is circulated scanning.The initial angle θ in sector scanning regionsWith ending corner θeCan be configured, usual laser sensor 3 is swept
The dead ahead retouched is that, along axle Oz directions, 3 scan angle theta of laser sensor is the laser in the reference frame of laser sensor 3
The angle of beam and axle Ox.
Referring to Fig. 4, Fig. 4 is that the swath of the present invention calculates schematic diagram.ρ in figure1It is expressed as getting to crops p1Laser on point
Light beam, ρ2For getting to partitioning boundary p2Laser beam on point, ρ3For getting to the p for gathering in region 83Laser beam on point, swashs
Optical sensor 3 obtains the polar data (ρ, θ) of measured object 9 in tested region by receiving and dispatching these three typical beam signals.Letter
Number harvester 4 obtains the polar data group (ρ, θ) of laser sensor 3, is sent to vehicle-mounted monitoring device 5 by CAN.It is vehicle-mounted
Watch-dog 5 first by Coordinate Conversion, by polar data (ρ, θ), be converted to 3 plane coordinates R=of laser sensor (O, Ox,
Oy, Oz), i.e., (x, y, z).Z in figure1Represent light beam ρ1Projection on axle Oz, z2Represent light beam ρ2Projection value on axle Oz, z3
Represent light beam ρ3Projection value on axle Oz.
The swath detection method of the present invention, is detected using above-mentioned swath detection means, is comprised the steps：
Step S100, the running parameter for setting laser sensor 3 by vehicle-mounted monitoring device 5, the running parameter can for example be wrapped
Include scanning angle, scanning sample frequency and scanning angle step-length etc..Running parameter of the laser sensor 3 according to setting, it is right
Object in the plane of scanning motion is circulated detection, obtains detection data group (ρ, θ), and wherein ρ arrives tested for the laser sensor 3
The distance of thing 9, θ is the angle of laser beam and Ox axles in the reference frame of the laser sensor 3, the laser sensor
3 reference frame is R=(O, Ox, Oy, Oz), and the laser sensor 3 detects that Ox axles are parallel to ground in plane Ozx；
Step S200, signal picker 4 obtain the detection data group (ρ, θ) of the laser sensor 3, and total by CAN
Line is sent to the vehicle-mounted monitoring device 5；
Step S300, the detection data group of the vehicle-mounted monitoring device 5 pairs carry out polar coordinate to the conversion of plane coordinates；Turn
Change formula as follows：
Step S300 is further included：The laser sensor 3 is obtained from scanning start angle to termination point
The one group of sensing data for obtaining is defined as a frame, and the data amount check N of a frame is determined by scanning angle scope and scanning angle step-length,
Coordinate Conversion is carried out to frame sensor data according to conversion formula, is obtained：
Wherein k ∈ [1, N].
Step S400, using moving average filtering method to conversion after the detection data group carry out at data filtering
Reason, according to information such as laser sensing installation sites, rejects some obvious wrong data (mainly error number of dust
According to)；Including：
Step S401, continuous sampling data are regarded as a length be N queue；
Step S402, the first data for after a new sampled data is obtained, removing above-mentioned queue, remaining N-1 data
Move forward successively, and new sampled data is inserted into the afterbody of queue；
Step S403, arithmetical operation is carried out to whole queue, and as the result that this measures, computing formula is such as
Under：
Wherein zk-jFor the Cephalometry of the laser beam on axle Oz at kth-j moment,For the filter value at kth moment,
N is filter window, typically takes N>3；
Step S404, whenAndzkFor wrong data, carry out
Reject, wherein h is rice straw height average or estimated value, and α is regulation coefficient.
Step S500, to Filtering Processing after the data of the detection data group carry out first-order difference calculating, difference is tied
Fruit is compared with threshold value δ of setting, obtains sequence number j of the data point more than threshold value δ, thereby determines that
The separation in region 7, and according to installation site deviation delta x of the laser sensor 3, and throwing of the separation on axle Ox
Shadow xjWith 1 width d of the ceding of Taiwan0, calculate actual swath dsFor：
First-order difference calculating, discrete data single order are carried out to the data after Oz direction of principal axis Filtering Processing in step S500
Difference defined formula is as follows：
Wherein εkFor kth point data difference value.
Each step can be carried out simultaneously above, and the detection data of laser sensor 3 passes through CAN real-time Transmission, in vehicle-mounted prison
Data processing and calculating is carried out on control device 5, reckoning obtains the real-time swath value of united reaper, calculate the swath value for obtaining in car
Carrying watch-dog 5 carries out showing in real time and storage.
Certainly, the present invention can also have other various embodiments, in the case of without departing substantially from spirit of the invention and its essence, ripe
Know those skilled in the art and work as and various corresponding changes and deformation, but these corresponding changes and change can be made according to the present invention
Shape should all belong to the protection domain of appended claims of the invention.
Claims (10)
1. the swath detection means of a kind of rice wheat combine harvester, it is characterised in that include：
Laser sensor, is installed on above the ceding of Taiwan of rice wheat combine harvester, for obtaining the receipts of the rice wheat combine harvester
Obtain region and do not harvest the border in region, and export distance and the angle information of measured object；
Signal picker, on the rice wheat combine harvester, is connected with the laser sensor by data/address bus, is used
In the distance and Angle Information data that obtain and send the laser sensor output；And
Vehicle-mounted monitoring device, on the rice wheat combine harvester, is connected with the signal picker, for completing the letter
Signal processing, analysis, display and data storage that number harvester sends.
2. swath detection means as claimed in claim 1, it is characterised in that the laser sensor is line scan mode to fan
Object in shape region is circulated detection, and the laser sensor is installed on the upper left of the ceding of Taiwan by retractable support lever
Side or upper right side.
3. swath detection means as claimed in claim 1 or 2, it is characterised in that the signal picker and the vehicle-mounted prison
The driving that control device is arranged on the rice wheat combine harvester is indoor.
4. the swath detection method of a kind of rice wheat combine harvester, it is characterised in that using any one in the claims 1-3
Swath detection means described in is detected, is comprised the steps：
S100, the running parameter for setting laser sensor by vehicle-mounted monitoring device, work of the laser sensor according to setting
Parameter, is circulated detection to the object in the plane of scanning motion, obtains detection data group (ρ, θ), and wherein ρ is the laser sensor
To the distance of measured object, θ is the angle of laser beam and Ox axles in the reference frame of the laser sensor, the laser
The reference frame of sensor is R=(O, Ox, Oy, Oz), and the laser sensor detects that Ox axles are parallel to ground in plane Ozx
Face；
S200, signal picker obtain the detection data group (ρ, θ) of the laser sensor, and are sent to the vehicle-mounted monitoring
Device；
S300, the vehicle-mounted monitoring device carry out polar coordinate to the conversion of plane coordinates to the detection data group；
S400, using moving average filtering method to conversion after the detection data group carry out data filtering process；
S500, to Filtering Processing after the data of the detection data group carry out first-order difference calculating, by difference result and setting
Threshold value δ compare, obtain sequence number j of the data point more than threshold value δ, thereby determine that the boundary gathered in region Yu do not gather in region
Point, and according to installation site deviation delta x of the laser sensor, and projection x of the separation on axle OxjWith ceding of Taiwan width
Degree d0, calculate actual swath dsFor：
5. swath detection method as claimed in claim 4, it is characterised in that the running parameter of the laser sensor includes sweeping
Retouch angle, scanning sample frequency and scanning angle step-length.
6. the swath detection method as described in claim 4 or 5, it is characterised in that to the detection number in step S300
Polar coordinate are carried out according to group as follows to two-dimensional assemblage formula：
7. swath detection method as claimed in claim 6, it is characterised in that step S300 is further included：Will be described
Laser sensor is defined as a frame, the data of a frame from one group of sensing data that scanning start angle is obtained to termination point
Number N is determined by scanning angle scope and scanning angle step-length, one frame sensor data is carried out with coordinate according to conversion formula and is turned
Change, obtain：
Wherein k ∈ [1, N].
8. the swath detection method as described in claim 4,5 or 7, it is characterised in that the rolling average in step S400
Filtering method includes：
S401, continuous sampling data are regarded as a length be N queue；
S402, the first data for after a new sampled data is obtained, removing above-mentioned queue, remaining N-1 data are moved forward successively,
And new sampled data is inserted into the afterbody of queue；
S403, arithmetical operation is carried out to whole queue, and as the result that this measures, computing formula is as follows：
Wherein zk-jFor the Cephalometry of the laser beam on axle Oz at kth-j moment,For the filter value at kth moment, N is
Filter window；
S404, when And zkFor wrong data, rejected, wherein h
For rice straw height average or estimated value, α is regulation coefficient.
9. swath detection method as claimed in claim 8, it is characterised in that in step S500 to Oz direction of principal axis filtering at
Data after reason carry out first-order difference calculating, and discrete data first-order difference defined formula is as follows：
Wherein εkFor kth point data difference value.
10. a kind of rice wheat combine harvester, it is characterised in that including swath detection means, the swath detection means is using upper
Stating the swath detection method in claim 4-9 described in any one carries out swath detection.
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| CN110235600A (en) * | 2019-05-10 | 2019-09-17 | 江苏大学 | The Feeding Quantity in Combine stabilizing control system based on mature crop attribute information real-time detection |
| GB2610131A (en) * | 2021-08-16 | 2023-02-22 | Univ Jiangsu | Adaptive device for header capable of performing lodging detection based on laser sensor and control method thereof |
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