CN117730681B - Measurement and control system for reducing breakage rate of soybean header - Google Patents
Measurement and control system for reducing breakage rate of soybean header Download PDFInfo
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Abstract
The invention relates to a measurement and control system for reducing the breakage rate of a soybean header, belonging to the technical field of crop production. The ground profiling cutting table is arranged on the crawler-type platform, and the soybean breakage rate detection device is embedded in the crawler-type platform; according to the soybean harvesting breakage rate data, the working height of the ground profiling header can be dynamically adjusted by combining the angle information of the ground profiling header, so that the soybean seed breakage rate is reduced. The invention can be applied to reducing the harvesting loss of the soybean header and improving the economic benefit of soybean production.
Description
Technical Field
The invention relates to the technical field of agricultural production, in particular to a measurement and control system for reducing the breakage rate of a soybean header, which is required when a crop harvesting machine works.
Background
Soybean is one of the main economic crops in China, and oil plants in China occupy an important proportion. At present, the soybean raw materials in China are not sufficiently supplied and depend on import excessively, so that the mechanized and intelligent soybean harvesting is promoted, and the booster soybean industry is in the future trend. Crawler-type harvesters are often used for direct harvesting of soybeans due to their good field passage.
The technical instruction for soybean mechanical harvesting and loss reduction in agricultural rural areas points out: the breakage rate of seeds of the soybean harvesting machine should be kept to be less than or equal to 5%, so that the harvesting header is required to be lowered in cutting height and to be attached to the ground as much as possible. The seed material damage of soybean mechanical harvest comes from a header, and the header harvest loss accounts for 80% of the total mechanical harvest loss. On the one hand, soybeans have low pod growth height due to the crop characteristics; on the other hand, the field topography is complicated, the height is uneven, and two factors lead to soybean harvesting machinery to be in the harvesting process, and the harvest header often appears leaking to cut or the mistake cuts phenomenon to cause the seed material loss of soybean. Therefore, the damage condition of the soybean harvesting header needs to be monitored during harvesting operation, the height of the header is adjusted according to the fluctuation of the ground, the ground sticking operation of the cutting knife is ensured, and the material loss is reduced.
In order to improve the soybean harvesting quality, the invention provides a measurement and control system for adjusting the height of a soybean harvesting header by detecting the soybean breakage rate and combining the angle relation between the header and the ground.
Disclosure of Invention
Aiming at the problems in the prior art, the technical purpose of the invention is to provide a measurement and control system for reducing the breakage rate of a soybean header, which solves the existing technical problems, and the technical scheme is as follows:
A measurement and control system for reducing the breakage rate of a soybean header comprises a ground profiling header, a crawler-type platform and a soybean breakage rate detection device, wherein the ground profiling header is arranged on the crawler-type platform, and the soybean breakage rate detection device is embedded in the crawler-type platform.
The ground profile modeling cutting table comprises a reel, a crop divider, a feeding auger, a cutter, a ground profile modeling mechanism, a hydraulic control system and a profile modeling oil cylinder, wherein the reel is connected with the feeding auger, the crop divider is arranged at the left side and the right side of the feeding auger, the cutter is fixed at the front end of the ground profile modeling cutting table, the crop divider separates crops in a non-working area in the advancing process of the ground profile modeling cutting table, the cutter cuts soybean plants to be harvested, the reel dials the soybean plants into the feeding auger, the crops are fed into the crawler-type platform through the feeding auger, the ground profile modeling mechanism is hinged below the center of the ground profile modeling cutting table, the hydraulic control system is arranged on the ground profile modeling cutting table, the profile modeling oil cylinder is connected with the ground profile modeling cutting table and the crawler-type platform, and when the ground profile modeling cutting table passes through a continuous fluctuation road surface, the ground profile modeling oil cylinder adjusts the ground profile modeling cutting table to a proper height.
The ground profiling mechanism comprises a ground profiling plate, a ground profiling hinge, a spring damper and an angle sensor, wherein the ground profiling plate is connected with the ground profiling hinge through a pin shaft, the spring damper is arranged at the center of the ground profiling hinge, the spring damper is added on the ground profiling hinge to ensure that the ground profiling plate always contacts the ground, and the angle sensor is arranged 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 comprises a detection box body, a visual detection system, a visual sensor, a detection light source, a feeding mechanism, a seed material paving mechanism and a conveyor belt, wherein the soybean breakage rate detection device detects soybean seed materials conveyed to a crawler-type platform by a feeding auger, the visual detection system is connected with the detection box body, the visual sensor and the detection light source are installed at the upper end of the detection box body, the detection light source is added to the closed detection box body, a structured environment can be provided for the visual sensor, the conveyor belt is positioned at the center of a visual field of the visual sensor, the feeding mechanism is fixed with the upper end of the detection box body, and the seed material paving mechanism is arranged on the conveyor mechanism.
The feeding mechanism comprises a feeding funnel, a stepping motor, a feeding grooved wheel and an ultrasonic sensor, wherein the stepping motor is fixed on the side face of the feeding funnel, the feeding grooved wheel is connected with the stepping motor through a coupling, the ultrasonic sensor is arranged above the feeding grooved wheel for preventing soybean from blocking the feeding funnel, and when the soybean quantity exceeds the position of the ultrasonic sensor, the stepping motor drives the feeding grooved wheel to perform batch discharging.
The seed material spreading mechanism comprises a scraping plate, an angle fixing plate and a cam groove, wherein the scraping plate is connected with the angle fixing plate, the angle fixing plate is arranged on the cam groove, and when soybean seeds are conveyed to the conveyor belt through the feeding mechanism, the seed material spreading mechanism can uniformly spread stacked soybean, so that the visual sensor is guaranteed to be detected completely.
A measurement and control method of a measurement and control system for reducing the breakage rate of a soybean header comprises the following steps: the soybean breakage rate detection device acquires the soybean breakage rate in real time through a deep learning method, judges a reasonable section of the soybean breakage rate, triggers a control mechanism if the soybean breakage rate is not in the reasonable section, acquires the attitude information of the ground profiling cutting table through an angle sensor of the ground profiling cutting table, establishes an angle-height control model, and outputs a control signal to adjust the displacement of the profiling cylinder after acquiring an expected adjustment angle so as to realize the height control of the ground profiling cutting table and restore the soybean breakage rate to the reasonable section.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be presented, it being obvious that the drawings in the description below are some embodiments of the invention and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a three-dimensional structure of a measurement and control system of the present invention;
FIG. 2 is a schematic perspective view of a ground profiling header of the present invention;
FIG. 3 is a schematic view of the ground profiling mechanism of the present invention in a mated state;
FIG. 4 is a schematic diagram showing the coordination state of the soybean breakage rate detection device according to the present invention;
FIG. 5 is a schematic view of the fit of the feeding mechanism of the present invention;
FIG. 6 is a schematic view of the mating state of the seed paving mechanism of the present invention;
FIG. 7 is a flow chart of the measurement and control method of the present invention;
FIG. 8 is a graph showing the detection result of breakage rate of soybean according to the present invention;
FIG. 9 is a schematic view of a model of the height and ground angle of the ground profiling header of the present invention;
FIG. 10 is a schematic view of an angle-height control model of the present invention;
FIG. 11 is a schematic diagram of a terminal interface of the measurement and control system of the present invention;
Reference numerals:
1. Ground profiling cutting table; 2. a crawler-type platform; 3a soybean breakage rate detection device;
11. Reel wheel; 12. a crop divider; 13. feeding an auger; 14. a cutter; 15. a ground profiling mechanism; 16. a hydraulic control system; 17. profiling oil cylinder; 151. a ground profile plate; 152. a ground profiling hinge; 153. spring damping; 154. an angle sensor;
31. detecting a box body; 32. a visual detection system; 33. a visual sensor; 34. detecting a light source; 35. a feed mechanism; 36. a seed material spreading mechanism; 37. a conveyor belt; 351. a feed hopper; 352. a stepping motor; 353. a feed sheave; 354. an ultrasonic sensor; 361. a scraper; 362. an angle fixing plate; 363. cam grooves;
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1, the measurement and control system structure for reducing the breakage rate of the soybean cutting table comprises a ground profiling cutting table 1, a crawler-type platform 2 and a soybean breakage rate detection device 3, wherein 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.
As shown in fig. 1 and 2, the ground profiling cutting table comprises a reel 11, a divider 12, a feeding auger 13, a cutter 14, a ground profiling mechanism 15, a hydraulic control system 16 and a profiling cylinder 17, wherein the reel 11 is connected with the feeding auger 13, the divider 12 is arranged on the left side and the right side of the feeding auger 13, and the cutter 14 is fixed at the front end of the ground profiling cutting table 1; when the ground profiling cutting platform 1 advances, the crop in a non-working area is separated by the crop divider 12, soybean plants to be harvested are cut by the cutter 14, the soybean plants are driven into the feeding auger 13 by the reel 11, the crops are fed into the crawler-type 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 arranged on the ground profiling cutting platform 1, the profiling cylinder 17 is connected with the ground profiling cutting platform 1 and the crawler-type platform 2, and when the ground profiling cutting platform 1 passes through a continuous undulating road surface, the profiling cylinder 17 adjusts the ground profiling cutting platform 1 to a proper height.
As shown in fig. 3, 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, the angle sensor 154 is arranged at the side end of the ground profiling hinge 152, and the addition of the spring damper 153 on the ground profiling hinge 152 ensures that the ground profiling plate 151 always contacts the ground, so that the angle sensor 154 obtains continuous angle information.
As shown in fig. 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 spreading mechanism 36 and a conveyor belt 37, wherein the soybean breakage rate detection device 3 detects soybean seeds conveyed to the crawler-type platform 3 by the feeding auger 13, the visual detection system 32 is connected with the detection box 31, 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 for the closed detection box 31, a structured environment can be provided for the visual sensor 33, the conveyor belt 37 is positioned at the center of a visual field of the visual sensor 33, the feeding mechanism 35 is fixed on the detection box 31, and the seed spreading mechanism 36 is arranged on the conveyor belt 37.
As shown in fig. 5, the feeding mechanism 35 comprises a feeding funnel 351, a stepping motor 352, a feeding grooved pulley 353 and an ultrasonic sensor 354, wherein the stepping motor 352 is fixed on the side surface of the feeding funnel 351, the feeding grooved pulley 353 is connected with the stepping motor 352 through a coupling, the ultrasonic sensor 354 is arranged above the feeding grooved pulley 353 for preventing continuous feeding from blocking the feeding funnel 351, and when the quantity of soybeans exceeds the position of the ultrasonic sensor 354, the stepping motor 352 drives the feeding grooved pulley 353 to perform batch discharging.
As shown in fig. 6, the seed material spreading mechanism 36 includes a scraping plate 361, an angle fixing plate 362, and a cam groove 363, the scraping plate 361 is connected to the angle fixing plate 362, the angle fixing plate 362 is mounted on the cam groove 363, and when the soybean is sent to the conveyor belt 37 by the feeding mechanism 35, the seed material spreading mechanism 36 spreads the stacked soybean uniformly, ensuring that the vision sensor 33 should be inspected.
As shown in fig. 7, a measurement and control system for reducing breakage rate of a soybean header comprises the following steps:
The soybean breakage rate detection device 3 acquires the soybean breakage rate in real time through a deep learning method, and judges a reasonable interval of the soybean breakage rate; if the soybean breakage rate is not in a reasonable interval, triggering a control mechanism; the angle sensor 154 of the ground profiling header 1 acquires the attitude information of the ground profiling header 1; establishing an angle-height control model; after the ground profiling header 1 obtains the expected adjustment angle, the hydraulic control system 16 outputs a control signal to adjust the displacement of the profiling cylinder 17 so as to realize the gesture control of the ground profiling header 1; until the breakage rate of the soybean is restored to a reasonable range.
It should be noted here that the reasonable interval of soybean breakage is generally 5%.
The soybean breakage rate detection method of the embodiment adopts Yolo +sort algorithm of the deep learning method, and the Yolo +sort algorithm comprises the following steps: firstly, a data set is established, soybean categories are divided into complete and damaged 2 categories, a Yolo algorithm carries out target detection on input soybean video frames to obtain a boundary frame of each soybean, then, for each detection result, the mass center coordinates of the soybean and the width and the height of the boundary frame are calculated to be used as state vectors, then, a Sort algorithm predicts and updates the state vectors by using Kalman filtering to obtain optimal estimation of soybean targets, and finally, a Hungary algorithm is used for matching the predicted state vectors with the detected state vectors to obtain the number and the damage rate of complete and damaged soybeans as shown in fig. 8.
Meanwhile, as shown in fig. 9 and 10, in the process of establishing the angle-height control model, the expansion and contraction amount of the profiling cylinder 17 needs to be calculated according to the angle information acquired by the angle sensor 154, and the following formula can be adopted for the present embodiment to express the expansion and contraction amount of the profiling cylinder 17:
In the above formula: θ is the detection angle of the ground profiling mechanism 15, and the unit is the degree; a is the height of the ground profile hinge 152 from the cutter 14 in mm; h is the height of the ground profiling header 1 from the ground, and the unit is mm; l is the length of the ground profile plate 151 in mm.
In the above formula: h is the difference between the actual height of the ground profiling header 1 from the ground and the expected height, and the unit is mm; h is the actual height of the ground profiling header 1 from the ground, and the unit is mm; gamma is the angle between line om and line oq, and the unit is degree; alpha+ alpha is the included angle between the line section oq and the line section op, and the unit is degree; alpha is the expected adjustment angle of the ground profiling header 1, and the unit is degree; beta is the included angle between the line segment op and the line segment on, and the unit is an angle; l 1 is the distance of line om in mm.
In the above formula: l is the distance of the line segment pq, and the unit is mm; l 2 is the distance of line segment oq in mm; l 3 is the distance of the line segment op, in mm;
In the above formula: l is the displacement adjustment quantity of the profiling cylinder 17, and the unit is mm; l 0 is the length of the profiling cylinder 17 when the ground profiling cutter 1 reaches the expected height, and the unit is mm;
in addition, in order to facilitate man-machine interaction of the measurement and control system, the embodiment sets the system operation terminal according to measurement and control parameters. As shown in fig. 11, the terminal interface of the soybean breakage rate measurement and control system comprises a display function and a control function, wherein the display function comprises an online video of soybean seeds, an operation speed, a header height, a soybean breakage rate and a header angle; the control functions include camera start, system stop.
The above embodiments are only preferred embodiments of the present invention and are not intended to limit the embodiments of the present invention, and other variations or modifications of the present invention based on the above description should not be considered as exhaustive or exhaustive, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included in the scope 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.
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| CN108142089A (en) * | 2018-01-05 | 2018-06-12 | 邱莉维 | A kind of high efficiency smart harvester |
| CN114467504A (en) * | 2022-01-14 | 2022-05-13 | 江苏大学 | Header height regulating device and method for reducing seed loss and harvester |
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| DE602004011373T2 (en) * | 2004-12-18 | 2008-07-03 | Deere & Company, Moline | harvester |
| JP2013009629A (en) * | 2011-06-29 | 2013-01-17 | Iseki & Co Ltd | Reaping height detector for combine harvester, and reaping height controller with the same |
| CN205232831U (en) * | 2015-12-22 | 2016-05-18 | 芜湖禾沐农业科技有限公司 | Soybean reaping apparatus |
| CN106508257B (en) * | 2016-09-26 | 2023-06-13 | 江苏大学 | Combine harvester capable of performing self-adaptive adjustment and self-adaptive adjustment method |
| CN111699825A (en) * | 2020-06-26 | 2020-09-25 | 杭州珑亚珀伟科技有限公司 | Automatic white asparagus picking device |
| CN114631425B (en) * | 2021-12-13 | 2023-05-09 | 江苏大学 | Sectional profiling device and profiling method for soybean header of combine harvester |
| CN114616976A (en) * | 2022-04-11 | 2022-06-14 | 农业农村部南京农业机械化研究所 | Soybean combine harvester header |
| CN115067062B (en) * | 2022-05-30 | 2024-03-19 | 江苏大学 | System and method for preventing and controlling blocking faults of header of combine harvester |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108142089A (en) * | 2018-01-05 | 2018-06-12 | 邱莉维 | A kind of high efficiency smart harvester |
| CN114467504A (en) * | 2022-01-14 | 2022-05-13 | 江苏大学 | Header height regulating device and method for reducing seed loss and harvester |
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