CN117730681B - A measurement and control system for reducing the damage rate of soybean header - Google Patents

Abstract

The present invention relates to a measurement and control system for reducing the breakage rate of a soybean header, and belongs to the technical field of crop production. The measurement and control system comprises a ground profiling header, a crawler platform, and a soybean breakage rate detection device. The ground profiling header is installed on the crawler platform, and the soybean breakage rate detection device is embedded in the crawler platform; the present invention can dynamically adjust the operating height of the ground profiling header according to the soybean harvest breakage rate data and the angle information of the ground profiling header, thereby reducing the soybean seed breakage rate. The present invention can be applied to reduce the harvest loss of the soybean header and improve the economic benefits of soybean production.

Description

A measurement and control system for reducing the damage rate of soybean header

Technical Field

The invention relates to the technical field of agricultural production, and in particular to a measurement and control system for reducing the breakage rate of a soybean harvesting platform when a crop harvesting machine is operating.

Background technique

Soybean is one of the main cash crops in my country and accounts for an important proportion of my country's oilseed planting categories. Today, my country's soybean raw material supply is insufficient and overly dependent on imports. Therefore, promoting the mechanization and intelligence of soybean harvesting and helping the revitalization of the soybean industry has become a future trend. Crawler harvesters are often used for direct soybean harvesting due to their good field passability.

The Ministry of Agriculture and Rural Affairs' Technical Guidance on Loss Reduction in Mechanized Soybean Harvesting states that the seed material breakage rate of soybean harvesting machinery should be kept less than or equal to 5%, so the harvesting header is required to lower the cutting height and work as close to the ground as possible. The seed material breakage of soybean mechanical harvesting mostly comes from the header, and the harvesting loss of the header accounts for 80% of the total loss of mechanical harvesting. On the one hand, due to the crop characteristics of soybeans - the pods grow at a low height; on the other hand, the field terrain is complex and uneven. These two factors lead to the soybean harvesting machinery often missing or cutting the harvesting header during the harvesting process, resulting in soybean seed material loss. Therefore, it is necessary to monitor the damage of the soybean harvesting header during the harvesting operation, and adjust the header height according to the undulations of the ground to ensure that the cutter operates close to the ground and reduce material losses.

In order to improve the quality of soybean harvesting operation, the present invention proposes a measurement and control system for adjusting the height of a soybean harvesting header by detecting the soybean breakage rate and combining the angle relationship between the header and the ground.

Summary of the invention

In view of the existing technical problems, the technical purpose of the present invention is to provide a measurement and control system for reducing the breakage rate of soybean headers to solve the existing technical problems. The technical solution is:

A measurement and control system for reducing the breakage rate of a soybean cutting platform comprises a ground profiling cutting platform, a crawler platform and a soybean breakage rate detection device. The ground profiling cutting platform is installed on the crawler platform and the soybean breakage rate detection device is embedded in the crawler platform.

The ground profiling harvesting platform includes a reel, a reel divider, a feeding auger, a cutter, a ground profiling mechanism, a hydraulic control system, and a profiling cylinder. The reel is connected to the feeding auger, the reel divider is placed on the left and right sides of the feeding auger, and the cutter is fixed at the front end of the ground profiling harvesting platform. When the ground profiling harvesting platform moves forward, the reel divider separates the crops in the non-operating area, the cutter cuts the soybean plants to be harvested, the reel pushes the soybean plants into the feeding auger, and the crops are sent to the crawler platform through the feeding auger. The ground profiling mechanism is hinged below the center of the ground profiling harvesting platform, the hydraulic control system is installed on the ground profiling harvesting platform, the profiling cylinder connects the ground profiling harvesting platform and the crawler platform, and when the ground profiling harvesting platform passes through a continuously undulating road surface, the profiling cylinder adjusts the ground profiling harvesting platform to an appropriate height.

The ground profiling mechanism includes a ground profiling plate, a ground profiling hinge, a spring damper, and an angle sensor. The ground profiling plate is connected to the ground profiling hinge through a pin shaft. The spring damper is placed at the connection center of the ground profiling hinge. The spring damper is added to the ground profiling hinge to ensure that the ground profiling plate is always in contact with the ground. The angle sensor is installed at the side end of the ground profiling hinge so that the angle sensor can obtain continuous angle information.

The soybean breakage rate detection device includes a detection box, a visual detection system, a visual sensor, a detection light source, a feeding mechanism, a seed material flattening mechanism, and a conveyor belt. The soybean breakage rate detection device detects the soybean seed material conveyed to the crawler platform by the feeding auger. The visual detection system is connected to the detection box, and the visual sensor and the detection light source are installed on the upper end of the detection box. Adding a detection light source to the closed detection box can provide a structured environment for the visual sensor. The conveyor belt is at the center of the field of view of the visual sensor, the feeding mechanism is fixed to the upper end of the detection box, and the seed material flattening mechanism is placed on the conveying mechanism.

The feeding mechanism includes a feeding funnel, a stepper motor, a feeding groove wheel, and an ultrasonic sensor. The stepper motor is fixed on the side of the feeding funnel. The feeding groove wheel is connected to the stepper motor through a coupling. To prevent soybeans from clogging the feeding funnel, an ultrasonic sensor is installed above the feeding groove wheel. When the number of soybeans exceeds the position of the ultrasonic sensor, the stepper motor drives the feeding groove wheel to unload in batches.

The seed material leveling mechanism includes a scraper, an angle fixing plate, and a cam groove. The scraper is connected to the angle fixing plate, and the angle fixing plate is installed on the cam groove. When the soybean seed material is sent to the conveyor belt through the feeding mechanism, the seed material leveling mechanism can evenly level the stacked soybeans to ensure that the visual sensor can inspect as much as possible.

A measurement and control method for a measurement and control system for reducing the breakage rate of a soybean cutting platform is as follows: a soybean breakage rate detection device obtains the soybean breakage rate in real time through a deep learning method, and determines a reasonable range of the soybean breakage rate. If the soybean breakage rate is not within the reasonable range, a control mechanism is triggered, and the angle sensor of the ground profiling cutting platform obtains the posture information of the ground profiling cutting platform, and an angle-height control model is established. After the expected adjustment angle is obtained, the hydraulic control system outputs a control signal to adjust the displacement of the profiling cylinder, thereby realizing the height control of the ground profiling cutting platform and restoring the soybean breakage rate to a reasonable range.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a schematic diagram of the three-dimensional structure of the measurement and control system of the present invention;

FIG2 is a schematic diagram of the three-dimensional structure of the ground profiling header of the present invention;

FIG3 is a schematic diagram of the matching state of the ground profiling mechanism of the present invention;

FIG4 is a schematic diagram of the coordination state of the soybean damage rate detection device of the present invention;

FIG5 is a schematic diagram of the feeding mechanism of the present invention in a coordinated state;

FIG6 is a schematic diagram of the cooperation state of the seed material paving mechanism of the present invention;

FIG7 is a flow chart of the measurement and control method of the present invention;

FIG8 is a diagram showing the soybean damage rate detection result of the present invention;

FIG9 is a schematic diagram of a ground profiling header height and ground angle model of the present invention;

FIG10 is a schematic diagram of an angle-height control model of the present invention;

FIG11 is a schematic diagram of a terminal interface of a measurement and control system of the present invention;

Reference numerals:

1. Ground-mounted cutting platform; 2. Crawler platform; 3. Soybean damage rate detection device;

11. Reel; 12. Reed divider; 13. Feeding auger; 14. Cutter; 15. Ground profiling mechanism; 16. Hydraulic control system; 17. Profiling cylinder; 151. Ground profiling plate; 152. Ground profiling hinge; 153. Spring damper; 154. Angle sensor;

31. Detection box; 32. Visual detection system; 33. Visual sensor; 34. Detection light source; 35. Feeding mechanism; 36. Seed material leveling mechanism; 37. Conveyor belt; 351. Feeding hopper; 352. Stepping motor; 353. Feeding groove wheel; 354. Ultrasonic sensor; 361. Scraper; 362. Angle fixing plate; 363. Cam groove;

Detailed ways

In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

As shown in Figure 1, a measurement and control system structure for reducing the breakage rate of soybean cutting platforms includes a ground profiling cutting platform 1, a crawler platform 2, and a soybean breakage rate detection device 3. The ground profiling cutting platform 1 is installed on the crawler platform 2, and the soybean breakage rate detection device 3 is embedded in the crawler platform 2.

As shown in Figures 1 and 2, the ground profiling harvesting platform includes a reel 11, a crop divider 12, a feeding auger 13, a cutter 14, a ground profiling mechanism 15, a hydraulic control system 16, and a profiling cylinder 17. The reel 11 is connected to the feeding auger 13, the crop divider 12 is placed on the left and right sides of the feeding auger 13, and the cutter 14 is fixed to the front end of the ground profiling harvesting platform 1; when the ground profiling harvesting platform 1 is moving forward, the crop divider 12 separates the crops in the non-operating area, and the cutter 14 is fixed to the front end of the ground profiling harvesting platform 1. 4 cuts the soybean plants to be harvested, the reel 11 pushes the soybean plants into the feeding auger 13, and the crops are sent to the crawler platform 2 through the feeding auger 13. The ground profiling mechanism 15 is hinged below the center of the ground profiling cutting platform 1, the hydraulic control system 16 is installed on the ground profiling cutting platform 1, and the profiling cylinder 17 connects the ground profiling cutting platform 1 and the crawler platform 2. When the ground profiling cutting platform 1 passes through a continuously undulating road surface, the profiling cylinder 17 adjusts the ground profiling cutting platform 1 to a suitable height.

As shown in FIG3 , the ground profiling mechanism 15 includes a ground profiling plate 151, a ground profiling hinge 152, a spring damper 153, and an angle sensor 154. The ground profiling plate 151 is connected to the ground profiling hinge 152 via a pin shaft, the spring damper 153 is placed at the connection center of the ground profiling hinge 152, and the angle sensor 154 is installed at the side end of the ground profiling hinge 152. The spring damper 153 is added to the ground profiling hinge 152 to ensure that the ground profiling plate 151 is always in contact with the ground, so that the angle sensor 154 obtains continuous angle information.

As shown in Figure 4, the soybean breakage rate detection device 3 includes a detection box 31, a visual detection system 32, a visual sensor 33, a detection light source 34, a feeding mechanism 35, a seed material flattening mechanism 36, and a conveyor belt 37. The soybean breakage rate detection device 3 detects the soybean seed material conveyed to the crawler platform 3 by the feeding auger 13. The visual detection system 32 is connected to the detection box 31, and the visual sensor 33 and the detection light source 34 are installed at the upper end of the detection box 31. The detection light source 34 is added to the closed detection box 31 to provide a structured environment for the visual sensor 33. The conveyor belt 37 is at the center of the field of view of the visual sensor 33. The feeding mechanism 35 is fixed to the upper cover of the detection box 31, and the seed material flattening mechanism 36 is placed on the conveyor belt 37.

As shown in Figure 5, the feeding mechanism 35 includes a feeding funnel 351, a stepper motor 352, a feeding groove wheel 353, and an ultrasonic sensor 354. The stepper motor 352 is fixed on the side of the feeding funnel 351, and the feeding groove wheel 353 is connected to the stepper motor 352 through a coupling. In order to prevent continuous feeding from causing soybeans to block the feeding funnel 351, the ultrasonic sensor 354 is installed above the feeding groove wheel 353. When the amount of soybeans exceeds the position of the ultrasonic sensor 354, the stepper motor 352 drives the feeding groove wheel 353 to unload in batches.

As shown in Figure 6, the seed material leveling mechanism 36 includes a scraper 361, an angle fixing plate 362, and a cam groove 363. The scraper 361 is connected to the angle fixing plate 362, and the angle fixing plate 362 is installed on the cam groove 363. When the soybeans are sent to the conveyor belt 37 through the feeding mechanism 35, the seed material leveling mechanism 36 can evenly level the stacked soybeans to ensure that the visual sensor 33 can inspect as much as possible.

As shown in FIG7 , a measurement and control system process for reducing the breakage rate of soybean headers is as follows:

The soybean breakage rate detection device 3 obtains the soybean breakage rate in real time through a deep learning method, and determines the reasonable range of the soybean breakage rate; if the soybean breakage rate is not in the reasonable range, the control mechanism is triggered; the angle sensor 154 of the ground profiling cutter 1 obtains the posture information of the ground profiling cutter 1; an angle-height control model is established; after the ground profiling cutter 1 obtains the expected adjustment angle, the hydraulic control system 16 outputs a control signal to adjust the displacement of the profiling cylinder 17 to achieve the posture control of the ground profiling cutter 1; until the soybean breakage rate returns to a reasonable range.

It should be pointed out here that the reasonable range of soybean breakage rate is generally 5%.

The soybean breakage rate detection method of this embodiment adopts the Yolo+Sort algorithm of the deep learning method. The steps of the Yolo+Sort algorithm are as follows: First, a data set is established to divide the soybean categories into two categories: complete and damaged. The Yolo algorithm will perform target detection on the input soybean video frame to obtain the bounding box of each soybean. Then, for each detection result, the coordinates of the soybean center of mass and the width and height of the bounding box are calculated as the state vector. Next, the Sort algorithm uses the Kalman filter to predict and update the state vector to obtain the optimal estimate of the soybean target. Finally, the Hungarian algorithm is used to match the predicted state vector and the detected state vector, as shown in Figure 8, to obtain the number of complete and damaged soybeans and the breakage rate.

At the same time, as shown in FIG. 9 and FIG. 10, in the process of establishing the angle-height control model, it is necessary to calculate the extension amount of the profiling cylinder 17 according to the angle information collected by the angle sensor 154. For this embodiment, the following formula can be used to represent the extension amount ∆l of the profiling cylinder 17:

In the above formula: θ is the detection angle of the ground profiling mechanism 15, in degrees; a is the height of the ground profiling hinge 152 from the cutter 14, in mm; h is the height of the ground profiling cutting table 1 from the ground, in mm; L is the length of the ground profiling plate 151, in mm.

In the above formula: ∆h is the difference between the actual height of the ground profiling header 1 and the expected height from the ground, in mm; h is the actual height of the ground profiling header 1 from the ground, in mm; γ is the angle between the line segment om and the line segment oq, in °; α+∆α is the angle between the line segment oq and the line segment op, in °; ∆α is the expected adjustment angle of the ground profiling header 1, in °; β is the angle between the line segment op and the line segment on, in °; l ₁ is the distance of the line segment om, in mm.

In the above formula: l is the distance of line segment pq, in mm; l ₂ is the distance of line segment oq, in mm; l ₃ is the distance of line segment op, in mm;

In the above formula: ∆l is the displacement adjustment amount of the profiling cylinder 17, in mm; _l0 is the length of the profiling cylinder 17 when the ground profiling cutter 1 reaches the expected height, in mm;

In addition, to facilitate the human-computer interaction of the measurement and control system, this embodiment sets the system operation terminal according to the measurement and control parameters. As shown in Figure 11, the terminal interface of the soybean damage rate measurement and control system includes display functions and control functions. The display functions include online video of soybean grains, operation speed, header height, soybean damage rate, and header angle; the control functions include camera start, system start, and system stop.

The above embodiments are only preferred embodiments of the present invention and are not limitations on the implementation methods of the present invention. Practitioners in the relevant field can make other different forms of changes or modifications based on the above descriptions. It is not necessary and impossible to list all implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the claims of the present invention.

Claims (1)

1. The utility model provides a reduce measurement and control system of soybean header breakage rate, includes ground profile modeling header (1), crawler-type platform (2), soybean breakage rate detection device (3), its characterized in that: the ground profiling cutting table (1) is arranged on the crawler-type platform (2), and the soybean breakage rate detection device (3) is embedded in the crawler-type platform (2);

The ground profile modeling cutting table comprises a reel (11), a crop divider (12), a feeding auger (13), a cutter (14), a ground profile modeling mechanism (15), a hydraulic control system (16) and a profile modeling oil cylinder (17), wherein the reel (11) is connected with the feeding auger (13), the reel (11) dials soybean plants into the feeding auger (13), the feeding auger (13) sends crops into the crawler-type platform (2), the crop divider (12) is arranged at the left side and the right side of the feeding auger (13), the cutter (14) is fixed at the front end of the ground profile modeling cutting table (1) to cut soybean plants to be harvested, the ground profile modeling mechanism (15) is hinged below the center of the ground profile modeling cutting table (1), the hydraulic control system (16) is arranged on the ground profile modeling cutting table (1), the profile modeling oil cylinder (17) is connected with the ground profile modeling cutting table (1) and the crawler-type platform (2), and when the ground profile modeling cutting table (1) passes through continuous ground, the ground profile modeling oil cylinder (17) can adjust the ground profile modeling cutting table (1) to a proper height;

The ground profiling mechanism (15) comprises a ground profiling plate (151), a ground profiling hinge (152), a spring damper (153) and an angle sensor (154), wherein the ground profiling plate (151) is connected with the ground profiling hinge (152) through a pin shaft, the spring damper (153) is arranged at the connecting center of the ground profiling hinge (152) to ensure that the ground profiling plate (151) always contacts the ground, and the angle sensor (154) is arranged at the side end of the ground profiling hinge (152);

The soybean breakage rate detection device (3) comprises a detection box body (31), a visual detection system (32), a visual sensor (33), a detection light source (34), a feeding mechanism (35), a seed material spreading mechanism (36) and a conveyor belt (37), wherein the visual detection system (32) is fixed on the detection box body (31), the visual sensor (33) and the detection light source (34) are arranged at the upper end of the detection box body (31), the detection light source (34) provides a structured environment for the visual sensor (33), the feeding mechanism (35) is fixed with the upper cover of the detection box body (31), the conveyor belt (37) is positioned in the center of a visual field of the visual sensor (33), and the seed material spreading mechanism (36) is arranged above the conveyor belt (37);

The feeding mechanism (35) comprises a feeding funnel (351), a stepping motor (352), a feeding grooved wheel (353) and an ultrasonic sensor (354), wherein the stepping motor (352) is fixed on the side face of the feeding funnel (351), the feeding grooved wheel (353) is connected with the stepping motor (352) through a coupling, the ultrasonic sensor (354) is arranged above the feeding grooved wheel (353), and when the quantity of soybeans exceeds the position of the ultrasonic sensor (354), the stepping motor (352) drives the feeding grooved wheel (353) to perform batch discharging;

The seed material spreading mechanism (36) comprises a scraping plate (361), an angle fixing plate (362) and a cam groove (363), wherein the scraping plate (361) is connected with the angle fixing plate (362), the angle fixing plate (362) is arranged on the cam groove (363), and the seed material spreading mechanism (36) can uniformly spread stacked soybeans so as to ensure that the vision sensor (33) should be detected completely;

The measurement and control method of the measurement and control system for reducing the damage rate of the soybean header comprises the steps that a soybean damage rate detection device (3) acquires the soybean damage rate in real time through a deep learning method, and judges a reasonable section of the soybean damage rate, wherein the soybean damage rate detection method adopts a Yolo +Sort algorithm of deep learning, and the algorithm comprises the following steps:

step 1, establishing a data set, classifying soybean types into complete and damaged 2 types, and performing target detection on an input soybean video frame by Yolo algorithm to obtain a boundary frame of each soybean;

step 2, calculating the mass center coordinates of the soybean and the width and height of the boundary box as state vectors for each detection result;

Step 3, predicting and updating the state vector by using Kalman filtering by a Sort algorithm to obtain the optimal estimation of the soybean target;

Step 4, matching the predicted state vector with the detected state vector by using a Hungary algorithm to obtain the number of complete and damaged soybeans and the damage rate;

When the soybean breakage rate is not in a reasonable interval, a control mechanism is triggered, an angle sensor (154) of the ground profiling cutting table (1) acquires gesture information of the ground profiling cutting table (1), the expansion and contraction amount of the profiling cylinder (17) is calculated, and an angle-height control model is established:

θ is the detection angle of the ground profiling mechanism (15), a is the height of the ground profiling hinge (152) from the cutter (14), h is the height of the ground profiling header (1) from the ground, and L is the length of the ground profiling plate (151);

Δh＝l₁·cos(γ+α+Δα+β)-l₁cos(γ+α+β)；

Δh is the difference between the actual height of the ground copying header (1) from the ground and the expected height, γ is the included angle between the line om and the line oq, α+Δα is the included angle between the line oq and the line op, Δα is the expected adjustment angle of the ground copying header (1), β is the included angle between the line op and the line on, and l ₁ is the distance between the line om;

l is the distance of line segment pq, l ₂ is the distance of line segment oq, and l ₃ is the distance of line segment op;

Δl＝l-l₀；

Δl is the displacement adjustment quantity of the profiling cylinder (17), and l ₀ is the length of the profiling cylinder (17) when the ground profiling header (1) reaches the expected height;

When the expected adjustment angle is obtained, the hydraulic control system (16) outputs a control signal to adjust the displacement of the profiling cylinder (17), so that the height control of the ground profiling header (1) is realized, and the soybean breakage rate is restored to a reasonable section.