CN106508256B - A kind of rice wheat combine harvester and its swath detection device and detection method - Google Patents
A kind of rice wheat combine harvester and its swath detection device and detection method Download PDFInfo
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Abstract
A kind of rice wheat combine harvester and its swath detection device and detection method, the rice wheat combine harvester includes swath detection device, the swath detection device includes laser sensor, it is installed on above the ceding of Taiwan of rice wheat combine harvester, for obtaining the harvest region of the rice wheat combine harvester and not harvesting the boundary in region, and export the distance and angle information of measured object；Signal picker is mounted on the rice wheat combine harvester, is connect by data/address bus with the laser sensor, for obtaining and sending the distance and Angle Information data of the laser sensor output；And vehicle-mounted monitoring device, it is mounted on the rice wheat combine harvester, is connect with the signal picker, signal processing, analysis, display and the data storage sent for completing the signal picker.The invention also discloses the swath detection methods of above-mentioned swath detection device.
Description
Technical field
The present invention relates to a kind of agricultural combine, especially a kind of rice wheat combine harvester and its contactless swath
Detection device and detection method.
Background technique
Currently, combine harvester just develops towards enlargement, high speed direction, only the eyesight of employment goes to identification harvest side
Boundary guarantees that swath consistency will become more and more difficult when harvester operation.When combine harvester is in farm work, usually exist
Operation in the case of full swath, has reached specified feed quantity, obtains higher productivity, it is with higher that this requires drivers
Driving efficiency keeps full width to track operation, driver's large labor intensity for a long time, and farm work dust is big, by naked eyes
It is difficult to harvest accurate boundary.Combine harvester system for measuring yield needs to calculate harvest in real time according to harvesting swath and actual vehicle speed
Area, combine harvester 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 become swath operation according to the actual situation.In the detection for carrying out combine harvester feed quantity
When, it is also desirable to calculate to obtain according to swath, millet straw density, operating speed.Combining machine automatic drive system can also root
It carries out automatically tracking driving according to harvest boundary, therefore, swath on-line checking is a weight of combine harvester intelligent monitor system
Want index.In recent years, with the development of computer and sensor detecting, domestic and international researcher permits swath detection
More researchs and invention, can be divided into contact method and eyes with non-contact method.Typical contact method be using spring control detection bar one end with
Crop is in close contact, and goniometer measures the deflection angle of detection bar, then calculates crop and support rod according to trigonometric function
The distance between.Two support rods are mounted on two nearside dividers of combine harvester cutting table, and the spacing of two support rods is subtracted
Going crop to leave the distances of two support rods just can measure the practical harvesting amplitude of combine harvester.The method mechanical structure letter
It is single, but poor reliability, and there are security risks.Eyes with non-contact method mainly uses two ultrasonic sensors and leaves to measure crop
The distance of two nearside dividers, to calculate practical swath.But ultrasound measuring angle dissipates, while the density degree of crop
The reflection that will affect ultrasonic wave leads to the error of measurement.For the rice of branch's plantation, ultrasonic sensor is just worn sometimes
Cross crop in the ranks without reflect.On the whole is substantially to the measurement of swath the theoretical or laboratory research stage, and
Do not realize that more not reaching can be with the level of volume production in field.With combine harvester enlargement and intelligent monitoring technology
Development, the size of real-time monitoring swath show particularly important, and swath monitoring is one in combine harvester line Measurement Technique
Key parameter.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of rice wheat combine harvester swath detection method and device, use
In solving the problems, such as swath on-line monitoring, key foundation data are provided for feed quantity on-line monitoring, self-navigation and job accounting.
To achieve the goals above, the present invention provides a kind of swath detection devices of rice wheat combine harvester, wherein packet
It includes:
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 boundary in region, and export the distance and angle information of measured object；
Signal picker is mounted on the rice wheat combine harvester, is connected by data/address bus and the laser sensor
It connects, for obtaining and sending the distance and Angle Information data of the laser sensor output；And
Vehicle-mounted monitoring device is mounted on the rice wheat combine harvester, is connect with the signal picker, for completing
State signal processing, analysis, display and the data storage of signal picker transmission.
Above-mentioned swath detection device, wherein the laser sensor is line scanning mode to the object in fan-shaped region
Loop detection is carried out, 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 device, wherein the signal picker and the vehicle-mounted monitoring device are mounted on the rice and kernel
In the driver's cabin of combine harvester.
In order to which above-mentioned purpose is better achieved, the present invention also provides a kind of swath detection sides of rice wheat combine harvester
Method, wherein detected, included the following steps: using above-mentioned swath detection device
S100, the running parameter that laser sensor is set by vehicle-mounted monitoring device, the laser sensor is according to setting
Running parameter carries out cycle detection to the object in the plane of scanning motion, obtains detection data group (ρ, θ), and wherein ρ is the laser
For sensor to the distance of measured object, θ is the angle of laser beam and Ox axis 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 in plane Ozx, and Ox axis is parallel
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 the conversion of polar coordinates to plane coordinates to the detection data group；
S400, data filtering processing is carried out to the detection data group after conversion using moving average filtering method；
S500, first-order difference calculating is carried out to the data of the detection data group after filtering processing, by difference result with
The threshold value δ of setting compares, and obtains the serial number j of the data point greater than threshold value δ, thereby determines that and has gathered in region and do not gathered in region
Separation, and the projection x according to the installation site deviation delta x and the separation of the laser sensor on axis OxjWith cut
Platform width d0, calculate practical swath dsAre as follows:
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 in the step S300 to the detection data group carry out polar coordinates to put down
Areal coordinate conversion formula is as follows:
Above-mentioned swath detection method, wherein the step S300 further comprises: by the laser sensor from scanning
Start angle is defined as a frame to termination point one group of sensing data obtained, and the data amount check N of a frame is by scanning angle
Range and scanning angle step-length determine, carry out coordinate conversion to a frame sensor data according to conversion formula, obtain:
Wherein [1, N] k ∈.
Above-mentioned swath detection method, wherein the moving average filtering method in the step S400 includes:
S401, continuous sampling data are regarded to the queue that a length is N as；
S402, after a new sampled data obtains, remove the first data of above-mentioned queue, remaining N-1 data is successively
It moves forward, and new sampled data is inserted into the tail portion of queue；
S403, arithmetical operation is carried out to entire queue, and as this measurement as a result, calculation formula is as follows:
Wherein zk-jFor the Cephalometry of the laser beam on axis 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 and kernel stalk height mean value or estimated value, and α is regulation coefficient.
Above-mentioned swath detection method, wherein the data after the filtering processing of Oz axis direction are carried out in the step S500
First-order difference calculates, and discrete data first-order difference defined formula is as follows:
Wherein εkFor kth point data difference value.
In order to which above-mentioned purpose is better achieved, the present invention also provides a kind of rice wheat combine harvesters, wherein including swath
Detection device, the swath detection device carry out swath detection using above-mentioned swath detection method.
The beneficial effects of the present invention are:
Since combine harvester cutting table is more and more wider, experienced driver is increasingly in short supply, and farm work dust is larger, according to
Judge that harvesting boundary will become difficult by driver's naked eyes, harvesting swath consistency is unable to get guarantee, and combine harvester is fed
It is larger to enter amount fluctuation, influences 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 practical swath of combine harvester, solve harvest
The problem of identification on boundary and swath real time on-line monitoring, provides pass for feed quantity on-line monitoring, self-navigation and job accounting
Key basic data improves combine harvester visualization level, plays to the practical application of combine harvester intelligent monitoring equipment
Facilitation.
Below in conjunction with the drawings and specific embodiments, the present invention will be described in detail, but not as a limitation of the invention.
Detailed description of the invention
Fig. 1 is the rice wheat combine harvester structural schematic diagram of one embodiment of the invention；
Fig. 2 is the swath structure of the detecting device block diagram of one embodiment of the invention；
Fig. 3 is the laser sensor working principle diagram of one embodiment of the invention；
Fig. 4 is that swath of the invention calculates schematic diagram.
Wherein, appended drawing reference
1 ceding of Taiwan
2 support rods
3 laser sensors
31 laser emitters
32 laser pickoffs
33 rotating 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
Structural principle and working principle of the invention are described in detail with reference to the accompanying drawing:
It is the rice wheat combine harvester structural schematic diagram of one embodiment of the invention referring to Fig. 1, Fig. 1.Rice and kernel connection of the invention
Harvester, including contactless swath detection device are closed, which is for solving the problems, such as that swath is monitored on-line
Feed quantity on-line monitoring, self-navigation and job accounting provide key foundation data.Because of the group of the combine harvester other parts
At, structure, mutual alignment relation, connection relationship and function etc. be the more mature prior art, therefore details are not described herein, below
Only swath detection device of the invention and its detection method are described in detail.
Referring to fig. 2, Fig. 2 is the swath structure of the detecting device block diagram of one embodiment of the invention.Swath of the invention detects dress
It sets, comprising: laser sensor 3 is installed on 1 top of the ceding of Taiwan of rice wheat combine harvester, for obtaining the rice and kernel combining
The harvest region of machine and do not harvest the boundary in region, and export the distance and angle information of measured object 9, have measurement accuracy it is high,
The advantages that sample rate is fast, little interference by environment；Signal picker 4 is mounted on the rice wheat combine harvester, passes through data
Bus is connect with the laser sensor 3, for obtaining and sending the distance and angle information number that the laser sensor 3 exports
According to；And vehicle-mounted monitoring device 5, it is mounted on the rice wheat combine harvester, is connected by CAN bus and the signal picker 4
It connects, is integrated with data processing software, deposited for completing signal processing, analysis, display and data that the signal picker 4 is sent
The functions such as storage.Vehicle-mounted monitoring device 5 be collocated with CAN bus module, solid state hard disk reservoir, can the liquid crystal display of touch-control and a variety of serial
Data-interface directly uses vehicle-mounted 24V storage battery power supply.Entire detection device is connected using CAN bus, and wiring is simple, communication
Reliably.
Wherein, the laser sensor 3 is that line scanning mode carries out loop detection to the object in fan-shaped 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 combine harvester is generally suitable
Laser sensor 3 is preferably installed on 1 left side top of the ceding of Taiwan by hour hands harvester operation.The signal picker 4 and described vehicle-mounted
Monitor 5 is preferably mounted in the driver's cabin 6 of the rice wheat combine harvester.
It is the laser sensor working principle diagram of one embodiment of the invention referring to Fig. 3, Fig. 3.Laser in the present embodiment
Sensor 3 is mainly by laser emitter 31, laser pickoff 32, prism group (including rotating prism 33 and fixed prism 34) and motor
35, motor 35 is connect with rotating prism 33.The exploring laser light beam that laser emitter 31 is launched after the mirror-reflection of prism group,
It gets on measured object 9.Meanwhile mirror-reflection of the laser through prism group that measured object 9 is reflected back is picked up by laser pickoff 32, is led to
Cross laser beam from be emitted to pick up the elapsed time t and aerial spread speed C of light, can be calculated measured object 9 with
The distance between laser sensor 3.Rotating prism 33 is driven by motor 35 to be rotated, so that laser beam can be certain fan-shaped
Region carries out scan round.The initial angle θ in sectoring regionsWith ending corner θeIt can be configured, usual laser sensor 3 is swept
The front retouched is along the direction axis Oz, and 3 scan angle theta of laser sensor is the laser in the reference frame of laser sensor 3
The angle of beam and axis Ox.
Referring to fig. 4, Fig. 4 is that swath of the invention calculates schematic diagram.ρ in figure1It is expressed as getting to crops p1Laser on point
Light beam, ρ2To get to partitioning boundary p2Laser beam on point, ρ3To get to the p for having gathered 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 collector 4 obtains the polar data group (ρ, θ) of laser sensor 3, is sent to vehicle-mounted monitoring device 5 by CAN bus.It is vehicle-mounted
Monitor 5 is converted by coordinate first, 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 figure1Indicate light beam ρ1Projection on axis Oz, z2Indicate light beam ρ2Projection value on axis Oz, z3
Indicate light beam ρ3Projection value on axis Oz.
Swath detection method of the invention is detected using above-mentioned swath detection device, is included the following steps:
Step S100, the running parameter of laser sensor 3 is set by vehicle-mounted monitoring device 5, which can for example wrap
Include scanning angle, scanning sample frequency and scanning angle step-length etc..The laser sensor 3 according to setting running parameter, it is right
Object in the plane of scanning motion carries out cycle detection, obtains detection data group (ρ, θ), and wherein ρ is arrived tested for the laser sensor 3
The distance of object 9, θ are the angle of laser beam and Ox axis 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 in plane Ozx, and Ox axis is parallel to ground；
Step S200, signal picker 4 obtains 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 described vehicle-mounted monitoring device 5 carries out the conversion of polar coordinates to plane coordinates to the detection data group；Turn
It is as follows to change formula:
The step S300 further comprises: the laser sensor 3 is obtained from scan start angle to termination point
The one group of sensing data obtained is defined as a frame, and the data amount check N of a frame is determined by scanning angle range and scanning angle step-length,
Coordinate conversion is carried out to a frame sensor data according to conversion formula, is obtained:
Wherein [1, N] k ∈.
Step S400, the detection data group after conversion is carried out at data filtering using moving average filtering method
Reason rejects some obvious wrong data (mainly error numbers of dust according to information such as laser sensing installation sites
According to)；Include:
Step S401, continuous sampling data are regarded as queue that a length is N；
Step S402, after a new sampled data obtains, the first data of above-mentioned queue are removed, remaining N-1 data
It successively moves forward, and new sampled data is inserted into the tail portion of queue；
Step S403, to entire queue carry out arithmetical operation, and as this measurement as a result, calculation formula such as
Under:
Wherein zk-jFor the Cephalometry of the laser beam on axis Oz at kth-j moment,For the filter value at kth moment,
N is filter window, generally takes N > 3；
Step S404, whenAndzkFor wrong data, carry out
It rejects, wherein h is rice and kernel stalk height mean value or estimated value, and α is regulation coefficient.
Step S500, first-order difference calculating is carried out to the data of the detection data group after filtering processing, by difference knot
Fruit obtains the serial number j of the data point greater than threshold value δ, thereby determines that and gathered in region 8 and do not gathered in compared with the threshold value δ of setting
The separation in region 7, and the throwing according to the installation site deviation delta x and the separation of the laser sensor 3 on axis Ox
Shadow xjWith 1 width d of the ceding of Taiwan0, calculate practical swath dsAre as follows:
First-order difference calculating, discrete data single order are carried out to the data after the filtering processing of Oz axis direction in the step S500
Difference defined formula is as follows:
Wherein εkFor kth point data difference value.
Above each step can carry out simultaneously, and the detection data of laser sensor 3 is by CAN bus real-time Transmission, in vehicle-mounted prison
It controls and carries out data processing on device 5 and calculate, reckoning obtains the real-time swath value of combine harvester, and the swath value calculated is in vehicle
It carries monitor 5 and carries out real-time display and storage.
Certainly, the present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, ripe
It knows those skilled in the art and makes various corresponding changes and modifications, but these corresponding changes and change in accordance with the present invention
Shape all should fall within the scope of protection of the appended claims of the present invention.
Claims (10)
1. a kind of swath detection device of rice wheat combine harvester characterized by comprising
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
It obtains region and does not harvest the boundary in region, and export the distance and angle information of measured object, the laser sensor is according to setting
Running parameter, in the plane of scanning motion object carry out cycle detection, obtain detection data group (ρ, θ), wherein ρ be the laser
For sensor to the distance of measured object, θ is the angle of laser beam and Ox axis in the reference frame of the laser sensor, described
The reference frame of laser sensor is R=(O, Ox, Oy, Oz), and the laser sensor detects in plane Ozx, and Ox axis is flat
Row is in ground；
Signal picker is mounted on the rice wheat combine harvester, is connect by data/address bus with the laser sensor, is used
In the detection data group (ρ, θ) for obtaining and sending distance and Angle Information data that the laser sensor exports；And
Vehicle-mounted monitoring device is mounted on the rice wheat combine harvester, is connect with the signal picker, for completing the letter
Signal processing, analysis, display and the data storage that number collector is sent.
2. swath detection device as described in claim 1, which is characterized in that the laser sensor is line scanning mode to fan
Object in shape region carries out loop 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 device as claimed in claim 1 or 2, which is characterized in that the signal picker and the vehicle-mounted prison
Control device is mounted in the driver's cabin of the rice wheat combine harvester.
4. a kind of swath detection method of rice wheat combine harvester, which is characterized in that using any one in the claims 1-3
Swath detection device described in is detected, and is included the following steps:
S100, by vehicle-mounted monitoring device set laser sensor running parameter, the laser sensor according to setting work
Parameter carries out cycle 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 axis 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 in plane Ozx, and Ox axis is parallel to ground
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 the conversion of polar coordinates to plane coordinates to the detection data group；
S400, data filtering processing is carried out to the detection data group after conversion using moving average filtering method；
S500, first-order difference calculating is carried out to the data of the detection data group after filtering processing, by difference result and setting
Threshold value δ compare, obtain greater than threshold value δ data point serial number j, thereby determine that the boundary gathered in region Yu do not gathered in region
Point, and the projection x according to the installation site deviation delta x and the separation of the laser sensor on axis OxjIt is wide with the ceding of Taiwan
Spend d0, calculate practical swath dsAre as follows:
。
5. swath detection method as claimed in claim 4, which is characterized in that the running parameter of the laser sensor includes sweeping
Retouch angle, scanning sample frequency and scanning angle step-length.
6. swath detection method as described in claim 4 or 5, which is characterized in that the testing number in the step S300
It is as follows to two-dimensional assemblage formula according to group progress polar coordinates:
。
7. swath detection method as claimed in claim 6, which is characterized in that the step S300 further comprises: will be described
Laser sensor one group of sensing data obtained from scan start angle to termination point is defined as a frame, the data of a frame
Number N is determined by scanning angle range and scanning angle step-length, is carried out coordinate to a frame sensor data according to conversion formula and is turned
It changes, obtains:
Wherein [1, N] k ∈.
8. the swath detection method as described in claim 4,5 or 7, which is characterized in that the rolling average in the step S400
Filtering method includes:
S401, continuous sampling data are regarded to the queue that a length is N as；
S402, after a new sampled data obtains, remove the first data of above-mentioned queue, remaining N-1 data successively moves forward,
And new sampled data is inserted into the tail portion of queue；
S403, arithmetical operation is carried out to entire queue, and as this measurement as a result, calculation formula is as follows:
Wherein zk-jFor the Cephalometry of the laser beam on axis Oz at kth-j moment,For the filter value at kth moment, N is
Filter window；
S404, whenAndzkIt for wrong data, is rejected, wherein h
For rice and kernel stalk height mean value or estimated value, α is regulation coefficient.
9. swath detection method as claimed in claim 8, which is characterized in that in the step S500 to Oz axis direction 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, which is characterized in that including swath detection device, the swath detection device is using upper
It states swath detection method described in any one of claim 4-9 and carries out swath detection.
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| US10827676B2 (en) * | 2018-01-29 | 2020-11-10 | Deere & Company | Monitor and control system for a harvester |
| CN108334091B (en) * | 2018-02-26 | 2020-12-29 | 雷沃重工股份有限公司 | Harvester operation area calculation method and device and harvester |
| CN109215071B (en) * | 2018-10-08 | 2021-09-28 | 东南大学 | Intelligent rice and wheat harvester swath measuring method based on vision |
| 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 |
| GB2610131B (en) * | 2021-08-16 | 2023-11-15 | Univ Jiangsu | Adaptive device for header capable of performing lodging detection based on laser sensor and control method thereof |
| CN113661827B (en) * | 2021-08-16 | 2022-07-22 | 江苏大学 | Lodging detection header self-adaption device of laser sensor and control method |
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