WO2021174909A1 - 用于联合收获机的籽粒取样监测装置及其控制方法 - Google Patents

用于联合收获机的籽粒取样监测装置及其控制方法 Download PDF

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Publication number
WO2021174909A1
WO2021174909A1 PCT/CN2020/129227 CN2020129227W WO2021174909A1 WO 2021174909 A1 WO2021174909 A1 WO 2021174909A1 CN 2020129227 W CN2020129227 W CN 2020129227W WO 2021174909 A1 WO2021174909 A1 WO 2021174909A1
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WIPO (PCT)
Prior art keywords
grain
sampling
monitoring device
camera
control unit
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PCT/CN2020/129227
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English (en)
French (fr)
Inventor
谢青臣
魏本同
徐锋
唐明
李素霞
耿振科
白卫银
Original Assignee
中联农业机械股份有限公司
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Priority claimed from CN202010134405.XA external-priority patent/CN111213483A/zh
Priority claimed from CN202022241847.2U external-priority patent/CN213749641U/zh
Application filed by 中联农业机械股份有限公司 filed Critical 中联农业机械股份有限公司
Publication of WO2021174909A1 publication Critical patent/WO2021174909A1/zh

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/85—Investigating moving fluids or granular solids

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  • the invention relates to a grain sampling monitoring device for a combine harvester and a control method thereof.
  • the purpose of the present invention is to provide a grain sampling and monitoring device for a combine harvester, which can effectively ensure the grain monitoring effect.
  • a grain sampling and monitoring device for a combine harvester comprising a grain elevator, the sampling device is integrally fixed on the outer punching plate of the grain elevator, and the upper side of the grain elevator is connected to the upper end of the slide pipe.
  • the upper slide pipe is arranged obliquely, the lower end of the upper slide pipe is connected with a sampling device, and a photographing camera is arranged above the sampling device; the photographing camera is connected to the image analysis processing unit, and the image analysis processing unit is connected to the vehicle control unit.
  • the sampling device includes a grain receiving box and a sampling and conveying mechanism.
  • the grain receiving box and the sampling and conveying mechanism are located in the housing; a conduit is arranged above the grain receiving box, and the conduit communicates with the lower end of the upper chute;
  • the grain box is arranged obliquely, and the sampled grains can fall to the sampling and conveying mechanism through the outlet of the receiving grain box; the photographing camera is located above the sampling and conveying mechanism.
  • sampling and conveying mechanism is composed of a conveying wheel, a conveying belt, and a driving motor, and the upper part of the conveying belt is arranged horizontally.
  • the grain elevator is provided with a rotation speed sensor, and the signal output terminal of the rotation speed sensor is connected to the vehicle control unit; the signal output terminal of the vehicle control unit is connected to the driving motor driving unit, and the driving motor is controlled according to the rotation speed sensor signal.
  • a grain smoothing brush is provided at the outlet of the grain receiving box; a gap is left between the end of the grain smoothing brush and the upper part of the conveying belt, and the gap matches the thickness of the sampled grains.
  • the grain receiving box is V-shaped, and the inner wall of the grain receiving box is glued with sponge.
  • the lower side of the grain elevator is connected to the lower end of the lower chute, the lower chute is arranged obliquely, and the upper end of the lower chute is connected to the casing of the sampling device; the sampled grains in the shell can flow back to the grain ascending through the lower chute.
  • Device the lower side of the grain elevator is connected to the lower end of the lower chute, the lower chute is arranged obliquely, and the upper end of the lower chute is connected to the casing of the sampling device; the sampled grains in the shell can flow back to the grain ascending through the lower chute.
  • a fill light is provided, and the shooting camera and the fill light are fixed on the camera bracket; the signal output terminal of the vehicle control unit is connected to the fill light.
  • a control method of the above-mentioned grain sampling and monitoring device for a combine harvester When the speed of the grain elevator is normal, the vehicle control unit controls the sampling device to sample; the camera takes the sampled grain image, and the image analysis processing unit takes The image is analyzed and processed to mark the impurity and damaged grains in the image.
  • the vehicle control unit monitors the impurity and damage rate of the grains according to the analysis and processing results; when the speed of the grain elevator stops, the vehicle control unit controls the drive The motor stops running, the shooting camera stops shooting, and the fill light stops at the same time.
  • the vehicle control unit controls to turn on the fill light.
  • a grain sampling monitoring device comprising a grain box of a combine harvester, the grain elevator outlet of the combine harvester is located above the inlet of the grain box, and a grain sampling device is provided in the grain box, and the grain sampling The device is located below the outlet of the grain elevator, and the grain output from the outlet of the grain elevator can fall into the grain tank through the grain sampling device; a camera is arranged above the grain sampling device, and the camera is used to take pictures of the grain Monitoring; The camera is in communication with the control unit, and the control unit is in communication with the image analysis and processing unit, and the image analysis and processing unit is used to mark the grains in the image with impurity or damaged grains.
  • the grain sampling device includes a first material slide plate, and first vertical plates are provided on both sides of the first material slide plate; the first vertical plate and the camera frame are fixed by bolts, and the first vertical plate
  • the board and the camera frame are correspondingly provided with a first adjusting groove, and the first adjusting groove is used for adjusting the installation height of the camera frame.
  • a grain baffle is vertically arranged above the first material slide plate, and the grain baffle is located inside the first vertical plate and fixed with the first vertical plate by bolts.
  • the first vertical plate and The grain baffle plate is correspondingly provided with a second adjustment groove, and the second adjustment groove is used to adjust the distance between the grain baffle plate and the first material slide plate.
  • the grain sampling device includes a second material slide plate, and second vertical plates are provided on both sides of the second material slide plate; the tail end of the second material slide plate and the head end of the first material slide plate are hinged; The inclination angle of the first material sliding plate is less than or equal to the inclination angle of the second material sliding plate.
  • the tail end of the second vertical plate and the head end of the first vertical plate are fixed by bolts, and the second vertical plate and the first vertical plate are respectively provided with a third adjusting groove, and the third adjusting groove is arc-shaped. Adjust the angle between the second material sliding plate and the first material sliding plate.
  • the camera frame is located above the tail end of the first material slide.
  • the head end of the second material sliding plate is located below the outlet of the grain elevator.
  • a supplementary light is provided in the grain tank, and the supplementary light is used to provide a supplementary light source for the camera.
  • control unit is in communication connection with the fill light and the display.
  • the upper side of the grain elevator of the present invention is connected to the upper end of the upper slide pipe, the upper slide pipe is arranged obliquely, the lower end of the upper slide pipe is connected with a sampling device, and a photographing camera is arranged above the sampling device; the photographing camera is connected to the vehicle control Unit, the vehicle control unit is connected to the image analysis and processing unit.
  • the invention aims at the sampling and monitoring of processed grains (grains) in the grain elevator.
  • the grains (grains) do not need to accumulate to a certain weight before sampling and shooting.
  • the sampling has continuity and continuity, which effectively guarantees the real-time grain monitoring effect.
  • the space in the grain tank is effectively saved, and it is convenient to be promoted on the combine harvester.
  • the sampling device of the present invention includes a grain receiving box and a sampling and conveying mechanism.
  • the grain receiving box and the sampling and conveying mechanism are located in a housing; a conduit is arranged above the grain receiving box, and the conduit is connected to the lower end of the upper chute;
  • the box is arranged obliquely, and the sampled grains can fall to the sampling conveying mechanism through the outlet of the grain receiving box;
  • the photographing camera is located above the sampling conveying mechanism;
  • the sampling conveying mechanism is composed of a conveying wheel, a conveying belt, and a driving motor.
  • the upper part is arranged horizontally.
  • the grains are transferred through the sampling and conveying mechanism, and the photographing camera shoots the moving grains, that is, dynamic photographing, which can further improve the real-time monitoring effect of the grains.
  • the grain elevator of the present invention is provided with a rotational speed sensor, the signal output terminal of the rotational speed sensor is connected to the vehicle control unit; the signal output terminal of the complete vehicle control unit is connected to the drive motor drive unit, and the drive motor is controlled according to the rotational speed sensor signal.
  • the vehicle control unit controls the camera in the sampling device to shoot at the same time as the fill light to fill light; when the grain elevator stops, the signal output terminal of the vehicle control unit controls the drive motor drive unit to stop , To avoid the blockage caused by the accumulation of grains and save the power of the power supply. If the grain blockage occurs, the problem can be solved by speeding up the driving motor speed or proper reverse rotation.
  • the photographing camera of the present invention photographs sampled grain images
  • the image analysis processing unit analyzes and processes the photographed images, and marks the impurity and damaged grains in the images.
  • the vehicle control unit monitors the impurity and breakage rates of the grains according to the analysis and processing results, and Adjust the whole machine according to the monitoring results. If the grain impurity rate and damage rate are unqualified, the vehicle control unit will integrate the current vehicle reel height, speed, header height, fan speed, separation drum speed and cleaning sieve opening angle and other parameters, and analyze and calculate the results.
  • the main influencing factors of the impurity rate and the failure rate are unqualified, and the electro-hydraulic valve, motor and other mechanisms associated with the corresponding functional components are adjusted to make the impurity rate and the failure rate reach the qualified value, thereby effectively improving the work efficiency.
  • the outlet of the grain receiving box of the present invention is provided with a grain smoothing brush; a gap is left between the end of the grain smoothing brush and the upper part of the conveying belt, and the gap is matched with the thickness of the sampled grains.
  • the invention adopts a grain leveling brush, which can smooth the grain and reduce the dust at the outlet of the grain box, so as to obtain high-quality and effective grain image data.
  • the grain receiving box of the present invention is in a V shape, which is more convenient for gathering the sampled grains.
  • the inner wall of the grain receiving box of the present invention is bonded with a sponge, which is beneficial to reduce the kinetic energy when the sampled grain passes through the grain receiving box, and is more convenient for sampling.
  • the invention has simple structure and compact design, and the sampling monitoring device is integrally fixed on the supporting punching plate of the existing elevator, which effectively saves space.
  • the grain sampling device of the present invention includes a first material slide plate, and first vertical plates are arranged on both sides of the first material slide plate; the first vertical plate and the camera frame are fixed by bolts, the first vertical plate and the camera The frame is correspondingly provided with a first adjustment groove, the first adjustment groove is used to adjust the installation height of the camera frame; the grain sampling device includes a second material slide plate, and two vertical plates are provided on both sides of the second material slide plate The tail end of the second material sliding plate and the first end of the first material sliding plate are hinged; the inclination angle of the first material sliding plate is less than or equal to the inclination angle of the second material sliding plate.
  • the grain sampling device of the present invention is provided with a first material sliding plate and a second material sliding plate. When the inclination angle of the first material sliding plate is smaller than the inclination angle of the second material sliding plate, the grain movement can be decelerated to further ensure the photographing and monitoring effect.
  • a grain baffle is vertically arranged above the first material slide plate of the present invention.
  • the grain baffle is located on the inner side of the first vertical plate and is fixed to the first vertical plate by bolts.
  • the first vertical plate and the grain baffle Correspondingly, a second adjusting groove is provided, and the second adjusting groove is used to adjust the distance between the grain baffle plate and the first material sliding plate.
  • the invention can adjust the sliding speed and flatness of the grains on the material sliding plate through the grain baffle, and further ensure the photographing and monitoring effect.
  • the tail end of the second vertical plate and the head end of the first vertical plate of the present invention are fixed by bolts.
  • the second vertical plate and the first vertical plate are respectively provided with a third adjusting groove, and the third adjusting groove is arc-shaped for adjusting The angle between the second material slide and the first material slide.
  • the angle between the second material slide plate and the first material slide plate of the present invention is adjustable, that is, the speed at which the grains slide on the material slide plate can be adjusted to further ensure the effect of shooting and monitoring.
  • Fig. 1 is a schematic structural diagram of an embodiment of the seed sampling and monitoring device of the present invention
  • Fig. 2 is a schematic circuit diagram of an embodiment of the seed sampling and monitoring device of the present invention.
  • FIG. 3 is a schematic diagram of the installation of an embodiment of the seed sampling and monitoring device of the present invention.
  • FIG. 4 is a perspective view of an embodiment of the seed sampling and monitoring device of the present invention (with the camera removed);
  • Figure 5 is a front view of an embodiment of the seed sampling and monitoring device of the present invention.
  • Figure 6 is a top view of an embodiment of the seed sampling and monitoring device of the present invention (with the camera removed);
  • Fig. 7 is a schematic circuit diagram of an embodiment of the seed sampling and monitoring device of the present invention.
  • Example 1 Seed sampling monitoring device for combine harvester
  • FIG. 1 it includes a grain elevator 3, which is installed on the combine, and is used to transport the processed grains (grains) from the cleaning chamber located at the lower part of the combine to the combine harvester.
  • the grain bin on the upper part of the harvester is an existing technology.
  • the upper side of the grain elevator 3 is connected to the upper end of the upper chute 4, the upper chute 4 is arranged obliquely, the lower end of the upper chute 4 is connected to a sampling device, and a photographing camera 6 is arranged above the sampling device.
  • the fill light 8, the shooting camera 6 and the fill light 8 are fixed on the camera bracket 7.
  • two supplementary lights 8 are fixed on both sides of the camera bracket 7, and the shooting camera 6 is fixed between the two supplementary lights 8.
  • a visual cover 5 is provided above the shooting camera 6 and the fill light 8.
  • the connection mode of the camera bracket 7 and the shooting camera 6 should be adjustable in height, so as to meet the needs of the shooting camera 6 for focusing and adjusting the field of view of different crops.
  • the fill light 8 is an adaptive mirror light used to provide an efficient and stable supplementary light source for the shooting camera to overcome the noise interference of the sampled image caused by the dark environment inside the enclosed sampling device, and obtain high-pixel images that meet the requirements. High-precision monitoring of grain impurity and breakage rate.
  • the sampling device includes a grain receiving box 1, a sampling and conveying mechanism, the grain receiving box 1, and the sampling and conveying mechanism are located in the housing; 4 The lower end is connected; the grain receiving box 1 is arranged obliquely, and the sampled grains can fall to the sampling conveying mechanism through the outlet of the grain receiving box.
  • the grain receiving box 1 is connected to the inner walls on both sides of the shell, but not fixed.
  • the rear wall of the grain receiving box 1 is not close to the rear side wall of the shell, and the grain receiving box 1 can have small movements, which is beneficial to damping vibration.
  • the sampling transmission mechanism is composed of a transmission wheel, a transmission belt 12 and a driving motor 15.
  • the upper part of the transmission belt 12 is horizontally arranged.
  • the transmission wheel includes a driving wheel 14, a driven wheel 10, and a tension wheel 13.
  • the photographing camera 6 is located above the sampling and conveying mechanism, and its mirror surface is vertically downward, and a certain height is maintained between the upper part of the conveying belt 12. This height depends on the focusing parameters of the photographing camera 6 itself, ensuring that the upper part of the conveying belt 12 is The grain field of view meets the sampling requirements.
  • the exit of the grain receiving box 1 is provided with a grain smoothing brush 17, and the grain smoothing brush 17 is tightly attached to the inner wall of the grain receiving box 1. There is a gap between the end of the grain smoothing brush 17 and the upper part of the conveying belt 12, and the gap matches the thickness of the sampled grain.
  • the grain receiving box 1 is V-shaped, and the inner wall of the grain receiving box is glued with sponge.
  • the lower side of the grain elevator 3 is connected to the lower end of the lower chute 16 which is arranged obliquely, and the upper end of the lower chute 16 is connected to the housing of the sampling device; the sampled grains in the housing can flow back to the kernel through the lower chute.
  • a bottom sliding plate 11 is correspondingly provided at the bottom of the housing.
  • the sampling monitoring device is integrally fixed on the supporting punching plate 9 of the existing elevator.
  • the seed lifter 3 is provided with a speed sensor, the signal output terminal of the speed sensor is connected to the vehicle control unit; the signal output terminal of the vehicle control unit is connected to the drive motor drive unit, and the drive is controlled according to the speed sensor signal.
  • the motor 15 adjusts the speed of the drive motor 15 through PMW control.
  • the photographing camera 6 is connected to the image analysis and processing unit, and the image analysis and processing unit is connected to the vehicle control unit.
  • the signal output terminal of the vehicle control unit is connected to the fill light 8.
  • the vehicle control unit is connected to the external display unit (display screen).
  • the vehicle control unit and the image analysis processing unit are set in the co-pilot seat in the cab of the combine, and the display screen is located in the cab.
  • Embodiment 2 Control method of grain sampling and monitoring device for combine harvester
  • the vehicle control unit controls the sampling device to sample; the camera takes the sampled grain image, the image analysis processing unit analyzes and processes the captured image, and annotates the impurity or damaged grain in the image, and the vehicle control unit according to The analysis and processing results monitor the impurity content and damage rate of the grain; when the rotation speed of the grain elevator is abnormal, the vehicle control unit controls the sampling device to stop sampling.
  • the vehicle control unit controls the lighting of the fill light.
  • the speed of the grain elevator 3 reaches the normal working speed, the driving motor 15 runs at a uniform speed that meets the sampling requirements, and the fill light 8 lights up ,
  • the shooting camera 6 starts to acquire real-time image signals, and the sampling device works normally; when the rotation speed of the grain elevator 3 is lower than the normal working rotation speed or is zero, the driving motor 15 is decelerated or stopped, the fill light 8 is extinguished, and the sampling device stop working.
  • the vehicle control unit controls the sampling device to stop sampling to avoid clogging caused by grain accumulation. If grain clogging occurs, the problem can be solved by speeding up the driving motor speed or proper reverse rotation.
  • the captured images are sent to the image analysis and processing unit for processing, and then passed to the vehicle control unit.
  • the image analysis and processing unit labels the grains (mainly straws) and damaged grains in the image in real time.
  • the mark of grain impurities is mainly to outline the outline of the straw, and the total area of the straw in the same image is analyzed and calculated.
  • the ratio of it to the total area of the image is the grain impurity rate obtained in real time;
  • the mark of grain damage is mainly image capture. Take the damaged kernels and analyze and count them.
  • the ratio of the total number of kernels in the image is the kernel damage rate obtained in real time. If the impurity rate and damage rate of the sample grain are not up to the standard, the impurity rate and damage rate will be sent to the vehicle control unit.
  • the vehicle control unit integrates the current vehicle reel height, speed, header height, and fan Rotation speed, separation of the drum speed and the opening angle of the cleaning sieve, analyze and calculate the main influencing factors that lead to the impurity rate and breakage rate unqualified, and adjust the electro-hydraulic valve, motor and other mechanisms associated with each functional component to make the impurity
  • the rate and damage rate reach the qualified value.
  • the damage rate and the impurity rate are displayed on the display screen in the cab.
  • Embodiment three grain sampling and monitoring device
  • the outlet 121 of the grain elevator 120 of the combine is located at the inlet of the grain box 110 of the combine, which is a prior art.
  • a grain sampling device 130 is provided in the grain tank 110, and the grain sampling device 130 is arranged obliquely below the outlet 121 of the grain elevator 120. The grain output from the outlet 121 of the grain elevator can fall into the grain tank 110 through the grain sampling device 130.
  • the seed sampling device 130 includes a first material sliding plate 131.
  • the first material sliding plate 131 is provided with first vertical plates 132 on both sides; the first vertical plate 132 and the camera frame 150 are fixed by bolts.
  • a vertical plate 132 and the camera frame 150 are correspondingly provided with a first adjusting groove 133, and the first adjusting groove 133 is used to adjust the installation height of the camera frame 150.
  • a grain baffle 134 is vertically arranged above the first material sliding plate 131.
  • the grain baffle 134 is located on the inner side of the first vertical plate 132 and fixed with the first vertical plate 132 by bolts.
  • the first vertical plate 132 and the grain baffle 134 correspond to each other.
  • a second adjusting groove 135 is provided, and the second adjusting groove 135 is used to adjust the distance between the grain baffle 134 and the first material sliding plate 131.
  • the camera frame 150 is located above the end of the first material slide 131.
  • the seed sampling device also includes a second material slide plate 136.
  • the second material slide plate 136 is provided with second vertical plates 137 on both sides; the end of the second material slide plate 136 and the head end of the first material slide plate 131 are hinged.
  • Page 138 is hinged; the inclination angle of the first material slide 131 is less than or equal to the inclination angle of the second material slide 136.
  • the inclination angle of the first material sliding plate 131 is smaller than the inclination angle of the second material sliding plate 136, so as to further reduce the sliding speed of the grains on the first material sliding plate 131.
  • the tail end of the second vertical plate 137 and the head end of the first vertical plate 132 are fixed by bolts.
  • the second vertical plate 137 and the first vertical plate 132 are correspondingly provided with a third adjusting groove 139, and the third adjusting groove 139 is arc-shaped, Used to adjust the angle between the second material sliding plate and the first material sliding plate.
  • the head end of the second material sliding plate 136 is located below the grain elevator outlet 121, and is used for receiving the grains flowing out from the grain elevator outlet 121.
  • a camera frame 150 is arranged above the grain sampling device, and a camera 140 is arranged on the camera frame 150, and the camera 140 is used for taking pictures and monitoring of the grain.
  • the lens of the camera 140 is perpendicular to the plane of the first material sliding plate 131 to adjust the angle downward, and the mirror surface is parallel to the plane of the first material sliding plate 131, and is located at a suitable height directly above it. The height depends on the focus parameters of the camera 140 itself to ensure that the During the image, the angle of view of the grain above the first material sliding plate 131 is adjusted to meet the sampling requirements.
  • a fill light 160 is provided in the grain tank, and the fill light is used to provide a supplementary light source for the camera 140.
  • the camera 140 is in communication with the control unit 170, and the control unit 170 is in communication with the image analysis and processing unit 180.
  • the image analysis and processing unit 180 is used to mark the impurity or damaged grains in the image; the control unit 170 and the compensation
  • the light 160 and the display 190 are in communication connection.
  • the grain output from the outlet 121 of the grain elevator 120 can fall into the grain bin 110 through the grain sampling device 130.
  • the camera 140 takes the sampled image in real time and transmits the image to the control unit 170.
  • the image analysis processing unit 180 marks the image in real time. Grain contains impurities (mainly straw) and damaged kernels. Among them, the mark of grain impurities is mainly to outline the outline of the straw, and the total area of the straw in the same image is analyzed and calculated. The ratio of it to the total area of the image is the grain impurity rate obtained in real time; the mark of grain damage is mainly image capture. Take the damaged kernels and analyze and count them. The ratio of the total number of kernels in the image is the kernel damage rate obtained in real time.
  • the image analysis processing unit 180 sends the impurity rate and the damage rate to the control unit 170, and the control unit 170 displays the monitoring parameters such as the impurity rate and the damage rate on the display 190.
  • Example four grain combine harvester
  • a grain sampling and monitoring device is installed inside the grain tank of the existing grain combine harvester. Specifically, the grain sampling device 130 is installed obliquely below the outlet 121 of the grain elevator 120, and the grain output from the outlet 121 of the grain elevator can be The grain sampling device falls into the grain box 110.

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Abstract

一种用于联合收获机的籽粒取样监测装置，包括籽粒升运器（3），取样装置整体固定于籽粒升运器（3）外侧冲孔板上，籽粒升运器（3）上侧接上溜管（4）上端，上溜管（4）斜向设置，上溜管（4）下端接取样装置，取样装置的上方设有拍摄相机（6）；拍摄相机（6）接图像分析处理单元，图像分析处理单元接整车控制单元。该用于联合收获机的籽粒取样监测装置针对籽粒升运器内加工后的谷物籽粒取样监测，不需谷物籽粒积累到一定重量时才取样拍摄，取样时具有连续性和持续性，有效保证籽粒实时监测效果。还公开了一种籽粒取样监测控制方法。

Description

用于联合收获机的籽粒取样监测装置及其控制方法 技术领域
本发明涉及一种用于联合收获机的籽粒取样监测装置及其控制方法。
背景技术
现有技术中，联合收获机大都没有安装实时监测联合收割机中谷物含杂率与破损情况的装置，其破损率是通过人工查算、含杂率是通过人工称重计算而得,因此，更无法根据破损率、含杂率反馈信息，进行作业自动调节，影响生产作业效率。
与本发明最相关的现有技术是发明名称为“联合收获机粮箱籽粒含杂率与破损率实时监测装置”专利(专利号：201820058732.X)，该专利针对联合收获机粮箱内加工后谷物(籽粒)的取样，属静态拍摄，并且需粮箱内谷物(籽粒)需积累到一定重量时才能取样拍摄，籽粒监测效果不够理想。
发明内容
本发明的发明目的在于提供一种用于联合收获机的籽粒取样监测装置，能够有效保证籽粒监测效果。
基于同一发明目的，本发明具有三个独立的技术方案：
1、一种用于联合收获机的籽粒取样监测装置，包括籽粒升运器，取样装置整体固定于籽粒升运器外侧冲孔板上，籽粒升运器上侧接上溜管上端，所述上溜管斜向设置，上溜管下端接取样装置，所述取样装置的上方设有拍摄相机；所述拍摄相机接图像分析处理单元，图像分析处理单元接整车控制单元。
进一步地，所述取样装置包括接粮盒、取样传送机构，接粮盒、取样传送机构位于壳体内；接粮盒的上方设有导管，导管与所述上溜管下端相连通；所述接粮盒斜向设置，取样籽粒可经接粮盒出口落到取样传送机构； 所述拍摄相机位于取样传送机构上方。
进一步地，所述取样传送机构由传送轮、传送皮带、驱动电机组成，所述传送皮带的上部呈水平设置。
进一步地，籽粒升运器设有转速传感器，所述转速传感器信号输出端接整车控制单元；整车控制单元信号输出端接驱动电机驱动单元，根据转速传感器信号控制所述驱动电机。
进一步地，所述接粮盒的出口处设有籽粒平整毛刷；所述籽粒平整毛刷的末端与所述传送皮带的上部之间留有间隙，所述间隙与取样籽粒厚度相配合。
进一步地，所述接粮盒呈V字形，接粮盒内壁粘接有海绵。
进一步地，籽粒升运器下侧接下溜管下端，所述下溜管斜向设置，下溜管上端接取样装置的壳体；壳体内的取样籽粒可经下溜管流回籽粒升运器。
进一步地，设有补光灯，所述拍摄相机和补光灯固定于相机支架上；整车控制单元信号输出端接补光灯。
2、一种上述用于联合收获机的籽粒取样监测装置的控制方法，当籽粒升运器转速正常时，整车控制单元控制取样装置取样；拍摄相机拍摄取样籽粒图像，图像分析处理单元对拍摄图像进行分析处理，标注图像中含杂、破损籽粒，整车控制单元根据所述分析处理结果监测籽粒的含杂率、破损率；当籽粒升运器转速停止运转时，整车控制单元控制驱动电机停止运转、拍摄相机停止拍摄、补光灯同时停止补光。
进一步地，拍摄相机拍摄取样籽粒图像时，整车控制单元控制点亮补光灯。
3、一种籽粒取样监测装置，包括联合收获机的粮箱，联合收获机的籽粒升运器出口位于所述粮箱的进口上方，所述粮箱内设有籽粒取样装置，所述籽粒取样装置位于所述籽粒升运器出口的下方，由籽粒升运器出口输 出的籽粒可经籽粒取样装置落入粮箱；所述籽粒取样装置的上方设有相机，所述相机用于对籽粒拍照监测；所述相机与控制单元通讯连接，所述控制单元与图像分析处理单元通讯连接，所述图像分析处理单元用于标注图像中谷物含杂或破损的籽粒。
进一步地，所述籽粒取样装置包括第一物料滑板，所述第一物料滑板的两侧设有第一立板；所述第一立板与所述相机架通过螺栓固定，所述第一立板和相机架相应设有第一调节槽，所述第一调节槽用于调节相机架的安装高度。
进一步地，所述第一物料滑板上方竖向设有挡粮板，所述挡粮板位于所述第一立板的内侧，并与第一立板通过螺栓固定，所述第一立板和挡粮板相应设有第二调节槽，所述第二调节槽用于调节挡粮板与第一物料滑板之间的间距。
进一步地，所述籽粒取样装置包括第二物料滑板，所述第二物料滑板的两侧设有第二立板；所述第二物料滑板尾端和所述第一物料滑板首端铰接；所述第一物料滑板的倾斜角度小于或等于第二物料滑板的倾斜角度。
进一步地，第二立板尾端和第一立板首端之间通过螺栓固定，第二立板、第一立板相应设有第三调节槽，所述第三调节槽呈弧形，用于调节第二物料滑板与第一物料滑板之间的角度。
进一步地，所述相机架位于所述第一物料滑板尾端的上方。
进一步地，所述第二物料滑板的首端位于所述籽粒升运器出口的下方。
进一步地，所述粮箱内设有补光灯，所述补光灯用于提供所述相机的补充光源。
进一步地，所述控制单元与补光灯、显示器通讯连接。
本发明具有的有益效果：
本发明籽粒升运器上侧接上溜管上端，所述上溜管斜向设置，上溜管下端接取样装置，所述取样装置的上方设有拍摄相机；所述拍摄相机接整 车控制单元，整车控制单元接图像分析处理单元。本发明针对籽粒升运器内的加工后谷物(籽粒)取样监测，不需谷物(籽粒)需积累到一定重量时才能取样拍摄，取样时具有连续性和持续性，有效保证籽粒实时监测效果，并且，有效节省了粮箱内空间、且便于在联合收割机上实现推广。
本发明所述取样装置包括接粮盒、取样传送机构，接粮盒、取样传送机构位于壳体内；接粮盒的上方设有导管，导管与所述上溜管下端相连通；所述接粮盒斜向设置，取样籽粒可经接粮盒出口落到取样传送机构；所述拍摄相机位于取样传送机构上方；所述取样传送机构由传送轮、传送皮带、驱动电机组成，所述传送皮带的上部呈水平设置。本发明通过取样传送机构传送籽粒，拍摄相机针对移动的籽粒进行拍摄，即进行动态拍摄，能够进一步提高籽粒实时监测效果。
本发明籽粒升运器设有转速传感器，所述转速传感器信号输出端接整车控制单元；整车控制单元信号输出端接驱动电机驱动单元，根据转速传感器信号控制所述驱动电机。当籽粒升运器转速正常时，整车控制单元控制取样装置中拍摄相机拍摄同时补光灯进行补光；当籽粒升运器转速停止时，整车控制单元信号输出端控制驱动电机驱动单元停止，避免出现因籽粒堆积造成的堵塞同时节省电源电能，若出现粮食堵塞，可通过加快驱动电机转速或适当的反转解决该问题。
本发明拍摄相机拍摄取样籽粒图像，图像分析处理单元对拍摄图像进行分析处理，标注图像中含杂、破损籽粒，整车控制单元根据所述分析处理结果监测籽粒的含杂率、破损率，并根据监测结果对整机进行调节。若籽粒含杂率、破损率不合格，则整车控制单元综合当前整车拨禾轮高度、转速，割台高度，风机转速，脱离滚筒转速及清选筛开片角度等参数，分析计算导致含杂率及破损率不合格的主要影响因素，并调节相应各功能部件关联的电液阀、马达等机构，使含杂率及破损率达到合格值，进而有效提高作业效率。
本发明所述接粮盒的出口处设有籽粒平整毛刷；所述籽粒平整毛刷的末端与所述传送皮带的上部之间留有间隙，所述间隙与取样籽粒厚度相配合。本发明采用籽粒平整毛刷，可对籽粒进行刷平处理，同时减少接接粮盒出口的扬尘，以便于获取优质、有效的籽粒图像数据。本发明所述接粮盒呈V字形，更便于取样粮的收拢。本发明接粮盒内壁粘接有海绵，有利于减少样取样粮经过接粮盒时的动能，更加方便取样。
本发明结构简单、设计紧凑，取样监测装置整体固定于现有升运器的支撑冲孔板上，有效节省空间。
本发明籽粒取样装置包括第一物料滑板，所述第一物料滑板的两侧设有第一立板；所述第一立板与所述相机架通过螺栓固定，所述第一立板和相机架相应设有第一调节槽，所述第一调节槽用于调节相机架的安装高度；所述籽粒取样装置包括第二物料滑板，所述第二物料滑板的两侧设有第二立板；所述第二物料滑板尾端和所述第一物料滑板首端铰接；所述第一物料滑板的倾斜角度小于或等于第二物料滑板的倾斜角度。本发明籽粒取样装置设置第一物料滑板、第二物料滑板，第一物料滑板的倾斜角度小于第二物料滑板的倾斜角度时，可实现籽粒运动减速，进一步保证拍摄监测效果。
本发明第一物料滑板上方竖向设有挡粮板，所述挡粮板位于所述第一立板的内侧，并与第一立板通过螺栓固定，所述第一立板和挡粮板相应设有第二调节槽，所述第二调节槽用于调节挡粮板与第一物料滑板之间的间距。本发明通过挡粮板可对籽粒在物料滑板上滑动的速度及平铺度进行调节，进一步保证拍摄监测效果。
本发明第二立板尾端和第一立板首端之间通过螺栓固定，第二立板、第一立板相应设有第三调节槽，所述第三调节槽呈弧形，用于调节第二物料滑板与第一物料滑板之间的角度。本发明第二物料滑板与第一物料滑板之间的角度可调，即，可对籽粒在物料滑板上滑动的速度进行调节，进一 步保证拍摄监测效果。
附图说明
图1是本发明籽粒取样监测装置一种实施例的结构示意图；
图2是本发明籽粒取样监测装置一种实施例的电路原理图。
图3是本发明籽粒取样监测装置一种实施例的安装示意图；
图4是本发明籽粒取样监测装置一种实施例的立体图(其中相机被取下)；
图5是本发明籽粒取样监测装置一种实施例的主视图；
图6是本发明籽粒取样监测装置一种实施例的俯视图(其中相机被取下)；
图7是本发明籽粒取样监测装置一种实施例的电路原理图；
具体实施方式
下面结合附图所示的各实施方式对本发明进行详细说明，但应当说明的是，这些实施方式并非对本发明的限制，本领域普通技术人员根据这些实施方式所作的功能、方法、或者结构上的等效变换或替代，均属于本发明的保护范围之内。
实施例一、用于联合收获机的籽粒取样监测装置
如图1所示，包括籽粒升运器3，所述籽粒升运器3安装于联合收获机上，用于将加工后的谷物(籽粒)由位于联合收获机下部的清选室运送至位于联合收获机上部的粮箱，此为现有技术。
如图1所示，籽粒升运器3上侧接上溜管4上端，所述上溜管4斜向设置，上溜管4下端接取样装置，所述取样装置的上方设有拍摄相机6和补光灯8，所述拍摄相机6和补光灯8固定于相机支架7上。实施时，两个补光灯8固定于相机支架7两侧，拍摄相机6固定于两个补光灯8之间。拍摄相机6、补光灯8上方设有视觉罩5。所述相机支架7与拍摄相机6的连接方式应为高度可调，以适应拍摄相机6对不同作物的调焦需求及视野 可调需求。所述补光灯8为自适应镜面光，用于为拍摄相机提供高效稳定的补充光源，以克服所述密闭取样装置内部黑暗环境造成的取样图像噪点干扰，获取满足要求的高像素图像，实现高精度的谷物含杂率和破损率的监测。
如图1所示，所述取样装置包括接粮盒1、取样传送机构，接粮盒1、取样传送机构位于壳体内；接粮盒的上方设有导管2，导管2与所述上溜管4下端相连通；所述接粮盒1斜向设置，取样籽粒可经接粮盒出口落到取样传送机构。所述接粮盒1与壳体两侧内壁连接，但不固定，接粮盒1后壁与壳体后侧壁不紧贴，接粮盒1可以有微小活动，有利于减振。所述取样传送机构由传送轮、传送皮带12、驱动电机15组成，所述传送皮带12的上部呈水平设置，所述传送轮包括主动轮14、被动轮10、张紧轮13。所述拍摄相机6位于取样传送机构上方，其镜面垂直向下，与传送皮带12上部之间保持一定高度，该高度取决于拍摄相机6本身的对焦参数，确保在获取图像时，传送皮带12上部的籽粒视野范围满足取样要求。所述接粮盒1的出口处设有籽粒平整毛刷17，籽粒平整毛刷17与接粮盒1内壁贴紧。所述籽粒平整毛刷17的末端与所述传送皮带12的上部之间留有间隙，所述间隙与取样籽粒厚度相配合。所述接粮盒1呈V字形，接粮盒内壁粘接有海绵。籽粒升运器3下侧接下溜管16下端，所述下溜管16斜向设置，下溜管16上端接取样装置的壳体；壳体内的取样籽粒可经下溜管流回籽粒升运器3，壳体底部相应设有底滑板11。取样监测装置整体固定于现有升运器的支撑冲孔板9上。
如图2所示，籽粒升运器3设有转速传感器，所述转速传感器信号输出端接整车控制单元；整车控制单元信号输出端接驱动电机驱动单元，根据转速传感器信号控制所述驱动电机15，即通过PMW控制对驱动电机15调速。所述拍摄相机6接图像分析处理单元，图像分析处理单元接整车控制单元。整车控制单元信号输出端接补光灯8。整车控制单元外接显示单元(显 示屏)。实施时，整车控制单元、图像分析处理单元设置于联合收获机驾驶室内副驾驶座椅内，显示屏位于驾驶室内。
实施例二、用于联合收获机的籽粒取样监测装置的控制方法
当籽粒升运器转速正常时，整车控制单元控制取样装置取样；拍摄相机拍摄取样籽粒图像，图像分析处理单元对拍摄图像进行分析处理，标注图像中含杂、破损籽粒，整车控制单元根据所述分析处理结果监测籽粒的含杂率、破损率；当籽粒升运器转速非正常时，整车控制单元控制取样装置停止取样。拍摄相机拍摄取样籽粒图像时，整车控制单元控制点亮补光灯。
下面详述控制过程：
在加工后的谷物(籽粒)通过籽粒升运器3向粮箱24输送时，籽粒升运器3转速达到正常的工作转速，驱动电机15按照满足取样要求的匀速运转，补光灯8点亮，拍摄相机6开始获取实时的图像信号，取样装置正常工作；当籽粒升运器3转速低于正常的工作转速或为零时，驱动电机15减速或者停止运转，补光灯8熄灭，取样装置停止工作。
籽粒升运器3转速正常时，通过上溜管4在籽粒升运器3中连续取出少量样粮，且上溜管一直溜粮，样粮通过导管2掉落至接粮盒1，进而掉落至取样传送机构传送带上部，拍摄相机6对传送带上部的籽粒进行拍照。当籽粒升运器转速停止时，整车控制单元控制取样装置停止取样，避免出现因籽粒堆积造成的堵塞，若出现粮食堵塞，可通过加快驱动电机转速或适当的反转解决该问题。
拍摄图像传送至图像分析处理单元处理后，传递给整车控制单元，图像分析处理单元实时标注图像中的谷物含杂(主要为秸秆)及破损的籽粒。其中，谷物含杂的标注主要为勾画秸秆的外形轮廓，分析计算同一图像中的秸秆面积总和，其与图像总面积之比即为实时获取的谷物含杂率；籽粒破损的标注主要为图像抓取破损的籽粒并分析计数，与图像内籽粒总数之 比即为实时获取的籽粒破损率。若样粮含杂率和破损率达不到标准，则将该含杂率及破损率发送至整车控制单元，整车控制单元综合当前整车拨禾轮高度、转速，割台高度，风机转速，脱离滚筒转速及清选筛开片角度等参数，分析计算导致含杂率及破损率不合格的主要影响因素，并调节相应各功能部件关联的电液阀、马达等机构，使含杂率及破损率达到合格值。同时将破损率和含杂率显示在驾驶室内的显示屏上。
实施例三、籽粒取样监测装置
如图3所示，联合收获机籽粒升运器120的出口121位于联合收获机粮箱110的进口处，此为现有技术。粮箱110内设有籽粒取样装置130，籽粒取样装置130倾斜设置于籽粒升运器120出口121的下方，籽粒升运器的出口121输出的籽粒可经籽粒取样装置130落入粮箱110。
如图4、图5所示，籽粒取样装置130包括第一物料滑板131，第一物料滑板131的两侧设有第一立板132；第一立板132与相机架150通过螺栓固定，第一立板132和相机架150相应设有第一调节槽133，第一调节槽133用于调节相机架150的安装高度。第一物料滑板131上方竖向设有挡粮板134，挡粮板134位于第一立板132的内侧，并与第一立板132通过螺栓固定，第一立板132和挡粮板134相应设有第二调节槽135，第二调节槽135用于调节挡粮板134与第一物料滑板131之间的间距。相机架150位于第一物料滑板131尾端的上方。
籽粒取样装置还包括第二物料滑板136，第二物料滑板136的两侧设有第二立板137；第二物料滑板136尾端和第一物料滑板131首端铰接，具体实施时，通过合页138铰接；第一物料滑板131的倾斜角度小于或等于第二物料滑板136的倾斜角度。本实施例中，第一物料滑板131的倾斜角度小于第二物料滑板136的倾斜角度，以便进一步减小籽粒在第一物料滑板131上的滑动速度。第二立板137尾端和第一立板132首端之间通过螺栓固定，第二立板137、第一立板132相应设有第三调节槽139，第三调 节槽139呈弧形，用于调节第二物料滑板与第一物料滑板之间的角度。第二物料滑板136的首端位于籽粒升运器出口121的下方，用于承接从升运器出口121流出的籽粒。
如图3、图5所示，籽粒取样装置的上方设有相机架150，相机架150上设有相机140，相机140用于对籽粒拍照监测。相机140的镜头垂直于调节角度第一物料滑板131的平面向下，镜面平行第一物料滑板131平面，并位于其正上方一合适高度，该高度取决于相机140本身的对焦参数，确保在获取图像时，调节角度第一物料滑板131上方的籽粒视野范围满足取样要求。粮箱内设有补光灯160，补光灯用于提供相机140的补充光源。
如图7所示，相机140与控制单元170通讯连接，控制单元170与图像分析处理单元180通讯连接，图像分析处理单元180用于标注图像中谷物含杂或破损的籽粒；控制单元170与补光灯160、显示器190通讯连接。
由籽粒升运器120的出口121输出的籽粒可经籽粒取样装置130落入粮箱110，相机140实时拍摄取样图像，并将图像传送至控制单元170，图像分析处理单元180实时标注图像中的谷物含杂(主要为秸秆)及破损的籽粒。其中，谷物含杂的标注主要为勾画秸秆的外形轮廓，分析计算同一图像中的秸秆面积总和，其与图像总面积之比即为实时获取的谷物含杂率；籽粒破损的标注主要为图像抓取破损的籽粒并分析计数，与图像内籽粒总数之比即为实时获取的籽粒破损率。图像分析处理单元180将该含杂率及破损率发送至控制单元170，控制单元170将含杂率及破损率等监测参数在显示器190上进行显示。
实施例四、谷物联合收获机
在现有谷物联合收获机的粮箱内部设置一籽粒取样监测装置，具体地，籽粒取样装置130倾斜设置于籽粒升运器120的出口121的下方，籽粒升运器的出口121输出的籽粒可经籽粒取样装置落入粮箱110。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施方式 的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施方式或变更均应包含在本发明的保护范围之内。
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。

Claims (19)

  1. 一种用于联合收获机的籽粒取样监测装置，包括籽粒升运器(3)，其特征在于：取样装置整体固定于籽粒升运器(3)外侧冲孔板上，籽粒升运器(3)上侧接上溜管(4)上端，所述上溜管(4)斜向设置，上溜管(4)下端接取样装置，所述取样装置的上方设有拍摄相机(6)；所述拍摄相机(6)接图像分析处理单元，图像分析处理单元接整车控制单元。
  2. 根据权利要求1所述的用于联合收获机的籽粒取样监测装置，其特征在于：所述取样装置包括接粮盒(1)、取样传送机构，接粮盒(1)、取样传送机构位于壳体内；接粮盒(1)的上方设有导管(2)，导管(2)与所述上溜管(4)下端相连通；所述接粮盒(1)斜向设置，取样籽粒可经接粮盒(1)出口落到取样传送机构；所述拍摄相机(6)位于取样传送机构上方。
  3. 根据权利要求2所述的用于联合收获机的籽粒取样监测装置，其特征在于：籽粒升运器(3)下侧接下溜管(16)下端，所述下溜管(16)斜向设置，下溜管(16)上端接取样装置的壳体；壳体内的取样籽粒可经下溜管(16)流回籽粒升运器(3)。
  4. 根据权利要求2所述的用于联合收获机的籽粒取样监测装置，其特征在于：所述取样传送机构由传送轮、传送皮带(12)、驱动电机(15)组成，所述传送皮带的上部呈水平设置。
  5. 根据权利要求4所述的用于联合收获机的籽粒取样监测装置，其特征在于：籽粒升运器(3)设有转速传感器，所述转速传感器信号输出端接整车控制单元；整车控制单元信号输出端接驱动电机驱动单元，根据转速传感器信号控制所述驱动电机(15)。
  6. 根据权利要求2所述的用于联合收获机的籽粒取样监测装置，其特征在于：所述接粮盒(1)的出口处设有籽粒平整毛刷(17)；所述籽粒平整毛 刷(17)的末端与所述传送皮带(12)的上部之间留有间隙，所述间隙与取样籽粒厚度相配合。
  7. 根据权利要求2所述的用于联合收获机的籽粒取样监测装置，其特征在于：所述接粮盒(1)呈V字形，接粮盒(1)内壁粘接有海绵。
  8. 根据权利要求1所述的用于联合收获机的籽粒取样监测装置，其特征在于：设有补光灯(8)，所述拍摄相机(6)和补光灯(8)固定于相机支架(7)上；整车控制单元信号输出端接补光灯(8)。
  9. 一种权利要求1至8任何一项所述装置的控制方法，其特征在于：当籽粒升运器转速正常时，整车控制单元控制取样装置取样；拍摄相机拍摄取样籽粒图像，图像分析处理单元对拍摄图像进行分析处理，标注图像中含杂、破损籽粒，整车控制单元根据所述分析处理结果监测籽粒的含杂率、破损率，并根据监测结果由整车控制单元对机身的风量大小、清选筛筛片的开合度、割台高度、脱粒滚筒转速等进行自动调节，直至籽粒的含杂率、破损率在设定的范围内；当籽粒升运器转速停止运转时，整车控制单元控制驱动电机(15)停止运转、拍摄相机(6)停止拍摄、补光灯(8)同时停止补光。
  10. 根据权利要求9所述的方法，其特征在于：拍摄相机拍摄取样籽粒图像时，整车控制单元控制点亮补光灯(8)。
  11. 一种用于联合收获机的籽粒取样监测装置，包括联合收获机的粮箱(110)，联合收获机的籽粒升运器出口(121)位于所述粮箱(110)的进口上方，其特征在于：所述粮箱(110)内设有籽粒取样装置(130)，所述籽粒取样装置(130)位于所述籽粒升运器出口(121)的下方，由籽粒升运器出口(121)输出的籽粒可经籽粒取样装置(130)落入粮箱(110)；所述籽粒取样装置(130)的上方设有相机(140)，所述相机(140)用于对籽粒拍照监测；所述相机(140)与控制单元(170)通讯连接，所述控制单元(170)与图像分析处理单元(180) 通讯连接，所述图像分析处理单元(180)用于标注图像中谷物含杂或破损的籽粒。
  12. 根据权利要求11所述的籽粒取样监测装置，其特征在于：所述籽粒取样装置(130)包括第一物料滑板(131)，所述第一物料滑板(131)的两侧设有第一立板(132)；所述第一立板(132)与相机架(150)通过螺栓固定，所述第一立板(132)和相机架(150)相应设有第一调节槽(133)，所述第一调节槽(133)用于调节相机架(150)的安装高度。
  13. 根据权利要求12所述的籽粒取样监测装置，其特征在于：所述第一物料滑板(131)上方竖向设有挡粮板(134)，所述挡粮板(134)位于第一立板(132)的内侧，并与第一立板(132)通过螺栓固定，所述第一立板(132)和挡粮板(134)相应设有第二调节槽(135)，所述第二调节槽(135)用于调节挡粮板(134)与第一物料滑板(131)之间的间距。
  14. 根据权利要求13所述的籽粒取样监测装置，其特征在于：所述籽粒取样装置(130)包括第二物料滑板(136)，所述第二物料滑板(136)的两侧设有第二立板(137)；所述第二物料滑板(136)尾端和所述第一物料滑板(131)首端铰接；所述第一物料滑板(131)的倾斜角度小于或等于第二物料滑板(136)的倾斜角度。
  15. 根据权利要求14所述的籽粒取样监测装置，其特征在于：第二立板(137)尾端和第一立板(131)首端之间通过螺栓固定，第二立板(137)、第一立板(132)相应设有第三调节槽(139)，所述第三调节槽(139)呈弧形，用于调节第二物料滑板(136)与第一物料滑板(131)之间的角度。
  16. 根据权利要求12至15任何一项所述的籽粒取样监测装置，其特征在于：所述相机架(150)位于所述第一物料滑板(131)尾端的上方。
  17. 根据权利要求13至15任何一项所述的籽粒取样监测装置，其特征在于：所述第二物料滑板(136)的首端位于所述籽粒升运器出口(121)的下方。
  18. 根据权利要求11至15任何一项所述的籽粒取样监测装置，其特征在于:所述粮箱(110)内设有补光灯(160)，所述补光灯(160)用于提供所述相机(140)的补充光源。
  19. 根据权利要求18所述的籽粒取样监测装置，其特征在于:所述控制单元(170)与补光灯(160)、显示器(190)通讯连接。
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