CN114451132A - Corn cleaning loss real-time monitoring device and monitoring method - Google Patents
Corn cleaning loss real-time monitoring device and monitoring method Download PDFInfo
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- CN114451132A CN114451132A CN202210083461.4A CN202210083461A CN114451132A CN 114451132 A CN114451132 A CN 114451132A CN 202210083461 A CN202210083461 A CN 202210083461A CN 114451132 A CN114451132 A CN 114451132A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1271—Control or measuring arrangements specially adapted for combines for measuring crop flow
- A01D41/1272—Control or measuring arrangements specially adapted for combines for measuring crop flow for measuring grain flow
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F12/00—Parts or details of threshing apparatus
- A01F12/44—Grain cleaners; Grain separators
- A01F12/446—Sieving means
Abstract
The invention discloses a real-time monitoring device for corn cleaning loss, which comprises a strip-shaped screen and a monitoring system, wherein the strip-shaped screen is arranged below a cleaning and impurity discharging port of a corn harvester, and the real-time monitoring device is characterized in that: the monitoring system comprises a sensitive plate, a first speed sensor, a second speed sensor, a swath measuring instrument and a central processing unit, wherein the sensitive plate is arranged below the bar-shaped screen in parallel and can be adjusted up and down, the first speed sensor and the second speed sensor are respectively arranged on front wheels on two sides of the corn harvester, the swath measuring instrument is arranged on a cutting table of the corn harvester, and the central processing unit is arranged on the sensing plate. The corn loss monitoring device is arranged below the cleaning and impurity discharging port, and the strip-shaped sieve is arranged above the sensitive plate, so that large corncob impurities can be screened out, and the influence of high-frequency signals generated by the large impurities on the monitoring precision is reduced. According to the method, the lost grains are corrected by establishing a corresponding correction relation through an indoor test, so that the lost grains obtained through calculation are as close as possible to actual lost grains, and the measurement result is more accurate.
Description
Technical Field
The invention relates to the field of agricultural automatic equipment, and is suitable for a corn kernel combine harvester. In particular to a corn cleaning loss real-time monitoring device with a threshing material pre-screening function and a monitoring method.
Background
The mechanization degree of the corn used as one of three staple grain crops in China in a plurality of operation processes of cultivation, management and harvest is already high, and the mechanization degree of the harvesting operation is the lowest. In addition to the corn ear combine harvester, a direct grain harvesting combine harvester has appeared in recent years, and according to statistics of Ministry of agriculture, the mechanized harvesting of the corn in 2018 accounts for 75.85%, and the direct grain harvesting accounts for about 10% of the mechanized harvesting. With the continuous reduction of the population engaged in agriculture, the time-saving and labor-saving harvesting mode of directly harvesting corn kernels can be better developed.
However, the main reason why the current corn kernel direct harvesting combine harvester is not fast is that the loss in the harvesting process is large, and the loss comprises kernel crushing and kernel falling to the ground without returning to a grain tank. Loss reduction is an important reference basis for determining harvest quality, cleaning loss monitoring devices are rarely arranged on domestic markets at the present stage, and in a direct corn grain harvesting type combined harvester developed by international agricultural machinery in the Qingdao of 2021 year, only a 5YL-5M1 type harvester of Ravor God is provided with the cleaning loss monitoring device. Therefore, under the condition of less products, a plurality of devices capable of monitoring the loss rate in the harvesting process in real time are needed, and under the condition of product competition, the technology of the products is continuously improved, and the accuracy and the reliability are improved.
As early as around the sixties of the last century, cleaning loss monitoring equipment for crops such as grains and wheat has been studied abroad. After 1990, some domestic scholars began to preliminarily study cleaning loss monitoring devices for crops such as grains, and after 2005, many domestic colleges and universities began to further study cleaning loss monitoring devices for crops such as grains, wheat, and the like. However, the corn cleaning loss monitoring device is still less researched domestically. Although the principle adopted by the cleaning loss monitoring device for corn and other grains is basically the same, the difficulty mainly overcome is different, so that the cleaning loss monitoring device cannot be directly applied. The loss monitoring device is mainly used for distinguishing by using signal difference generated after grains and impurities collide with the sensitive plate, and in addition, a few devices are researched by using image processing, an acoustic-electric sensor and the like.
For example, in the invention patent of China, "a corn grain cleaning loss monitoring system and method" (publication No. CN112042371B), a piezoelectric film material is used for converting a vibration signal into an electric signal, and a Kalman filtering method is adopted to distinguish a corn signal from an impurity signal, so that the lost grain number is obtained. Meanwhile, the calculated loss rate is transmitted to a cab for the reference of a driver by utilizing a wireless transmission technology.
However, the inventors of the present application have found that the above-mentioned techniques have at least the following technical problems:
1. the device has low discrimination on large impurities, and large impurities can pass through filtering and be detected as grains, so that large errors can be caused.
2. When the loss rate is calculated, the acre yield and thousand seed weight of the crops in the operation field need to be measured, which is more complicated.
3. The adaptability to the corns to be harvested with different varieties and water contents is poor, and the corns with different varieties and water contents need to be checked and calculated again when being harvested.
Therefore, aiming at the problems, the patent provides a bar screen on the original basis, and provides a scheme for adjusting the installation height according to the corns with different varieties and water contents; in addition, another scheme for detecting and displaying the loss amount is provided, namely the lost grain number of the latest sampling period is displayed on a display device, and the lost grain number of the next sampling period is compared with the lost grain number of the previous sampling period to obtain whether the lost grain number is reduced or increased, so that reference is provided for cleaning parameter adjustment. The cleaning parameters can be automatically adjusted on line or manually adjusted according to the variation trend of the lost grain number without calculating the yield per mu and the thousand grain weight, which is another innovation of the scheme.
Disclosure of Invention
The invention aims to solve the problems of the existing monitoring device and provides a corn cleaning loss monitoring device and a monitoring method which can remarkably improve the monitoring precision and further lay a foundation for correctly regulating and controlling and reducing the cleaning loss.
In order to achieve the purposes, the technical scheme of the corn cleaning loss real-time monitoring device comprises a strip-shaped sieve and a monitoring system, wherein the strip-shaped sieve is arranged below a cleaning and impurity discharging port of a corn harvester, and the corn cleaning loss real-time monitoring device is characterized in that: the monitoring system comprises a sensitive plate arranged below the bar-shaped sieve, a first speed measuring sensor, a second speed measuring sensor, a swath measuring instrument and a central processing unit, wherein the first speed measuring sensor and the second speed measuring sensor are respectively arranged on front wheels at two sides of the corn harvester;
the monitoring signals of the sensitive plate, the speed measuring sensor and the swath measuring instrument are respectively transmitted to corresponding ports of a central processing unit, and the central processing unit comprises
An initialization module, which is used for turning on a monitoring device main switch and starting the system initialization;
a reading module for reading input thousand seed weight and theoretical acre yield parameters;
the speed control module is used for judging whether the speeds measured by the first speed measuring sensor and the second speed measuring sensor which are arranged on the harvester are consistent or not so as to judge whether the harvester turns or moves straight; if the speed difference exceeds a set value alpha, judging that the vehicle turns, and starting an anti-blocking cleaning mechanism to remove sundries on the sensitive plate and the strip-shaped sieve; if the speed difference is within the preset range, if the speed difference is judged to be in a straight line, the traveling speed value is saved, the operation module is started, and the set value alpha refers to the ratio of the angular speeds measured by the first speed measuring sensor and the second speed measuring sensor, namely the set value alpha is the ratio of the angular speeds measured by the first speed measuring sensor and the second speed measuring sensor
The set value is more than or equal to 0.8 and less than or equal to 1.25, wherein omega 1 is the angular velocity of the left wheel measured by the first speed measurement sensor, and omega 2 is the angular velocity of the right wheel measured by the second speed measurement sensor;
the operation module is used for calculating loss mass, harvest area and harvest mass by utilizing a correction coefficient model of thousand seed weight and loss amount, and calculating loss rate; the correction coefficient k of the correction coefficient model is as follows:
correction coefficient k:
wherein:
k is the correction factor, without unit;
m-time t0The number of seeds actually lost in the medium;
n-time t0The number of lost grains is monitored;
q-is the number of trials;
the display module is used for sending the loss rate and the lost seed number of the current sampling period to the screen in the last several periods, if the loss rate exceeds a preset range, an alarm is given to prompt a manipulator to adjust the advancing speed of the combine harvester, the shaking rate of the sorting screen and the working parameters of the rotating speed of the fan, if the loss rate does not exceed the preset range, the working parameters of the combine harvester are finely adjusted according to the change of the lost seed number of different sampling periods, so that the combine harvester is maintained in a lower loss state, or other indexes influencing the working quality are combined together, so that the overall working quality of the harvester is maintained in a better working state, and the display module can display the loss condition of at least five latest periods, and the change condition of the loss is convenient to observe;
a regulation module, wherein the number of lost seeds in the current sampling period is compared with the number of lost seeds in the last sampling period, if the loss rate is reduced, the parameter regulation direction is correct, the regulation can be continued until the number of lost seeds is not reduced, and if the number of lost seeds is increased, the regulation is performed in a reverse direction; the working state of the combine harvester is finely adjusted by comparing the number of lost seeds generated in each period, so that the machine is maintained in a better working state. When the alarm device gives an alarm, the harvester needs to be adjusted to reduce the loss.
Preferably, the anti-blocking cleaning mechanism comprises an anti-blocking cleaning motor, a crank-link mechanism and a cleaning brush; the cleaning brush is positioned between the bar screen and the sensitive plate, and the cleaning brush returns to the original point after passing through the bar screen and the sensitive plate in sequence under the driving of the motor and the driving of the crank connecting rod mechanism.
Preferably, the sensitive plate comprises a bearing plate arranged below the strip-shaped sieve and a vibration sensor arranged on the back of the bearing plate, vertical strip-shaped holes are formed in two sides of the rack, and the bearing plate is arranged in the strip-shaped holes through a connecting piece.
Preferably, the pulse signal processing circuit further comprises a signal processing circuit, wherein the signal processing circuit sequentially comprises a high-pass filter, an envelope detection circuit and a voltage comparison circuit, the electric signal filters the impurity signal through the high-pass filter, and then the electric signal is converted into the pulse signal after sequentially passing through the envelope detection circuit and the voltage comparison circuit.
Preferably, the vibration sensor converts a vibration signal generated by the bearing plate into an electric signal; the signal processing circuit sequentially comprises a high-pass filter, an envelope detection circuit and a voltage comparison circuit, wherein the electric signal filters out a signal collided by impurities through the high-pass filter, and then is converted into the pulse signal after sequentially passing through the envelope detection circuit and the voltage comparison circuit.
The seeds and the impurities inevitably collide with the screen in the falling process, so the screen has a certain deceleration function, the speed is one of key factors influencing the frequency, and in order to enable the device to be suitable for harvesting corns with different varieties and water contents, the invention also establishes a proper installation height for selecting the screen according to the corns with different varieties and water contents.
The aforementioned process of establishing the loss correction model has already determined the installation position of the sensitive plate, and therefore the screen is designed to be adjustable according to the distance between the sensitive plates. The cut-off frequency is fixed, the higher the height is, the higher the excitation frequency generated by the impurities is, and the impurities can be detected by mistake, so that the highest height Hmax is set to avoid the impurities from being monitored; the lower the height, the lower the excitation frequency generated by the kernel, which may not be monitored, so the minimum height Hmin should be set to avoid monitoring the vast majority of kernels. The distance from the screen surface to the sensitive plate of the corns to be harvested with different varieties and water contents can be set within the range, but the distance which is not satisfied can be adjusted according to the following model.
Under the condition of the same water content, the hardness of different varieties of corns is shownThousand seed weight, etc., which have an effect on the frequency of the signal generated by the impact, the resonance frequency of which is
k is the stiffness coefficient of the object, which is related to the water content in the application and is measured by other tests in the unit of N/m; m is the mass of the object in Kg; in elastic mechanics, frequency f, unit Hz, acceleration A, unit m/s2Amplitude D in mm, and the relationship between A and D is 0.002 xf2X D, assuming the impact is a fully elastic impact
g: the gravity acceleration is 9.8m/s2H: distance between strip screen and sensitive plate
Therefore, under the condition that the cut-off frequency f of the high-pass filter is known, the proper installation height can be obtained through corns with different varieties and water contents.
The invention also provides a real-time monitoring method for the cleaning loss of the corn, which adopts the monitoring device and is characterized in that: the method comprises the following steps:
s1, an initialization step, namely, turning on a main switch of a monitoring device, and starting initialization of a system;
s2, reading, namely inputting thousand seed weight and theoretical yield per mu parameters;
s3, a speed control step, namely, turning on a working switch, and enabling a first speed measuring sensor, a second speed measuring sensor, a swath distance meter and a vibration sensor of the front wheel to start working, wherein the speed measuring sensor and the swath distance meter send collected signals to a central processing unit, the vibration sensor transmits the collected electric signals to a signal processing circuit, the signal processing circuit converts the electric signals into pulse signals and transmits the pulse signals to the central processing unit, and the central processing unit judges whether the travelling speeds measured by the first speed measuring sensor and the second speed measuring sensor are consistent;
if the measured traveling speed difference exceeds a set range, the harvester is judged to be in a turning state, and a cleaning anti-blocking motor is started to clean sundries above the bar-shaped sieve and the vibration sensor so as to ensure a good working state;
if the measured travelling speed accords with the differential standard of straight travelling, the numerical value of the travelling speed is saved;
s4, calculating, namely counting the pulse signals by using a counter, and calculating loss quality by using a correction coefficient model of thousand-grain weight and loss obtained by a test, wherein the calculation is as follows:
correction coefficient k:
calculating the loss condition in the time period t, wherein the number of the lost grains after checking is N:
the mass of the lost grains is m':
m’＝Np (3)
wherein:
k is the correction factor, without unit;
n-time t0The number of lost grains is monitored;
m-time t0The number of seeds actually lost in the medium;
n-time t0Calculating the number of lost grains according to the correction coefficient;
p-thousand grain weight, unit Kg;
m' — time t0The mass of the kernel lost internally is Kg;
multiplying the actual swath measured by the swath distance meter by the advancing speed and integrating to obtain a harvesting area, multiplying the harvesting area by the theoretical yield to obtain a harvesting quality, wherein the total harvesting quality M is as follows:
wherein:
t0by time t0Is a time period, unit s;
v-advancing speed of harvester, unit m/s;
c-actual swath of the harvester, unit m;
y-theoretical yield in Kg/m2；
M-time t0The mass of the seeds harvested in the inner part is Kg;
s5, a display step, namely displaying the number of lost seeds on a screen after working for one period, displaying the number of lost seeds on the screen after calculating the loss rate, if the loss rate exceeds a set range value, alarming and prompting a manipulator to adjust the advancing speed of the combine harvester, the shaking rate of a sorting screen and the working parameters of the rotating speed of a fan, and if the loss rate does not exceed a set range value, finely adjusting the working parameters of the harvester according to the change of the number of lost seeds in different sampling periods to maintain the harvester in a lower loss state, or combining other indexes influencing the working quality to maintain the overall working quality of the harvester in a better working state, wherein the display module can display the loss condition of at least five latest periods to facilitate observation of the change condition of the loss;
loss rate L:
l-loss rate;
s6, a regulation step, namely comparing the number of the lost grains monitored in the previous period with the number of the lost grains monitored in the initial working period of the harvester, and continuously regulating working parameters to obtain a better working state. When the allowable loss is exceeded, corresponding adjustments are made to the operating state of the machine, and the next monitoring cycle is entered.
Has the advantages that: the invention has at least the following technical effects or advantages:
1. the corn loss monitoring device is arranged below the cleaning and impurity discharging port, the strip-shaped sieve is arranged above the sensitive plate, and the corn grains and the large impurities are separated by the strip-shaped sieve by utilizing the condition that the size difference between the impurities and the grains is large and the impurities are not wrapped or threshed, so that the misjudgment caused by the fact that the large impurities excite the sensitive plate to generate signals is avoided, and the influence of high-frequency signals generated by the large impurities on the monitoring precision is reduced.
2. According to the method, the lost grains are corrected by establishing a corresponding correction relation through an indoor test, so that the lost grains obtained through calculation are close to the actual lost grains as much as possible, and the measurement result is more accurate.
3. Because the working environment is severe, the bar-shaped sieve is only supported in one direction and can be seen as a cantilever beam in mechanics, under the condition of large deformation, large impurities are easy to accumulate and do not slide off, and light impurities such as dust, corn bracts and the like are easy to adhere to the receiving plate, the bar-shaped sieve is provided with the anti-blocking cleaning device, the device adopts a crank-link mechanism, a working part is a cleaning brush, when the condition that the speed difference is large is monitored by using speed detectors arranged on two rear wheels, the working part is judged to be in a turning state, at the moment, the counter does not count, the cleaning device works, and the cleaning brush returns to an initial position after passing through the bar-shaped sieve and the receiving plate in sequence; the screen surface can be prevented from being blocked, and the on-line monitoring precision is improved.
4. Counting pulse signals by using a counter, calculating the quality of lost corn kernels by using the pulse signals and the input thousand kernel weight, and calculating the actual loss quality by matching with a correction model; the quality of the harvest is calculated by utilizing a speed measuring sensor, an actual swath measuring instrument and the theoretical acre yield, the loss rate can be calculated, and the accuracy of the measuring result is greatly improved.
5. The device can display the relative loss, namely the loss grain number of the period and the loss grain number of the previous period, so that the change of the loss condition after the working parameters are adjusted can be more visually observed, the working parameters of the harvester can be timely adjusted according to the real-time change condition of the loss, and the loss rate is further reduced.
Drawings
FIG. 1 is a block diagram of the present invention;
fig. 2 is a structural diagram of a lost grain monitoring device;
FIG. 3 is a structural view of a crank link mechanism;
FIG. 4 is a diagram of a travel path of the sweeper brush;
FIG. 5 is a schematic diagram of the operation of the monitoring device;
FIG. 6 is a system composition diagram;
FIG. 7 is a signal processing circuit diagram;
fig. 8 is a graph of the change in signal conditioning after the kernel device sensor.
Detailed Description
As shown in fig. 1-2, the present embodiment provides a full-width corn cleaning loss real-time monitoring device with a bar-shaped sieve, which includes a frame 1 installed at a trash discharge opening of a cleaning sieve of a corn kernel harvester, a bar-shaped sieve 2, and a receiving plate 3.
The frame 1 is arranged on the combine harvester 4, and the bar-shaped sieve 2 and the bearing plate 3 are fixed on the frame; the bar-shaped sieve 2 is positioned below a cleaning and impurity discharging port 5 of the harvester 4, the bearing plate 3 is arranged at a proper height below the bar-shaped sieve 2 in parallel, and the piezoelectric ceramic sensor 6 is attached to the back of the bearing plate 3 and used for converting a vibration signal into an electric signal; the electric signal is changed into a pulse signal after passing through the signal processing circuit, the pulse signal is counted by using a counter and transmitted to a corresponding port of the central processing unit together with data measured by the speed measuring sensor 8 and the actual swath measuring instrument 9, and the loss rate generated by calculation is transmitted to the display screen 11; the central processing unit comprises
An initialization module, which is used for turning on a monitoring device main switch and starting the system initialization;
a reading module for reading input thousand seed weight and theoretical acre yield parameters;
the speed control module is used for judging whether the speeds measured by the first speed measuring sensor and the second speed measuring sensor which are arranged on the harvester are consistent or not so as to judge whether the harvester turns or moves straight; if the speed difference exceeds a set value alpha, judging that the vehicle turns, and starting an anti-blocking cleaning mechanism to remove sundries on the sensitive plate and the strip-shaped sieve; if the speed difference is within the preset range, the traveling speed value is stored if the speed difference is judged to be in a straight traveling state, the operation module is started, and the set value alpha refers to a first measurement and a second measurementThe ratio of the angular velocities measured by the velocity sensors, i.e.
The set value is more than or equal to 0.8 and less than or equal to 1.25, wherein omega 1 is the angular velocity of the left wheel measured by the first speed measurement sensor, and omega 2 is the angular velocity of the right wheel measured by the second speed measurement sensor;
the operation module is used for calculating loss mass, harvest area and harvest mass by utilizing a correction coefficient model of thousand seed weight and loss amount, and calculating loss rate; the correction coefficient k of the correction coefficient model is as follows:
correction coefficient k:
wherein:
k is the correction factor, without unit;
m-time t0The number of seeds actually lost in the medium;
n-time t0The number of lost grains is monitored;
q-is the number of trials;
the display module is used for sending the loss rate and the lost seed number of the current sampling period to a screen, if the loss rate exceeds a preset range, alarming and prompting a manipulator to adjust the advancing speed of the combine harvester, the shaking rate of the sorting screen and the working parameters of the rotating speed of the fan, if the loss rate does not exceed the preset range, finely adjusting the working parameters of the combine harvester according to the change of the lost seed number of different sampling periods, and keeping the combine harvester in a lower loss state, or combining with other indexes influencing the working quality, so that the overall working quality of the harvester is kept in a better working state, and the display module can display the loss condition of five latest periods at least, and the change condition of the loss is convenient to observe;
and the regulation and control module is used for finely regulating the working state of the combine harvester through comparison of the number of the lost seeds generated in each period so as to maintain the combine harvester in a better working state. When the alarm device gives an alarm, the harvester needs to be adjusted to reduce the loss.
In the embodiment, the anti-blocking cleaning mechanism preferably comprises an anti-blocking cleaning motor 12, a crank-link mechanism 14 and a cleaning brush 13; the anti-blocking cleaning motor is fixedly arranged on the outer side of the frame 1, the working principle diagram of the crank link mechanism 14 is shown in fig. 3, and the crank link mechanism comprises a crank OA, a connecting rod ABM, a rocker BC and a frame OC, and the components are connected by adopting a revolute pair. And a cleaning brush is arranged at the point M, and the motion trail of the point M is the motion trail 15 of the cleaning brush.
The cleaning brush is positioned between the bar-shaped sieve and the bearing plate, the cleaning brush returns to the initial position after passing through the bar-shaped sieve and the bearing plate in sequence under the drive of the motor and the drive of the crank connecting rod mechanism, and the track diagram is shown in figure 4.
Fig. 6 is a system composition diagram of the monitoring apparatus. The system comprises a power supply module, an STM32 central processing unit, a monitoring element, a display, an input part, a CAN bus and the like. The central processing unit completes the work of calculating the loss rate, storing data and the like; the monitoring elements comprise loss sensors, speed measuring sensors, swath measuring sensors and the like, and the monitoring, parameter input and other work is completed; the manual input device is an external keyboard and completes the input of other part of parameters, the calling command and other work; the touch screen display is capable of displaying results; the power module supplies power to the whole device; other parts also comprise an anti-blocking driving motor, a buzzer alarm device and the like. The speed measurement sensor adopts a VSA-V11801 speed approach switch of a speed measurement sensor of Schneider company, the response time of the sensor is less than 0.5ms, the frequency of the sensor can reach 1000Hz at most, the performance is stable, the working environment temperature range is-25-70 ℃, and a probe of the sensor is made of ABS material and is internally provided with a preferred intelligent chip; the lead adopts PVC fiber cotton skin and pure copper wire core, and has good conductivity and anti-electromagnetic interference capability. The cutting-amplitude distance measuring sensor adopts an infrared distance measuring sensor GP2Y0A21YK0F, consists of a PSD, an IRED and a signal processing circuit, adopts a triangulation mode, is not influenced by the material of an object and the change of the environmental temperature, has the highest precision of 0.1cm, and is more convenient because the voltage value output by the sensor is the measured distance.
Preferably, the strip screen in the embodiment is made of 3-4 mm thick strip screens with the interval of 10-15 mm, the parameters are obtained according to the sizes of corn grains and impurities, most of the impurities discharged from the discharge port of the cleaning screen are approximately cubic hexahedrons, and when the sizes of all directions are 20mm or more, the frequency distribution range of signals generated by impacting a sensitive plate is almost the same as that of the grains, so that large impurities can be filtered through the strip screen, and the grains are ensured to pass through the screen surface.
Fig. 7 is a signal processing circuit, which is composed of a high-pass filter circuit, an envelope detection circuit and a voltage comparator, through which a low-frequency signal generated by impurities cannot pass, and through which a high-frequency signal generated by kernels can pass.
In the embodiment, a sampling plate sampling test is carried out by using YT-5 piezoelectric ceramics and a 1mm thick receiving plate, wherein the receiving plate is a stainless steel plate, the highest frequency of the corn core fragments passing through a strip-shaped sieve is lower than 8kHz, and most corn kernels have frequency domains higher than 8kHz, so that the cut-off frequency of the designed high-pass filter is 8.7 kHz. The main purpose of using the frequency as the cut-off frequency is that the signal of small impurities cannot pass through the filter, because the proportion occupied by the impurities at the impurity discharge port is extremely high, and as long as part of the impurities pass through the filter, a large error exists, so that great inconvenience is brought to subsequent correction, and a small grain signal which cannot pass through the filter is conveniently corrected by using a correction coefficient.
The high-pass filter circuit part of the embodiment adopts a second-order high-pass filter, and the amplification factor of a voltage amplifier of the second-order high-pass filter is
The power supply voltage of the design is 3.3V, if a higher amplification factor is adopted, the power supply voltage enters a saturation region of the operational amplifier, the amplification effect cannot be obtained, and therefore the amplification factor is selected to be 3. The cut-off frequency of the high-pass filter is
The parameters chosen by design are shown in fig. 7. The circuit operates after verificationAnd a mature circuit with better stability.
The counter is difficult to receive the pulse signal of the signal which is only subjected to high-pass filtering, so that subsequent processing is required. The working principle of the detection circuit is to extract the modulation signal by utilizing the unidirectional conductive characteristic of the diode and the charge-discharge process of the detection load. The detection load is also called a time constant, if the time constant is too large, the gradient of the detected waveform is too slow, the duty ratio of the square wave signal after voltage comparison is relatively increased, even the square wave signals of grains are overlapped, and the monitoring precision is reduced; if the time constant is too small, the gradient of the detected waveform is too steep, the phenomenon that the peak value of the detected grain signal exceeds the reference voltage can occur, and the envelope detection effect is poor. Through calculation and analysis, the parameters of the signal processing circuit and the components are as shown in the signal processing circuit part of fig. 7, and the change of the grain signal is as shown in fig. 8.
The voltage comparator is a process of converting an analog signal into a digital signal, and when Vin is greater than V-, the operational amplifier Vo outputs VCC, i.e. high level, assuming that the reference voltage is V-; when Vin < V-, the operational amplifier Vo outputs 0V, i.e., low level. And the high and low levels are pulse signals. The circuit of the voltage comparator and the parameters thereof are as shown in the voltage comparator part of fig. 7, under the condition of the signal processing circuit, the monitoring time of one seed grain is about 20ms, and after passing through the strip-shaped sieve, the frequency of impurities and seed grains falling on each bearing plate is far lower than that of the impurity and seed grains, so that the number of lost seed grains can be monitored with higher monitoring precision.
FIG. 5 is a schematic diagram showing the operation of the corn cleaning loss detecting apparatus according to this embodiment. The specific working method comprises the following steps:
s1, initialization step: before the field starts to work, a master switch of the system is turned on by a manipulator, and the system starts to initialize;
s2, reading step: and then the manipulator writes parameters such as thousand grain weight, theoretical yield per mu and the like by using an external independent key.
S3, speed control: after a working switch is turned on, the two speed measuring sensors, the swath distance meter and the piezoelectric sensor start to work and send signals, when the two speed measuring sensors work, whether the measured speeds are consistent or not is judged, if the measured travelling speed difference is overlarge, the harvester is judged to be in a turning state, and a cleaning anti-blocking motor is started to clean sundries above the bar-shaped sieve and the vibration sensor so as to ensure a good working state; if the measured travelling speed accords with the differential standard of straight travelling, the numerical value of the travelling speed is saved;
s4, an operation step: counting pulse signals by using a counter, calculating loss mass by using a correction coefficient model of thousand-grain weight and loss obtained by a test, multiplying actual cutting amplitude measured by a cutting amplitude distance meter by a traveling speed and integrating to obtain a harvesting area, and multiplying the harvesting area by theoretical yield to obtain harvesting quality;
s5, a display step: displaying the number of the lost seeds on a screen after working for one period, and displaying the number on the screen after calculating the loss rate;
s6, regulating and controlling: the loss number is compared with the loss number monitored in the previous period in the initial working stage of the harvester, and the loss number is in a lower level by adjusting the working parameters of the combine harvester, such as the advancing speed, the shaking rate of the sorting screen, the rotating speed of a fan and the like, which influence the sorting quality, so that the harvester has a better working state. If the loss rate exceeds the allowable range, the alarm prompts the driver to perform corresponding adjustment on the harvester according to the monitored loss rate so as to reduce the loss. And after the harvesting task is finished, the driver closes the working switch, the monitoring task is finished, and the work is finished. Before the main switch is not closed, the external keyboard can be used for searching the total loss condition or the loss conditions of nearly a few groups.
In the embodiment, when the detector works, the lost grains cannot completely collide on the bearing plate, so that the correction coefficient needs to be calculated in advance for the harvester to be installed. Therefore, after the counter is used for counting, the distribution rule of the throwout at the cleaning outlet is further researched, and a relation model between the monitored lost seed number and the actual lost seed number is established, because the lost seeds cannot completely impact the receiving plate, and the total lost seed number can be calculated by using the monitored seed number after correction, so that the quality of the lost seeds is calculated. The steps of calculating the correction coefficient are as follows:
the device is arranged at the tail part of the cleaning and impurity discharging port according to the method;
(II) observing the relationship between the monitored seed number n and the actual lost seed number m in a test;
and (III) carrying out repeated experiments for q times, and adjusting the mounting height and angle of the bearing plate and the strip-shaped sieve to obtain a stable relation between the monitored seed number n and the actual lost seed number m. This patent utilizes the correction coefficient to correct it. The test was as follows:
with the installation angle height established, a correction coefficient k is obtained:
assuming that the loss rate is the loss condition within the time t, the actual number of seeds lost after checking is N:
the mass of the lost grains is m':
m’＝Np (3)
the invention aims to realize the real-time monitoring of the cleaning loss rate by using the device, so that the quality of the harvested seeds is monitored besides the quality of the lost seeds. The domestic calculation mode about the cleaning loss rate is as follows: the cleaning loss rate of the combine harvester for a certain time period t is equal to the ratio of the cleaning loss grain mass to the total mass of the harvested grains in the time period. And the total mass harvested is obtained by the real-time forward speed v of this time period, the yield per square meter y, the swath of the harvester operation c and the time t. The total mass M of harvest was:
loss rate L:
the meaning of each symbol of formulas (1), (2), (3), (4) and (5) is:
k is the correction factor, without unit;
n-time t0The number of lost grains is monitored;
n-time t0Calculating the number of lost grains according to the correction coefficient;
p-thousand grain weight, unit Kg;
m' — time t0The mass of the kernel lost internally is Kg;
t0by time t0Is a time period, unit s;
v-advancing speed of harvester, unit m/s;
c-actual swath of the harvester, unit m;
y-theoretical yield in Kg/m2；
M-time t0The mass of the seeds harvested in the harvesting process is Kg;
l-loss rate.
Will be a time period t0The number accumulated by the internal counter, the harvesting area accumulated by the speed measuring sensor and the actual swath measuring instrument, the thousand grain weight and the theoretical yield are calculated, the loss rate in the period is measured, and the next period is entered. Because the working parameter of the harvester is changed more complexly when the harvester turns at the ground, and the loss rate of the harvester cannot be used as a reference for adjusting the working parameter, the strip-shaped sieve and the bearing plate are simply cleaned by utilizing the time to prevent the strip-shaped sieve from being blocked by impurities, so that the monitoring device has better work efficiencyAnd (5) making the state. This prevent stifled cleaning device adopts crank link mechanism, as shown in fig. 3, utilizes the bar sieve and accepts the space between the board, through the length and the mounted position of each link of rational design, makes the brush cleaner clean the in-process and can successively pass through the bar sieve, accept the board and return initial position again, and the velocity sensor speed of installing on the two-wheeled differs too greatly, judges promptly that the harvester makes the device work when the operation of turning.
In addition, the seeds and the impurities inevitably collide with the screen in the falling process, so the screen has a certain deceleration function, the speed is one of key factors influencing the frequency, and in order to enable the device to adapt to the harvesting of the corns with different varieties and water contents, the invention also establishes the proper installation height for selecting the screen according to the corns with different varieties and water contents.
The aforementioned process of establishing the loss correction model has already determined the installation position of the sensitive plate, and therefore the screen is designed to be adjustable according to the distance between the sensitive plates. The cut-off frequency is fixed, the higher the height is, the higher the excitation frequency generated by the impurities is, and the impurities can be detected by mistake, so that the highest height Hmax is set to avoid the impurities from being monitored; the lower the height, the lower the excitation frequency generated by the kernel, which may not be monitored, so the minimum height Hmin should be set to avoid monitoring the vast majority of kernels. The distance from the screen surface to the sensitive plate of the corns to be harvested with different varieties and water contents can be set within the range, but the distance which is not satisfied can be adjusted according to the following model.
Under the condition of the same water content, the corns of different varieties have different hardness, thousand grain weight and the like, the two factors have certain influence on the signal frequency generated by the impact, and the resonance frequency is
k is the stiffness coefficient of the object, which is related to the water content in the application and is measured by other tests in the unit of N/m; m is the mass of the object in Kg; in elastic mechanics, frequency f, unit Hz, acceleration A, unit m/s2Amplitude D, unit mm, between the threeThe relationship of (A) is 0.002 xf2X D, assuming the impact is a fully elastic impact
g: the gravity acceleration is 9.8m/s2H: distance between strip screen and sensitive plate
Therefore, under the condition that the cut-off frequency f of the high-pass filter is known, the proper installation height can be obtained through corns with different varieties and water contents.
When the monitored loss rate exceeds the set value, the alarm device reminds the operator to adjust the working parameters of the harvester so that the loss rate is lower than the set value, the purpose of reducing the loss is achieved, and the income of farmers is improved.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
Claims (7)
1. The utility model provides a loss real-time supervision device is cleaned to maize, includes strip sieve and the monitoring system of settling under maize picker cleaning row miscellaneous mouthful, its characterized in that: the monitoring system comprises a sensitive plate which is arranged below the bar-shaped sieve in parallel and can be adjusted up and down, a first speed measuring sensor and a second speed measuring sensor which are respectively arranged on front wheels at two sides of the corn harvester, a swath measuring instrument arranged at a header of the corn harvester, and a central processing unit;
the monitoring signals of the sensitive plate, the speed measuring sensor and the swath measuring instrument are respectively transmitted to corresponding ports of a central processing unit, and the central processing unit comprises
An initialization module, which is used for turning on a monitoring device main switch and starting the system initialization;
a reading module for reading input thousand seed weight and theoretical acre yield parameters;
the speed control module is used for judging whether the speeds measured by the first speed measuring sensor and the second speed measuring sensor which are arranged on the harvester are consistent or not so as to judge whether the harvester turns or moves straight; if the speed difference exceeds a set value alpha, judging that the vehicle turns, and starting an anti-blocking cleaning mechanism to remove sundries on the sensitive plate and the strip-shaped sieve; if the speed difference is within the preset range, judging that the vehicle is moving straight, saving a moving speed value, and starting an operation module;
the operation module is used for calculating loss mass, harvest area and harvest mass by utilizing a correction coefficient model of thousand seed weight and loss amount, and calculating loss rate; the correction coefficient k of the correction coefficient model is as follows:
correction coefficient k:
wherein:
k is the correction factor, without unit;
m-time t0The number of seeds actually lost in the medium;
n-time t0The number of lost grains is monitored;
q-is the number of trials;
the display module is used for sending the loss rate and the lost seed number of a plurality of recent periods and a current sampling period to a screen, if the loss rate exceeds a preset range, an alarm is given to prompt a manipulator to adjust the advancing speed of the combine harvester, the shaking rate of a sorting screen and the working parameters of the rotating speed of a fan, and if the loss rate does not exceed the preset range, the working parameters of the harvester are finely adjusted according to the change of the lost seed number of different sampling periods, so that the harvester is maintained in a lower loss state, or the working parameters are combined with other indexes influencing the working quality, so that the integral working quality of the harvester is maintained in a better working state;
a regulating module, wherein the number of lost seeds in the current sampling period is compared with the number of lost seeds in the previous sampling period, if the loss rate is reduced, the regulating direction of the working parameters is correct, the regulation can be continued until the number of lost seeds is not reduced, and if the number of lost seeds is increased, the reverse regulation is carried out;
2. a corn cleaning loss real-time monitoring device according to claim 1, characterized in that: the anti-blocking cleaning mechanism comprises an anti-blocking cleaning motor, a crank connecting rod mechanism and a cleaning brush; the cleaning brush is positioned between the bar-shaped sieve and the sensitive plate, the anti-blocking cleaning motor is fixedly arranged on the outer side of the rack, the crank-link mechanism comprises a crank, a link, a rocker and a fulcrum connected with the rack, and the components are connected in a revolute pair mode; the crank is powered by an anti-blocking cleaning motor, a cleaning brush is connected with a connecting rod as a driving part of a crank connecting rod mechanism, and under the driving of the connecting rod, the cleaning brush moves along a preset track to clean sundries on the bar-shaped sieve and the sensitive plate.
3. A corn cleaning loss real-time monitoring device according to claim 2, characterized in that: said arrangement gives
Where D is the amplitude, g is the acceleration of gravity, k is the stiffness coefficient of the object, and m is the mass of the object.
4. A corn cleaning loss real-time monitoring device according to claim 1, characterized in that: the sensitive plate comprises a bearing plate arranged below the bar-shaped sieve and a vibration sensor arranged on the back of the bearing plate, vertical bar-shaped holes are formed in two sides of the rack, and the bearing plate is arranged in the bar-shaped holes through a connecting piece.
5. A corn cleaning loss real-time monitoring device according to claim 4, characterized in that: the signal processing circuit sequentially comprises a high-pass filter, an envelope detection circuit and a voltage comparison circuit, the electric signals are filtered out of signals collided by impurities through the high-pass filter, and then are converted into the pulse signals after sequentially passing through the envelope detection circuit and the voltage comparison circuit.
6. A corn cleaning loss real-time monitoring device according to claim 4, characterized in that: the vibration sensor converts vibration signals generated by the bearing plate into electric signals; the electric signal is processed by the signal processing circuit and then is changed into a pulse signal, the counter counts the pulse signal and transmits the pulse signal, the data measured by the speed measuring sensor and the swath measuring instrument to the central processing unit, and the central processing unit calculates and generates an actual loss rate and transmits the actual loss rate to the display screen.
7. A real-time monitoring method for corn cleaning loss, which adopts the monitoring device of any one of claims 1-5, and is characterized in that: the method comprises the following steps:
s1, an initialization step, namely, turning on a main switch of a monitoring device, and starting initialization of a system;
s2, reading, namely inputting thousand seed weight and theoretical yield per mu parameters;
s3, a speed control step, namely, turning on a working switch, starting a first speed measuring sensor, a second speed measuring sensor, a swath distance meter and a vibration sensor of a front wheel to work, sending collected signals to a central processing unit by the speed measuring sensor and the swath distance meter, transmitting the collected electric signals to a signal processing circuit by the vibration sensor on a sensitive plate, converting the electric signals into pulse signals by the signal processing circuit, and transmitting the pulse signals to the central processing unit, wherein the central processing unit judges whether the travelling speeds measured by the first speed measuring sensor and the second speed measuring sensor are consistent;
if the measured traveling speed difference exceeds a preset value, the harvester is judged to be in a turning state, and a cleaning anti-blocking motor is started to clean sundries above the bar-shaped sieve and the vibration sensor so as to ensure a good working state;
if the measured travelling speed accords with the differential standard of straight travelling, the numerical value of the travelling speed is saved;
s4, calculating, namely counting the pulse signals by using a counter, and calculating loss quality by using a correction coefficient model of thousand-grain weight and loss obtained by a test, wherein the calculation is as follows:
correction coefficient k:
calculating the loss condition in the time period t, wherein the number of the lost grains after checking is N:
the mass of the lost seeds is m':
m’＝Np (3)
wherein:
k is the correction factor, without unit;
n-time t0The number of lost grains is monitored;
m-time t0The number of seeds actually lost in the medium;
n-time t0Calculating the number of lost grains according to the correction coefficient;
p-thousand grain weight, unit Kg;
m' — time t0The mass of the kernel lost internally is Kg;
multiplying the actual swath measured by the swath distance meter by the advancing speed and integrating to obtain a harvesting area, multiplying the harvesting area by the theoretical yield to obtain a harvesting quality, wherein the total harvesting quality M is as follows:
wherein:
t0by time t0Is a time period, unit s;
v-advancing speed of harvester, unit m/s;
c-actual swath of the harvester, unit m;
y-theoretical yield in Kg/m2；
M-time t0The mass of the seeds harvested in the inner part is Kg;
s5, a display step, namely displaying the number of lost seeds on a screen after working for one period, displaying the number of lost seeds on the screen after calculating the loss rate, if the loss rate exceeds an allowable range, alarming to prompt a manipulator to adjust the advancing speed of the combine harvester, the shaking rate of a sorting screen and the working parameters of the rotating speed of a fan, and if the loss rate does not exceed the allowable range, finely adjusting the working parameters of the harvester according to the change of the number of lost seeds in different sampling periods to maintain the harvester in a lower loss state, or combining other indexes influencing the working quality to maintain the overall working quality of the harvester in a better working state, wherein a display module can display the loss conditions of five latest periods at least, so that the change condition of the loss can be conveniently observed;
loss rate L:
l-loss rate;
s6, a regulation step, namely comparing the number of the loss grains monitored in the previous period with the number of the loss grains monitored in the initial working period of the harvester, and continuously regulating working parameters of the harvester to obtain a better working state; when the allowable loss is exceeded, corresponding adjustments are made to the operating state of the machine, and the next monitoring cycle is entered.
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