CN205843707U - Integrated-type harvester sensing and controlling device based on Internet of Things - Google Patents

Abstract

This utility model relates to a kind of integrated-type harvester sensing and controlling device based on Internet of Things, including instrument general assembly, measure sensing module, CAN, ECU control unit, host computer, described instrument general assembly is connected with ECU control unit by CAN, described instrument general assembly is provided with GPRS communication module and GPS locating module, described GPRS communication module is connected with upper machine communication, and described instrument general assembly electrically connects with measuring sensing module.Whole equipment volume is little, parameter display integrated level is high, harvester operator are conducive to observe monitoring to reach individually control harvester or coordinate to control by GPRS communication module and host computer, it is achieved work efficiency, job standardization, the purpose of man-machine interaction hommization.

Description

Integrated-type harvester sensing and controlling device based on Internet of Things

Technical field

This utility model relates to technical field agricultural machinery instrument and meter, particularly relates to a kind of based on Internet of Things integrated Type harvester sensing and controlling device.

Background technology

China is large agricultural country, but most agricultural production completes by manual labor substantially, sows, execute in most rural areas Fertilizer, irrigates and the operation such as harvesting, relies primarily on pure manual labor, and the most not only efficiency is low, and affect crops growth and Harvest.Even if some place achieves Mechanization sowing and harvesting, manpower is generally also needed to coordinate, and the machinery such as sowing and harvesting Change operation independently of one another, the most reasonably link together, also have impact on efficiency and the production cycle of agricultural mechanical operation.Additionally Substantially lean on the opportunity of agricultural irrigation the experience of people to judge, when can not judge the irrigation of crops accurately with irrigation amount Between and irrigation volume, irrigate and improper will cause the serious consequence such as crop production reduction, waste water resource.

Along with the development of technology of Internet of things and the demand to construction modern agriculture, Internet of Things is organic with agricultural mechanical operation Combine, for improve agricultural mechanical operation efficiency significant with yield.But China's agriculture production environment Changeable, agricultural production process disperses, and supplier is complicated, and demand is ever-changing waits difficulty.

Existing harvester sensing and controlling device is typically all the sensing and controlling device of circumscribed, and its integrated-type is poor, with master Displays separated, is not easy to harvester operator and observes monitoring.Not monitoring harvester engine working status parameter, receipts Cutting mill route trip, the harvesting function such as parameter and environmental conditions parameter.And harvester control circuit does not has single agricultural Running parameter collection in mechanical work, parameter show and upper machine communication etc. carries out the function of Internet of Things monitoring and performs Position machine functions of control program.

Utility model content

Technical problem to be solved in the utility model is to provide the sensing control of a kind of integrated-type harvester based on Internet of Things Device processed, whole instrument assembly volume is little, and parameter display integrated level is high, and beneficially harvester operator observe monitoring, instrument General assembly can show engine parameter, auger parameter, accumulator parameter, harvester inclination angle, GPS location, ambient parameter, fault certainly Multiple harvester important parameter real time information and the inferential information such as inspection, in order to harvester operator process in time or upload Host computer, and receive PC control instruction, to reach individually to control harvester or by GPRS communication module and host computer Coordinate to control, it is achieved work efficiency, job standardization, the purpose of man-machine interaction hommization.

This utility model solves its technical problem and be the technical scheme is that

Integrated-type harvester sensing and controlling device based on Internet of Things, including instrument general assembly, to measure sensing module, CAN total Line, ECU control unit, host computer, described instrument general assembly is connected with ECU control unit, in described instrument general assembly by CAN Being provided with GPRS communication module and GPS locating module, described GPRS communication module is connected with upper machine communication, described instrument general assembly with Measurement sensing module electrically connects.

Described instrument general assembly include upper shell, lower house, gauge pointer, instrument step motor, meter lamp, dial plate, Dial plate mounting seat, dividing plate, glass mask, PCB, be provided with PCB, described PCB in described lower house Being provided above dial plate mounting seat, described dial plate mounting seat is provided with gauge pointer, described instrument step motor is arranged on PCB On wiring board, described gauge pointer is mechanically connected with instrument step motor by instrument rotating shaft, and described dial plate mounting seat is provided with Dividing plate, dividing plate are arranged over upper shell, have been provided with glass mask, described upper shell and lower house between described upper shell and dividing plate Between be bolted.

Described instrument general assembly also includes that shock-resistant member, described shock-resistant member are at least one flexible member, described elastic unit Part is evenly distributed on the outer rim of PCB, and one end of flexible member is fixedly mounted in PCB, flexible member another One end is fixedly mounted on inside upper shell or lower house, it is preferable that described flexible member is spring.

Described instrument general assembly also includes that pcb board securing member, described pcb board securing member include at least one PCB clamp, described PCB clamp is located on upper shell and/or lower house.

Also include at least one instrument display screen, be arranged in PCB bottom described instrument display screen, described instrument Display screen top is fixed by dial plate mounting seat.

Described instrument display screen includes that lubrication parameter display screen, Engine Indication screen, ambient parameter display screen, accumulator are aobvious One or more in display screen, harvester inclination angle display screen, fault message display screen, harvesting reserves display screen, communicative indication screen.

Described lubrication parameter display screen includes that lubricating oil reserves value shows, Moisture in Lube Oil & ratio shows, Lubricating Oil Water fractional dose shows, one or more in oil-water separation alarm indicator.

Described Engine Indication screen includes that engine operating duration shows, engine operating temperature shows, engine rotor Amplitude shows, engine speed variate-value shows, electromotor excitation shows, engine oil level shows, engine oil level variate-value One or more in display.

Described ambient parameter display screen includes that temperature value shows, humidity value shows, rainfall shows, height above sea level shows, light Intensity show in one or more.

Described accumulator display screen includes that accumulator electric-quantity shows, battery tension shows, accumulator is charged in display One or more.

Described harvester inclination angle display screen include inertial sensor inertia values, gyroscope inclination angle show, state of runtime machine Infer one or more in display.

At least one terminals line outlet, described terminals line outlet and ECU control unit it is provided with on described lower house Electrical connection.

Described PCB includes that master chip, GPRS communication module, GPS locating module, CAN drive module, interface Parameter display control circuit, electric power driving module, engine oil level detect drive circuit, engine speed detects drive circuit, Engine water temperature detection drive circuit, electromotor oil-water separation amount detection drive circuit, auger driving parameter circuit, accumulator ginseng Number drive circuit, harvester inclination angle drive circuit, ambient parameter drive circuit.

Also include that built-in power module, described built-in power module are arranged between PCB and lower house, in-built electrical Source module is for promptly powering for integrated-type harvester sensing and controlling device when vehicle power cannot be powered.

Described measurement sensing module includes engine oil reserves sensor, engine oil pressure force transducer, engine speed Sensor, engine water temperature sensor, vehicle speed sensor, environment temperature sensor, ambient humidity sensor, highly sensing above sea level Device, rain sensor, auger rotating shaft sensing device, harvesting batching counter, working area enumerator, harvesting timer in one or Several.

As the presently preferred embodiments, described PCB also includes for sensing agricultural machinery manipulation personnel's gesture command Radar sensor and radar sensor control module, described radar sensor control module embeds the PCB of electronic control unit In circuit board, described radar sensor is arranged at farm machinery operators.

As the presently preferred embodiments, the radar refresh rate of described radar sensor is 16000 ~ 18000 auspicious, can pass through fine motion Making to catch the control gesture command of inductive operation personnel, the gesture processing module of radar sensor control module can identify agricultural Touching between the sliding laterally of mechanical manipulation personnel, longitudinal sliding motion, finger and the pressing between finger, control full wafer screen with thumb The mobile of curtain waits action, and agricultural machinery manipulation personnel can be checked by gesture motion, control electronic control unit, and operation controls More flexible.

Beneficial effect

Owing to have employed above-mentioned technical scheme, this utility model compared with prior art, has the following advantages that and amasss Pole effect:

Whole instrument assembly volume is little, and function is complete, and parameter display integrated level is high, and beneficially harvester operator observe prison Surveying, instrument general assembly can show engine parameter, auger parameter, accumulator parameter, harvester inclination angle, GPS location, environment ginseng Multiple harvester important parameter real time information and the inferential information such as number, fault self-checking, in order to harvester operator locate in time Manage or upload host computer, and receive PC control instruction, to reach individually to control harvester or by GPRS communication mould Block and host computer are coordinated to control, it is achieved work efficiency, job standardization, the purpose of man-machine interaction hommization, have higher property Valency ratio, drives each instrument to be digitized display by MCU, makes display structure more accurate, quickly, and at the bottom of fault rate；Respectively Individual instrument display uses the unified display of dial plate, significantly reduces the area of plane of instrument assembly；And instrument upper surface sets Put glass outer, make whole instrument assembly have higher sealing, water proof and dust proof, the environment at awful weather can be applied In；Instrument assembly uses CAN bus data transfer, has with low cost, and real-time communication is good, and long transmission distance, speed are fast, The advantages such as error correcting capability is strong.

Accompanying drawing explanation

Fig. 1 is the front view of this utility model instrument general assembly.

Fig. 2 is the sectional view of A-A section in Fig. 1.

Fig. 3 is the sectional view of B-B section in Fig. 1.

Fig. 4 is axonometric chart of the present utility model.

Fig. 5 is the circuit diagram of master chip.

Fig. 6 is the circuit diagram that background light drives display circuit.

Fig. 7 is that harvester reserves drive display circuit and electromotor excitation display driver circuit.

Fig. 8 is the circuit diagram that in an embodiment, auger rotating speed drives display circuit.

Fig. 9 is the circuit diagram of engine speed variate-value display driver circuit in an embodiment.

Figure 10 is the circuit diagram of engine speed variate-value display driver circuit in another embodiment.

Figure 11 is the circuit diagram that engine speed detection drives interface.

Figure 12 is GPRS communication module circuit diagram.

Figure 13 is GPRS communication module instruction power supply connection status and instruction network connection state circuit diagram.

Figure 14 is the circuit diagram of GPS locating module.

Figure 15 is the surface chart of this utility model instrument display screen.

Figure 16 is structural representation of the present utility model.

Figure 17 is the circuit diagram that CAN drives module.

Figure 18 is structured flowchart of the present utility model.

Figure 19 is the circuit diagram of height above sea level display driver circuit.

Figure 20 is engine operating temperature drive interface circuit diagram.

Figure 21 is the circuit diagram of lubricating oil oil-water separation amount display driver circuit.

In the drawings: 11-upper shell；12-lower house；111-shock-resistant member；121-mounting seat, 112-PCB plate fastener； 1121-PCB clamp, 13-gauge pointer；14-instrument step motor；15-meter lamp；16-dial plate；17-dial plate mounting seat； 18-dividing plate；19-glass mask；2-PCB wiring board；21-instrument display screen；211-lubrication parameter display screen, 2101-lubricating oil Reserves value shows, 2102-Moisture in Lube Oil & ratio shows, 2103-lubricating oil oil-water separation amount shows, 212-Engine Indication Shield, 2121-engine operating duration shows, 2122-engine operating temperature shows, 2123-electromotor excitation shows, 2124- Engine oil level shows, 213-ambient parameter display screen, 214-accumulator display screen, 215-harvester inclination angle display screen, 216- Fault message display screen, 217-gather in reserves display screen, 218-communicative indication screen；3-built-in power module；4-terminals outlet Mouthful.

Detailed description of the invention

Below in conjunction with specific embodiment, this utility model is expanded on further.Should be understood that these embodiments are merely to illustrate this Utility model rather than limit scope of the present utility model.In addition, it is to be understood that reading the content that this utility model is lectured Afterwards, this utility model can be made various changes or modifications by those skilled in the art, and these equivalent form of values fall within this Shen equally Please appended claims limited range.

Embodiment of the present utility model:

See Figure 18, integrated-type harvester sensing and controlling device based on Internet of Things, including instrument general assembly, measure sensing mould Block, CAN, ECU control unit, host computer, described instrument general assembly is connected with ECU control unit by CAN, described instrument Table general assembly is provided with GPRS communication module and GPS locating module, and described GPRS communication module is connected with upper machine communication, described instrument Table general assembly electrically connects with measuring sensing module.Seeing Figure 13, wherein GPRS communication module includes indicating power supply connection status circuit With instruction network connection state circuit, wherein instruction power supply connection status circuit include base resistance R17, emitter stage and base stage it Between resistance R19, audion Q6, collector resistance R15, LED D1.Wherein instruction network connection state circuit includes electrode resistance Resistance R20 between R18, emitter stage and base stage, audion Q7, collector resistance R16, LED D2.LED D1 and LED D2 Respectively in order to show power supply connection status and network connection state break-make.

Seeing Fig. 1 ~ Fig. 4, described instrument general assembly includes upper shell, lower house, gauge pointer, instrument step motor, instrument Display lamp, dial plate, dial plate mounting seat, dividing plate, glass mask, PCB, be provided with PCB, institute in described lower house State PCB and be provided above dial plate mounting seat, described dial plate mounting seat is provided with gauge pointer, described instrument stepping electricity Machine is arranged in PCB, and described gauge pointer is mechanically connected with instrument step motor by instrument rotating shaft, and described dial plate is pacified Seat is provided with dividing plate to dress, dividing plate is arranged over upper shell, has been provided with glass mask, described upper casing between described upper shell and dividing plate It is bolted between body and lower house.Described instrument general assembly also includes that shock-resistant member, described shock-resistant member are at least one Flexible member, described flexible member is evenly distributed on the outer rim of PCB, and one end of flexible member is fixedly mounted on PCB line On the plate of road, the other end of flexible member is fixedly mounted on inside upper shell or lower house, it is preferable that described flexible member is bullet Spring.Described instrument general assembly also includes that pcb board securing member, described pcb board securing member include at least one PCB clamp, described PCB card Son is located on upper shell and/or lower house.Also include at least one instrument display screen, be arranged on bottom described instrument display screen In PCB, described instrument display screen top is fixed by dial plate mounting seat.Seeing Figure 15, described instrument display screen includes Lubrication parameter display screen, Engine Indication screen, ambient parameter display screen, accumulator display screen, harvester inclination angle display screen, fault One or more in information display screen, harvesting reserves display screen, communicative indication screen.

Seeing Figure 16 ~ Figure 21, described lubrication parameter display screen 211 includes that lubricating oil reserves value shows 2101, in lubricating oil Moisture content shows 2102, lubricating oil oil-water separation amount shows 2103, one or more in oil-water separation alarm indicator.Described Engine Indication screen 212 includes that engine operating duration shows 2121, engine operating temperature shows 2122, engine rotor shakes Width shows, engine speed variate-value shows, electromotor excitation shows 2123, engine oil level shows 2124, engine oil level Variate-value show in one or more.Described ambient parameter display screen 213 includes that temperature value shows, humidity value shows, rainfall Display, height above sea level show, light intensity show in one or more.Described in (not shown), accumulator display screen 214 wraps Include that accumulator electric-quantity shows, battery tension shows, one or more in accumulator charging display.Described in (not shown) Harvester inclination angle display screen 215 includes that inertia sensing shows, MEMS gyroscope inclination angle shows, infer sensor and infers in display One or more.(not shown)

See Fig. 1 ~ Fig. 4, described lower house 12 is provided with at least one terminals line outlet 4, described terminals outlet Mouth 4 electrically connects with ECU control unit.

Seeing Fig. 5 ~ 21, described PCB 2 includes master chip, GPRS communication module, GPS locating module, CAN Drive module, interface parameter display control circuit, electric power driving module, engine oil level detection drive circuit (include constant-current source, Oil level variable resistance, sampling holding capacitor, resistance R94, its oil level variable resistance input accesses master chip TEMP pin.In figure Not shown), engine speed detection drive circuit (see Fig. 9-Figure 10, including current-limiting resistance R23, R25, R35, R37, drop-down Resistance R32, R33, R44, R45, sampling capacitance C14, C17, C21, C24, Zener diode Z1, Z2, Z3, Z4, bi-directional voltage stabilizing two Pole pipe E3, E4, E8, E9, Figure 10 is the engine speed detection drive circuit of single electromotor, and Fig. 9 is sending out of four electromotors Motivation Rotating speed measring drive circuit), engine water temperature detection drive circuit, electromotor oil-water separation amount detection drive circuit, strand Dragon driving parameter circuit, accumulator parameter drive circuit, harvester inclination angle drive circuit, ambient parameter drive circuit.PCB circuit The master chip of plate selects MC9S12XEP100MAG model to be master chip.Seeing Figure 12, described GPRS communication module uses A8500 Model is master chip, uses the electrical level transferring chip of TXS0102DCUR model, and wherein the master chip of A8500 model is equipped with impedance Matching network.Seeing Figure 13, described GPS locating module uses SE868-AS to be master chip, and using TXS0102DCUR is that level turns Change chip.Described GPRS communication module and GPS locating module all include immunity module.Seeing Figure 17, described CAN drives Module uses the chip of TJA1050T model, its 7 pin and 6 pins to be gathered by common mode inductance F1 input ECU control unit Engine parameter, and by 1 foot and 4 feet input PCB 2.Wherein GPS locating module includes the core of SE868-AS model Sheet, shunt capacitance C92, C93, inductance L1, resistance R117.

Described interface parameter display control circuit includes when background light drives the work of display circuit (seeing Fig. 6), electromotor Between display driver circuit, engine operating temperature display driver circuit (seeing Figure 20, engine operating temperature display chip P2), Engine rotor amplitude display driver circuit, engine speed variate-value display driver circuit (seeing Fig. 9 ~ Figure 10), electromotor (seeing below Fig. 7, it includes current-limiting resistance R39, optocoupler U4C, bi-directional voltage stabilizing diode E6, electric capacity to excitation display driver circuit C19, divider resistance R34, optocoupler U4C INput3 foot input excitation signal), engine oil level display driver circuit, electromotor The display of oil level variate-value display driver circuit, temperature value display driver circuit, humidity value display driver circuit, rainfall drives electricity Road, height above sea level display driver circuit (seeing Figure 19, including chip U7 and chip U22,3 feet of chip U7 meet lower electric capacity C26,7 Foot ground connection, the 7 foot connecting resistance R110 and resistance R109 of chip U22, B1 foot connecting resistance R47, B2 foot meets R46), light intensity shows and drives Galvanic electricity road, harvester reserves drive display circuit (to see Fig. 7 and include current-limiting resistance R27, optocoupler U4A, bi-directional voltage stabilizing diode E2, electric capacity C12, divider resistance R22, optocoupler U4A INput1 foot input harvester reserves signal), auger rotating speed drive display Circuit (sees Fig. 8, including the optocoupler of TLP281-4 model and the bi-directional voltage stabilizing diode of SMAJ18CA model and SW-DIP2 The auger of model controls switch), accumulator electric-quantity display driver circuit, battery tension display driver circuit, accumulator charging Display driver circuit, inertia sensing display driver circuit, MEMS gyroscope inclination angle display driver circuit, deduction sensor are inferred Display driver circuit, lubricating oil reserves value display driver circuit, Moisture in Lube Oil & ratio display driver circuit, lubricating oil profit (seeing Figure 21, this lubricating oil oil-water separation amount display driver circuit includes resistance R36, resistance to fractional dose display driver circuit R24, Zener diode ZD4, NPN type triode Q5, resistance R99, resistance R100, electric capacity C86), oil-water separation alarm indicator drives Galvanic electricity road, fault message display driver circuit.Wherein auger rotating speed drives display circuit to see Fig. 8.

See Fig. 1 ~ Fig. 4, also include built-in power module 3, described built-in power module 3 be arranged on PCB 2 with under Between housing 12, built-in power module 3 is for promptly filling for integrated-type harvester sensing control when vehicle power cannot be powered Put power supply.

Described measurement sensing module includes engine oil reserves sensor, engine oil pressure force transducer, engine speed Sensor, engine water temperature sensor, vehicle speed sensor, environment temperature sensor, ambient humidity sensor, highly sensing above sea level Device, rain sensor, auger rotating shaft sensing device, harvesting batching counter, working area enumerator, harvesting timer in one or Several.

As the presently preferred embodiments, described PCB 2 also includes for sensing agricultural machinery manipulation personnel's gesture command Radar sensor and radar sensor control module, described radar sensor control module embeds the PCB of electronic control unit In circuit board, described radar sensor is arranged at farm machinery operators.

As the presently preferred embodiments, the radar refresh rate of described radar sensor is 16000 ~ 18000 auspicious, can pass through fine motion Making to catch the control gesture command of inductive operation personnel, the gesture processing module of radar sensor control module can identify agricultural Touching between the sliding laterally of mechanical manipulation personnel, longitudinal sliding motion, finger and the pressing between finger, control full wafer screen with thumb The mobile of curtain waits action, and agricultural machinery manipulation personnel can be checked by gesture motion, control electronic control unit, and operation controls More flexible.

Claims (10)

1. integrated-type harvester sensing and controlling device based on Internet of Things, it is characterised in that include instrument general assembly, measure sensing mould Block, CAN, ECU control unit, host computer, described instrument general assembly is connected with ECU control unit by CAN, described instrument Table general assembly is provided with GPRS communication module and GPS locating module, and described GPRS communication module is connected with upper machine communication, described instrument Table general assembly electrically connects with measuring sensing module.

Integrated-type harvester sensing and controlling device based on Internet of Things the most according to claim 1, it is characterised in that described Instrument general assembly include upper shell, lower house, gauge pointer, instrument step motor, meter lamp, dial plate, dial plate mounting seat, every Plate, glass mask, PCB, be provided with PCB in described lower house, described PCB is provided above dial plate Mounting seat, described dial plate mounting seat is provided with gauge pointer, and described instrument step motor is arranged in PCB, described Gauge pointer is mechanically connected with instrument step motor by instrument rotating shaft, and described dial plate mounting seat is provided with above dividing plate, dividing plate It is provided with upper shell, has been provided with glass mask between described upper shell and dividing plate, between described upper shell and lower house, has passed through bolt Connect.

Integrated-type harvester sensing and controlling device based on Internet of Things the most according to claim 2, it is characterised in that described Instrument general assembly also includes that shock-resistant member, described shock-resistant member are at least one flexible member, and described flexible member is evenly distributed on The outer rim of PCB, one end of flexible member is fixedly mounted in PCB, the other end fixed installation of flexible member Inside upper shell or lower house.

Integrated-type harvester sensing and controlling device based on Internet of Things the most according to claim 2, it is characterised in that also wrap Including at least one instrument display screen, be arranged in PCB bottom described instrument display screen, described instrument display screen top leads to Crossing dial plate mounting seat to fix, described instrument display screen includes that lubrication parameter display screen, Engine Indication screen, ambient parameter show In screen, accumulator display screen, harvester inclination angle display screen, fault message display screen, harvesting reserves display screen, communicative indication screen One or more.

Integrated-type harvester sensing and controlling device based on Internet of Things the most according to claim 4, it is characterised in that described Lubrication parameter display screen includes that lubricating oil reserves value shows, Moisture in Lube Oil & ratio shows, lubricating oil oil-water separation amount shows, One or more in oil-water separation alarm indicator；Described Engine Indication screen include engine operating duration show, electromotor Operating temperature shows, engine rotor amplitude shows, engine speed variate-value shows, electromotor excitation shows, engine oil Position display, engine oil level variate-value show in one or more；Described ambient parameter display screen include temperature value show, wet Angle value shows, rainfall shows, height above sea level shows, light intensity show in one or more；Described accumulator display screen includes Accumulator electric-quantity shows, battery tension shows, accumulator charges one or more in display；Described harvester inclination angle shows Screen includes that inertial sensor inertia values, gyroscope inclination angle show, state of runtime machine infers one or more in display.

Integrated-type harvester sensing and controlling device based on Internet of Things the most according to claim 2, it is characterised in that described PCB includes that master chip, GPRS communication module, GPS locating module, CAN drive the display of module, interface parameter to control Circuit, electric power driving module, engine oil level detection drive circuit, engine speed detection drive circuit, engine water temperature detector Survey drive circuit, electromotor oil-water separation amount detection drive circuit, auger driving parameter circuit, accumulator parameter drive circuit, Harvester inclination angle drive circuit, ambient parameter drive circuit.

Integrated-type harvester sensing and controlling device based on Internet of Things the most according to claim 6, it is characterised in that also wrap Including built-in power module, described built-in power module is arranged between PCB and lower house, and built-in power module is used for Vehicle power is promptly powered for integrated-type harvester sensing and controlling device when cannot power.

Integrated-type harvester sensing and controlling device based on Internet of Things the most according to claim 1, it is characterised in that described Measure sensing module and include engine oil reserves sensor, engine oil pressure force transducer, engine speed sensor, electromotor Cooling-water temperature sensor, vehicle speed sensor, environment temperature sensor, ambient humidity sensor, height sensor above sea level, rainfall sensing One or more in device, auger rotating shaft sensing device, harvesting batching counter, working area enumerator, harvesting timer.

Integrated-type harvester sensing and controlling device based on Internet of Things the most according to claim 6, it is characterised in that described PCB also includes that the radar sensor for sensing agricultural machinery manipulation personnel's gesture command and radar sensor control Module.

Integrated-type harvester sensing and controlling device based on Internet of Things the most according to claim 9, it is characterised in that institute The radar refresh rate stating radar sensor is 16000 ~ 18000 frames, can be by the control of micro-motion capture inductive operation personnel Gesture command, the gesture processing module of radar sensor control module can identify agricultural machinery manipulation the sliding laterally of personnel, Touching between longitudinal sliding motion, finger and the pressing between finger, control the action of the movement of full wafer screen with thumb.